@wandelbots/nova-js 3.2.0 → 3.3.0

package/dist/lib/v2/index.cjs

@@ -1,1479 +1,1832 @@
-"use strict";
-var __create = Object.create;
-var __defProp = Object.defineProperty;
-var __defProps = Object.defineProperties;
-var __getOwnPropDesc = Object.getOwnPropertyDescriptor;
-var __getOwnPropDescs = Object.getOwnPropertyDescriptors;
-var __getOwnPropNames = Object.getOwnPropertyNames;
-var __getOwnPropSymbols = Object.getOwnPropertySymbols;
-var __getProtoOf = Object.getPrototypeOf;
-var __hasOwnProp = Object.prototype.hasOwnProperty;
-var __propIsEnum = Object.prototype.propertyIsEnumerable;
-var __defNormalProp = (obj, key, value) => key in obj ? __defProp(obj, key, { enumerable: true, configurable: true, writable: true, value }) : obj[key] = value;
-var __spreadValues = (a, b) => {
-  for (var prop in b || (b = {}))
-    if (__hasOwnProp.call(b, prop))
-      __defNormalProp(a, prop, b[prop]);
-  if (__getOwnPropSymbols)
-    for (var prop of __getOwnPropSymbols(b)) {
-      if (__propIsEnum.call(b, prop))
-        __defNormalProp(a, prop, b[prop]);
-    }
-  return a;
-};
-var __spreadProps = (a, b) => __defProps(a, __getOwnPropDescs(b));
-var __export = (target, all) => {
-  for (var name in all)
-    __defProp(target, name, { get: all[name], enumerable: true });
-};
-var __copyProps = (to, from, except, desc) => {
-  if (from && typeof from === "object" || typeof from === "function") {
-    for (let key of __getOwnPropNames(from))
-      if (!__hasOwnProp.call(to, key) && key !== except)
-        __defProp(to, key, { get: () => from[key], enumerable: !(desc = __getOwnPropDesc(from, key)) || desc.enumerable });
-  }
-  return to;
-};
-var __reExport = (target, mod, secondTarget) => (__copyProps(target, mod, "default"), secondTarget && __copyProps(secondTarget, mod, "default"));
-var __toESM = (mod, isNodeMode, target) => (target = mod != null ? __create(__getProtoOf(mod)) : {}, __copyProps(
-  // If the importer is in node compatibility mode or this is not an ESM
-  // file that has been converted to a CommonJS file using a Babel-
-  // compatible transform (i.e. "__esModule" has not been set), then set
-  // "default" to the CommonJS "module.exports" for node compatibility.
-  isNodeMode || !mod || !mod.__esModule ? __defProp(target, "default", { value: mod, enumerable: true }) : target,
-  mod
-));
-var __toCommonJS = (mod) => __copyProps(__defProp({}, "__esModule", { value: true }), mod);
-var __async = (__this, __arguments, generator) => {
-  return new Promise((resolve, reject) => {
-    var fulfilled = (value) => {
-      try {
-        step(generator.next(value));
-      } catch (e) {
-        reject(e);
-      }
-    };
-    var rejected = (value) => {
-      try {
-        step(generator.throw(value));
-      } catch (e) {
-        reject(e);
-      }
-    };
-    var step = (x) => x.done ? resolve(x.value) : Promise.resolve(x.value).then(fulfilled, rejected);
-    step((generator = generator.apply(__this, __arguments)).next());
-  });
-};
+const require_LoginWithAuth0 = require('../../LoginWithAuth0-CBD9BXXz.cjs');
+let axios = require("axios");
+axios = require_LoginWithAuth0.__toESM(axios);
+let url_join = require("url-join");
+url_join = require_LoginWithAuth0.__toESM(url_join);
+let path_to_regexp = require("path-to-regexp");
+path_to_regexp = require_LoginWithAuth0.__toESM(path_to_regexp);
+let __wandelbots_nova_api_v2 = require("@wandelbots/nova-api/v2");
 
-// src/lib/v2/index.ts
-var v2_exports = {};
-__export(v2_exports, {
-  NovaCellAPIClient: () => NovaCellAPIClient,
-  NovaClient: () => NovaClient
-});
-module.exports = __toCommonJS(v2_exports);
-__reExport(v2_exports, require("@wandelbots/nova-api/v2"), module.exports);
-
-// src/lib/v2/NovaCellAPIClient.ts
-var import_v2 = require("@wandelbots/nova-api/v2");
-var import_axios = __toESM(require("axios"), 1);
+//#region src/lib/v2/NovaCellAPIClient.ts
+/**
+* API client providing type-safe access to all the Nova API REST endpoints
+* associated with a specific cell id.
+*/
 var NovaCellAPIClient = class {
-  constructor(cellId, opts) {
-    this.cellId = cellId;
-    this.opts = opts;
-    this.system = this.withUnwrappedResponsesOnly(import_v2.SystemApi);
-    this.cell = this.withUnwrappedResponsesOnly(import_v2.CellApi);
-    this.motionGroup = this.withCellId(import_v2.MotionGroupApi);
-    this.motionGroupModels = this.withCellId(import_v2.MotionGroupModelsApi);
-    this.controller = this.withCellId(import_v2.ControllerApi);
-    this.controllerIOs = this.withCellId(import_v2.ControllerInputsOutputsApi);
-    this.trajectoryPlanning = this.withCellId(import_v2.TrajectoryPlanningApi);
-    this.trajectoryExecution = this.withCellId(import_v2.TrajectoryExecutionApi);
-    this.trajectoryCaching = this.withCellId(import_v2.TrajectoryCachingApi);
-    this.application = this.withCellId(import_v2.ApplicationApi);
-    this.applicationGlobal = this.withUnwrappedResponsesOnly(import_v2.ApplicationApi);
-    this.jogging = this.withCellId(import_v2.JoggingApi);
-    this.kinematics = this.withCellId(import_v2.KinematicsApi);
-    this.busInputsOutputs = this.withCellId(import_v2.BUSInputsOutputsApi);
-    this.virtualController = this.withCellId(import_v2.VirtualControllerApi);
-    this.virtualControllerBehavior = this.withCellId(
-      import_v2.VirtualControllerBehaviorApi
-    );
-    this.virtualControllerIOs = this.withCellId(
-      import_v2.VirtualControllerInputsOutputsApi
-    );
-    this.storeObject = this.withCellId(import_v2.StoreObjectApi);
-    this.storeCollisionComponents = this.withCellId(
-      import_v2.StoreCollisionComponentsApi
-    );
-    this.storeCollisionSetups = this.withCellId(import_v2.StoreCollisionSetupsApi);
-  }
-  /**
-   * Some TypeScript sorcery which alters the API class methods so you don't
-   * have to pass the cell id to every single one, and de-encapsulates the
-   * response data
-   */
-  withCellId(ApiConstructor) {
-    var _a, _b;
-    const apiClient = new ApiConstructor(
-      __spreadProps(__spreadValues({}, this.opts), {
-        isJsonMime: (mime) => {
-          return mime === "application/json";
-        }
-      }),
-      (_a = this.opts.basePath) != null ? _a : "",
-      (_b = this.opts.axiosInstance) != null ? _b : import_axios.default.create()
-    );
-    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) {
-      if (key !== "constructor" && typeof apiClient[key] === "function") {
-        const originalFunction = apiClient[key];
-        apiClient[key] = (...args) => {
-          return originalFunction.apply(apiClient, [this.cellId, ...args]).then((res) => res.data);
-        };
-      }
-    }
-    return apiClient;
-  }
-  /**
-   * As withCellId, but only does the response unwrapping
-   */
-  withUnwrappedResponsesOnly(ApiConstructor) {
-    var _a, _b;
-    const apiClient = new ApiConstructor(
-      __spreadProps(__spreadValues({}, this.opts), {
-        isJsonMime: (mime) => {
-          return mime === "application/json";
-        }
-      }),
-      (_a = this.opts.basePath) != null ? _a : "",
-      (_b = this.opts.axiosInstance) != null ? _b : import_axios.default.create()
-    );
-    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) {
-      if (key !== "constructor" && typeof apiClient[key] === "function") {
-        const originalFunction = apiClient[key];
-        apiClient[key] = (...args) => {
-          return originalFunction.apply(apiClient, args).then((res) => res.data);
-        };
-      }
-    }
-    return apiClient;
-  }
-};
-
-// src/lib/v2/NovaClient.ts
-var import_axios3 = __toESM(require("axios"), 1);
-var import_url_join = __toESM(require("url-join"), 1);
-
-// src/LoginWithAuth0.ts
-var DOMAIN_SUFFIX = "wandelbots.io";
-var auth0ConfigMap = {
-  dev: {
-    domain: `https://auth.portal.dev.${DOMAIN_SUFFIX}`,
-    clientId: "fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha"
-  },
-  stg: {
-    domain: `https://auth.portal.stg.${DOMAIN_SUFFIX}`,
-    clientId: "joVDeD9e786WzFNSGCqoVq7HNkWt5j6s"
-  },
-  prod: {
-    domain: `https://auth.portal.${DOMAIN_SUFFIX}`,
-    clientId: "J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2"
-  }
-};
-var getAuth0Config = (instanceUrl) => {
-  if (instanceUrl.includes(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev;
-  if (instanceUrl.includes(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg;
-  if (instanceUrl.includes(DOMAIN_SUFFIX)) return auth0ConfigMap.prod;
-  throw new Error(
-    "Unsupported instance URL. Cannot determine Auth0 configuration."
