@wandelbots/nova-js 3.2.0 → 3.3.0

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

@@ -0,0 +1 @@
+{"version":3,"file":"index.mjs","names":["cellId: string","opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    }","config"],"sources":["../../../src/lib/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/v2/NovaClient.ts","../../../src/lib/v2/wandelscriptUtils.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels = this.withCellId(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n}\n","import type { MotionGroupState, RobotController } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/state\",\n        handle() {\n          return {\n            mode: \"MODE_CONTROL\",\n            last_error: [],\n            timestamp: \"2025-10-16T09:19:26.634534092Z\",\n            sequence_number: 1054764,\n            controller: \"mock-ur5e\",\n            operation_mode: \"OPERATION_MODE_AUTO\",\n            safety_state: \"SAFETY_STATE_NORMAL\",\n            velocity_override: 100,\n            motion_groups: [\n              {\n                timestamp: \"2025-10-16T09:19:26.634534092Z\",\n                sequence_number: 1054764,\n                motion_group: \"0@mock-ur5e\",\n                controller: \"mock-ur5e\",\n                joint_position: [\n                  1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n                  6.034560203552246, 1.4921919107437134, 1.593459963798523,\n                ],\n                joint_limit_reached: {\n                  limit_reached: [false, false, false, false, false, false],\n                },\n                joint_torque: [],\n                joint_current: [0, 0, 0, 0, 0, 0],\n                flange_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                tcp: \"Flange\",\n                tcp_pose: {\n                  position: [\n                    107.6452433732927, -409.0402987746852, 524.2402132330305,\n                  ],\n                  orientation: [\n                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n                  ],\n                },\n                payload: \"\",\n                coordinate_system: \"\",\n                standstill: true,\n              },\n            ],\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n        handle() {\n          return [\n            {\n              coordinate_system: \"\",\n              name: \"world\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n            {\n              coordinate_system: \"CS-0\",\n              name: \"Default-CS\",\n              reference_coordinate_system: \"\",\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n              orientation_type: \"ROTATION_VECTOR\",\n            },\n          ] //satisfies CoordinateSystems\n        },\n      },\n\n      // As you need, add more mock requests here...\n      // Below is mostly V1:\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n        handle() {\n          return {\n            motion_group_model: \"UniversalRobots_UR5e\",\n            mounting: {\n              position: [0, 0, 0],\n              orientation: [0, 0, 0],\n            },\n            tcps: {\n              Flange: {\n                name: \"Default-Flange\",\n                pose: {\n                  position: [0, 0, 0],\n                  orientation: [0, 0, 0],\n                },\n              },\n              \"complex-tcp-position\": {\n                name: \"Complex TCP Position\",\n                pose: {\n                  position: [-200, 300, 150],\n                  orientation: [\n                    -0.12139440409113832, -0.06356210998212003,\n                    -0.2023240068185639,\n                  ],\n                },\n              },\n              \"offset-150mm-xy\": {\n                name: \"-150mm XY Offset\",\n                pose: {\n                  position: [-150, -150, 0],\n                  orientation: [0, 0, 0],\n                },\n              },\n              \"rotated-90deg-z\": {\n                name: \"90° Z Axis Rotation\",\n                pose: {\n                  position: [0, 0, 0],\n                  orientation: [0, 0, 1.5708],\n                },\n              },\n            },\n            payloads: {\n              \"FPay-0\": {\n                name: \"FPay-0\",\n                payload: 0,\n                center_of_mass: [0, 0, 0],\n                moment_of_inertia: [0, 0, 0],\n              },\n            },\n            cycle_time: 8,\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                d: 162.25,\n              },\n              {\n                a: -425,\n              },\n              {\n                a: -392.2,\n              },\n              {\n                alpha: 1.5707963267948966,\n                d: 133.3,\n              },\n              {\n                alpha: -1.5707963267948966,\n                d: 99.7,\n              },\n              {\n                d: 99.6,\n              },\n            ],\n            operation_limits: {\n              auto_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n                elbow: {\n                  velocity: 5000,\n                },\n                flange: {\n                  velocity: 5000,\n                },\n              },\n              manual_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t1_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n              manual_t2_limits: {\n                joints: [\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 150,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                  {\n                    position: {\n                      lower_limit: -6.283185307179586,\n                      upper_limit: 6.283185307179586,\n                    },\n                    velocity: 3.34159255027771,\n                    acceleration: 40,\n                    torque: 28,\n                  },\n                ],\n                tcp: {\n                  velocity: 5000,\n                },\n              },\n            },\n            serial_number: \"WBVirtualRobot\",\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return {\n            controllers: [\n              {\n                controller: \"mock-ur5e\",\n                model_name: \"UniversalRobots::Controller\",\n                host: \"mock-ur5e\",\n                allow_software_install_on_controller: true,\n                motion_groups: [\n                  {\n                    motion_group: \"0@mock-ur5e\",\n                    name_from_controller: \"UR5e\",\n                    active: false,\n                    model_from_controller: \"UniversalRobots_UR5e\",\n                  },\n                ],\n                has_error: false,\n                error_details: \"\",\n              },\n            ],\n          }\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n        handle() {\n          return {\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 162.25,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -425,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -392.2,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 133.3,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: -1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 99.7,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: 0,\n                d: 99.6,\n                reverse_rotation_direction: false,\n              },\n            ],\n            mechanical_joint_limits: [\n              {\n                joint: \"JOINTNAME_AXIS_1\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_2\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_3\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_4\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_5\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_6\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n            ],\n          } // Mock motion group specification\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n        handle() {\n          return {\n            safety_settings: [\n              {\n                safety_state: \"SAFETY_NORMAL\",\n                settings: {\n                  joint_position_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      lower_limit: -2.96705961227417,\n                      upper_limit: 2.96705961227417,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      lower_limit: -1.7453292608261108,\n                      upper_limit: 2.7925267219543457,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      lower_limit: -3.3161256313323975,\n                      upper_limit: 0.40142571926116943,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      lower_limit: -3.4906585216522217,\n                      upper_limit: 3.4906585216522217,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      lower_limit: -2.4434609413146973,\n                      upper_limit: 2.4434609413146973,\n                      unlimited: false,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      lower_limit: -4.71238899230957,\n                      upper_limit: 4.71238899230957,\n                      unlimited: false,\n                    },\n                  ],\n                  joint_velocity_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_2\",\n                      limit: 3.1415927410125732,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_3\",\n                      limit: 3.4906585216522217,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_4\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_5\",\n                      limit: 6.108652591705322,\n                    },\n                    {\n                      joint: \"JOINTNAME_AXIS_6\",\n                      limit: 6.981317043304443,\n                    },\n                  ],\n                  joint_acceleration_limits: [],\n                  joint_torque_limits: [],\n                  tcp_velocity_limit: 1800,\n                },\n              },\n            ],\n            safety_zones: [\n              {\n                id: 1,\n                priority: 0,\n                geometry: {\n                  compound: {\n                    child_geometries: [\n                      {\n                        convex_hull: {\n                          vertices: [\n                            { vertex: [-800, -1330, -1820] },\n                            { vertex: [1650, -1330, -1820] },\n                            { vertex: [1650, 1330, -1820] },\n                            { vertex: [-800, 1330, -1820] },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [-800, -1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, 1500],\n                            },\n                            {\n                              vertex: [-800, 1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                      {\n                        convex_hull: {\n                          vertices: [\n                            {\n                              vertex: [1650, 1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, 1500],\n                            },\n                            {\n                              vertex: [1650, -1330, -1820],\n                            },\n                            {\n                              vertex: [1650, 1330, -1820],\n                            },\n                          ],\n                        },\n                        init_pose: {\n                          position: [0, 0, 0],\n                          orientation: [0, 0, 0, 1],\n                        },\n                        id: \"box\",\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Cell workzone\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 2,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, 1330, -1850],\n                      },\n                      {\n                        vertex: [865, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, -720, -1850],\n                      },\n                      {\n                        vertex: [1650, 1330, -920],\n                      },\n                      {\n                        vertex: [865, 1330, -920],\n                      },\n                      {\n                        vertex: [865, -720, -920],\n                      },\n                      {\n                        vertex: [1650, -720, -920],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Transport\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 3,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 1330, -600],\n                      },\n                      {\n                        vertex: [865, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 430, -600],\n                      },\n                      {\n                        vertex: [1650, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 1330, -1250],\n                      },\n                      {\n                        vertex: [865, 430, -1250],\n                      },\n                      {\n                        vertex: [1650, 430, -1250],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Tunel\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 4,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [1650, -760, -440],\n                      },\n                      {\n                        vertex: [900, -760, -440],\n                      },\n                      {\n                        vertex: [900, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -1330, -440],\n                      },\n                      {\n                        vertex: [1650, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -760, -1800],\n                      },\n                      {\n                        vertex: [900, -1330, -1800],\n                      },\n                      {\n                        vertex: [1650, -1330, -1800],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Fanuc controller\",\n                },\n                motion_group_uid: 1,\n              },\n              {\n                id: 6,\n                priority: 0,\n                geometry: {\n                  convex_hull: {\n                    vertices: [\n                      {\n                        vertex: [-200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, -200, -1900],\n                      },\n                      {\n                        vertex: [200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, 200, -1900],\n                      },\n                      {\n                        vertex: [-200, -200, -350],\n                      },\n                      {\n                        vertex: [200, -200, -350],\n                      },\n                      {\n                        vertex: [200, 200, -350],\n                      },\n                      {\n                        vertex: [-200, 200, -350],\n                      },\n                    ],\n                  },\n                  init_pose: {\n                    position: [0, 0, 0],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"Robot base\",\n                },\n                motion_group_uid: 1,\n              },\n            ],\n            robot_model_geometries: [\n              {\n                link_index: 