@wandelbots/nova-js 3.2.0 → 3.3.0

package/dist/lib/v2/index.js

@@ -1,1196 +0,0 @@
-import {
-  AutoReconnectingWebsocket,
-  __async,
-  __spreadProps,
-  __spreadValues,
-  availableStorage,
-  loginWithAuth0
-} from "../../chunk-I3PUV6ZD.js";
-
-// src/lib/v2/index.ts
-export * from "@wandelbots/nova-api/v2";
-
-// src/lib/v2/NovaCellAPIClient.ts
-import {
-  ApplicationApi,
-  BUSInputsOutputsApi,
-  CellApi,
-  ControllerApi,
-  ControllerInputsOutputsApi,
-  JoggingApi,
-  KinematicsApi,
-  MotionGroupApi,
-  MotionGroupModelsApi,
-  StoreCollisionComponentsApi,
-  StoreCollisionSetupsApi,
-  StoreObjectApi,
-  SystemApi,
-  TrajectoryCachingApi,
-  TrajectoryExecutionApi,
-  TrajectoryPlanningApi,
-  VirtualControllerApi,
-  VirtualControllerBehaviorApi,
-  VirtualControllerInputsOutputsApi
-} from "@wandelbots/nova-api/v2";
-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.motionGroup = this.withCellId(MotionGroupApi);
-    this.motionGroupModels = this.withCellId(MotionGroupModelsApi);
-    this.controller = this.withCellId(ControllerApi);
-    this.controllerIOs = this.withCellId(ControllerInputsOutputsApi);
-    this.trajectoryPlanning = this.withCellId(TrajectoryPlanningApi);
-    this.trajectoryExecution = this.withCellId(TrajectoryExecutionApi);
-    this.trajectoryCaching = this.withCellId(TrajectoryCachingApi);
-    this.application = this.withCellId(ApplicationApi);
-    this.applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi);
-    this.jogging = this.withCellId(JoggingApi);
-    this.kinematics = this.withCellId(KinematicsApi);
-    this.busInputsOutputs = this.withCellId(BUSInputsOutputsApi);
-    this.virtualController = this.withCellId(VirtualControllerApi);
-    this.virtualControllerBehavior = this.withCellId(
-      VirtualControllerBehaviorApi
-    );
-    this.virtualControllerIOs = this.withCellId(
-      VirtualControllerInputsOutputsApi
-    );
-    this.storeObject = this.withCellId(StoreObjectApi);
-    this.storeCollisionComponents = this.withCellId(
-      StoreCollisionComponentsApi
-    );
-    this.storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi);
-  }
-  /**
-   * Some TypeScript sorcery which alters the API class methods so you don't
-   * have to pass the cell id to every single one, and de-encapsulates the
-   * response data
-   */
-  withCellId(ApiConstructor) {
-    var _a, _b;
-    const apiClient = new ApiConstructor(
-      __spreadProps(__spreadValues({}, this.opts), {
-        isJsonMime: (mime) => {
-          return mime === "application/json";
-        }
-      }),
-      (_a = this.opts.basePath) != null ? _a : "",
-      (_b = this.opts.axiosInstance) != null ? _b : 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/v2/NovaClient.ts
-import axios2, { isAxiosError } from "axios";
-import urlJoin from "url-join";
-
-// src/lib/v2/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 {
-              controllers: [
-                {
-                  controller: "mock-ur5e",
-                  model_name: "UniversalRobots::Controller",
-                  host: "mock-ur5e",
-                  allow_software_install_on_controller: true,
-                  motion_groups: [
-                    {
-                      motion_group: "0@mock-ur5e",
-                      name_from_controller: "UR5e",
-                      active: false,
-                      model_from_controller: "UniversalRobots_UR5e"
-                    }
-                  ],
-                  has_error: false,
-                  error_details: ""
-                }
-              ]
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/controllers/:controllerId",
-          handle() {
-            return {
-              configuration: {
-                kind: "VirtualController",
-                manufacturer: "universalrobots",
-                type: "universalrobots-ur5e"
-              },
-              name: "mock-ur5"
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/motion-groups/:motionGroupId/specification",
-          handle() {
-            return {
-              dh_parameters: [
-                {
-                  alpha: 1.5707963267948966,
-                  theta: 0,
-                  a: 0,
-                  d: 162.25,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 0,
-                  theta: 0,
-                  a: -425,
-                  d: 0,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 0,
-                  theta: 0,
-                  a: -392.2,
-                  d: 0,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 1.5707963267948966,
-                  theta: 0,
-                  a: 0,
-                  d: 133.3,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: -1.5707963267948966,
-                  theta: 0,
-                  a: 0,
-                  d: 99.7,
-                  reverse_rotation_direction: false
-                },
-                {
-                  alpha: 0,
-                  theta: 0,
-                  a: 0,
-                  d: 99.6,
-                  reverse_rotation_direction: false
-                }
-              ],
-              mechanical_joint_limits: [
-                {
-                  joint: "JOINTNAME_AXIS_1",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_2",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_3",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_4",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_5",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                },
-                {
-                  joint: "JOINTNAME_AXIS_6",
-                  lower_limit: -6.335545063018799,
-                  upper_limit: 6.335545063018799,
-                  unlimited: false
-                }
-              ]
