@wandelbots/nova-js 3.2.0 → 3.3.0

package/dist/lib/v1/index.js

@@ -1,2653 +0,0 @@
-import {
-  isSameCoordinateSystem,
-  tryParseJson
-} from "../../chunk-B2C22PTK.js";
-import {
-  AutoReconnectingWebsocket,
-  __async,
-  __spreadProps,
-  __spreadValues,
-  availableStorage,
-  loginWithAuth0
-} from "../../chunk-I3PUV6ZD.js";
-
-// src/lib/v1/index.ts
-export * from "@wandelbots/nova-api/v1";
-
-// src/lib/v1/ConnectedMotionGroup.ts
-import { makeAutoObservable, runInAction } from "mobx";
-import * as THREE from "three";
-
-// src/lib/v1/motionStateUpdate.ts
-function jointValuesEqual(oldJointValues, newJointValues, changeDeltaThreshold) {
-  if (newJointValues.length !== oldJointValues.length) {
-    return true;
-  }
-  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {
-    if (
-      // biome-ignore lint/style/noNonNullAssertion: legacy code
-      Math.abs(newJointValues[jointIndex] - oldJointValues[jointIndex]) > changeDeltaThreshold
-    ) {
-      return false;
-    }
-  }
-  return true;
-}
-function tcpPoseEqual(oldTcp, newTcp, changeDeltaThreshold) {
-  if (oldTcp === void 0 && newTcp || oldTcp && newTcp === void 0) {
-    return false;
-  }
-  if (oldTcp === void 0 || newTcp === void 0) {
-    return true;
-  }
-  let changedDelta = 0;
-  changedDelta += Math.abs(oldTcp.orientation.x - newTcp.orientation.x);
-  changedDelta += Math.abs(oldTcp.orientation.y - newTcp.orientation.y);
-  changedDelta += Math.abs(oldTcp.orientation.z - newTcp.orientation.z);
-  changedDelta += Math.abs(oldTcp.position.x - newTcp.position.x);
-  changedDelta += Math.abs(oldTcp.position.y - newTcp.position.y);
-  changedDelta += Math.abs(oldTcp.position.z - newTcp.position.z);
-  if (changedDelta > changeDeltaThreshold) {
-    return false;
-  }
-  return oldTcp.coordinate_system === newTcp.coordinate_system && oldTcp.tcp === newTcp.tcp;
-}
-
-// src/lib/v1/ConnectedMotionGroup.ts
-var MOTION_DELTA_THRESHOLD = 1e-4;
-var ConnectedMotionGroup = class _ConnectedMotionGroup {
-  constructor(nova, controller, motionGroup, initialMotionState, motionStateSocket, isVirtual, tcps, motionGroupSpecification, safetySetup, mounting, initialControllerState, controllerStateSocket) {
-    this.nova = nova;
-    this.controller = controller;
-    this.motionGroup = motionGroup;
-    this.initialMotionState = initialMotionState;
-    this.motionStateSocket = motionStateSocket;
-    this.isVirtual = isVirtual;
-    this.tcps = tcps;
-    this.motionGroupSpecification = motionGroupSpecification;
-    this.safetySetup = safetySetup;
-    this.mounting = mounting;
-    this.initialControllerState = initialControllerState;
-    this.controllerStateSocket = controllerStateSocket;
-    this.connectedJoggingCartesianSocket = null;
-    this.connectedJoggingJointsSocket = null;
-    // tmp
-    this.joggingVelocity = 10;
-    /**
-     * Reflects activation state of the motion group / robot servos. The
-     * movement controls in the UI should only be enabled in the "active" state
-     */
-    this.activationState = "inactive";
-    this.rapidlyChangingMotionState = initialMotionState;
-    this.controllerState = initialControllerState;
-    controllerStateSocket.addEventListener("message", (event) => {
-      var _a;
-      const data = (_a = tryParseJson(event.data)) == null ? void 0 : _a.result;
-      if (!data) {
-        return;
-      }
-      runInAction(() => {
-        this.controllerState = data;
-      });
-    });
-    motionStateSocket.addEventListener("message", (event) => {
-      var _a;
-      const motionStateResponse = (_a = tryParseJson(event.data)) == null ? void 0 : _a.result;
-      if (!motionStateResponse) {
-        throw new Error(
-          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`
-        );
-      }
-      if (!jointValuesEqual(
-        this.rapidlyChangingMotionState.state.joint_position.joints,
-        motionStateResponse.state.joint_position.joints,
-        MOTION_DELTA_THRESHOLD
-      )) {
-        runInAction(() => {
-          this.rapidlyChangingMotionState.state = motionStateResponse.state;
-        });
-      }
-      if (!tcpPoseEqual(
-        this.rapidlyChangingMotionState.tcp_pose,
-        motionStateResponse.tcp_pose,
-        MOTION_DELTA_THRESHOLD
-      )) {
-        runInAction(() => {
-          this.rapidlyChangingMotionState.tcp_pose = motionStateResponse.tcp_pose;
-        });
-      }
-    });
-    makeAutoObservable(this);
-  }
-  static connect(nova, motionGroupId, controllers) {
-    return __async(this, null, function* () {
-      var _a, _b;
-      const [_motionGroupIndex, controllerId] = motionGroupId.split("@");
-      const controller = controllers.find((c) => c.controller === controllerId);
-      const motionGroup = controller == null ? void 0 : controller.physical_motion_groups.find(
-        (mg) => mg.motion_group === motionGroupId
-      );
-      if (!controller || !motionGroup) {
-        throw new Error(
-          `Controller ${controllerId} or motion group ${motionGroupId} not found`
-        );
-      }
-      const motionStateSocket = nova.openReconnectingWebsocket(
-        `/motion-groups/${motionGroupId}/state-stream`
-      );
-      const firstMessage = yield motionStateSocket.firstMessage();
-      const initialMotionState = (_a = tryParseJson(firstMessage.data)) == null ? void 0 : _a.result;
-      if (!initialMotionState) {
-        throw new Error(
-          `Unable to parse initial motion state message ${firstMessage.data}`
-        );
-      }
-      console.log(
-        `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:
-  `,
-        initialMotionState
-      );
-      const config = yield nova.api.controller.getRobotController(
-        controller.controller
-      );
-      const isVirtual = config.configuration.kind === "VirtualController";
-      const mounting = yield (() => __async(null, null, function* () {
-        try {
-          const mounting2 = yield nova.api.motionGroupInfos.getMounting(
-            motionGroup.motion_group
-          );
-          return mounting2;
-        } catch (err) {
-          console.error(
-            `Error fetching mounting for ${motionGroup.motion_group}`,
-            err
-          );
-          return null;
-        }
-      }))();
-      const controllerStateSocket = nova.openReconnectingWebsocket(
-        `/controllers/${controller.controller}/state-stream?response_rate=1000`
-      );
-      const firstControllerMessage = yield controllerStateSocket.firstMessage();
-      const initialControllerState = (_b = tryParseJson(firstControllerMessage.data)) == null ? void 0 : _b.result;
-      if (!initialControllerState) {
-        throw new Error(
-          `Unable to parse initial controller state message ${firstControllerMessage.data}`
-        );
-      }
-      console.log(
-        `Connected controller state websocket to controller ${controller.controller}. Initial state:
-  `,
-        initialControllerState
-      );
-      const { tcps } = yield nova.api.motionGroupInfos.listTcps(motionGroupId);
-      const motionGroupSpecification = yield nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId);
-      const safetySetup = yield nova.api.motionGroupInfos.getSafetySetup(motionGroupId);
-      return new _ConnectedMotionGroup(
-        nova,
-        controller,
-        motionGroup,
-        initialMotionState,
-        motionStateSocket,
-        isVirtual,
-        // biome-ignore lint/style/noNonNullAssertion: legacy code
-        tcps,
-        motionGroupSpecification,
-        safetySetup,
-        mounting,
-        initialControllerState,
-        controllerStateSocket
-      );
-    });
-  }
-  get motionGroupId() {
-    return this.motionGroup.motion_group;
-  }
-  get controllerId() {
-    return this.controller.controller;
-  }
-  get modelFromController() {
-    return this.motionGroup.model_from_controller;
-  }
-  get wandelscriptIdentifier() {
-    const num = this.motionGroupId.split("@")[0];
-    return `${this.controllerId.replaceAll("-", "_")}_${num}`;
-  }
-  /** Jogging velocity in radians for rotation and joint movement */
-  get joggingVelocityRads() {
-    return this.joggingVelocity * Math.PI / 180;
-  }
-  get joints() {
-    return this.initialMotionState.state.joint_position.joints.map((_, i) => {
-      return {
-        index: i
-      };
-    });
-  }
-  get dhParameters() {
-    return this.motionGroupSpecification.dh_parameters;
-  }
-  get safetyZones() {
-    return this.safetySetup.safety_zones;
-  }
-  /** Gets the robot mounting position offset in 3D viz coordinates */
-  get mountingPosition() {
-    if (!this.mounting) {
-      return [0, 0, 0];
-    }
-    return [
-      this.mounting.pose.position.x / 1e3,
-      this.mounting.pose.position.y / 1e3,
-      this.mounting.pose.position.z / 1e3
-    ];
-  }
-  /** Gets the robot mounting position rotation in 3D viz coordinates */
-  get mountingQuaternion() {
-    var _a, _b, _c, _d, _e, _f;
-    const rotationVector = new THREE.Vector3(
-      ((_b = (_a = this.mounting) == null ? void 0 : _a.pose.orientation) == null ? void 0 : _b.x) || 0,
-      ((_d = (_c = this.mounting) == null ? void 0 : _c.pose.orientation) == null ? void 0 : _d.y) || 0,
-      ((_f = (_e = this.mounting) == null ? void 0 : _e.pose.orientation) == null ? void 0 : _f.z) || 0
-    );
-    const magnitude = rotationVector.length();
-    const axis = rotationVector.normalize();
-    return new THREE.Quaternion().setFromAxisAngle(axis, magnitude);
-  }
-  /**
-   * Whether the controller is currently in a safety state
-   * corresponding to an emergency stop
-   */
-  get isEstopActive() {
-    const estopStates = [
-      "SAFETY_STATE_ROBOT_EMERGENCY_STOP",
-      "SAFETY_STATE_DEVICE_EMERGENCY_STOP"
-    ];
-    return estopStates.includes(this.controllerState.safety_state);
-  }
-  /**
-   * Whether the controller is in a safety state
-   * that may be non-functional for robot pad purposes
-   */
-  get isMoveableSafetyState() {
-    const goodSafetyStates = [
-      "SAFETY_STATE_NORMAL",
-      "SAFETY_STATE_REDUCED"
-    ];
-    return goodSafetyStates.includes(this.controllerState.safety_state);
-  }
-  /**
-   * Whether the controller is in an operation mode that allows movement
-   */
-  get isMoveableOperationMode() {
-    const goodOperationModes = [
-      "OPERATION_MODE_AUTO",
-      "OPERATION_MODE_MANUAL",
-      "OPERATION_MODE_MANUAL_T1",
-      "OPERATION_MODE_MANUAL_T2"
-    ];
-    return goodOperationModes.includes(this.controllerState.operation_mode);
-  }
-  /**
-   * Whether the robot is currently active and can be moved, based on the
-   * safety state, operation mode and servo toggle activation state.