1,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-70, -70, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link1_sphere\",\n                },\n              },\n              {\n                link_index: 2,\n                geometry: {\n                  capsule: {\n                    radius: 160,\n                    cylinder_height: 800,\n                  },\n                  init_pose: {\n                    position: [-450, 40, 170],\n                    orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2],\n                  },\n                  id: \"link2_capsule\",\n                },\n              },\n              {\n                link_index: 3,\n                geometry: {\n                  sphere: {\n                    radius: 270,\n                  },\n                  init_pose: {\n                    position: [-110, 10, -100],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link3_sphere\",\n                },\n              },\n              {\n                link_index: 4,\n                geometry: {\n                  capsule: {\n                    radius: 110,\n                    cylinder_height: 600,\n                  },\n                  init_pose: {\n                    position: [0, 300, 40],\n                    orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2],\n                  },\n                  id: \"link4_capsule\",\n                },\n              },\n              {\n                link_index: 5,\n                geometry: {\n                  sphere: {\n                    radius: 75,\n                  },\n                  init_pose: {\n                    position: [0, 0, -50],\n                    orientation: [0, 0, 0, 1],\n                  },\n                  id: \"link5_sphere\",\n                },\n              },\n            ],\n            tool_geometries: [],\n          } // Mock safety setup\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/tcps\",\n        handle() {\n          return {\n            tcps: [\n              {\n                id: \"Flange\",\n                readable_name: \"Default-Flange\",\n                position: [0, 0, 0],\n                rotation: {\n                  angles: [0, 0, 0, 0],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n              {\n                id: \"complex-tcp-position\",\n                readable_name: \"Complex TCP Position\",\n                position: [-200, 300, 150],\n                rotation: {\n                  angles: [\n                    -0.12139440409113832, -0.06356210998212003,\n                    -0.2023240068185639, 0,\n                  ],\n                  type: \"ROTATION_VECTOR\",\n                },\n              },\n            ],\n          }\n        },\n      },\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    const path = `/cells${config.url?.split(\"/cells\")[1]?.split(\"?\")[0]}`\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path || \"\")\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n\n    // return {\n    //   status: 404,\n    //   statusText: \"Not Found\",\n    //   data: \"\",\n    //   headers: {},\n    //   config,\n    //   request: {\n    //     responseURL: config.url,\n    //   },\n    // }\n  }\n\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-joint\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:48:26.096266444Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: [\n                        1.3492152690887451, -1.5659207105636597,\n                        1.6653711795806885, -1.0991662740707397,\n                        -1.829018235206604, 1.264623761177063,\n                      ],\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          6.437331889439328, -628.4123774830913,\n                          577.0569957147832,\n                        ],\n                        orientation: {\n                          x: -1.683333649797158,\n                          y: -1.9783363827298732,\n                          z: -0.4928031860165713,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"671259\",\n                    },\n                  ],\n                  sequence_number: \"671259\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/move-tcp\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                motion_group: \"0@ur\",\n                state: {\n                  controller: \"ur\",\n                  operation_mode: \"OPERATION_MODE_AUTO\",\n                  safety_state: \"SAFETY_STATE_NORMAL\",\n                  timestamp: \"2024-09-18T12:43:12.188335774Z\",\n                  velocity_override: 100,\n                  motion_groups: [\n                    {\n                      motion_group: \"0@ur\",\n                      controller: \"ur\",\n                      joint_position: {\n                        joints: [\n                          1.3352527618408203, -1.5659207105636597,\n                          1.6653711795806885, -1.110615611076355,\n                          -1.829018235206604, 1.264623761177063,\n                        ],\n                      },\n                      joint_velocity: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      flange_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      tcp_pose: {\n                        position: [\n                          -2.763015284002938, -630.2151479701106,\n                          577.524509114342,\n                        ],\n                        orientation: {\n                          x: -1.704794877102097,\n                          y: -1.9722372952861567,\n                          z: -0.4852079204210754,\n                        },\n                        coordinate_system: \"\",\n                        tcp: \"Flange\",\n                      },\n                      velocity: {\n                        linear: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        angular: {\n                          x: -0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      force: {\n                        force: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        moment: {\n                          x: 0,\n                          y: 0,\n                          z: 0,\n                        },\n                        coordinate_system: \"\",\n                      },\n                      joint_limit_reached: {\n                        limit_reached: [\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                          false,\n                        ],\n                      },\n                      joint_current: {\n                        joints: [0, 0, 0, 0, 0, 0],\n                      },\n                      sequence_number: \"627897\",\n                    },\n                  ],\n                  sequence_number: \"627897\",\n                },\n                movement_state: \"MOVEMENT_STATE_MOVING\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\nfunction permissiveInstanceUrlParse(url: string): string {\n  if (!url.startsWith(\"http\")) {\n    url = `http://${url}`\n  }\n\n  return new URL(url).toString()\n}\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    } else {\n      this.config.instanceUrl = permissiveInstanceUrlParse(\n        this.config.instanceUrl,\n      )\n    }\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.config.instanceUrl, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    this.authPromise = loginWithAuth0(this.config.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.config.instanceUrl,\n        `/api/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", 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package/package.json