-  );
+	constructor(cellId, opts) {
+		this.cellId = cellId;
+		this.opts = opts;
+		this.system = this.withUnwrappedResponsesOnly(__wandelbots_nova_api_v2.SystemApi);
+		this.cell = this.withUnwrappedResponsesOnly(__wandelbots_nova_api_v2.CellApi);
+		this.motionGroup = this.withCellId(__wandelbots_nova_api_v2.MotionGroupApi);
+		this.motionGroupModels = this.withCellId(__wandelbots_nova_api_v2.MotionGroupModelsApi);
+		this.controller = this.withCellId(__wandelbots_nova_api_v2.ControllerApi);
+		this.controllerIOs = this.withCellId(__wandelbots_nova_api_v2.ControllerInputsOutputsApi);
+		this.trajectoryPlanning = this.withCellId(__wandelbots_nova_api_v2.TrajectoryPlanningApi);
+		this.trajectoryExecution = this.withCellId(__wandelbots_nova_api_v2.TrajectoryExecutionApi);
+		this.trajectoryCaching = this.withCellId(__wandelbots_nova_api_v2.TrajectoryCachingApi);
+		this.application = this.withCellId(__wandelbots_nova_api_v2.ApplicationApi);
+		this.applicationGlobal = this.withUnwrappedResponsesOnly(__wandelbots_nova_api_v2.ApplicationApi);
+		this.jogging = this.withCellId(__wandelbots_nova_api_v2.JoggingApi);
+		this.kinematics = this.withCellId(__wandelbots_nova_api_v2.KinematicsApi);
+		this.busInputsOutputs = this.withCellId(__wandelbots_nova_api_v2.BUSInputsOutputsApi);
+		this.virtualController = this.withCellId(__wandelbots_nova_api_v2.VirtualControllerApi);
+		this.virtualControllerBehavior = this.withCellId(__wandelbots_nova_api_v2.VirtualControllerBehaviorApi);
+		this.virtualControllerIOs = this.withCellId(__wandelbots_nova_api_v2.VirtualControllerInputsOutputsApi);
+		this.storeObject = this.withCellId(__wandelbots_nova_api_v2.StoreObjectApi);
+		this.storeCollisionComponents = this.withCellId(__wandelbots_nova_api_v2.StoreCollisionComponentsApi);
+		this.storeCollisionSetups = this.withCellId(__wandelbots_nova_api_v2.StoreCollisionSetupsApi);
+	}
+	/**
+	* Some TypeScript sorcery which alters the API class methods so you don't
+	* have to pass the cell id to every single one, and de-encapsulates the
+	* response data
+	*/
+	withCellId(ApiConstructor) {
+		const apiClient = new ApiConstructor({
+			...this.opts,
+			isJsonMime: (mime) => {
+				return mime === "application/json";
+			}
+		}, this.opts.basePath ?? "", this.opts.axiosInstance ?? axios.default.create());
+		for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) if (key !== "constructor" && typeof apiClient[key] === "function") {
+			const originalFunction = apiClient[key];
+			apiClient[key] = (...args) => {
+				return originalFunction.apply(apiClient, [this.cellId, ...args]).then((res) => res.data);
+			};
+		}
+		return apiClient;
+	}
+	/**
+	* As withCellId, but only does the response unwrapping
+	*/
+	withUnwrappedResponsesOnly(ApiConstructor) {
+		const apiClient = new ApiConstructor({
+			...this.opts,
+			isJsonMime: (mime) => {
+				return mime === "application/json";
+			}
+		}, this.opts.basePath ?? "", this.opts.axiosInstance ?? axios.default.create());
+		for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) if (key !== "constructor" && typeof apiClient[key] === "function") {
+			const originalFunction = apiClient[key];
+			apiClient[key] = (...args) => {
+				return originalFunction.apply(apiClient, args).then((res) => res.data);
+			};
+		}
+		return apiClient;
+	}
 };
-var loginWithAuth0 = (instanceUrl) => __async(null, null, function* () {
-  var _a;
-  if (typeof window === "undefined") {
-    throw new Error(
-      `Access token must be set to use NovaClient when not in a browser environment.`
-    );
-  }
-  const auth0Config = getAuth0Config(instanceUrl);
-  if (new URL(instanceUrl).origin === window.location.origin) {
-    window.location.reload();
-    throw new Error(
-      "Failed to reload page to get auth details, please refresh manually"
-    );
-  }
-  const { Auth0Client } = yield import("@auth0/auth0-spa-js");
-  const auth0Client = new Auth0Client({
-    domain: auth0Config.domain,
-    clientId: (_a = auth0Config.clientId) != null ? _a : "",
-    useRefreshTokens: false,
-    authorizationParams: {
-      audience: "nova-api",
-      redirect_uri: window.location.origin
-    }
-  });
-  if (window.location.search.includes("code=") && window.location.search.includes("state=")) {
-    const { appState } = yield auth0Client.handleRedirectCallback();
-    window.history.replaceState(
-      {},
-      document.title,
-      (appState == null ? void 0 : appState.returnTo) || window.location.pathname
-    );
-  } else {
-    yield auth0Client.loginWithRedirect();
-  }
-  const accessToken = yield auth0Client.getTokenSilently();
-  return accessToken;
-});
-
-// src/lib/AutoReconnectingWebsocket.ts
-var import_reconnecting_websocket = __toESM(require("reconnecting-websocket"), 1);
-var AutoReconnectingWebsocket = class extends import_reconnecting_websocket.default {
-  constructor(targetUrl, opts = {}) {
-    console.log("Opening websocket to", targetUrl);
-    super(() => this.targetUrl || targetUrl, void 0, {
-      startClosed: true
-    });
-    this.opts = opts;
-    this.disposed = false;
-    Object.defineProperty(this, "url", {
-      get() {
-        return this.targetUrl;
-      }
-    });
-    this.targetUrl = targetUrl;
-    this.addEventListener("open", () => {
-      console.log(`Websocket to ${this.url} opened`);
-    });
-    this.addEventListener("message", (ev) => {
-      if (!this.receivedFirstMessage) {
-        this.receivedFirstMessage = ev;
-      }
-    });
-    this.addEventListener("close", () => {
-      console.log(`Websocket to ${this.url} closed`);
-    });
-    const origReconnect = this.reconnect;
-    this.reconnect = () => {
-      if (this.opts.mock) {
-        this.opts.mock.handleWebsocketConnection(this);
-      } else {
-        origReconnect.apply(this);
-      }
-    };
-    this.reconnect();
-  }
-  changeUrl(targetUrl) {
-    this.receivedFirstMessage = void 0;
-    this.targetUrl = targetUrl;
-    this.reconnect();
-  }
-  sendJson(data) {
-    if (this.opts.mock) {
-      this.opts.mock.handleWebsocketMessage(this, JSON.stringify(data));
-    } else {
-      this.send(JSON.stringify(data));
-    }
-  }
-  /**
-   * Permanently close this websocket and indicate that
-   * this object should not be used again.
-   **/
-  dispose() {
-    this.close();
-    this.disposed = true;
-    if (this.opts.onDispose) {
-      this.opts.onDispose();
-    }
-  }
-  /**
-   * Returns a promise that resolves once the websocket
-   * is in the OPEN state. */
-  opened() {
-    return __async(this, null, function* () {
-      return new Promise((resolve, reject) => {
-        if (this.readyState === WebSocket.OPEN) {
-          resolve();
-        } else {
-          this.addEventListener("open", () => resolve());
-          this.addEventListener("error", reject);
-        }
-      });
-    });
-  }
-  /**
-   * Returns a promise that resolves once the websocket
-   * is in the CLOSED state. */
-  closed() {
-    return __async(this, null, function* () {
-      return new Promise((resolve, reject) => {
-        if (this.readyState === WebSocket.CLOSED) {
-          resolve();
-        } else {
-          this.addEventListener("close", () => resolve());
-          this.addEventListener("error", reject);
-        }
-      });
-    });
-  }
-  /**
-   * Returns a promise that resolves when the first message
-   * is received from the websocket. Resolves immediately if
-   * the first message has already been received.
-   */
-  firstMessage() {
-    return __async(this, null, function* () {
-      if (this.receivedFirstMessage) {
-        return this.receivedFirstMessage;
-      }
-      return new Promise((resolve, reject) => {
-        const onMessage = (ev) => {
-          this.receivedFirstMessage = ev;
-          this.removeEventListener("message", onMessage);
-          this.removeEventListener("error", onError);
-          resolve(ev);
-        };
-        const onError = (ev) => {
-          this.removeEventListener("message", onMessage);
-          this.removeEventListener("error", onError);
-          reject(ev);
-        };
-        this.addEventListener("message", onMessage);
-        this.addEventListener("error", onError);
-      });
-    });
-  }
-  /**
-   * Returns a promise that resolves when the next message
-   * is received from the websocket.
