@wandelbots/nova-js 3.2.0 → 3.3.0

package/src/lib/v2/mock/MockNovaInstance.ts

@@ -5,7 +5,6 @@ import * as pathToRegexp from "path-to-regexp"
 import type { AutoReconnectingWebsocket } from "../../AutoReconnectingWebsocket"
 
 /**
- * EXPERIMENTAL
  * Ultra-simplified mock Nova server for testing stuff
  */
 export class MockNovaInstance {
@@ -15,6 +14,417 @@ export class MockNovaInstance {
     config: InternalAxiosRequestConfig,
   ): Promise<AxiosResponse> {
     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: [
+                    0.9874434028353319, -0.986571714997442, 1.3336589451098142,
+                  ],
+                },
+                tcp: "Flange",
+                tcp_pose: {
+                  position: [
+                    107.6452433732927, -409.0402987746852, 524.2402132330305,
+                  ],
+                  orientation: [
+                    0.9874434028353319, -0.986571714997442, 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",
+            },
+          ] //satisfies CoordinateSystems
+        },
+      },
+
+      // As you need, add more mock requests here...
+      // Below is mostly V1:
+      {
+        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: [
+                    -0.12139440409113832, -0.06356210998212003,
+                    -0.2023240068185639,
+                  ],
+                },
+              },
+              "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: 5000,
+                },
+                elbow: {
+                  velocity: 5000,
+                },
+                flange: {
+                  velocity: 5000,
+                },
+              },
+              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: 5000,
+                },
+              },
+              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: 5000,
+                },
+              },
+              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: 5000,
+                },
+              },
+            },
+            serial_number: "WBVirtualRobot",
+          }
+        },
+      },
       {
         method: "GET",
         path: "/cells/:cellId/controllers",
@@ -605,26 +1015,6 @@ export class MockNovaInstance {
           } // Mock safety setup
         },
       },
-      {
-        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",
-                },
-              },
-            ],
-          } //satisfies CoordinateSystems
-        },
-      },
       {
         method: "GET",
         path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",

package/src/lib/v2/wandelscriptUtils.ts

@@ -0,0 +1,27 @@
+import type { Pose } from "@wandelbots/nova-api/v2"
+
+/**
+ * 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?.[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))
+  // Rotation needs more precision since it's in radians
+  const rotationValues = orientation.map((v) => v.toFixed(4))
+
+  return `(${positionValues.concat(rotationValues).join(", ")})`
+}

package/dist/LoginWithAuth0.d.ts

@@ -1,7 +0,0 @@
-/**
- * Initializes Auth0 login process using redirect if necessary and retrieves an access token.
- * Returns null when an access token should not be needed to authenticate (i.e. cookie auth
- * when deployed on the instance domain)
- */
-export declare const loginWithAuth0: (instanceUrl: string) => Promise<string | null>;
-//# sourceMappingURL=LoginWithAuth0.d.ts.map

package/dist/LoginWithAuth0.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"LoginWithAuth0.d.ts","sourceRoot":"","sources":["../src/LoginWithAuth0.ts"],"names":[],"mappings":"AAiCA;;;;GAIG;AACH,eAAO,MAAM,cAAc,GACzB,aAAa,MAAM,KAClB,OAAO,CAAC,MAAM,GAAG,IAAI,CAsDvB,CAAA"}

package/dist/chunk-B2C22PTK.js

@@ -1,53 +0,0 @@
-// src/lib/converters.ts
-function tryParseJson(json) {
-  try {
-    return JSON.parse(json);
-  } catch (e) {
-    return void 0;
-  }
-}
-function tryStringifyJson(json) {
-  try {
-    return JSON.stringify(json);
-  } catch (e) {
-    return void 0;
-  }
-}
-function makeUrlQueryString(obj) {
-  const str = new URLSearchParams(obj).toString();
-  return str ? `?${str}` : "";
-}
-function radiansToDegrees(radians) {
-  return radians * (180 / Math.PI);
-}
-function degreesToRadians(degrees) {
-  return degrees * (Math.PI / 180);
-}
-function poseToWandelscriptString(pose) {
-  var _a, _b, _c, _d, _e, _f;
-  const position = [pose.position.x, pose.position.y, pose.position.z];
-  const orientation = [
-    (_b = (_a = pose.orientation) == null ? void 0 : _a.x) != null ? _b : 0,
-    (_d = (_c = pose.orientation) == null ? void 0 : _c.y) != null ? _d : 0,
-    (_f = (_e = pose.orientation) == null ? void 0 : _e.z) != null ? _f : 0
-  ];
-  const positionValues = position.map((v) => v.toFixed(1));
-  const rotationValues = orientation.map((v) => v.toFixed(4));
-  return `(${positionValues.concat(rotationValues).join(", ")})`;
-}
-function isSameCoordinateSystem(firstCoordSystem, secondCoordSystem) {
-  if (!firstCoordSystem) firstCoordSystem = "world";
-  if (!secondCoordSystem) secondCoordSystem = "world";
-  return firstCoordSystem === secondCoordSystem;
-}
-
-export {
-  tryParseJson,
-  tryStringifyJson,
-  makeUrlQueryString,
-  radiansToDegrees,
-  degreesToRadians,
-  poseToWandelscriptString,
-  isSameCoordinateSystem
-};
-//# sourceMappingURL=chunk-B2C22PTK.js.map