@@ -1,38 +1,39 @@
 {
   "name": "@wandelbots/nova-js",
   "type": "module",
-  "version": "3.2.0",
+  "version": "3.3.0",
   "description": "Official JS client for the Wandelbots API",
   "sideEffects": false,
-  "packageManager": "pnpm@10.15.0",
+  "packageManager": "pnpm@10.19.0",
   "exports": {
     ".": {
-      "import": "./dist/index.js",
+      "import": "./dist/index.mjs",
       "require": "./dist/index.cjs"
     },
     "./v1": {
-      "import": "./dist/lib/v1/index.js",
+      "import": "./dist/lib/v1/index.mjs",
       "require": "./dist/lib/v1/index.cjs"
     },
     "./v2": {
-      "import": "./dist/lib/v2/index.js",
+      "import": "./dist/lib/v2/index.mjs",
       "require": "./dist/lib/v2/index.cjs"
     }
   },
-  "main": "./dist/index.js",
+  "main": "./dist/index.mjs",
   "types": "./dist/index.d.ts",
   "files": [
     "dist",
     "src"
   ],
   "scripts": {
-    "dev:pack": "nodemon -w \".\" -e ts -i *.tgz -i dist -x \"nr build && npm pack\"",
+    "dev:pack": "nodemon -w \".\" -e ts -i *.tgz -i dist -x \"pnpm run build && pnpm pack\"",
     "tsc": "tsc --pretty --noEmit",
     "lint": "biome check --error-on-warnings .",
     "format": "biome format . --write",
     "knip": "knip",
-    "build": "tsup src/index.ts src/lib/v1/index.ts src/lib/v2/index.ts --format esm,cjs --clean --sourcemap --env.NOVA_AUTH0_DEV_CLIENT_ID=$NOVA_AUTH0_DEV_CLIENT_ID --env.NOVA_AUTH0_STG_CLIENT_ID=$NOVA_AUTH0_STG_CLIENT_ID --env.NOVA_AUTH0_PROD_CLIENT_ID=$NOVA_AUTH0_PROD_CLIENT_ID && tsc --declaration --emitDeclarationOnly",
-    "test": "nr build && vitest run"
+    "build": "tsdown src/index.ts src/lib/v1/index.ts src/lib/v2/index.ts --format esm,cjs --clean --sourcemap",
+    "test": "pnpm run build && vitest run",
+    "e2e": "vitest run --config vitest.e2e.config.ts"
   },
   "repository": {
     "type": "git",
@@ -46,25 +47,26 @@
   "author": "Wandelbots",
   "license": "Apache-2.0",
   "devDependencies": {
-    "@antfu/ni": "^25.0.0",
-    "@biomejs/biome": "^2.2.2",
-    "knip": "^5.63.1",
+    "@biomejs/biome": "^2.3.3",
+    "@types/lodash-es": "^4.17.12",
+    "knip": "^5.66.2",
+    "lodash-es": "^4.17.21",
     "nodemon": "^3.1.9",
     "semantic-release": "^24.2.7",
-    "tsup": "^8.5.0",
-    "typescript": "^5.8.2",
-    "vitest": "^3.2.4",
+    "tsdown": "^0.16.0",
+    "typescript": "^5.9.3",
+    "vitest": "^4.0.6",
     "ws": "^8.18.1"
   },
   "dependencies": {
     "@auth0/auth0-spa-js": "^2.1.3",
-    "@types/three": "^0.174.0",
-    "@wandelbots/nova-api": "^25.9.0-dev.13",
-    "axios": "^1.12.2",
+    "@types/three": "^0.181.0",
+    "@wandelbots/nova-api": "^25.9.1",
+    "axios": "^1.13.1",
     "mobx": "^6.13.6",
     "path-to-regexp": "^8.2.0",
     "reconnecting-websocket": "^4.4.0",
-    "three": "^0.174.0",
+    "three": "^0.181.0",
     "url-join": "^5.0.0"
   }
 }