-   */
-  nextMessage() {
-    return __async(this, null, function* () {
-      return new Promise((resolve, reject) => {
-        const onMessage = (ev) => {
-          this.removeEventListener("message", onMessage);
-          this.removeEventListener("error", onError);
-          resolve(ev);
-        };
-        const onError = (ev) => {
-          this.removeEventListener("message", onMessage);
-          this.removeEventListener("error", onError);
-          reject(ev);
-        };
-        this.addEventListener("message", onMessage);
-        this.addEventListener("error", onError);
-      });
-    });
-  }
-};
-
-// src/lib/availableStorage.ts
-var AvailableStorage = class {
-  constructor() {
-    this.available = typeof window !== "undefined" && !!window.localStorage;
-  }
-  getJSON(key) {
-    if (!this.available) return null;
-    const result = window.localStorage.getItem(key);
-    if (result === null) return null;
-    try {
-      return JSON.parse(result);
-    } catch (err) {
-      return null;
-    }
-  }
-  setJSON(key, obj) {
-    if (!this.available) return null;
-    window.localStorage.setItem(key, JSON.stringify(obj));
-  }
-  delete(key) {
-    if (!this.available) return null;
-    window.localStorage.removeItem(key);
-  }
-  setString(key, value) {
-    if (!this.available) return null;
-    window.localStorage.setItem(key, value);
-  }
-  getString(key) {
-    if (!this.available) return null;
-    return window.localStorage.getItem(key);
-  }
-};
-var availableStorage = new AvailableStorage();
 
-// src/lib/v2/mock/MockNovaInstance.ts
-var import_axios2 = require("axios");
-var pathToRegexp = __toESM(require("path-to-regexp"), 1);
+//#endregion
+//#region src/lib/v2/mock/MockNovaInstance.ts
+/**
+* Ultra-simplified mock Nova server for testing stuff
+*/
 var MockNovaInstance = class {
-  constructor() {
-    this.connections = [];
-  }
-  handleAPIRequest(config) {
-    return __async(this, null, function* () {
-      var _a, _b, _c;
-      const apiHandlers = [
-        {
-          method: "GET",
-          path: "/cells/:cellId/controllers",
-          handle() {
-            return {
-              controllers: [
-                {
-                  controller: "mock-ur5e",
-                  model_name: "UniversalRobots::Controller",
-                  host: "mock-ur5e",
-                  allow_software_install_on_controller: true,
-                  motion_groups: [
-                    {
-                      motion_group: "0@mock-ur5e",
-                      name_from_controller: "UR5e",
-                      active: false,
-                      model_from_controller: "UniversalRobots_UR5e"
-                    }
-                  ],
-                  has_error: false,
-                  error_details: ""
-                }
-              ]
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/controllers/:controllerId",
-          handle() {
-            return {
-              configuration: {
-                kind: "VirtualController",
-                manufacturer: "universalrobots",
-                type: "universalrobots-ur5e"
-              },
-              name: "mock-ur5"
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/motion-groups/:motionGroupId/specification",
-          handle() {
-            return {
-              dh_parameters: [
-                {
-                  alpha: 1.5707963267948966,
-                  theta: 0,
-                  a: 0,
-                  d: 162.25,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 0,
-                  theta: 0,
-                  a: -425,
-                  d: 0,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 0,
-                  theta: 0,
-                  a: -392.2,
-                  d: 0,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 1.5707963267948966,
-                  theta: 0,
-                  a: 0,
-                  d: 133.3,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: -1.5707963267948966,
-                  theta: 0,
-                  a: 0,
-                  d: 99.7,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 0,
-                  theta: 0,
-                  a: 0,
-                  d: 99.6,
-                  reverse_rotation_direction: false
-                }
-              ],
-              mechanical_joint_limits: [
-                {
-                  joint: "JOINTNAME_AXIS_1",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_2",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_3",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_4",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_5",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_6",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                }
-              ]
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/motion-groups/:motionGroupId/safety-setup",
-          handle() {
-            return {
-              safety_settings: [
-                {
-                  safety_state: "SAFETY_NORMAL",
-                  settings: {
-                    joint_position_limits: [
-                      {
-                        joint: "JOINTNAME_AXIS_1",
-                        lower_limit: -2.96705961227417,
-                        upper_limit: 2.96705961227417,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_2",
-                        lower_limit: -1.7453292608261108,
-                        upper_limit: 2.7925267219543457,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_3",
-                        lower_limit: -3.3161256313323975,
-                        upper_limit: 0.40142571926116943,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_4",
-                        lower_limit: -3.4906585216522217,
-                        upper_limit: 3.4906585216522217,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_5",
-                        lower_limit: -2.4434609413146973,
-                        upper_limit: 2.4434609413146973,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_6",
-                        lower_limit: -4.71238899230957,
-                        upper_limit: 4.71238899230957,
-                        unlimited: false
-                      }
-                    ],
-                    joint_velocity_limits: [
-                      {
-                        joint: "JOINTNAME_AXIS_1",
-                        limit: 3.1415927410125732
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_2",
-                        limit: 3.1415927410125732
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_3",
-                        limit: 3.4906585216522217
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_4",
-                        limit: 6.108652591705322
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_5",
-                        limit: 6.108652591705322
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_6",
-                        limit: 6.981317043304443
-                      }
-                    ],
-                    joint_acceleration_limits: [],
-                    joint_torque_limits: [],
-                    tcp_velocity_limit: 1800
-                  }
-                }
-              ],
-              safety_zones: [
-                {
-                  id: 1,
-                  priority: 0,
-                  geometry: {
-                    compound: {
-                      child_geometries: [
-                        {
-                          convex_hull: {
-                            vertices: [
-                              { vertex: [-800, -1330, -1820] },
-                              { vertex: [1650, -1330, -1820] },
-                              { vertex: [1650, 1330, -1820] },
-                              { vertex: [-800, 1330, -1820] }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [-800, -1330, -1820]
-                              },
-                              {
-                                vertex: [1650, -1330, -1820]
-                              },
-                              {
-                                vertex: [1650, -1330, 1500]
-                              },
-                              {
-                                vertex: [-800, -1330, 1500]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [-800, -1330, -1820]
-                              },
-                              {
-                                vertex: [-800, 1330, -1820]
-                              },
-                              {
-                                vertex: [-800, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, -1330, 1500]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [1650, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, -1330, 1500]
-                              },
-                              {
-                                vertex: [1650, -1330, 1500]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [1650, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, 1330, -1820]
-                              },
-                              {
-                                vertex: [1650, 1330, -1820]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [1650, 1330, 1500]
-                              },
-                              {
-                                vertex: [1650, -1330, 1500]
-                              },
-                              {
-                                vertex: [1650, -1330, -1820]
-                              },
-                              {
-                                vertex: [1650, 1330, -1820]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Cell workzone"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 2,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          vertex: [1650, 1330, -1850]
-                        },
-                        {
-                          vertex: [865, 1330, -1850]
-                        },
-                        {
-                          vertex: [865, -720, -1850]
-                        },
-                        {
-                          vertex: [1650, -720, -1850]
-                        },
-                        {
-                          vertex: [1650, 1330, -920]
-                        },
-                        {
-                          vertex: [865, 1330, -920]
-                        },
-                        {
-                          vertex: [865, -720, -920]
-                        },
-                        {
-                          vertex: [1650, -720, -920]
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Transport"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 3,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          vertex: [1650, 1330, -600]
-                        },
-                        {
-                          vertex: [865, 1330, -600]
-                        },
-                        {
-                          vertex: [865, 430, -600]
-                        },
-                        {