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/motion-groups/:motionGroupId/safety-setup",
-          handle() {
-            return {
-              safety_settings: [
-                {
-                  safety_state: "SAFETY_NORMAL",
-                  settings: {
-                    joint_position_limits: [
-                      {
-                        joint: "JOINTNAME_AXIS_1",
-                        lower_limit: -2.96705961227417,
-                        upper_limit: 2.96705961227417,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_2",
-                        lower_limit: -1.7453292608261108,
-                        upper_limit: 2.7925267219543457,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_3",
-                        lower_limit: -3.3161256313323975,
-                        upper_limit: 0.40142571926116943,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_4",
-                        lower_limit: -3.4906585216522217,
-                        upper_limit: 3.4906585216522217,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_5",
-                        lower_limit: -2.4434609413146973,
-                        upper_limit: 2.4434609413146973,
-                        unlimited: false
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_6",
-                        lower_limit: -4.71238899230957,
-                        upper_limit: 4.71238899230957,
-                        unlimited: false
-                      }
-                    ],
-                    joint_velocity_limits: [
-                      {
-                        joint: "JOINTNAME_AXIS_1",
-                        limit: 3.1415927410125732
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_2",
-                        limit: 3.1415927410125732
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_3",
-                        limit: 3.4906585216522217
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_4",
-                        limit: 6.108652591705322
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_5",
-                        limit: 6.108652591705322
-                      },
-                      {
-                        joint: "JOINTNAME_AXIS_6",
-                        limit: 6.981317043304443
-                      }
-                    ],
-                    joint_acceleration_limits: [],
-                    joint_torque_limits: [],
-                    tcp_velocity_limit: 1800
-                  }
-                }
-              ],
-              safety_zones: [
-                {
-                  id: 1,
-                  priority: 0,
-                  geometry: {
-                    compound: {
-                      child_geometries: [
-                        {
-                          convex_hull: {
-                            vertices: [
-                              { vertex: [-800, -1330, -1820] },
-                              { vertex: [1650, -1330, -1820] },
-                              { vertex: [1650, 1330, -1820] },
-                              { vertex: [-800, 1330, -1820] }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [-800, -1330, -1820]
-                              },
-                              {
-                                vertex: [1650, -1330, -1820]
-                              },
-                              {
-                                vertex: [1650, -1330, 1500]
-                              },
-                              {
-                                vertex: [-800, -1330, 1500]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [-800, -1330, -1820]
-                              },
-                              {
-                                vertex: [-800, 1330, -1820]
-                              },
-                              {
-                                vertex: [-800, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, -1330, 1500]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [1650, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, -1330, 1500]
-                              },
-                              {
-                                vertex: [1650, -1330, 1500]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [1650, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, 1330, 1500]
-                              },
-                              {
-                                vertex: [-800, 1330, -1820]
-                              },
-                              {
-                                vertex: [1650, 1330, -1820]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        },
-                        {
-                          convex_hull: {
-                            vertices: [
-                              {
-                                vertex: [1650, 1330, 1500]
-                              },
-                              {
-                                vertex: [1650, -1330, 1500]
-                              },
-                              {
-                                vertex: [1650, -1330, -1820]
-                              },
-                              {
-                                vertex: [1650, 1330, -1820]
-                              }
-                            ]
-                          },
-                          init_pose: {
-                            position: [0, 0, 0],
-                            orientation: [0, 0, 0, 1]
-                          },
-                          id: "box"
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Cell workzone"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 2,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          vertex: [1650, 1330, -1850]
-                        },
-                        {
-                          vertex: [865, 1330, -1850]