package/src/LoginWithAuth0.ts

@@ -1,31 +1,31 @@
 const DOMAIN_SUFFIX = "wandelbots.io"
 
-/** process.env is injected by tsup --env, so these are inlined at build time */
-declare const process: {
-  env: Record<string, string | undefined>
-}
-
-/** Mapping of stages to Auth0 configurations */
+/**
+ * Mapping of stages to Auth0 configurations.
+ * The client ids are public identifiers for a specific auth0 application
+ * and are safe to include in client-side code.
+ * https://auth0.com/docs/get-started/applications/application-settings
+ */
 const auth0ConfigMap = {
   dev: {
     domain: `https://auth.portal.dev.${DOMAIN_SUFFIX}`,
-    clientId: process.env.NOVA_AUTH0_DEV_CLIENT_ID,
+    clientId: "fLbJD0RLp5r2Dpucm5j8BjwMR6Hunfha",
   },
   stg: {
     domain: `https://auth.portal.stg.${DOMAIN_SUFFIX}`,
-    clientId: process.env.NOVA_AUTH0_STG_CLIENT_ID,
+    clientId: "joVDeD9e786WzFNSGCqoVq7HNkWt5j6s",
   },
   prod: {
     domain: `https://auth.portal.${DOMAIN_SUFFIX}`,
-    clientId: process.env.NOVA_AUTH0_PROD_CLIENT_ID,
+    clientId: "J7WJUi38xVQdJAEBNRT9Xw1b0fXDb4J2",
   },
 }
 