-                          vertex: [1650, 430, -600]
-                        },
-                        {
-                          vertex: [1650, 1330, -1250]
-                        },
-                        {
-                          vertex: [865, 1330, -1250]
-                        },
-                        {
-                          vertex: [865, 430, -1250]
-                        },
-                        {
-                          vertex: [1650, 430, -1250]
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Tunel"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 4,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          vertex: [1650, -760, -440]
-                        },
-                        {
-                          vertex: [900, -760, -440]
-                        },
-                        {
-                          vertex: [900, -1330, -440]
-                        },
-                        {
-                          vertex: [1650, -1330, -440]
-                        },
-                        {
-                          vertex: [1650, -760, -1800]
-                        },
-                        {
-                          vertex: [900, -760, -1800]
-                        },
-                        {
-                          vertex: [900, -1330, -1800]
-                        },
-                        {
-                          vertex: [1650, -1330, -1800]
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Fanuc controller"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 6,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          vertex: [-200, -200, -1900]
-                        },
-                        {
-                          vertex: [200, -200, -1900]
-                        },
-                        {
-                          vertex: [200, 200, -1900]
-                        },
-                        {
-                          vertex: [-200, 200, -1900]
-                        },
-                        {
-                          vertex: [-200, -200, -350]
-                        },
-                        {
-                          vertex: [200, -200, -350]
-                        },
-                        {
-                          vertex: [200, 200, -350]
-                        },
-                        {
-                          vertex: [-200, 200, -350]
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Robot base"
-                  },
-                  motion_group_uid: 1
-                }
-              ],
-              robot_model_geometries: [
-                {
-                  link_index: 1,
-                  geometry: {
-                    sphere: {
-                      radius: 270
-                    },
-                    init_pose: {
-                      position: [-70, -70, -50],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "link1_sphere"
-                  }
-                },
-                {
-                  link_index: 2,
-                  geometry: {
-                    capsule: {
-                      radius: 160,
-                      cylinder_height: 800
-                    },
-                    init_pose: {
-                      position: [-450, 40, 170],
-                      orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2]
-                    },
-                    id: "link2_capsule"
-                  }
-                },
-                {
-                  link_index: 3,
-                  geometry: {
-                    sphere: {
-                      radius: 270
-                    },
-                    init_pose: {
-                      position: [-110, 10, -100],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "link3_sphere"
-                  }
-                },
-                {
-                  link_index: 4,
-                  geometry: {
-                    capsule: {
-                      radius: 110,
-                      cylinder_height: 600
-                    },
-                    init_pose: {
-                      position: [0, 300, 40],
-                      orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2]
-                    },
-                    id: "link4_capsule"
-                  }
-                },
-                {
-                  link_index: 5,
-                  geometry: {
-                    sphere: {
-                      radius: 75
-                    },
-                    init_pose: {
-                      position: [0, 0, -50],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "link5_sphere"
-                  }
-                }
-              ],
-              tool_geometries: []
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/coordinate-systems",
-          handle() {
-            return {
-              coordinatesystems: [
-                {
-                  coordinate_system: "",
-                  name: "world",
-                  reference_uid: "",
-                  position: [0, 0, 0],
-                  rotation: {
-                    angles: [0, 0, 0],
-                    type: "ROTATION_VECTOR"
-                  }
-                }
-              ]
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",
-          handle() {
-            return {
-              tcps: [
-                {
-                  id: "Flange",
-                  readable_name: "Default-Flange",
-                  position: [0, 0, 0],
-                  rotation: {
-                    angles: [0, 0, 0, 0],
-                    type: "ROTATION_VECTOR"
-                  }
-                },
-                {
-                  id: "complex-tcp-position",
-                  readable_name: "Complex TCP Position",
-                  position: [-200, 300, 150],
-                  rotation: {
-                    angles: [
-                      -0.12139440409113832,
-                      -0.06356210998212003,
-                      -0.2023240068185639,
-                      0
-                    ],
-                    type: "ROTATION_VECTOR"
-                  }
-                }
-              ]
-            };
-          }
-        }
-      ];
-      const method = ((_a = config.method) == null ? void 0 : _a.toUpperCase()) || "GET";
-      const path = `/cells${(_c = (_b = config.url) == null ? void 0 : _b.split("/cells")[1]) == null ? void 0 : _c.split("?")[0]}`;
-      for (const handler of apiHandlers) {
-        const match2 = pathToRegexp.match(handler.path)(path || "");
-        if (method === handler.method && match2) {
-          const json = handler.handle();
-          return {
-            status: 200,
-            statusText: "Success",
-            data: JSON.stringify(json),
-            headers: {},
-            config,
-            request: {
-              responseURL: config.url
-            }
-          };
-        }
-      }
-      throw new import_axios2.AxiosError(
-        `No mock handler matched this request: ${method} ${path}`,
-        "404",
-        config
-      );
-    });
-  }
-  handleWebsocketConnection(socket) {
-    this.connections.push(socket);
-    setTimeout(() => {
-      socket.dispatchEvent(new Event("open"));
-      console.log("Websocket connection opened from", socket.url);
-      if (socket.url.includes("/state-stream")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify(defaultMotionState)
-          })
-        );
-      }
-      if (socket.url.includes("/move-joint")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify({
-              result: {
-                motion_group: "0@ur",
-                state: {
-                  controller: "ur",
-                  operation_mode: "OPERATION_MODE_AUTO",
-                  safety_state: "SAFETY_STATE_NORMAL",
-                  timestamp: "2024-09-18T12:48:26.096266444Z",
-                  velocity_override: 100,
-                  motion_groups: [
-                    {
-                      motion_group: "0@ur",
-                      controller: "ur",
-                      joint_position: [
-                        1.3492152690887451,
-                        -1.5659207105636597,
-                        1.6653711795806885,
-                        -1.0991662740707397,
-                        -1.829018235206604,
-                        1.264623761177063
-                      ],
-                      joint_velocity: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      flange_pose: {
-                        position: [
-                          6.437331889439328,
-                          -628.4123774830913,
-                          577.0569957147832
-                        ],
-                        orientation: {
-                          x: -1.683333649797158,
-                          y: -1.9783363827298732,
-                          z: -0.4928031860165713
-                        },
-                        coordinate_system: ""
-                      },
-                      tcp_pose: {
-                        position: [
-                          6.437331889439328,
-                          -628.4123774830913,
-                          577.0569957147832
-                        ],
-                        orientation: {
-                          x: -1.683333649797158,
-                          y: -1.9783363827298732,
-                          z: -0.4928031860165713
-                        },
-                        coordinate_system: "",
-                        tcp: "Flange"
-                      },
-                      velocity: {
-                        linear: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        angular: {
-                          x: -0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      force: {
-                        force: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        moment: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      joint_limit_reached: {
-                        limit_reached: [
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                          false
-                        ]
-                      },
-                      joint_current: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      sequence_number: "671259"
-                    }
-                  ],
-                  sequence_number: "671259"
-                },
-                movement_state: "MOVEMENT_STATE_MOVING"
-              }
-            })
-          })
-        );
-      }
-      if (socket.url.includes("/move-tcp")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify({
-              result: {
-                motion_group: "0@ur",
-                state: {
-                  controller: "ur",
-                  operation_mode: "OPERATION_MODE_AUTO",
-                  safety_state: "SAFETY_STATE_NORMAL",
-                  timestamp: "2024-09-18T12:43:12.188335774Z",
-                  velocity_override: 100,
-                  motion_groups: [
-                    {