-   */
-  get canBeMoved() {
-    return this.isMoveableSafetyState && this.isMoveableOperationMode && this.activationState === "active";
-  }
-  deactivate() {
-    return __async(this, null, function* () {
-      if (this.activationState !== "active") {
-        console.error("Tried to deactivate while already deactivating");
-        return;
-      }
-      runInAction(() => {
-        this.activationState = "deactivating";
-      });
-      try {
-        yield this.nova.api.controller.setDefaultMode(
-          this.controllerId,
-          "MODE_MONITOR"
-        );
-        runInAction(() => {
-          this.activationState = "inactive";
-        });
-      } catch (err) {
-        runInAction(() => {
-          this.activationState = "active";
-        });
-        throw err;
-      }
-    });
-  }
-  activate() {
-    return __async(this, null, function* () {
-      if (this.activationState !== "inactive") {
-        console.error("Tried to activate while already activating");
-        return;
-      }
-      runInAction(() => {
-        this.activationState = "activating";
-      });
-      try {
-        yield this.nova.api.controller.setDefaultMode(
-          this.controllerId,
-          "MODE_CONTROL"
-        );
-        runInAction(() => {
-          this.activationState = "active";
-        });
-      } catch (err) {
-        runInAction(() => {
-          this.activationState = "inactive";
-        });
-        throw err;
-      }
-    });
-  }
-  toggleActivation() {
-    if (this.activationState === "inactive") {
-      this.activate();
-    } else if (this.activationState === "active") {
-      this.deactivate();
-    }
-  }
-  dispose() {
-    this.motionStateSocket.close();
-    if (this.connectedJoggingCartesianSocket)
-      this.connectedJoggingCartesianSocket.close();
-    if (this.connectedJoggingJointsSocket)
-      this.connectedJoggingJointsSocket.close();
-  }
-  setJoggingVelocity(velocity) {
-    this.joggingVelocity = velocity;
-  }
-};
-
-// src/lib/v1/getLatestTrajectories.ts
-var lastMotionIds = /* @__PURE__ */ new Set();
-function getLatestTrajectories(apiClient, sampleTime = 50, responsesCoordinateSystem) {
-  return __async(this, null, function* () {
-    const newTrajectories = [];
-    try {
-      const motions = yield apiClient.motion.listMotions();
-      const currentMotionIds = new Set(motions.motions);
-      const newMotionIds = Array.from(currentMotionIds).filter(
-        (id) => !lastMotionIds.has(id)
-      );
-      for (const motionId of newMotionIds) {
-        const trajectory = yield apiClient.motion.getMotionTrajectory(
-          motionId,
-          sampleTime,
-          responsesCoordinateSystem
-        );
-        newTrajectories.push(trajectory);
-      }
-      lastMotionIds = currentMotionIds;
-    } catch (error) {
-      console.error("Failed to get latest trajectories:", error);
-    }
-    return newTrajectories;
-  });
-}
-
-// src/lib/v1/JoggerConnection.ts
-import { Vector3 as Vector32 } from "three/src/math/Vector3.js";
-var JoggerConnection = class _JoggerConnection {
-  constructor(motionStream, opts = {}) {
-    this.motionStream = motionStream;
-    this.opts = opts;
-    // Currently a separate websocket is needed for each mode, pester API people
-    // to merge these for simplicity
-    this.cartesianWebsocket = null;
-    this.jointWebsocket = null;
-    this.cartesianJoggingOpts = {};
-  }
-  static open(_0, _1) {
-    return __async(this, arguments, function* (nova, motionGroupId, opts = {}) {
-      const motionStream = yield nova.connectMotionStream(motionGroupId);
-      return new _JoggerConnection(motionStream, opts);
-    });
-  }
-  get motionGroupId() {
-    return this.motionStream.motionGroupId;
-  }
-  get nova() {
-    return this.motionStream.nova;
-  }
-  get numJoints() {
-    return this.motionStream.joints.length;
-  }
-  get activeJoggingMode() {
-    if (this.cartesianWebsocket) return "cartesian";
-    if (this.jointWebsocket) return "joint";
-    return "increment";
-  }
-  get activeWebsocket() {
-    return this.cartesianWebsocket || this.jointWebsocket;
-  }
-  stop() {
-    return __async(this, null, function* () {
-      if (this.cartesianWebsocket) {
-        this.cartesianWebsocket.sendJson({
-          motion_group: this.motionGroupId,
-          position_direction: { x: 0, y: 0, z: 0 },
-          rotation_direction: { x: 0, y: 0, z: 0 },
-          position_velocity: 0,
-          rotation_velocity: 0,
-          tcp: this.cartesianJoggingOpts.tcpId,
-          coordinate_system: this.cartesianJoggingOpts.coordSystemId
-        });
-      }
-      if (this.jointWebsocket) {
-        this.jointWebsocket.sendJson({
-          motion_group: this.motionGroupId,
-          joint_velocities: new Array(this.numJoints).fill(0)
-        });
-      }
-    });
-  }
-  dispose() {
-    if (this.cartesianWebsocket) {
-      this.cartesianWebsocket.dispose();
-    }
-    if (this.jointWebsocket) {
-      this.jointWebsocket.dispose();
-    }
-  }
-  setJoggingMode(mode, cartesianJoggingOpts) {
-    console.log("Setting jogging mode to", mode);
-    if (cartesianJoggingOpts) {
-      if (JSON.stringify(this.cartesianJoggingOpts) !== JSON.stringify(cartesianJoggingOpts)) {
-        if (this.cartesianWebsocket) {
-          this.cartesianWebsocket.dispose();
-          this.cartesianWebsocket = null;
-        }
-      }
-      this.cartesianJoggingOpts = cartesianJoggingOpts;
-    }
-    if (mode !== "cartesian" && this.cartesianWebsocket) {
-      this.cartesianWebsocket.dispose();
-      this.cartesianWebsocket = null;
-    }
-    if (mode !== "joint" && this.jointWebsocket) {
-      this.jointWebsocket.dispose();
-      this.jointWebsocket = null;
-    }
-    if (mode === "cartesian" && !this.cartesianWebsocket) {
-      this.cartesianWebsocket = this.nova.openReconnectingWebsocket(
-        `/motion-groups/move-tcp`
-      );
-      this.cartesianWebsocket.addEventListener(
-        "message",
-        (ev) => {
-          const data = tryParseJson(ev.data);
-          if (data && "error" in data) {
-            if (this.opts.onError) {
-              this.opts.onError(ev.data);
-            } else {
-              throw new Error(ev.data);
-            }
-          }
-        }
-      );
-    }
-    if (mode === "joint" && !this.jointWebsocket) {
-      this.jointWebsocket = this.nova.openReconnectingWebsocket(
-        `/motion-groups/move-joint`
-      );
-      this.jointWebsocket.addEventListener("message", (ev) => {
-        const data = tryParseJson(ev.data);
-        if (data && "error" in data) {
-          if (this.opts.onError) {
-            this.opts.onError(ev.data);
-          } else {
-            throw new Error(ev.data);