 /** Determine which Auth0 configuration to use based on instance URL  */
 const getAuth0Config = (instanceUrl: string) => {
-  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
+  if (instanceUrl.endsWith(`dev.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.dev
+  if (instanceUrl.endsWith(`stg.${DOMAIN_SUFFIX}`)) return auth0ConfigMap.stg
+  if (instanceUrl.endsWith(DOMAIN_SUFFIX)) return auth0ConfigMap.prod
   throw new Error(
     "Unsupported instance URL. Cannot determine Auth0 configuration.",
   )

package/src/index.ts

@@ -3,3 +3,5 @@ export * from "./lib/availableStorage"
 export * from "./lib/converters"
 export * from "./lib/errorHandling"
 export * from "./LoginWithAuth0"
+export * from "./lib/v1/wandelscriptUtils"
+export * from "./lib/v1/NovaClient" // top-level export will be removed in v4.0

package/src/lib/converters.ts

@@ -1,5 +1,3 @@
-import type { Pose } from "@wandelbots/nova-api/v1"
-
 /** Try to parse something as JSON; return undefined if we can't */
 // biome-ignore lint/suspicious/noExplicitAny: it's json
 export function tryParseJson(json: unknown): any {
@@ -39,27 +37,6 @@ export function degreesToRadians(degrees: number): number {
   return degrees * (Math.PI / 180)
 }
 
-/**
- * Convert a Pose object representing a motion group position
- * into a string which represents that pose in Wandelscript.
- */
-export function poseToWandelscriptString(
-  pose: Pick<Pose, "position" | "orientation">,
-) {
-  const position = [pose.position.x, pose.position.y, pose.position.z]
-  const orientation = [
-    pose.orientation?.x ?? 0,
-    pose.orientation?.y ?? 0,
-    pose.orientation?.z ?? 0,
-  ]
-
-  const positionValues = position.map((v) => v.toFixed(1))
-  // Rotation needs more precision since it's in radians
-  const rotationValues = orientation.map((v) => v.toFixed(4))
-
-  return `(${positionValues.concat(rotationValues).join(", ")})`
-}
-
 /**
  * Check for coordinate system id equivalence, accounting for the "world" default
  * on empty/undefined values.
@@ -73,3 +50,8 @@ export function isSameCoordinateSystem(
 
   return firstCoordSystem === secondCoordSystem
 }
+
+/**
+ * Helpful const for converting {x, y, z} to [x, y, z] and vice versa
+ */
+export const XYZ_TO_VECTOR = { x: 0, y: 1, z: 2 }

package/src/lib/v1/MotionStreamConnection.ts

@@ -81,7 +81,6 @@ export class MotionStreamConnection {
 
     // Wait for the first message to get the initial state
     const firstMessage = await motionStateSocket.firstMessage()
-    console.log("got first message", firstMessage)
     const initialMotionState = tryParseJson(firstMessage.data)
       ?.result as MotionGroupStateResponse
 

package/src/lib/v1/NovaClient.ts

@@ -1,3 +1,8 @@
+/**
+ * @fileoverview
+ * @deprecated The nova v1 client is deprecated. Please use the v2 client from `@wandelbots/nova-js/v2` instead.
+ */
+
 import type { Configuration as BaseConfiguration } from "@wandelbots/nova-api/v1"
 import type { AxiosRequestConfig } from "axios"
 import axios, { isAxiosError } from "axios"
@@ -44,8 +49,17 @@ export type NovaClientConfig = {
 
 type NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }
 
+function permissiveInstanceUrlParse(url: string): string {
+  if (!url.startsWith("http")) {
+    url = `http://${url}`
+  }
+
+  return new URL(url).toString()
+}
+
 /**
  * Client for connecting to a Nova instance and controlling robots.
+ * @deprecated The nova v1 client is deprecated. Please use the v2 client from `@wandelbots/nova-js/v2` instead.
  */
 export class NovaClient {
   readonly api: NovaCellAPIClient
@@ -67,6 +81,10 @@ export class NovaClient {
 
     if (this.config.instanceUrl === "https://mock.example.com") {
       this.mock = new MockNovaInstance()
+    } else {
+      this.config.instanceUrl = permissiveInstanceUrlParse(
+        this.config.instanceUrl,
+      )
     }
 