-                        },
-                        {
-                          vertex: [865, -720, -1850]
-                        },
-                        {
-                          vertex: [1650, -720, -1850]
-                        },
-                        {
-                          vertex: [1650, 1330, -920]
-                        },
-                        {
-                          vertex: [865, 1330, -920]
-                        },
-                        {
-                          vertex: [865, -720, -920]
-                        },
-                        {
-                          vertex: [1650, -720, -920]
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Transport"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 3,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          vertex: [1650, 1330, -600]
-                        },
-                        {
-                          vertex: [865, 1330, -600]
-                        },
-                        {
-                          vertex: [865, 430, -600]
-                        },
-                        {
-                          vertex: [1650, 430, -600]
-                        },
-                        {
-                          vertex: [1650, 1330, -1250]
-                        },
-                        {
-                          vertex: [865, 1330, -1250]
-                        },
-                        {
-                          vertex: [865, 430, -1250]
-                        },
-                        {
-                          vertex: [1650, 430, -1250]
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Tunel"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 4,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          vertex: [1650, -760, -440]
-                        },
-                        {
-                          vertex: [900, -760, -440]
-                        },
-                        {
-                          vertex: [900, -1330, -440]
-                        },
-                        {
-                          vertex: [1650, -1330, -440]
-                        },
-                        {
-                          vertex: [1650, -760, -1800]
-                        },
-                        {
-                          vertex: [900, -760, -1800]
-                        },
-                        {
-                          vertex: [900, -1330, -1800]
-                        },
-                        {
-                          vertex: [1650, -1330, -1800]
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Fanuc controller"
-                  },
-                  motion_group_uid: 1
-                },
-                {
-                  id: 6,
-                  priority: 0,
-                  geometry: {
-                    convex_hull: {
-                      vertices: [
-                        {
-                          vertex: [-200, -200, -1900]
-                        },
-                        {
-                          vertex: [200, -200, -1900]
-                        },
-                        {
-                          vertex: [200, 200, -1900]
-                        },
-                        {
-                          vertex: [-200, 200, -1900]
-                        },
-                        {
-                          vertex: [-200, -200, -350]
-                        },
-                        {
-                          vertex: [200, -200, -350]
-                        },
-                        {
-                          vertex: [200, 200, -350]
-                        },
-                        {
-                          vertex: [-200, 200, -350]
-                        }
-                      ]
-                    },
-                    init_pose: {
-                      position: [0, 0, 0],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "Robot base"
-                  },
-                  motion_group_uid: 1
-                }
-              ],
-              robot_model_geometries: [
-                {
-                  link_index: 1,
-                  geometry: {
-                    sphere: {
-                      radius: 270
-                    },
-                    init_pose: {
-                      position: [-70, -70, -50],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "link1_sphere"
-                  }
-                },
-                {
-                  link_index: 2,
-                  geometry: {
-                    capsule: {
-                      radius: 160,
-                      cylinder_height: 800
-                    },
-                    init_pose: {
-                      position: [-450, 40, 170],
-                      orientation: [0, -Math.SQRT1_2, 0, Math.SQRT1_2]
-                    },
-                    id: "link2_capsule"
-                  }
-                },
-                {
-                  link_index: 3,
-                  geometry: {
-                    sphere: {
-                      radius: 270
-                    },
-                    init_pose: {
-                      position: [-110, 10, -100],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "link3_sphere"
-                  }
-                },
-                {
-                  link_index: 4,
-                  geometry: {
-                    capsule: {
-                      radius: 110,
-                      cylinder_height: 600
-                    },
-                    init_pose: {
-                      position: [0, 300, 40],
-                      orientation: [-Math.SQRT1_2, 0, 0, Math.SQRT1_2]
-                    },
-                    id: "link4_capsule"
-                  }
-                },