package/dist/chunk-B2C22PTK.js.map

@@ -1 +0,0 @@
-{"version":3,"sources":["../src/lib/converters.ts"],"sourcesContent":["import type { Pose } from \"@wandelbots/nova-api/v1\"\n\n/** Try to parse something as JSON; return undefined if we can't */\n// biome-ignore lint/suspicious/noExplicitAny: it's json\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\n/** Try to turn something into JSON; return undefined if we can't */\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Converts object parameters to query string.\n * e.g. { a: \"1\", b: \"2\" } => \"?a=1&b=2\"\n *      {} => \"\"\n */\nexport function makeUrlQueryString(obj: Record<string, string>): string {\n  const str = new URLSearchParams(obj).toString()\n  return str ? `?${str}` : \"\"\n}\n\n/** Convert radians to degrees */\nexport function radiansToDegrees(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\n/** Convert degrees to radians */\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [pose.position.x, pose.position.y, pose.position.z]\n  const orientation = [\n    pose.orientation?.x ?? 0,\n    pose.orientation?.y ?? 0,\n    pose.orientation?.z ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n\n/**\n * Check for coordinate system id equivalence, accounting for the \"world\" default\n * on empty/undefined values.\n */\nexport function isSameCoordinateSystem(\n  firstCoordSystem: string | undefined,\n  secondCoordSystem: string | undefined,\n) {\n  if (!firstCoordSystem) firstCoordSystem = \"world\"\n  if (!secondCoordSystem) secondCoordSystem = \"world\"\n\n  return firstCoordSystem === secondCoordSystem\n}\n"],"mappings":";AAIO,SAAS,aAAa,MAAoB;AAC/C,MAAI;AACF,WAAO,KAAK,MAAM,IAAc;AAAA,EAClC,SAAQ;AACN,WAAO;AAAA,EACT;AACF;AAGO,SAAS,iBAAiB,MAAmC;AAClE,MAAI;AACF,WAAO,KAAK,UAAU,IAAI;AAAA,EAC5B,SAAQ;AACN,WAAO;AAAA,EACT;AACF;AAOO,SAAS,mBAAmB,KAAqC;AACtE,QAAM,MAAM,IAAI,gBAAgB,GAAG,EAAE,SAAS;AAC9C,SAAO,MAAM,IAAI,GAAG,KAAK;AAC3B;AAGO,SAAS,iBAAiB,SAAyB;AACxD,SAAO,WAAW,MAAM,KAAK;AAC/B;AAGO,SAAS,iBAAiB,SAAyB;AACxD,SAAO,WAAW,KAAK,KAAK;AAC9B;AAMO,SAAS,yBACd,MACA;AA/CF;AAgDE,QAAM,WAAW,CAAC,KAAK,SAAS,GAAG,KAAK,SAAS,GAAG,KAAK,SAAS,CAAC;AACnE,QAAM,cAAc;AAAA,KAClB,gBAAK,gBAAL,mBAAkB,MAAlB,YAAuB;AAAA,KACvB,gBAAK,gBAAL,mBAAkB,MAAlB,YAAuB;AAAA,KACvB,gBAAK,gBAAL,mBAAkB,MAAlB,YAAuB;AAAA,EACzB;AAEA,QAAM,iBAAiB,SAAS,IAAI,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;AAEvD,QAAM,iBAAiB,YAAY,IAAI,CAAC,MAAM,EAAE,QAAQ,CAAC,CAAC;AAE1D,SAAO,IAAI,eAAe,OAAO,cAAc,EAAE,KAAK,IAAI,CAAC;AAC7D;AAMO,SAAS,uBACd,kBACA,mBACA;AACA,MAAI,CAAC,iBAAkB,oBAAmB;AAC1C,MAAI,CAAC,kBAAmB,qBAAoB;AAE5C,SAAO,qBAAqB;AAC9B;","names":[]}