-                      motion_group: "0@ur",
-                      controller: "ur",
-                      joint_position: {
-                        joints: [
-                          1.3352527618408203,
-                          -1.5659207105636597,
-                          1.6653711795806885,
-                          -1.110615611076355,
-                          -1.829018235206604,
-                          1.264623761177063
-                        ]
-                      },
-                      joint_velocity: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      flange_pose: {
-                        position: [
-                          -2.763015284002938,
-                          -630.2151479701106,
-                          577.524509114342
-                        ],
-                        orientation: {
-                          x: -1.704794877102097,
-                          y: -1.9722372952861567,
-                          z: -0.4852079204210754
-                        },
-                        coordinate_system: ""
-                      },
-                      tcp_pose: {
-                        position: [
-                          -2.763015284002938,
-                          -630.2151479701106,
-                          577.524509114342
-                        ],
-                        orientation: {
-                          x: -1.704794877102097,
-                          y: -1.9722372952861567,
-                          z: -0.4852079204210754
-                        },
-                        coordinate_system: "",
-                        tcp: "Flange"
-                      },
-                      velocity: {
-                        linear: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        angular: {
-                          x: -0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      force: {
-                        force: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        moment: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      joint_limit_reached: {
-                        limit_reached: [
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                          false
-                        ]
-                      },
-                      joint_current: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      sequence_number: "627897"
-                    }
-                  ],
-                  sequence_number: "627897"
-                },
-                movement_state: "MOVEMENT_STATE_MOVING"
-              }
-            })
-          })
-        );
-      }
-    }, 10);
-  }
-  handleWebsocketMessage(socket, message) {
-    console.log(`Received message on ${socket.url}`, message);
-  }
-};
-var defaultMotionState = {
-  result: {
-    motion_group: "0@universalrobots-ur5e",
-    controller: "universalrobots-ur5e",
-    timestamp: (/* @__PURE__ */ new Date()).toISOString(),
-    sequence_number: 1,
-    joint_position: [
-      1.1699999570846558,
-      -1.5700000524520874,
-      1.3600000143051147,
-      1.0299999713897705,
-      1.2899999618530273,
-      1.2799999713897705
-    ],
-    joint_limit_reached: {
-      limit_reached: [false, false, false, false, false, false]
-    },
-    standstill: false,
-    flange_pose: {
-      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
-      orientation: [
-        1.7564919306270736,
-        -1.7542521568325058,
-        0.7326972590614671
-      ]
-    },
-    tcp_pose: {
-      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
-      orientation: [
-        1.7564919306270736,
-        -1.7542521568325058,
-        0.7326972590614671
-      ]
-    }
-  }
+	constructor() {
+		this.connections = [];
+	}
+	async handleAPIRequest(config) {
+		const apiHandlers = [
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers/:controllerId/state",
+				handle() {
+					return {
+						mode: "MODE_CONTROL",
+						last_error: [],
+						timestamp: "2025-10-16T09:19:26.634534092Z",
+						sequence_number: 1054764,
+						controller: "mock-ur5e",
+						operation_mode: "OPERATION_MODE_AUTO",
+						safety_state: "SAFETY_STATE_NORMAL",
+						velocity_override: 100,
+						motion_groups: [{
+							timestamp: "2025-10-16T09:19:26.634534092Z",
+							sequence_number: 1054764,
+							motion_group: "0@mock-ur5e",
+							controller: "mock-ur5e",
+							joint_position: [
+								1.487959623336792,
+								-1.8501918315887451,
+								1.8003005981445312,
+								6.034560203552246,
+								1.4921919107437134,
+								1.593459963798523
+							],
+							joint_limit_reached: { limit_reached: [
+								false,
+								false,
+								false,
+								false,
+								false,
+								false
+							] },
+							joint_torque: [],
+							joint_current: [
+								0,
+								0,
+								0,
+								0,
+								0,
+								0
+							],
+							flange_pose: {
+								position: [
+									107.6452433732927,
+									-409.0402987746852,
+									524.2402132330305
+								],
+								orientation: [
+									.9874434028353319,
+									-.986571714997442,
+									1.3336589451098142
+								]
+							},
+							tcp: "Flange",
+							tcp_pose: {
+								position: [
+									107.6452433732927,
+									-409.0402987746852,
+									524.2402132330305
+								],
+								orientation: [
+									.9874434028353319,
+									-.986571714997442,
+									1.3336589451098142
+								]
+							},
+							payload: "",
+							coordinate_system: "",
+							standstill: true
+						}]
+					};
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
+				handle() {
+					return [{
+						coordinate_system: "",
+						name: "world",
+						reference_coordinate_system: "",
+						position: [
+							0,
+							0,
+							0
+						],
+						orientation: [
+							0,
+							0,
+							0
+						],
+						orientation_type: "ROTATION_VECTOR"
+					}, {
+						coordinate_system: "CS-0",
+						name: "Default-CS",
+						reference_coordinate_system: "",
+						position: [
+							0,
+							0,
+							0
+						],
+						orientation: [
+							0,
+							0,
+							0
+						],
+						orientation_type: "ROTATION_VECTOR"
+					}];
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
+				handle() {
+					return {
+						motion_group_model: "UniversalRobots_UR5e",
+						mounting: {
+							position: [
+								0,
+								0,
+								0
+							],
+							orientation: [
+								0,
+								0,
+								0
+							]
+						},
+						tcps: {
+							Flange: {
+								name: "Default-Flange",
+								pose: {
+									position: [
+										0,
+										0,
+										0
+									],
+									orientation: [
+										0,
+										0,
+										0
+									]
+								}
+							},
+							"complex-tcp-position": {
+								name: "Complex TCP Position",
+								pose: {
+									position: [
+										-200,
+										300,
+										150
+									],
+									orientation: [
+										-.12139440409113832,
+										-.06356210998212003,
+										-.2023240068185639
+									]
+								}
+							},
+							"offset-150mm-xy": {
+								name: "-150mm XY Offset",
+								pose: {
+									position: [
+										-150,
+										-150,
+										0
+									],
+									orientation: [
+										0,
+										0,
+										0
+									]
+								}
+							},
+							"rotated-90deg-z": {
+								name: "90° Z Axis Rotation",
+								pose: {
+									position: [
+										0,
+										0,
+										0
+									],
+									orientation: [
+										0,
+										0,
+										1.5708
+									]
+								}
+							}
+						},
+						payloads: { "FPay-0": {
+							name: "FPay-0",
+							payload: 0,
+							center_of_mass: [
+								0,
+								0,
+								0
+							],
+							moment_of_inertia: [
+								0,
+								0,
+								0
+							]
+						} },
+						cycle_time: 8,
+						dh_parameters: [
+							{
+								alpha: 1.5707963267948966,
+								d: 162.25
+							},
+							{ a: -425 },
+							{ a: -392.2 },
+							{
+								alpha: 1.5707963267948966,
+								d: 133.3
+							},
+							{
+								alpha: -1.5707963267948966,
+								d: 99.7
+							},
+							{ d: 99.6 }
+						],
+						operation_limits: {
+							auto_limits: {
+								joints: [
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									}
+								],
+								tcp: { velocity: 5e3 },
+								elbow: { velocity: 5e3 },
+								flange: { velocity: 5e3 }
+							},
+							manual_limits: {
+								joints: [
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									}
+								],
+								tcp: { velocity: 5e3 }
+							},
+							manual_t1_limits: {
+								joints: [
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									}
+								],
+								tcp: { velocity: 5e3 }
+							},
+							manual_t2_limits: {
+								joints: [
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 150
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									},
+									{
+										position: {
+											lower_limit: -6.283185307179586,
+											upper_limit: 6.283185307179586
+										},
+										velocity: 3.34159255027771,
+										acceleration: 40,
+										torque: 28
+									}
+								],
+								tcp: { velocity: 5e3 }
+							}
+						},
+						serial_number: "WBVirtualRobot"
+					};
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers",
+				handle() {
+					return { controllers: [{
+						controller: "mock-ur5e",
+						model_name: "UniversalRobots::Controller",
+						host: "mock-ur5e",
+						allow_software_install_on_controller: true,
+						motion_groups: [{
+							motion_group: "0@mock-ur5e",
+							name_from_controller: "UR5e",
+							active: false,
+							model_from_controller: "UniversalRobots_UR5e"
+						}],
+						has_error: false,
+						error_details: ""
+					}] };
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers/:controllerId",
+				handle() {
+					return {
+						configuration: {
+							kind: "VirtualController",
+							manufacturer: "universalrobots",
+							type: "universalrobots-ur5e"
+						},
+						name: "mock-ur5"
+					};
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/motion-groups/:motionGroupId/specification",
+				handle() {
+					return {
+						dh_parameters: [
+							{
+								alpha: 1.5707963267948966,
+								theta: 0,
+								a: 0,
+								d: 162.25,
+								reverse_rotation_direction: false
+							},
+							{
+								alpha: 0,
+								theta: 0,
+								a: -425,
+								d: 0,
+								reverse_rotation_direction: false
+							},
+							{
+								alpha: 0,
+								theta: 0,
+								a: -392.2,
+								d: 0,
+								reverse_rotation_direction: false
+							},
+							{
+								alpha: 1.5707963267948966,
+								theta: 0,
+								a: 0,
+								d: 133.3,
+								reverse_rotation_direction: false
+							},
+							{
+								alpha: -1.5707963267948966,
+								theta: 0,
+								a: 0,
+								d: 99.7,
+								reverse_rotation_direction: false
+							},
+							{
+								alpha: 0,
+								theta: 0,
+								a: 0,
+								d: 99.6,
+								reverse_rotation_direction: false