-          }
-        }
-      });
-    }
-  }
-  /**
-   * Start rotation of a single robot joint at the specified velocity
-   */
-  startJointRotation(_0) {
-    return __async(this, arguments, function* ({
-      joint,
-      direction,
-      velocityRadsPerSec
-    }) {
-      if (!this.jointWebsocket) {
-        throw new Error(
-          "Joint jogging websocket not connected; call setJoggingMode first"
-        );
-      }
-      const jointVelocities = new Array(this.numJoints).fill(0);
-      jointVelocities[joint] = direction === "-" ? -velocityRadsPerSec : velocityRadsPerSec;
-      this.jointWebsocket.sendJson({
-        motion_group: this.motionGroupId,
-        joint_velocities: jointVelocities
-      });
-    });
-  }
-  /**
-   * Start the TCP moving along a specified axis at a given velocity
-   */
-  startTCPTranslation(_0) {
-    return __async(this, arguments, function* ({
-      axis,
-      direction,
-      velocityMmPerSec
-    }) {
-      if (!this.cartesianWebsocket) {
-        throw new Error(
-          "Cartesian jogging websocket not connected; call setJoggingMode first"
-        );
-      }
-      const zeroVector = { x: 0, y: 0, z: 0 };
-      const joggingVector = Object.assign({}, zeroVector);
-      joggingVector[axis] = direction === "-" ? -1 : 1;
-      this.cartesianWebsocket.sendJson({
-        motion_group: this.motionGroupId,
-        position_direction: joggingVector,
-        rotation_direction: zeroVector,
-        position_velocity: velocityMmPerSec,
-        rotation_velocity: 0,
-        tcp: this.cartesianJoggingOpts.tcpId,
-        coordinate_system: this.cartesianJoggingOpts.coordSystemId
-      });
-    });
-  }
-  /**
-   * Start the TCP rotating around a specified axis at a given velocity
-   */
-  startTCPRotation(_0) {
-    return __async(this, arguments, function* ({
-      axis,
-      direction,
-      velocityRadsPerSec
-    }) {
-      if (!this.cartesianWebsocket) {
-        throw new Error(
-          "Cartesian jogging websocket not connected; call setJoggingMode first"
-        );
-      }
-      const zeroVector = { x: 0, y: 0, z: 0 };
-      const joggingVector = Object.assign({}, zeroVector);
-      joggingVector[axis] = direction === "-" ? -1 : 1;
-      this.cartesianWebsocket.sendJson({
-        motion_group: this.motionGroupId,
-        position_direction: zeroVector,
-        rotation_direction: joggingVector,
-        position_velocity: 0,
-        rotation_velocity: velocityRadsPerSec,
-        tcp: this.cartesianJoggingOpts.tcpId,
-        coordinate_system: this.cartesianJoggingOpts.coordSystemId
-      });
-    });
-  }
-  /**
-   * Move the robot by a fixed distance in a single cartesian
-   * axis, either rotating or translating relative to the TCP.
-   * Promise resolves only after the motion has completed.
-   */
-  runIncrementalCartesianMotion(_0) {
-    return __async(this, arguments, function* ({
-      currentTcpPose,
-      currentJoints,
-      coordSystemId,
-      velocityInRelevantUnits,
-      axis,
-      direction,
-      motion
-    }) {
-      var _a;
-      const commands = [];
-      if (!isSameCoordinateSystem(currentTcpPose.coordinate_system, coordSystemId)) {
-        throw new Error(
-          `Current TCP pose coordinate system ${currentTcpPose.coordinate_system} does not match target coordinate system ${coordSystemId}`
-        );
-      }
-      if (motion.type === "translate") {
-        const targetTcpPosition = Object.assign({}, currentTcpPose.position);
-        targetTcpPosition[axis] += motion.distanceMm * (direction === "-" ? -1 : 1);
-        commands.push({
-          settings: {
-            limits_override: {
-              tcp_velocity_limit: velocityInRelevantUnits
-            }
-          },
-          line: {
-            position: targetTcpPosition,
-            orientation: currentTcpPose.orientation,
-            coordinate_system: coordSystemId
-          }
-        });
-      } else if (motion.type === "rotate") {
-        const currentRotationVector = new Vector32(
-          currentTcpPose.orientation.x,
-          currentTcpPose.orientation.y,
-          currentTcpPose.orientation.z
-        );
-        const currentRotationRad = currentRotationVector.length();
-        const currentRotationDirection = currentRotationVector.clone().normalize();
-        const differenceRotationRad = motion.distanceRads * (direction === "-" ? -1 : 1);
-        const differenceRotationDirection = new Vector32(0, 0, 0);
-        differenceRotationDirection[axis] = 1;
-        const f1 = Math.cos(0.5 * differenceRotationRad) * Math.cos(0.5 * currentRotationRad);
-        const f2 = Math.sin(0.5 * differenceRotationRad) * Math.sin(0.5 * currentRotationRad);
-        const f3 = Math.sin(0.5 * differenceRotationRad) * Math.cos(0.5 * currentRotationRad);
-        const f4 = Math.cos(0.5 * differenceRotationRad) * Math.sin(0.5 * currentRotationRad);
-        const dotProduct = differenceRotationDirection.dot(
-          currentRotationDirection
-        );
-        const crossProduct = differenceRotationDirection.clone().cross(currentRotationDirection);
-        const newRotationRad = 2 * Math.acos(f1 - f2 * dotProduct);
-        const f5 = newRotationRad / Math.sin(0.5 * newRotationRad);
-        const targetTcpOrientation = new Vector32().addScaledVector(crossProduct, f2).addScaledVector(differenceRotationDirection, f3).addScaledVector(currentRotationDirection, f4).multiplyScalar(f5);
-        commands.push({
-          settings: {
-            limits_override: {
-              tcp_orientation_velocity_limit: velocityInRelevantUnits
-            }
-          },
-          line: {
-            position: currentTcpPose.position,
-            orientation: targetTcpOrientation,
-            coordinate_system: coordSystemId
-          }
-        });
-      }
-      const motionPlanRes = yield this.nova.api.motion.planMotion({
-        motion_group: this.motionGroupId,
-        start_joint_position: currentJoints,
-        tcp: this.cartesianJoggingOpts.tcpId,
-        commands
-      });
-      const plannedMotion = (_a = motionPlanRes.plan_successful_response) == null ? void 0 : _a.motion;
-      if (!plannedMotion) {
-        throw new Error(
-          `Failed to plan jogging increment motion ${JSON.stringify(motionPlanRes)}`
-        );
-      }
-      yield this.nova.api.motion.streamMoveForward(
-        plannedMotion,
-        100,
-        void 0,
-        void 0,
-        void 0,
-        {
-          // Might take a while at low velocity
-          timeout: 1e3 * 60
-        }
-      );
-    });
-  }
-  /**
-   * Rotate a single robot joint by a fixed number of radians
-   * Promise resolves only after the motion has completed.