     // Set up Axios instance with interceptor for token fetching

package/src/lib/v1/index.ts

@@ -1,3 +1,8 @@
+/**
+ * @fileoverview
+ * @deprecated The nova v1 client is deprecated. Please use the v2 client from `@wandelbots/nova-js/v2` instead.
+ */
+
 export * from "@wandelbots/nova-api/v1"
 export * from "./ConnectedMotionGroup"
 export * from "./getLatestTrajectories"
@@ -6,3 +11,4 @@ export * from "./MotionStreamConnection"
 export * from "./NovaCellAPIClient"
 export * from "./NovaClient"
 export * from "./ProgramStateConnection"
+export * from "./wandelscriptUtils"

package/src/lib/v1/mock/MockNovaInstance.ts

@@ -11,7 +11,6 @@ import * as pathToRegexp from "path-to-regexp"
 import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
 
 /**
- * EXPERIMENTAL
  * Ultra-simplified mock Nova server for testing stuff
  */
 export class MockNovaInstance {

package/src/lib/v1/wandelscriptUtils.ts

@@ -0,0 +1,22 @@
+import type { Pose } from "@wandelbots/nova-api/v1"
+
+/**
+ * Convert a Pose object representing a motion group position
+ * into a string which represents that pose in Wandelscript.
+ */
+export function poseToWandelscriptString(
+  pose: Pick<Pose, "position" | "orientation">,
+) {
+  const position = [pose.position.x, pose.position.y, pose.position.z]
+  const orientation = [
+    pose.orientation?.x ?? 0,
+    pose.orientation?.y ?? 0,
+    pose.orientation?.z ?? 0,
+  ]
+
+  const positionValues = position.map((v) => v.toFixed(1))
+  // Rotation needs more precision since it's in radians
+  const rotationValues = orientation.map((v) => v.toFixed(4))
+
+  return `(${positionValues.concat(rotationValues).join(", ")})`
+}

package/src/lib/v2/NovaClient.ts

@@ -42,11 +42,15 @@ export type NovaClientConfig = {
 
 type NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }
 
+function permissiveInstanceUrlParse(url: string): string {
+  if (!url.startsWith("http")) {
+    url = `http://${url}`
+  }
+
+  return new URL(url).toString()
+}
+
 /**
- * EXPERIMENTAL
- *
- * This client provides a starting point to migrate NOVA api v2.
- * As v2 is still in development, this client has to be considered unstable
  *
  * Client for connecting to a Nova instance and controlling robots.
  */
@@ -58,7 +62,6 @@ export class NovaClient {
   accessToken: string | null = null
 
   constructor(config: NovaClientConfig) {
-    console.warn("Using experimental NOVA v2 client")
     const cellId = config.cellId ?? "cell"
     this.config = {
       cellId,
@@ -71,6 +74,10 @@ export class NovaClient {
 
     if (this.config.instanceUrl === "https://mock.example.com") {
       this.mock = new MockNovaInstance()
+    } else {
+      this.config.instanceUrl = permissiveInstanceUrlParse(
+        this.config.instanceUrl,
+      )
     }
 
     // Set up Axios instance with interceptor for token fetching
@@ -137,7 +144,7 @@ export class NovaClient {
 
     this.api = new NovaCellAPIClient(cellId, {
       ...config,
-      basePath: urlJoin(this.config.instanceUrl, "/api/v1"),
+      basePath: urlJoin(this.config.instanceUrl, "/api/v2"),
       isJsonMime: (mime: string) => {
         return mime === "application/json"
       },
@@ -179,7 +186,7 @@ export class NovaClient {
     const url = new URL(
       urlJoin(
         this.config.instanceUrl,
-        `/api/v1/cells/${this.config.cellId}`,
+        `/api/v2/cells/${this.config.cellId}`,
         path,
       ),
     )

package/src/lib/v2/index.ts

@@ -1,3 +1,4 @@
 export * from "@wandelbots/nova-api/v2"
 export * from "./NovaCellAPIClient"
 export * from "./NovaClient"
+export * from "./wandelscriptUtils"