+							}
+						],
+						mechanical_joint_limits: [
+							{
+								joint: "JOINTNAME_AXIS_1",
+								lower_limit: -6.335545063018799,
+								upper_limit: 6.335545063018799,
+								unlimited: false
+							},
+							{
+								joint: "JOINTNAME_AXIS_2",
+								lower_limit: -6.335545063018799,
+								upper_limit: 6.335545063018799,
+								unlimited: false
+							},
+							{
+								joint: "JOINTNAME_AXIS_3",
+								lower_limit: -6.335545063018799,
+								upper_limit: 6.335545063018799,
+								unlimited: false
+							},
+							{
+								joint: "JOINTNAME_AXIS_4",
+								lower_limit: -6.335545063018799,
+								upper_limit: 6.335545063018799,
+								unlimited: false
+							},
+							{
+								joint: "JOINTNAME_AXIS_5",
+								lower_limit: -6.335545063018799,
+								upper_limit: 6.335545063018799,
+								unlimited: false
+							},
+							{
+								joint: "JOINTNAME_AXIS_6",
+								lower_limit: -6.335545063018799,
+								upper_limit: 6.335545063018799,
+								unlimited: false
+							}
+						]
+					};
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/motion-groups/:motionGroupId/safety-setup",
+				handle() {
+					return {
+						safety_settings: [{
+							safety_state: "SAFETY_NORMAL",
+							settings: {
+								joint_position_limits: [
+									{
+										joint: "JOINTNAME_AXIS_1",
+										lower_limit: -2.96705961227417,
+										upper_limit: 2.96705961227417,
+										unlimited: false
+									},
+									{
+										joint: "JOINTNAME_AXIS_2",
+										lower_limit: -1.7453292608261108,
+										upper_limit: 2.7925267219543457,
+										unlimited: false
+									},
+									{
+										joint: "JOINTNAME_AXIS_3",
+										lower_limit: -3.3161256313323975,
+										upper_limit: .40142571926116943,
+										unlimited: false
+									},
+									{
+										joint: "JOINTNAME_AXIS_4",
+										lower_limit: -3.4906585216522217,
+										upper_limit: 3.4906585216522217,
+										unlimited: false
+									},
+									{
+										joint: "JOINTNAME_AXIS_5",
+										lower_limit: -2.4434609413146973,
+										upper_limit: 2.4434609413146973,
+										unlimited: false
+									},
+									{
+										joint: "JOINTNAME_AXIS_6",
+										lower_limit: -4.71238899230957,
+										upper_limit: 4.71238899230957,
+										unlimited: false
+									}
+								],
+								joint_velocity_limits: [
+									{
+										joint: "JOINTNAME_AXIS_1",
+										limit: 3.1415927410125732
+									},
+									{
+										joint: "JOINTNAME_AXIS_2",
+										limit: 3.1415927410125732
+									},
+									{
+										joint: "JOINTNAME_AXIS_3",
+										limit: 3.4906585216522217
+									},
+									{
+										joint: "JOINTNAME_AXIS_4",
+										limit: 6.108652591705322
+									},
+									{
+										joint: "JOINTNAME_AXIS_5",
+										limit: 6.108652591705322
+									},
+									{
+										joint: "JOINTNAME_AXIS_6",
+										limit: 6.981317043304443
+									}
+								],
+								joint_acceleration_limits: [],
+								joint_torque_limits: [],
+								tcp_velocity_limit: 1800
+							}
+						}],
+						safety_zones: [
+							{
+								id: 1,
+								priority: 0,
+								geometry: {
+									compound: { child_geometries: [
+										{
+											convex_hull: { vertices: [
+												{ vertex: [
+													-800,
+													-1330,
+													-1820
+												] },
+												{ vertex: [
+													1650,
+													-1330,
+													-1820
+												] },
+												{ vertex: [
+													1650,
+													1330,
+													-1820
+												] },
+												{ vertex: [
+													-800,
+													1330,
+													-1820
+												] }
+											] },
+											init_pose: {
+												position: [
+													0,
+													0,
+													0
+												],
+												orientation: [
+													0,
+													0,
+													0,
+													1
+												]
+											},
+											id: "box"
+										},
+										{
+											convex_hull: { vertices: [
+												{ vertex: [
+													-800,
+													-1330,
+													-1820
+												] },
+												{ vertex: [
+													1650,
+													-1330,
+													-1820
+												] },
+												{ vertex: [
+													1650,
+													-1330,
+													1500
+												] },
+												{ vertex: [
+													-800,
+													-1330,
+													1500
+												] }
+											] },
+											init_pose: {
+												position: [
+													0,
+													0,
+													0
+												],
+												orientation: [
+													0,
+													0,
+													0,
+													1
+												]
+											},
+											id: "box"
+										},
+										{
+											convex_hull: { vertices: [
+												{ vertex: [
+													-800,
+													-1330,
+													-1820
+												] },
+												{ vertex: [
+													-800,
+													1330,
+													-1820
+												] },
+												{ vertex: [
+													-800,
+													1330,
+													1500
+												] },
+												{ vertex: [
+													-800,
+													-1330,
+													1500
+												] }
+											] },
+											init_pose: {
+												position: [
+													0,
+													0,
+													0
+												],
+												orientation: [
+													0,
+													0,
+													0,
+													1
+												]
+											},
+											id: "box"
+										},
+										{
+											convex_hull: { vertices: [
+												{ vertex: [
+													1650,
+													1330,
+													1500
+												] },
+												{ vertex: [
+													-800,
+													1330,
+													1500
+												] },
+												{ vertex: [
+													-800,
+													-1330,
+													1500
+												] },
+												{ vertex: [
+													1650,
+													-1330,
+													1500
+												] }
+											] },
+											init_pose: {
+												position: [
+													0,
+													0,
+													0
+												],
+												orientation: [
+													0,
+													0,
+													0,
+													1
+												]
+											},
+											id: "box"
+										},
+										{
+											convex_hull: { vertices: [
+												{ vertex: [
+													1650,
+													1330,
+													1500
+												] },
+												{ vertex: [
+													-800,
+													1330,
+													1500
+												] },
+												{ vertex: [
+													-800,
+													1330,
+													-1820
+												] },
+												{ vertex: [
+													1650,
+													1330,
+													-1820
+												] }
+											] },
+											init_pose: {
+												position: [
+													0,
+													0,
+													0
+												],
+												orientation: [
+													0,
+													0,
+													0,
+													1
+												]
+											},
+											id: "box"
+										},
+										{
+											convex_hull: { vertices: [
+												{ vertex: [
+													1650,
+													1330,
+													1500
+												] },
+												{ vertex: [
+													1650,
+													-1330,
+													1500
+												] },
+												{ vertex: [
+													1650,
+													-1330,
+													-1820
+												] },
+												{ vertex: [
+													1650,
+													1330,
+													-1820
+												] }
+											] },
+											init_pose: {
+												position: [
+													0,
+													0,
+													0
+												],
+												orientation: [
+													0,
+													0,
+													0,
+													1
+												]
+											},
+											id: "box"
+										}
+									] },
+									init_pose: {
+										position: [
+											0,
+											0,
+											0
+										],
+										orientation: [
+											0,
+											0,
+											0,
+											1
+										]
+									},
+									id: "Cell workzone"
+								},
+								motion_group_uid: 1
+							},
+							{
+								id: 2,
+								priority: 0,
+								geometry: {
+									convex_hull: { vertices: [
+										{ vertex: [
+											1650,
+											1330,
+											-1850
+										] },
+										{ vertex: [
+											865,
+											1330,
+											-1850
+										] },
+										{ vertex: [
+											865,
+											-720,
+											-1850
+										] },
+										{ vertex: [
+											1650,
+											-720,
+											-1850
+										] },
+										{ vertex: [
+											1650,
+											1330,
+											-920
+										] },
+										{ vertex: [
+											865,
+											1330,
+											-920
+										] },
+										{ vertex: [
+											865,
+											-720,
+											-920
+										] },
+										{ vertex: [
+											1650,
+											-720,
+											-920
+										] }
+									] },
+									init_pose: {
+										position: [
+											0,
+											0,
+											0
+										],
+										orientation: [
+											0,
+											0,
+											0,
+											1
+										]
+									},
+									id: "Transport"
+								},
+								motion_group_uid: 1
+							},
+							{
+								id: 3,
+								priority: 0,
+								geometry: {
+									convex_hull: { vertices: [
+										{ vertex: [
+											1650,
+											1330,
+											-600
+										] },
+										{ vertex: [
+											865,
+											1330,
+											-600
+										] },
+										{ vertex: [
+											865,
+											430,
+											-600
+										] },
+										{ vertex: [
+											1650,
+											430,
+											-600
+										] },
+										{ vertex: [
+											1650,
+											1330,
+											-1250
+										] },
+										{ vertex: [
+											865,
+											1330,
+											-1250
+										] },
+										{ vertex: [
+											865,
+											430,
+											-1250
+										] },
+										{ vertex: [
+											1650,
+											430,
+											-1250
+										] }
+									] },
+									init_pose: {
+										position: [
+											0,
+											0,
+											0
+										],
+										orientation: [
+											0,
+											0,
+											0,
+											1
+										]
+									},
+									id: "Tunel"
+								},
+								motion_group_uid: 1
+							},
+							{
+								id: 4,
+								priority: 0,
+								geometry: {
+									convex_hull: { vertices: [
+										{ vertex: [
+											1650,
+											-760,
+											-440
+										] },
+										{ vertex: [
+											900,
+											-760,
+											-440
+										] },
+										{ vertex: [
+											900,
+											-1330,
+											-440
+										] },
+										{ vertex: [
+											1650,
+											-1330,
+											-440
+										] },
+										{ vertex: [
+											1650,
+											-760,
+											-1800
+										] },
+										{ vertex: [
+											900,
+											-760,
+											-1800