-   */
-  runIncrementalJointRotation(_0) {
-    return __async(this, arguments, function* ({
-      joint,
-      currentJoints,
-      velocityRadsPerSec,
-      direction,
-      distanceRads
-    }) {
-      var _a;
-      const targetJoints = [...currentJoints.joints];
-      targetJoints[joint] += distanceRads * (direction === "-" ? -1 : 1);
-      const jointVelocityLimits = new Array(
-        currentJoints.joints.length
-      ).fill(velocityRadsPerSec);
-      const motionPlanRes = yield this.nova.api.motion.planMotion({
-        motion_group: this.motionGroupId,
-        start_joint_position: currentJoints,
-        commands: [
-          {
-            settings: {
-              limits_override: {
-                joint_velocity_limits: {
-                  joints: jointVelocityLimits
-                }
-              }
-            },
-            joint_ptp: {
-              joints: targetJoints
-            }
-          }
-        ]
-      });
-      const plannedMotion = (_a = motionPlanRes.plan_successful_response) == null ? void 0 : _a.motion;
-      if (!plannedMotion) {
-        console.error("Failed to plan jogging increment motion", motionPlanRes);
-        return;
-      }
-      yield this.nova.api.motion.streamMoveForward(
-        plannedMotion,
-        100,
-        void 0,
-        void 0,
-        void 0,
-        {
-          // Might take a while at low velocity
-          timeout: 1e3 * 60
-        }
-      );
-    });
-  }
-};
-
-// src/lib/v1/MotionStreamConnection.ts
-import { makeAutoObservable as makeAutoObservable2, runInAction as runInAction2 } from "mobx";
-import { Vector3 as Vector33 } from "three";
-var MOTION_DELTA_THRESHOLD2 = 1e-4;
-function unwrapRotationVector(newRotationVectorApi, currentRotationVectorApi) {
-  const currentRotationVector = new Vector33(
-    currentRotationVectorApi.x,
-    currentRotationVectorApi.y,
-    currentRotationVectorApi.z
-  );
-  const newRotationVector = new Vector33(
-    newRotationVectorApi.x,
-    newRotationVectorApi.y,
-    newRotationVectorApi.z
-  );
-  const currentAngle = currentRotationVector.length();
-  const currentAxis = currentRotationVector.normalize();
-  let newAngle = newRotationVector.length();
-  let newAxis = newRotationVector.normalize();
-  if (newAxis.dot(currentAxis) < 0) {
-    newAngle = -newAngle;
-    newAxis = newAxis.multiplyScalar(-1);
-  }
-  let angleDifference = newAngle - currentAngle;
-  angleDifference -= 2 * Math.PI * Math.floor((angleDifference + Math.PI) / (2 * Math.PI));
-  newAngle = currentAngle + angleDifference;
-  return newAxis.multiplyScalar(newAngle);
-}
-var MotionStreamConnection = class _MotionStreamConnection {
-  constructor(nova, controller, motionGroup, initialMotionState, motionStateSocket) {
-    this.nova = nova;
-    this.controller = controller;
-    this.motionGroup = motionGroup;
-    this.initialMotionState = initialMotionState;
-    this.motionStateSocket = motionStateSocket;
-    this.rapidlyChangingMotionState = initialMotionState;
-    motionStateSocket.addEventListener("message", (event) => {
-      var _a;
-      const motionStateResponse = (_a = tryParseJson(event.data)) == null ? void 0 : _a.result;
-      if (!motionStateResponse) {
-        throw new Error(
-          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`
-        );
-      }
-      if (!jointValuesEqual(
-        this.rapidlyChangingMotionState.state.joint_position.joints,
-        motionStateResponse.state.joint_position.joints,
-        MOTION_DELTA_THRESHOLD2
-      )) {
-        runInAction2(() => {
-          this.rapidlyChangingMotionState.state = motionStateResponse.state;
-        });
-      }
-      if (!tcpPoseEqual(
-        this.rapidlyChangingMotionState.tcp_pose,
-        motionStateResponse.tcp_pose,
-        MOTION_DELTA_THRESHOLD2
-      )) {
-        runInAction2(() => {
-          if (this.rapidlyChangingMotionState.tcp_pose == null) {
-            this.rapidlyChangingMotionState.tcp_pose = motionStateResponse.tcp_pose;
-          } else {
-            this.rapidlyChangingMotionState.tcp_pose = {
-              position: motionStateResponse.tcp_pose.position,
-              orientation: unwrapRotationVector(
-                motionStateResponse.tcp_pose.orientation,
-                this.rapidlyChangingMotionState.tcp_pose.orientation
-              ),
-              tcp: motionStateResponse.tcp_pose.tcp,
-              coordinate_system: motionStateResponse.tcp_pose.coordinate_system
-            };
-          }
-        });
-      }
-    });
-    makeAutoObservable2(this);
-  }
-  static open(nova, motionGroupId) {
-    return __async(this, null, function* () {
-      var _a;
-      const { instances: controllers } = yield nova.api.controller.listControllers();
-      const [_motionGroupIndex, controllerId] = motionGroupId.split("@");
-      const controller = controllers.find((c) => c.controller === controllerId);
-      const motionGroup = controller == null ? void 0 : controller.physical_motion_groups.find(
-        (mg) => mg.motion_group === motionGroupId
-      );
-      if (!controller || !motionGroup) {
-        throw new Error(
-          `Controller ${controllerId} or motion group ${motionGroupId} not found`
-        );
-      }
-      const motionStateSocket = nova.openReconnectingWebsocket(
-        `/motion-groups/${motionGroupId}/state-stream`
-      );
-      const firstMessage = yield motionStateSocket.firstMessage();
-      console.log("got first message", firstMessage);
-      const initialMotionState = (_a = tryParseJson(firstMessage.data)) == null ? void 0 : _a.result;
-      if (!initialMotionState) {
-        throw new Error(
-          `Unable to parse initial motion state message ${firstMessage.data}`
-        );
-      }
-      console.log(
-        `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:
-  `,
-        initialMotionState
-      );
-      return new _MotionStreamConnection(
-        nova,
-        controller,
-        motionGroup,
-        initialMotionState,
-        motionStateSocket
-      );
-    });
-  }
-  get motionGroupId() {
-    return this.motionGroup.motion_group;
-  }
-  get controllerId() {
-    return this.controller.controller;
-  }
-  get modelFromController() {
-    return this.motionGroup.model_from_controller;
-  }
-  get wandelscriptIdentifier() {
-    const num = this.motionGroupId.split("@")[0];
-    return `${this.controllerId.replaceAll("-", "_")}_${num}`;
-  }
-  get joints() {
-    return this.initialMotionState.state.joint_position.joints.map((_, i) => {
-      return {
-        index: i
-      };
-    });
-  }
-  dispose() {
-    this.motionStateSocket.close();
-  }
-};
-
-// src/lib/v1/NovaCellAPIClient.ts
-import {
-  ApplicationApi,
-  CellApi,
-  ControllerApi,
-  ControllerIOsApi,
-  CoordinateSystemsApi,
-  DeviceConfigurationApi,
-  LibraryProgramApi,
-  LibraryProgramMetadataApi,
-  LibraryRecipeApi,
-  LibraryRecipeMetadataApi,
-  MotionApi,
-  MotionGroupApi,
-  MotionGroupInfosApi,
-  MotionGroupJoggingApi,
-  MotionGroupKinematicApi,
-  ProgramApi,
-  ProgramValuesApi,
-  StoreCollisionComponentsApi,
-  StoreCollisionScenesApi,
-  StoreObjectApi,
-  SystemApi,
-  VirtualRobotApi,
-  VirtualRobotBehaviorApi,
-  VirtualRobotModeApi,
-  VirtualRobotSetupApi
-} from "@wandelbots/nova-api/v1";
-import axios from "axios";
-var NovaCellAPIClient = class {
-  constructor(cellId, opts) {
-    this.cellId = cellId;
-    this.opts = opts;
-    this.system = this.withUnwrappedResponsesOnly(SystemApi);
-    this.cell = this.withUnwrappedResponsesOnly(CellApi);
-    this.deviceConfig = this.withCellId(DeviceConfigurationApi);
-    this.motionGroup = this.withCellId(MotionGroupApi);
-    this.motionGroupInfos = this.withCellId(MotionGroupInfosApi);
-    this.controller = this.withCellId(ControllerApi);
-    this.program = this.withCellId(ProgramApi);
-    this.programValues = this.withCellId(ProgramValuesApi);
-    this.controllerIOs = this.withCellId(ControllerIOsApi);
-    this.motionGroupKinematic = this.withCellId(MotionGroupKinematicApi);
-    this.motion = this.withCellId(MotionApi);
-    this.coordinateSystems = this.withCellId(CoordinateSystemsApi);
-    this.application = this.withCellId(ApplicationApi);
-    this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi);
-    this.motionGroupJogging = this.withCellId(MotionGroupJoggingApi);
-    this.virtualRobot = this.withCellId(VirtualRobotApi);
-    this.virtualRobotSetup = this.withCellId(VirtualRobotSetupApi);
-    this.virtualRobotMode = this.withCellId(VirtualRobotModeApi);
-    this.virtualRobotBehavior = this.withCellId(VirtualRobotBehaviorApi);
-    this.libraryProgramMetadata = this.withCellId(LibraryProgramMetadataApi);
-    this.libraryProgram = this.withCellId(LibraryProgramApi);
-    this.libraryRecipeMetadata = this.withCellId(LibraryRecipeMetadataApi);
-    this.libraryRecipe = this.withCellId(LibraryRecipeApi);
-    this.storeObject = this.withCellId(StoreObjectApi);
-    this.storeCollisionComponents = this.withCellId(
-      StoreCollisionComponentsApi
-    );
-    this.storeCollisionScenes = this.withCellId(StoreCollisionScenesApi);
-  }
-  /**
-   * Some TypeScript sorcery which alters the API class methods so you don't
-   * have to pass the cell id to every single one, and de-encapsulates the
-   * response data
-   */
-  withCellId(ApiConstructor) {
-    var _a, _b;
-    const apiClient = new ApiConstructor(
-      __spreadProps(__spreadValues({}, this.opts), {
-        isJsonMime: (mime) => {
-          return mime === "application/json";
-        }
-      }),
-      (_a = this.opts.basePath) != null ? _a : "",
-      (_b = this.opts.axiosInstance) != null ? _b : axios.create()
-    );
-    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) {
-      if (key !== "constructor" && typeof apiClient[key] === "function") {
-        const originalFunction = apiClient[key];
-        apiClient[key] = (...args) => {
-          return originalFunction.apply(apiClient, [this.cellId, ...args]).then((res) => res.data);
-        };
-      }
-    }
-    return apiClient;
-  }
-  /**
-   * As withCellId, but only does the response unwrapping
-   */
-  withUnwrappedResponsesOnly(ApiConstructor) {
-    var _a, _b;
-    const apiClient = new ApiConstructor(
-      __spreadProps(__spreadValues({}, this.opts), {
-        isJsonMime: (mime) => {
-          return mime === "application/json";
-        }
-      }),
-      (_a = this.opts.basePath) != null ? _a : "",
-      (_b = this.opts.axiosInstance) != null ? _b : axios.create()
-    );
-    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient))) {
-      if (key !== "constructor" && typeof apiClient[key] === "function") {
-        const originalFunction = apiClient[key];
-        apiClient[key] = (...args) => {
-          return originalFunction.apply(apiClient, args).then((res) => res.data);
-        };
-      }
-    }
-    return apiClient;
-  }
-};
-
-// src/lib/v1/NovaClient.ts
-import axios2, { isAxiosError } from "axios";
-import urlJoin from "url-join";
-
-// src/lib/v1/mock/MockNovaInstance.ts
-import { AxiosError } from "axios";
-import * as pathToRegexp from "path-to-regexp";
-var MockNovaInstance = class {
-  constructor() {
-    this.connections = [];
-  }
-  handleAPIRequest(config) {
-    return __async(this, null, function* () {
-      var _a, _b, _c;
-      const apiHandlers = [
-        {
-          method: "GET",
-          path: "/cells/:cellId/controllers",
-          handle() {
-            return {
-              instances: [
-                {
-                  controller: "mock-ur5e",
-                  model_name: "UniversalRobots::Controller",
-                  host: "mock-ur5e",
-                  allow_software_install_on_controller: true,
-                  physical_motion_groups: [
-                    {
-                      motion_group: "0@mock-ur5e",
-                      name_from_controller: "UR5e",
-                      active: false,
-                      model_from_controller: "UniversalRobots_UR5e"
-                    }
-                  ],
-                  has_error: false,
-                  error_details: ""
-                }
-              ]
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/controllers/:controllerId",
-          handle() {
-            return {
-              configuration: {
-                kind: "VirtualController",
-                manufacturer: "universalrobots",
-                position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
-                type: "universalrobots-ur5e"
-              },
-              name: "mock-ur5"
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/motion-groups/:motionGroupId/specification",
-          handle() {
-            return {
-              dh_parameters: [
-                {
-                  alpha: 1.5707963267948966,
-                  theta: 0,
-                  a: 0,
-                  d: 162.25,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 0,
-                  theta: 0,
-                  a: -425,
-                  d: 0,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 0,
-                  theta: 0,
-                  a: -392.2,
-                  d: 0,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 1.5707963267948966,
-                  theta: 0,
-                  a: 0,
-                  d: 133.3,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: -1.5707963267948966,
-                  theta: 0,
-                  a: 0,
-                  d: 99.7,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 0,
-                  theta: 0,
-                  a: 0,
-                  d: 99.6,
-                  reverse_rotation_direction: false
-                }
-              ],
-              mechanical_joint_limits: [
-                {
-                  joint: "JOINTNAME_AXIS_1",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_2",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_3",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_4",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_5",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_6",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                }
-              ]
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/motion-groups/:motionGroupId/safety-setup",
-          handle() {
-            return {
-              safety_settings: [
-                {
-                  safety_state: "SAFETY_NORMAL",
-                  settings: {
-                    joint_position_limits: [
-                      {
-                        joint: "JOINTNAME_AXIS_1",
-                        lower_limit: -2.96705961227417,
-                        upper_limit: 2.96705961227417,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_2",
-                        lower_limit: -1.7453292608261108,
-                        upper_limit: 2.7925267219543457,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_3",
-                        lower_limit: -3.3161256313323975,
-                        upper_limit: 0.40142571926116943,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_4",
-                        lower_limit: -3.4906585216522217,
-                        upper_limit: 3.4906585216522217,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_5",
-                        lower_limit: -2.4434609413146973,
-                        upper_limit: 2.4434609413146973,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_6",
-                        lower_limit: -4.71238899230957,
-                        upper_limit: 4.71238899230957,
-                        unlimited: false
-                      }
-                    ],
-                    joint_velocity_limits: [
-                      {
-                        joint: "JOINTNAME_AXIS_1",
-                        limit: 3.1415927410125732
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_2",
-                        limit: 3.1415927410125732
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_3",
-                        limit: 3.4906585216522217
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_4",
-                        limit: 6.108652591705322
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_5",
-                        limit: 6.108652591705322
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_6",
-                        limit: 6.981317043304443
-                      }
-                    ],
-                    joint_acceleration_limits: [],
-                    joint_torque_limits: [],
-                    tcp_velocity_limit: 1800
-                  }
-                }
-              ],
-              safety_zones: [
-                {
-                  id: 1,
-                  priority: 0,
-                  geometry: {
-                    compound: {
-                      child_geometries: [
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                x: -800,
-                                y: -1330,
-                                z: -1820
-                              },
-                              {
-                                x: 1650,
-                                y: -1330,
-                                z: -1820
-                              },
-                              {
-                                x: 1650,
-                                y: 1330,
-                                z: -1820
-                              },
-                              {
-                                x: -800,
-                                y: 1330,
-                                z: -1820
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: {
-                              x: 0,
-                              y: 0,
-                              z: 0
-                            },
-                            orientation: {
-                              x: 0,
-                              y: 0,
-                              z: 0,
-                              w: 1
-                            }
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                x: -800,
-                                y: -1330,
-                                z: -1820
-                              },
-                              {
-                                x: 1650,
-                                y: -1330,
-                                z: -1820
-                              },
-                              {
-                                x: 1650,
-                                y: -1330,
-                                z: 1500
-                              },
-                              {
-                                x: -800,
-                                y: -1330,
-                                z: 1500
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: {
-                              x: 0,
-                              y: 0,
-                              z: 0
-                            },
-                            orientation: {
-                              x: 0,
-                              y: 0,
-                              z: 0,
-                              w: 1
-                            }
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                x: -800,
-                                y: -1330,
-                                z: -1820
-                              },
-                              {
-                                x: -800,
-                                y: 1330,
-                                z: -1820
-                              },
-                              {
-                                x: -800,
-                                y: 1330,
-                                z: 1500
-                              },
-                              {
-                                x: -800,
-                                y: -1330,
-                                z: 1500
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: {
-                              x: 0,
-                              y: 0,
-                              z: 0
-                            },
-                            orientation: {
-                              x: 0,
-                              y: 0,
-                              z: 0,
-                              w: 1
-                            }
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                x: 1650,
-                                y: 1330,
-                                z: 1500
-                              },
-                              {
-                                x: -800,
-                                y: 1330,
-                                z: 1500
-                              },
-                              {
-                                x: -800,
-                                y: -1330,
-                                z: 1500
-                              },
-                              {
-                                x: 1650,
-                                y: -1330,
-                                z: 1500
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: {
-                              x: 0,
-                              y: 0,
-                              z: 0
-                            },
-                            orientation: {
-                              x: 0,
-                              y: 0,
-                              z: 0,
-                              w: 1
-                            }
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                x: 1650,
-                                y: 1330,
-                                z: 1500
-                              },
-                              {
-                                x: -800,
-                                y: 1330,
-                                z: 1500
-                              },
-                              {
-                                x: -800,
-                                y: 1330,
-                                z: -1820
-                              },
-                              {
-                                x: 1650,
-                                y: 1330,
-                                z: -1820
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: {
-                              x: 0,
-                              y: 0,
-                              z: 0
-                            },
-                            orientation: {
-                              x: 0,
-                              y: 0,
-                              z: 0,
-                              w: 1
-                            }
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                x: 1650,
-                                y: 1330,
-                                z: 1500
-                              },
-                              {
-                                x: 1650,
-                                y: -1330,
-                                z: 1500
-                              },
-                              {
-                                x: 1650,
-                                y: -1330,
-                                z: -1820
-                              },
-                              {
-                                x: 1650,
-                                y: 1330,
-                                z: -1820
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: {
-                              x: 0,
-                              y: 0,
-                              z: 0
-                            },
-                            orientation: {
-                              x: 0,
-                              y: 0,
-                              z: 0,
-                              w: 1
-                            }
-                          },
-                          id: "box"
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: {
-                        x: 0,
-                        y: 0,
-                        z: 0
-                      },
-                      orientation: {
-                        x: 0,
-                        y: 0,
-                        z: 0,
-                        w: 1
-                      }
-                    },
-                    id: "Cell workzone"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 2,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          x: 1650,
-                          y: 1330,
-                          z: -1850
-                        },
-                        {
-                          x: 865,
-                          y: 1330,
-                          z: -1850
-                        },
-                        {
-                          x: 865,
-                          y: -720,
-                          z: -1850
-                        },
-                        {
-                          x: 1650,
-                          y: -720,
-                          z: -1850
-                        },
-                        {
-                          x: 1650,
-                          y: 1330,
-                          z: -920
-                        },
-                        {
-                          x: 865,
-                          y: 1330,
-                          z: -920