+										] },
+										{ vertex: [
+											900,
+											-1330,
+											-1800
+										] },
+										{ vertex: [
+											1650,
+											-1330,
+											-1800
+										] }
+									] },
+									init_pose: {
+										position: [
+											0,
+											0,
+											0
+										],
+										orientation: [
+											0,
+											0,
+											0,
+											1
+										]
+									},
+									id: "Fanuc controller"
+								},
+								motion_group_uid: 1
+							},
+							{
+								id: 6,
+								priority: 0,
+								geometry: {
+									convex_hull: { vertices: [
+										{ vertex: [
+											-200,
+											-200,
+											-1900
+										] },
+										{ vertex: [
+											200,
+											-200,
+											-1900
+										] },
+										{ vertex: [
+											200,
+											200,
+											-1900
+										] },
+										{ vertex: [
+											-200,
+											200,
+											-1900
+										] },
+										{ vertex: [
+											-200,
+											-200,
+											-350
+										] },
+										{ vertex: [
+											200,
+											-200,
+											-350
+										] },
+										{ vertex: [
+											200,
+											200,
+											-350
+										] },
+										{ vertex: [
+											-200,
+											200,
+											-350
+										] }
+									] },
+									init_pose: {
+										position: [
+											0,
+											0,
+											0
+										],
+										orientation: [
+											0,
+											0,
+											0,
+											1
+										]
+									},
+									id: "Robot base"
+								},
+								motion_group_uid: 1
+							}
+						],
+						robot_model_geometries: [
+							{
+								link_index: 1,
+								geometry: {
+									sphere: { radius: 270 },
+									init_pose: {
+										position: [
+											-70,
+											-70,
+											-50
+										],
+										orientation: [
+											0,
+											0,
+											0,
+											1
+										]
+									},
+									id: "link1_sphere"
+								}
+							},
+							{
+								link_index: 2,
+								geometry: {
+									capsule: {
+										radius: 160,
+										cylinder_height: 800
+									},
+									init_pose: {
+										position: [
+											-450,
+											40,
+											170
+										],
+										orientation: [
+											0,
+											-Math.SQRT1_2,
+											0,
+											Math.SQRT1_2
+										]
+									},
+									id: "link2_capsule"
+								}
+							},
+							{
+								link_index: 3,
+								geometry: {
+									sphere: { radius: 270 },
+									init_pose: {
+										position: [
+											-110,
+											10,
+											-100
+										],
+										orientation: [
+											0,
+											0,
+											0,
+											1
+										]
+									},
+									id: "link3_sphere"
+								}
+							},
+							{
+								link_index: 4,
+								geometry: {
+									capsule: {
+										radius: 110,
+										cylinder_height: 600
+									},
+									init_pose: {
+										position: [
+											0,
+											300,
+											40
+										],
+										orientation: [
+											-Math.SQRT1_2,
+											0,
+											0,
+											Math.SQRT1_2
+										]
+									},
+									id: "link4_capsule"
+								}
+							},
+							{
+								link_index: 5,
+								geometry: {
+									sphere: { radius: 75 },
+									init_pose: {
+										position: [
+											0,
+											0,
+											-50
+										],
+										orientation: [
+											0,
+											0,
+											0,
+											1
+										]
+									},
+									id: "link5_sphere"
+								}
+							}
+						],
+						tool_geometries: []
+					};
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",
+				handle() {
+					return { tcps: [{
+						id: "Flange",
+						readable_name: "Default-Flange",
+						position: [
+							0,
+							0,
+							0
+						],
+						rotation: {
+							angles: [
+								0,
+								0,
+								0,
+								0
+							],
+							type: "ROTATION_VECTOR"
+						}
+					}, {
+						id: "complex-tcp-position",
+						readable_name: "Complex TCP Position",
+						position: [
+							-200,
+							300,
+							150
+						],
+						rotation: {
+							angles: [
+								-.12139440409113832,
+								-.06356210998212003,
+								-.2023240068185639,
+								0
+							],
+							type: "ROTATION_VECTOR"
+						}
+					}] };
+				}
+			}
+		];
+		const method = config.method?.toUpperCase() || "GET";
+		const path = `/cells${config.url?.split("/cells")[1]?.split("?")[0]}`;
+		for (const handler of apiHandlers) {
+			const match = path_to_regexp.match(handler.path)(path || "");
+			if (method === handler.method && match) {
+				const json = handler.handle();
+				return {
+					status: 200,
+					statusText: "Success",
+					data: JSON.stringify(json),
+					headers: {},
+					config,
+					request: { responseURL: config.url }
+				};
+			}
+		}
+		throw new axios.AxiosError(`No mock handler matched this request: ${method} ${path}`, "404", config);
+	}
+	handleWebsocketConnection(socket) {
+		this.connections.push(socket);
+		setTimeout(() => {
+			socket.dispatchEvent(new Event("open"));
+			console.log("Websocket connection opened from", socket.url);
+			if (socket.url.includes("/state-stream")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify(defaultMotionState) }));
+			if (socket.url.includes("/move-joint")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify({ result: {
+				motion_group: "0@ur",
+				state: {
+					controller: "ur",
+					operation_mode: "OPERATION_MODE_AUTO",
+					safety_state: "SAFETY_STATE_NORMAL",
+					timestamp: "2024-09-18T12:48:26.096266444Z",
+					velocity_override: 100,
+					motion_groups: [{
+						motion_group: "0@ur",
+						controller: "ur",
+						joint_position: [
+							1.3492152690887451,
+							-1.5659207105636597,
+							1.6653711795806885,
+							-1.0991662740707397,
+							-1.829018235206604,
+							1.264623761177063
+						],
+						joint_velocity: { joints: [
+							0,
+							0,
+							0,
+							0,
+							0,
+							0
+						] },
+						flange_pose: {
+							position: [
+								6.437331889439328,
+								-628.4123774830913,
+								577.0569957147832
+							],
+							orientation: {
+								x: -1.683333649797158,
+								y: -1.9783363827298732,
+								z: -.4928031860165713
+							},
+							coordinate_system: ""
+						},
+						tcp_pose: {
+							position: [
+								6.437331889439328,
+								-628.4123774830913,
+								577.0569957147832
+							],
+							orientation: {
+								x: -1.683333649797158,
+								y: -1.9783363827298732,
+								z: -.4928031860165713
+							},
+							coordinate_system: "",
+							tcp: "Flange"
+						},
+						velocity: {
+							linear: {
+								x: 0,
+								y: 0,
+								z: 0
+							},
+							angular: {
+								x: -0,
+								y: 0,
+								z: 0
+							},
+							coordinate_system: ""
+						},
+						force: {
+							force: {
+								x: 0,
+								y: 0,
+								z: 0
+							},
+							moment: {
+								x: 0,
+								y: 0,
+								z: 0
+							},
+							coordinate_system: ""
+						},
+						joint_limit_reached: { limit_reached: [
+							false,
+							false,
+							false,
+							false,
+							false,
+							false
+						] },
+						joint_current: { joints: [
+							0,
+							0,
+							0,
+							0,
+							0,
+							0
+						] },
+						sequence_number: "671259"
+					}],
+					sequence_number: "671259"
+				},
+				movement_state: "MOVEMENT_STATE_MOVING"
+			} }) }));
+			if (socket.url.includes("/move-tcp")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify({ result: {
+				motion_group: "0@ur",
+				state: {
+					controller: "ur",
+					operation_mode: "OPERATION_MODE_AUTO",
+					safety_state: "SAFETY_STATE_NORMAL",
+					timestamp: "2024-09-18T12:43:12.188335774Z",
+					velocity_override: 100,
+					motion_groups: [{
+						motion_group: "0@ur",
+						controller: "ur",
+						joint_position: { joints: [
+							1.3352527618408203,
+							-1.5659207105636597,
+							1.6653711795806885,
+							-1.110615611076355,
+							-1.829018235206604,
+							1.264623761177063
+						] },
+						joint_velocity: { joints: [
+							0,
+							0,
+							0,
+							0,
+							0,
+							0
+						] },
+						flange_pose: {
+							position: [
+								-2.763015284002938,
+								-630.2151479701106,
+								577.524509114342
+							],
+							orientation: {
+								x: -1.704794877102097,
+								y: -1.9722372952861567,
+								z: -.4852079204210754
+							},
+							coordinate_system: ""
+						},
+						tcp_pose: {
+							position: [
+								-2.763015284002938,
+								-630.2151479701106,
+								577.524509114342
+							],
+							orientation: {
+								x: -1.704794877102097,
+								y: -1.9722372952861567,
+								z: -.4852079204210754
+							},
+							coordinate_system: "",
+							tcp: "Flange"
+						},
+						velocity: {
+							linear: {
+								x: 0,
+								y: 0,
+								z: 0
+							},
+							angular: {
+								x: -0,
+								y: 0,
+								z: 0
+							},
+							coordinate_system: ""
+						},
+						force: {
+							force: {
+								x: 0,
+								y: 0,
+								z: 0
+							},
+							moment: {
+								x: 0,
+								y: 0,
+								z: 0
+							},
+							coordinate_system: ""
+						},
+						joint_limit_reached: { limit_reached: [
+							false,
+							false,
+							false,
+							false,
+							false,
+							false
+						] },
+						joint_current: { joints: [
+							0,
+							0,
+							0,
+							0,
+							0,
+							0
+						] },
+						sequence_number: "627897"
+					}],
+					sequence_number: "627897"
+				},
+				movement_state: "MOVEMENT_STATE_MOVING"
+			} }) }));
+		}, 10);
+	}
+	handleWebsocketMessage(socket, message) {
+		console.log(`Received message on ${socket.url}`, message);
+	}
 };
+const defaultMotionState = { result: {
+	motion_group: "0@universalrobots-ur5e",
+	controller: "universalrobots-ur5e",
+	timestamp: (/* @__PURE__ */ new Date()).toISOString(),
+	sequence_number: 1,
+	joint_position: [
+		1.1699999570846558,
+		-1.5700000524520874,
+		1.3600000143051147,
+		1.0299999713897705,
+		1.2899999618530273,
+		1.2799999713897705
+	],
+	joint_limit_reached: { limit_reached: [
+		false,
+		false,
+		false,
+		false,
+		false,
+		false
+	] },
+	standstill: false,
+	flange_pose: {
+		position: [
+			1.3300010259703043,
+			-409.2680714682808,
+			531.0203477065281
+		],
+		orientation: [
+			1.7564919306270736,
+			-1.7542521568325058,
+			.7326972590614671
+		]
+	},
+	tcp_pose: {
+		position: [
+			1.3300010259703043,
+			-409.2680714682808,
+			531.0203477065281
+		],
+		orientation: [
+			1.7564919306270736,
+			-1.7542521568325058,
+			.7326972590614671
+		]
+	}
+} };
 
-// src/lib/v2/NovaClient.ts
+//#endregion
+//#region src/lib/v2/NovaClient.ts
+function permissiveInstanceUrlParse(url) {
+	if (!url.startsWith("http")) url = `http://${url}`;
+	return new URL(url).toString();
+}
+/**
+*
+* Client for connecting to a Nova instance and controlling robots.