-                        },
-                        {
-                          x: 865,
-                          y: -720,
-                          z: -920
-                        },
-                        {
-                          x: 1650,
-                          y: -720,
-                          z: -920
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: {
-                        x: 0,
-                        y: 0,
-                        z: 0
-                      },
-                      orientation: {
-                        x: 0,
-                        y: 0,
-                        z: 0,
-                        w: 1
-                      }
-                    },
-                    id: "Transport"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 3,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          x: 1650,
-                          y: 1330,
-                          z: -600
-                        },
-                        {
-                          x: 865,
-                          y: 1330,
-                          z: -600
-                        },
-                        {
-                          x: 865,
-                          y: 430,
-                          z: -600
-                        },
-                        {
-                          x: 1650,
-                          y: 430,
-                          z: -600
-                        },
-                        {
-                          x: 1650,
-                          y: 1330,
-                          z: -1250
-                        },
-                        {
-                          x: 865,
-                          y: 1330,
-                          z: -1250
-                        },
-                        {
-                          x: 865,
-                          y: 430,
-                          z: -1250
-                        },
-                        {
-                          x: 1650,
-                          y: 430,
-                          z: -1250
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: {
-                        x: 0,
-                        y: 0,
-                        z: 0
-                      },
-                      orientation: {
-                        x: 0,
-                        y: 0,
-                        z: 0,
-                        w: 1
-                      }
-                    },
-                    id: "Tunel"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 4,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          x: 1650,
-                          y: -760,
-                          z: -440
-                        },
-                        {
-                          x: 900,
-                          y: -760,
-                          z: -440
-                        },
-                        {
-                          x: 900,
-                          y: -1330,
-                          z: -440
-                        },
-                        {
-                          x: 1650,
-                          y: -1330,
-                          z: -440
-                        },
-                        {
-                          x: 1650,
-                          y: -760,
-                          z: -1800
-                        },
-                        {
-                          x: 900,
-                          y: -760,
-                          z: -1800
-                        },
-                        {
-                          x: 900,
-                          y: -1330,
-                          z: -1800
-                        },
-                        {
-                          x: 1650,
-                          y: -1330,
-                          z: -1800
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: {
-                        x: 0,
-                        y: 0,
-                        z: 0
-                      },
-                      orientation: {
-                        x: 0,
-                        y: 0,
-                        z: 0,
-                        w: 1
-                      }
-                    },
-                    id: "Fanuc controller"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 6,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          x: -200,
-                          y: -200,
-                          z: -1900
-                        },
-                        {
-                          x: 200,
-                          y: -200,
-                          z: -1900
-                        },
-                        {
-                          x: 200,
-                          y: 200,
-                          z: -1900
-                        },
-                        {
-                          x: -200,
-                          y: 200,
-                          z: -1900
-                        },
-                        {
-                          x: -200,
-                          y: -200,
-                          z: -350
-                        },
-                        {
-                          x: 200,
-                          y: -200,
-                          z: -350
-                        },
-                        {
-                          x: 200,
-                          y: 200,
-                          z: -350
-                        },
-                        {
-                          x: -200,
-                          y: 200,
-                          z: -350
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: {
-                        x: 0,
-                        y: 0,
-                        z: 0
-                      },
-                      orientation: {
-                        x: 0,
-                        y: 0,
-                        z: 0,
-                        w: 1
-                      }
-                    },
-                    id: "Robot base"
-                  },
-                  motion_group_uid: 1
-                }
-              ],
-              robot_model_geometries: [
-                {
-                  link_index: 1,
-                  geometry: {
-                    sphere: {
-                      radius: 270
-                    },
-                    init_pose: {
-                      position: {
-                        x: -70,
-                        y: -70,
-                        z: -50
-                      },
-                      orientation: {
-                        x: 0,
-                        y: 0,
-                        z: 0,
-                        w: 1
-                      }
-                    },
-                    id: "link1_sphere"
-                  }
-                },
-                {
-                  link_index: 2,
-                  geometry: {
-                    capsule: {
-                      radius: 160,
-                      cylinder_height: 800
-                    },
-                    init_pose: {
-                      position: {
-                        x: -450,
-                        y: 40,
-                        z: 170
-                      },
-                      orientation: {
-                        x: 0,
-                        y: -Math.SQRT1_2,
-                        z: 0,
-                        w: Math.SQRT1_2
-                      }
-                    },
-                    id: "link2_capsule"
-                  }
-                },
-                {
-                  link_index: 3,
-                  geometry: {
-                    sphere: {
-                      radius: 270
-                    },
-                    init_pose: {
-                      position: {
-                        x: -110,
-                        y: 10,
-                        z: -100
-                      },
-                      orientation: {
-                        x: 0,
-                        y: 0,
-                        z: 0,
-                        w: 1
-                      }
-                    },
-                    id: "link3_sphere"
-                  }
-                },
-                {
-                  link_index: 4,
-                  geometry: {
-                    capsule: {
-                      radius: 110,
-                      cylinder_height: 600
-                    },
-                    init_pose: {
-                      position: {
-                        x: 0,
-                        y: 300,
-                        z: 40
-                      },
-                      orientation: {
-                        x: -Math.SQRT1_2,
-                        y: 0,
-                        z: 0,
-                        w: Math.SQRT1_2
-                      }
-                    },
-                    id: "link4_capsule"
-                  }
-                },
-                {
-                  link_index: 5,
-                  geometry: {
-                    sphere: {
-                      radius: 75
-                    },
-                    init_pose: {
-                      position: {
-                        x: 0,
-                        y: 0,
-                        z: -50
-                      },
-                      orientation: {
-                        x: 0,
-                        y: 0,
-                        z: 0,
-                        w: 1
-                      }
-                    },
-                    id: "link5_sphere"
-                  }
-                }
-              ],
-              tool_geometries: []
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/coordinate-systems",
-          handle() {
-            return {
-              coordinatesystems: [
-                {
-                  coordinate_system: "",
-                  name: "world",
-                  reference_uid: "",
-                  position: {
-                    x: 0,
-                    y: 0,
-                    z: 0
-                  },
-                  rotation: {
-                    angles: [0, 0, 0],
-                    type: "ROTATION_VECTOR"
-                  }
-                }
-              ]
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",
-          handle() {
-            return {
-              tcps: [
-                {
-                  id: "Flange",
-                  readable_name: "Default-Flange",
-                  position: {
-                    x: 0,
-                    y: 0,
-                    z: 0
-                  },
-                  rotation: {
-                    angles: [0, 0, 0, 0],
-                    type: "ROTATION_VECTOR"
-                  }
-                },
-                {
-                  id: "complex-tcp-position",
-                  readable_name: "Complex TCP Position",
-                  position: {
-                    x: -200,
-                    y: 300,
-                    z: 150
-                  },
-                  rotation: {
-                    angles: [
-                      -0.12139440409113832,
-                      -0.06356210998212003,
-                      -0.2023240068185639,
-                      0
-                    ],
-                    type: "ROTATION_VECTOR"
-                  }
-                }
-              ]
-            };
-          }
-        }
-      ];
-      const method = ((_a = config.method) == null ? void 0 : _a.toUpperCase()) || "GET";
-      const path = `/cells${(_c = (_b = config.url) == null ? void 0 : _b.split("/cells")[1]) == null ? void 0 : _c.split("?")[0]}`;
-      for (const handler of apiHandlers) {
-        const match2 = pathToRegexp.match(handler.path)(path || "");
-        if (method === handler.method && match2) {
-          const json = handler.handle();
-          return {
-            status: 200,
-            statusText: "Success",
-            data: JSON.stringify(json),
-            headers: {},
-            config,
-            request: {
-              responseURL: config.url
-            }
-          };
-        }
-      }
-      throw new AxiosError(
-        `No mock handler matched this request: ${method} ${path}`,
-        "404",
-        config
-      );
-    });
-  }
-  handleWebsocketConnection(socket) {
-    this.connections.push(socket);
-    setTimeout(() => {
-      socket.dispatchEvent(new Event("open"));
-      console.log("Websocket connection opened from", socket.url);
-      if (socket.url.includes("/state-stream")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify(defaultMotionState)
-          })
-        );
-      }
-      if (socket.url.includes("/move-joint")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify({
-              result: {
-                motion_group: "0@ur",
-                state: {
-                  controller: "ur",
-                  operation_mode: "OPERATION_MODE_AUTO",
-                  safety_state: "SAFETY_STATE_NORMAL",
-                  timestamp: "2024-09-18T12:48:26.096266444Z",
-                  velocity_override: 100,
-                  motion_groups: [
-                    {
-                      motion_group: "0@ur",
-                      controller: "ur",
-                      joint_position: {
-                        joints: [
-                          1.3492152690887451,
-                          -1.5659207105636597,
-                          1.6653711795806885,
-                          -1.0991662740707397,
-                          -1.829018235206604,
-                          1.264623761177063
-                        ]
-                      },
-                      joint_velocity: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      flange_pose: {
-                        position: {
-                          x: 6.437331889439328,
-                          y: -628.4123774830913,
-                          z: 577.0569957147832
-                        },
-                        orientation: {
-                          x: -1.683333649797158,
-                          y: -1.9783363827298732,
-                          z: -0.4928031860165713
-                        },
-                        coordinate_system: ""
-                      },
-                      tcp_pose: {
-                        position: {
-                          x: 6.437331889439328,
-                          y: -628.4123774830913,
-                          z: 577.0569957147832
-                        },
-                        orientation: {
-                          x: -1.683333649797158,
-                          y: -1.9783363827298732,
-                          z: -0.4928031860165713
-                        },
-                        coordinate_system: "",
-                        tcp: "Flange"
-                      },
-                      velocity: {
-                        linear: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        angular: {
-                          x: -0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      force: {
-                        force: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        moment: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      joint_limit_reached: {
-                        limit_reached: [
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                          false
-                        ]
-                      },
-                      joint_current: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      sequence_number: "671259"
-                    }
-                  ],
-                  sequence_number: "671259"
-                },
-                movement_state: "MOVEMENT_STATE_MOVING"
-              }
-            })
-          })
-        );
-      }
-      if (socket.url.includes("/move-tcp")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify({
-              result: {
-                motion_group: "0@ur",
-                state: {
-                  controller: "ur",
-                  operation_mode: "OPERATION_MODE_AUTO",
-                  safety_state: "SAFETY_STATE_NORMAL",
-                  timestamp: "2024-09-18T12:43:12.188335774Z",
-                  velocity_override: 100,
-                  motion_groups: [
-                    {
-                      motion_group: "0@ur",
-                      controller: "ur",
-                      joint_position: {
-                        joints: [
-                          1.3352527618408203,
-                          -1.5659207105636597,
-                          1.6653711795806885,
-                          -1.110615611076355,
-                          -1.829018235206604,
-                          1.264623761177063
-                        ]
-                      },
-                      joint_velocity: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      flange_pose: {
-                        position: {
-                          x: -2.763015284002938,
-                          y: -630.2151479701106,
-                          z: 577.524509114342
-                        },
-                        orientation: {
-                          x: -1.704794877102097,
-                          y: -1.9722372952861567,
-                          z: -0.4852079204210754
-                        },
-                        coordinate_system: ""
-                      },
-                      tcp_pose: {
-                        position: {
-                          x: -2.763015284002938,
-                          y: -630.2151479701106,
-                          z: 577.524509114342
-                        },
-                        orientation: {
-                          x: -1.704794877102097,
-                          y: -1.9722372952861567,
-                          z: -0.4852079204210754
-                        },
-                        coordinate_system: "",
-                        tcp: "Flange"
-                      },
-                      velocity: {
-                        linear: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        angular: {
-                          x: -0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      force: {
-                        force: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        moment: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      joint_limit_reached: {
-                        limit_reached: [
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                          false
-                        ]
-                      },
-                      joint_current: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      sequence_number: "627897"
-                    }
-                  ],
-                  sequence_number: "627897"
-                },
-                movement_state: "MOVEMENT_STATE_MOVING"
-              }
-            })
-          })
-        );
-      }
-    }, 10);
-  }
-  handleWebsocketMessage(socket, message) {
-    console.log(`Received message on ${socket.url}`, message);
-  }
-};
-var defaultMotionState = {
-  result: {
-    state: {
-      motion_group: "0@universalrobots-ur5e",
-      controller: "universalrobots-ur5e",
-      joint_position: {
-        joints: [
-          1.1699999570846558,
-          -1.5700000524520874,
-          1.3600000143051147,
-          1.0299999713897705,
-          1.2899999618530273,
-          1.2799999713897705
-        ]
-      },
-      joint_velocity: {
-        joints: [0, 0, 0, 0, 0, 0]
-      },
-      flange_pose: {
-        position: {
-          x: 1.3300010259703043,
-          y: -409.2680714682808,
-          z: 531.0203477065281
-        },
-        orientation: {
-          x: 1.7564919306270736,
-          y: -1.7542521568325058,
-          z: 0.7326972590614671
-        },
-        coordinate_system: ""
-      },
-      tcp_pose: {
-        position: {
-          x: 1.3300010259703043,
-          y: -409.2680714682808,
-          z: 531.0203477065281
-        },
-        orientation: {
-          x: 1.7564919306270736,
-          y: -1.7542521568325058,
-          z: 0.7326972590614671
-        },
-        coordinate_system: "",
-        tcp: "Flange"
-      },
-      velocity: {
-        linear: {
-          x: 0,
-          y: 0,
-          z: 0
-        },
-        angular: {
-          x: 0,
-          y: 0,
-          z: 0
-        },
-        coordinate_system: ""
-      },
-      force: {
-        force: {
-          x: 0,
-          y: 0,
-          z: 0
-        },
-        moment: {
-          x: 0,
-          y: 0,
-          z: 0
-        },
-        coordinate_system: ""
-      },
-      joint_limit_reached: {
-        limit_reached: [false, false, false, false, false, false]
-      },
-      joint_current: {
-        joints: [0, 0, 0, 0, 0, 0]
-      },
-      sequence_number: "1"
-    },
-    tcp_pose: {
-      position: {
-        x: 302.90748476115556,
-        y: -152.87065869452337,
-        z: 424.0454619321661
-      },
-      orientation: {
-        x: 2.3403056115045353,
-        y: -1.1706836379431356,
-        z: 0.9772511964246311
-      },
-      coordinate_system: "",
-      tcp: "Flange"
-    }
-  }
-};
-
-// src/lib/v1/NovaClient.ts
-var NovaClient = class {
-  constructor(config) {
-    this.authPromise = null;
-    this.accessToken = null;
-    var _a;
-    const cellId = (_a = config.cellId) != null ? _a : "cell";
-    this.config = __spreadValues({
-      cellId
-    }, config);
-    this.accessToken = config.accessToken || availableStorage.getString("wbjs.access_token") || null;
-    if (this.config.instanceUrl === "https://mock.example.com") {
-      this.mock = new MockNovaInstance();
-    }
-    const axiosInstance = axios2.create({
-      baseURL: urlJoin(this.config.instanceUrl, "/api/v1"),
-      // TODO - backend needs to set proper CORS headers for this
-      headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : {
-        // Identify the client to the backend for logging purposes
-        "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK"
-      }
-    });
-    axiosInstance.interceptors.request.use((request) => __async(this, null, function* () {
-      if (!request.headers.Authorization) {
-        if (this.accessToken) {
-          request.headers.Authorization = `Bearer ${this.accessToken}`;
-        } else if (this.config.username && this.config.password) {
-          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`;
-        }
-      }
-      return request;
-    }));
-    if (typeof window !== "undefined") {
-      axiosInstance.interceptors.response.use(
-        (r) => r,
-        (error) => __async(this, null, function* () {
-          var _a2, _b;
-          if (isAxiosError(error)) {
-            if (((_a2 = error.response) == null ? void 0 : _a2.status) === 401) {
-              try {
-                yield this.renewAuthentication();
-                if (error.config) {
-                  if (this.accessToken) {
-                    error.config.headers.Authorization = `Bearer ${this.accessToken}`;
-                  } else {
-                    delete error.config.headers.Authorization;
-                  }
-                  return axiosInstance.request(error.config);
-                }
-              } catch (err) {
-                return Promise.reject(err);
-              }
-            } else if (((_b = error.response) == null ? void 0 : _b.status) === 503) {
-              const res = yield fetch(window.location.href);
-              if (res.status === 503) {
-                window.location.reload();
-              }
-            }
-          }
-          return Promise.reject(error);
-        })
-      );
-    }
-    this.api = new NovaCellAPIClient(cellId, __spreadProps(__spreadValues({}, config), {
-      basePath: urlJoin(this.config.instanceUrl, "/api/v1"),
-      isJsonMime: (mime) => {
-        return mime === "application/json";
-      },
-      baseOptions: __spreadValues(__spreadValues({}, this.mock ? {
-        adapter: (config2) => {
-          return this.mock.handleAPIRequest(config2);
-        }
-      } : {}), config.baseOptions),
-      axiosInstance
-    }));
-  }
-  renewAuthentication() {
-    return __async(this, null, function* () {
-      if (this.authPromise) {
-        return;
-      }
-      this.authPromise = loginWithAuth0(this.config.instanceUrl);
-      try {
-        this.accessToken = yield this.authPromise;
-        if (this.accessToken) {
-          availableStorage.setString("wbjs.access_token", this.accessToken);
-        } else {
-          availableStorage.delete("wbjs.access_token");
-        }
-      } finally {
-        this.authPromise = null;
-      }
-    });
-  }
-  makeWebsocketURL(path) {
-    const url = new URL(
-      urlJoin(
-        this.config.instanceUrl,
-        `/api/v1/cells/${this.config.cellId}`,
-        path
-      )
-    );
-    url.protocol = url.protocol.replace("http", "ws");
-    url.protocol = url.protocol.replace("https", "wss");
-    if (this.accessToken) {
-      url.searchParams.append("token", this.accessToken);
-    } else if (this.config.username && this.config.password) {
-      url.username = this.config.username;
-      url.password = this.config.password;
-    }
-    return url.toString();
-  }
-  /**
-   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.