+*/
 var NovaClient = class {
-  constructor(config) {
-    this.authPromise = null;
-    this.accessToken = null;
-    var _a;
-    console.warn("Using experimental NOVA v2 client");
-    const cellId = (_a = config.cellId) != null ? _a : "cell";
-    this.config = __spreadValues({
-      cellId
-    }, config);
-    this.accessToken = config.accessToken || availableStorage.getString("wbjs.access_token") || null;
-    if (this.config.instanceUrl === "https://mock.example.com") {
-      this.mock = new MockNovaInstance();
-    }
-    const axiosInstance = import_axios3.default.create({
-      baseURL: (0, import_url_join.default)(this.config.instanceUrl, "/api/v2"),
-      // TODO - backend needs to set proper CORS headers for this
-      headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : {
-        // Identify the client to the backend for logging purposes
-        "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK"
-      }
-    });
-    axiosInstance.interceptors.request.use((request) => __async(this, null, function* () {
-      if (!request.headers.Authorization) {
-        if (this.accessToken) {
-          request.headers.Authorization = `Bearer ${this.accessToken}`;
-        } else if (this.config.username && this.config.password) {
-          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`;
-        }
-      }
-      return request;
-    }));
-    if (typeof window !== "undefined") {
-      axiosInstance.interceptors.response.use(
-        (r) => r,
-        (error) => __async(this, null, function* () {
-          var _a2, _b;
-          if ((0, import_axios3.isAxiosError)(error)) {
-            if (((_a2 = error.response) == null ? void 0 : _a2.status) === 401) {
-              try {
-                yield this.renewAuthentication();
-                if (error.config) {
-                  if (this.accessToken) {
-                    error.config.headers.Authorization = `Bearer ${this.accessToken}`;
-                  } else {
-                    delete error.config.headers.Authorization;
-                  }
-                  return axiosInstance.request(error.config);
-                }
-              } catch (err) {
-                return Promise.reject(err);
-              }
-            } else if (((_b = error.response) == null ? void 0 : _b.status) === 503) {
-              const res = yield fetch(window.location.href);
-              if (res.status === 503) {
-                window.location.reload();
-              }
-            }
-          }
-          return Promise.reject(error);
-        })
-      );
-    }
-    this.api = new NovaCellAPIClient(cellId, __spreadProps(__spreadValues({}, config), {
-      basePath: (0, import_url_join.default)(this.config.instanceUrl, "/api/v1"),
-      isJsonMime: (mime) => {
-        return mime === "application/json";
-      },
-      baseOptions: __spreadValues(__spreadValues({}, this.mock ? {
-        adapter: (config2) => {
-          return this.mock.handleAPIRequest(config2);
-        }
-      } : {}), config.baseOptions),
-      axiosInstance
-    }));
-  }
-  renewAuthentication() {
-    return __async(this, null, function* () {
-      if (this.authPromise) {
-        return;
-      }
-      this.authPromise = loginWithAuth0(this.config.instanceUrl);
-      try {
-        this.accessToken = yield this.authPromise;
-        if (this.accessToken) {
-          availableStorage.setString("wbjs.access_token", this.accessToken);
-        } else {
-          availableStorage.delete("wbjs.access_token");
-        }
-      } finally {
-        this.authPromise = null;
-      }
-    });
-  }
-  makeWebsocketURL(path) {
-    const url = new URL(
-      (0, import_url_join.default)(
-        this.config.instanceUrl,
-        `/api/v1/cells/${this.config.cellId}`,
-        path
-      )
-    );
-    url.protocol = url.protocol.replace("http", "ws");
-    url.protocol = url.protocol.replace("https", "wss");
-    if (this.accessToken) {
-      url.searchParams.append("token", this.accessToken);
-    } else if (this.config.username && this.config.password) {
-      url.username = this.config.username;
-      url.password = this.config.password;
-    }
-    return url.toString();
-  }
-  /**
-   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
-   * If you explicitly want to reconnect an existing websocket, call `reconnect`
-   * on the returned object.
-   */
-  openReconnectingWebsocket(path) {
-    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {
-      mock: this.mock
-    });
-  }
+	constructor(config) {
+		this.authPromise = null;
+		this.accessToken = null;
+		const cellId = config.cellId ?? "cell";
+		this.config = {
+			cellId,
+			...config
+		};
+		this.accessToken = config.accessToken || require_LoginWithAuth0.availableStorage.getString("wbjs.access_token") || null;
+		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
+		else this.config.instanceUrl = permissiveInstanceUrlParse(this.config.instanceUrl);
+		const axiosInstance = axios.default.create({
+			baseURL: (0, url_join.default)(this.config.instanceUrl, "/api/v2"),
+			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
+		});
+		axiosInstance.interceptors.request.use(async (request) => {
+			if (!request.headers.Authorization) {
+				if (this.accessToken) request.headers.Authorization = `Bearer ${this.accessToken}`;
+				else if (this.config.username && this.config.password) request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`;
+			}
+			return request;
+		});
+		if (typeof window !== "undefined") axiosInstance.interceptors.response.use((r) => r, async (error) => {
+			if ((0, axios.isAxiosError)(error)) {
+				if (error.response?.status === 401) try {
+					await this.renewAuthentication();
+					if (error.config) {
+						if (this.accessToken) error.config.headers.Authorization = `Bearer ${this.accessToken}`;
+						else delete error.config.headers.Authorization;
+						return axiosInstance.request(error.config);
+					}
+				} catch (err) {
+					return Promise.reject(err);
+				}
+				else if (error.response?.status === 503) {
+					if ((await fetch(window.location.href)).status === 503) window.location.reload();
+				}
+			}
+			return Promise.reject(error);
+		});
+		this.api = new NovaCellAPIClient(cellId, {
+			...config,
+			basePath: (0, url_join.default)(this.config.instanceUrl, "/api/v2"),
+			isJsonMime: (mime) => {
+				return mime === "application/json";
+			},
+			baseOptions: {
+				...this.mock ? { adapter: (config$1) => {
+					return this.mock.handleAPIRequest(config$1);
+				} } : {},
+				...config.baseOptions
+			},
+			axiosInstance
+		});
+	}
+	async renewAuthentication() {
+		if (this.authPromise) return;
+		this.authPromise = require_LoginWithAuth0.loginWithAuth0(this.config.instanceUrl);
+		try {
+			this.accessToken = await this.authPromise;
+			if (this.accessToken) require_LoginWithAuth0.availableStorage.setString("wbjs.access_token", this.accessToken);
+			else require_LoginWithAuth0.availableStorage.delete("wbjs.access_token");
+		} finally {
+			this.authPromise = null;
+		}
+	}
+	makeWebsocketURL(path) {
+		const url = new URL((0, url_join.default)(this.config.instanceUrl, `/api/v2/cells/${this.config.cellId}`, path));
+		url.protocol = url.protocol.replace("http", "ws");
+		url.protocol = url.protocol.replace("https", "wss");
+		if (this.accessToken) url.searchParams.append("token", this.accessToken);
+		else if (this.config.username && this.config.password) {
+			url.username = this.config.username;
+			url.password = this.config.password;
+		}
+		return url.toString();
+	}
+	/**
+	* Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
+	* If you explicitly want to reconnect an existing websocket, call `reconnect`
+	* on the returned object.
+	*/
+	openReconnectingWebsocket(path) {
+		return new require_LoginWithAuth0.AutoReconnectingWebsocket(this.makeWebsocketURL(path), { mock: this.mock });
+	}
 };
-// Annotate the CommonJS export names for ESM import in node:
-0 && (module.exports = {
-  NovaCellAPIClient,
-  NovaClient,
-  ...require("@wandelbots/nova-api/v2")
+
+//#endregion
+//#region src/lib/v2/wandelscriptUtils.ts
+/**
+* Convert a Pose object representing a motion group position
+* into a string which represents that pose in Wandelscript.
+*/
+function poseToWandelscriptString(pose) {
+	const position = [
+		pose.position?.[0] ?? 0,
+		pose.position?.[1] ?? 0,
+		pose.position?.[2] ?? 0
+	];
+	const orientation = [
+		pose.orientation?.[0] ?? 0,
+		pose.orientation?.[1] ?? 0,
+		pose.orientation?.[2] ?? 0
+	];
+	const positionValues = position.map((v) => v.toFixed(1));
+	const rotationValues = orientation.map((v) => v.toFixed(4));
+	return `(${positionValues.concat(rotationValues).join(", ")})`;
+}
+
+//#endregion
+exports.NovaCellAPIClient = NovaCellAPIClient;
+exports.NovaClient = NovaClient;
+exports.poseToWandelscriptString = poseToWandelscriptString;
+Object.keys(__wandelbots_nova_api_v2).forEach(function (k) {
+  if (k !== 'default' && !Object.prototype.hasOwnProperty.call(exports, k)) Object.defineProperty(exports, k, {
+    enumerable: true,
+    get: function () { return __wandelbots_nova_api_v2[k]; }
+  });
 });
+
 //# sourceMappingURL=index.cjs.map