-   * If you explicitly want to reconnect an existing websocket, call `reconnect`
-   * on the returned object.
-   */
-  openReconnectingWebsocket(path) {
-    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {
-      mock: this.mock
-    });
-  }
-  /**
-   * Connect to the motion state websocket(s) for a given motion group
-   */
-  connectMotionStream(motionGroupId) {
-    return __async(this, null, function* () {
-      return yield MotionStreamConnection.open(this, motionGroupId);
-    });
-  }
-  /**
-   * Connect to the jogging websocket(s) for a given motion group
-   */
-  connectJogger(motionGroupId) {
-    return __async(this, null, function* () {
-      return yield JoggerConnection.open(this, motionGroupId);
-    });
-  }
-  connectMotionGroups(motionGroupIds) {
-    return __async(this, null, function* () {
-      const { instances } = yield this.api.controller.listControllers();
-      return Promise.all(
-        motionGroupIds.map(
-          (motionGroupId) => ConnectedMotionGroup.connect(this, motionGroupId, instances)
-        )
-      );
-    });
-  }
-  connectMotionGroup(motionGroupId) {
-    return __async(this, null, function* () {
-      const motionGroups = yield this.connectMotionGroups([motionGroupId]);
-      return motionGroups[0];
-    });
-  }
-};
-
-// src/lib/v1/ProgramStateConnection.ts
-import { AxiosError as AxiosError2 } from "axios";
-import { makeAutoObservable as makeAutoObservable3, runInAction as runInAction3 } from "mobx";
-var ProgramState = /* @__PURE__ */ ((ProgramState2) => {
-  ProgramState2["NotStarted"] = "not started";
-  ProgramState2["Running"] = "running";
-  ProgramState2["Stopped"] = "stopped";
-  ProgramState2["Failed"] = "failed";
-  ProgramState2["Completed"] = "completed";
-  return ProgramState2;
-})(ProgramState || {});
-var ProgramStateConnection = class {
-  constructor(nova) {
-    this.nova = nova;
-    this.currentProgram = {};
-    this.logs = [];
-    this.executionState = "idle";
-    this.currentlyExecutingProgramRunnerId = null;
-    makeAutoObservable3(this, {}, { autoBind: true });
-    this.programStateSocket = nova.openReconnectingWebsocket(`/programs/state`);
-    this.programStateSocket.addEventListener("message", (ev) => {
-      const msg = tryParseJson(ev.data);
-      if (!msg) {
-        console.error("Failed to parse program state message", ev.data);
-        return;
-      }
-      if (msg.type === "update") {
-        this.handleProgramStateMessage(msg);
-      }
-    });
-  }
-  /** Handle a program state update from the backend */
-  handleProgramStateMessage(msg) {
-    return __async(this, null, function* () {
-      var _a;
-      const { runner } = msg;
-      if (runner.id !== this.currentlyExecutingProgramRunnerId) return;
-      if (runner.state === "failed" /* Failed */) {
-        try {
-          const runnerState = yield this.nova.api.program.getProgramRunner(
-            runner.id
-          );
-          const stdout = runnerState.stdout;
-          if (stdout) {
-            this.log(stdout);
-          }
-          this.logError(
-            `Program runner ${runner.id} failed with error: ${runnerState.error}
-${runnerState.traceback}`
-          );
-        } catch (err) {
-          this.logError(
-            `Failed to retrieve results for program ${runner.id}: ${err}`
-          );
-        }
-        this.currentProgram.state = "failed" /* Failed */;
-        this.gotoIdleState();
-      } else if (runner.state === "stopped" /* Stopped */) {
-        try {
-          const runnerState = yield this.nova.api.program.getProgramRunner(
-            runner.id
-          );
-          const stdout = runnerState.stdout;
-          if (stdout) {
-            this.log(stdout);
-          }
-          this.currentProgram.state = "stopped" /* Stopped */;
-          this.log(`Program runner ${runner.id} stopped`);
-        } catch (err) {
-          this.logError(
-            `Failed to retrieve results for program ${runner.id}: ${err}`
-          );
-        }
-        this.gotoIdleState();
-      } else if (runner.state === "completed" /* Completed */) {
-        try {
-          const runnerState = yield this.nova.api.program.getProgramRunner(
-            runner.id
-          );
-          const stdout = runnerState.stdout;
-          if (stdout) {
-            this.log(stdout);
-          }
-          this.log(
-            `Program runner ${runner.id} finished successfully in ${(_a = runner.execution_time) == null ? void 0 : _a.toFixed(2)} seconds`
-          );
-          this.currentProgram.state = "completed" /* Completed */;
-        } catch (err) {
-          this.logError(
-            `Failed to retrieve results for program ${runner.id}: ${err}`
-          );
-        }
-        this.gotoIdleState();
-      } else if (runner.state === "running" /* Running */) {
-        this.currentProgram.state = "running" /* Running */;
-        this.log(`Program runner ${runner.id} now running`);
-      } else if (runner.state !== "not started" /* NotStarted */) {
-        console.error(runner);
-        this.logError(
-          `Program runner ${runner.id} entered unexpected state: ${runner.state}`
-        );
-        this.currentProgram.state = "not started" /* NotStarted */;
-        this.gotoIdleState();
-      }
-    });
-  }
-  /** Call when a program is no longer executing */
-  gotoIdleState() {
-    runInAction3(() => {
-      this.executionState = "idle";
-    });
-    this.currentlyExecutingProgramRunnerId = null;
-  }
-  executeProgram(wandelscript, initial_state, activeRobot) {
-    return __async(this, null, function* () {
-      this.currentProgram = {
-        wandelscript,
-        state: "not started" /* NotStarted */
-      };
-      const { currentProgram: openProgram } = this;
-      if (!openProgram) return;
-      runInAction3(() => {
-        this.executionState = "starting";
-      });
-      if (activeRobot) {
-        try {
-          yield this.nova.api.motionGroupJogging.stopJogging(
-            activeRobot.motionGroupId
-          );
-        } catch (err) {
-          console.error(err);
-        }
-      }
-      const trimmedCode = openProgram.wandelscript.replaceAll(/^\s*$/gm, "");
-      try {
-        const programRunnerRef = yield this.nova.api.program.createProgramRunner(
-          {
-            code: trimmedCode,
-            initial_state,
-            // @ts-expect-error legacy code - check if param still used
-            default_robot: activeRobot == null ? void 0 : activeRobot.wandelscriptIdentifier
-          },
-          {
-            headers: {
-              "Content-Type": "application/json"
-            }
-          }
-        );
-        this.log(`Created program runner ${programRunnerRef.id}"`);
-        runInAction3(() => {
-          this.executionState = "executing";
-        });
-        this.currentlyExecutingProgramRunnerId = programRunnerRef.id;
-      } catch (error) {
-        if (error instanceof AxiosError2 && error.response && error.request) {
-          this.logError(
-            `${error.response.status} ${error.response.statusText} from ${error.response.config.url} ${JSON.stringify(error.response.data)}`
-          );
-        } else {
-          this.logError(JSON.stringify(error));
-        }
-        runInAction3(() => {
-          this.executionState = "idle";
-        });
-      }
-    });
-  }
-  stopProgram() {
-    return __async(this, null, function* () {
-      if (!this.currentlyExecutingProgramRunnerId) return;
-      runInAction3(() => {
-        this.executionState = "stopping";
-      });
-      try {
-        yield this.nova.api.program.stopProgramRunner(
-          this.currentlyExecutingProgramRunnerId
-        );
-      } catch (err) {
-        runInAction3(() => {
-          this.executionState = "executing";
-        });
-        throw err;
-      }
-    });
-  }
-  reset() {
-    this.currentProgram = {};
-  }
-  log(message) {
-    console.log(message);
-    this.logs.push({
-      timestamp: Date.now(),
-      message
-    });
-  }
-  logError(message) {
-    console.log(message);
-    this.logs.push({
-      timestamp: Date.now(),
-      message,
-      level: "error"
-    });
-  }
-};
-export {
-  ConnectedMotionGroup,
-  JoggerConnection,
-  MotionStreamConnection,
-  NovaCellAPIClient,
-  NovaClient,
-  ProgramState,
-  ProgramStateConnection,
-  getLatestTrajectories
-};
-//# sourceMappingURL=index.js.map