-                {
-                  link_index: 5,
-                  geometry: {
-                    sphere: {
-                      radius: 75
-                    },
-                    init_pose: {
-                      position: [0, 0, -50],
-                      orientation: [0, 0, 0, 1]
-                    },
-                    id: "link5_sphere"
-                  }
-                }
-              ],
-              tool_geometries: []
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/coordinate-systems",
-          handle() {
-            return {
-              coordinatesystems: [
-                {
-                  coordinate_system: "",
-                  name: "world",
-                  reference_uid: "",
-                  position: [0, 0, 0],
-                  rotation: {
-                    angles: [0, 0, 0],
-                    type: "ROTATION_VECTOR"
-                  }
-                }
-              ]
-            };
-          }
-        },
-        {
-          method: "GET",
-          path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",
-          handle() {
-            return {
-              tcps: [
-                {
-                  id: "Flange",
-                  readable_name: "Default-Flange",
-                  position: [0, 0, 0],
-                  rotation: {
-                    angles: [0, 0, 0, 0],
-                    type: "ROTATION_VECTOR"
-                  }
-                },
-                {
-                  id: "complex-tcp-position",
-                  readable_name: "Complex TCP Position",
-                  position: [-200, 300, 150],
-                  rotation: {
-                    angles: [
-                      -0.12139440409113832,
-                      -0.06356210998212003,
-                      -0.2023240068185639,
-                      0
-                    ],
-                    type: "ROTATION_VECTOR"
-                  }
-                }
-              ]
-            };
-          }
-        }
-      ];
-      const method = ((_a = config.method) == null ? void 0 : _a.toUpperCase()) || "GET";
-      const path = `/cells${(_c = (_b = config.url) == null ? void 0 : _b.split("/cells")[1]) == null ? void 0 : _c.split("?")[0]}`;
-      for (const handler of apiHandlers) {
-        const match2 = pathToRegexp.match(handler.path)(path || "");
-        if (method === handler.method && match2) {
-          const json = handler.handle();
-          return {
-            status: 200,
-            statusText: "Success",
-            data: JSON.stringify(json),
-            headers: {},
-            config,
-            request: {
-              responseURL: config.url
-            }
-          };
-        }
-      }
-      throw new AxiosError(
-        `No mock handler matched this request: ${method} ${path}`,
-        "404",
-        config
-      );
-    });
-  }
-  handleWebsocketConnection(socket) {
-    this.connections.push(socket);
-    setTimeout(() => {
-      socket.dispatchEvent(new Event("open"));
-      console.log("Websocket connection opened from", socket.url);
-      if (socket.url.includes("/state-stream")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify(defaultMotionState)
-          })
-        );
-      }
-      if (socket.url.includes("/move-joint")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify({
-              result: {
-                motion_group: "0@ur",
-                state: {
-                  controller: "ur",
-                  operation_mode: "OPERATION_MODE_AUTO",
-                  safety_state: "SAFETY_STATE_NORMAL",
-                  timestamp: "2024-09-18T12:48:26.096266444Z",
-                  velocity_override: 100,
-                  motion_groups: [
-                    {
-                      motion_group: "0@ur",
-                      controller: "ur",
-                      joint_position: [
-                        1.3492152690887451,
-                        -1.5659207105636597,
-                        1.6653711795806885,
-                        -1.0991662740707397,
-                        -1.829018235206604,
-                        1.264623761177063
-                      ],
-                      joint_velocity: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      flange_pose: {
-                        position: [
-                          6.437331889439328,
-                          -628.4123774830913,
-                          577.0569957147832
-                        ],
-                        orientation: {
-                          x: -1.683333649797158,
-                          y: -1.9783363827298732,
-                          z: -0.4928031860165713
-                        },
-                        coordinate_system: ""
-                      },
-                      tcp_pose: {
-                        position: [
-                          6.437331889439328,
-                          -628.4123774830913,
-                          577.0569957147832
-                        ],
-                        orientation: {
-                          x: -1.683333649797158,
-                          y: -1.9783363827298732,
-                          z: -0.4928031860165713
-                        },
-                        coordinate_system: "",
-                        tcp: "Flange"
-                      },
-                      velocity: {
-                        linear: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        angular: {
-                          x: -0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      force: {
-                        force: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        moment: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      joint_limit_reached: {
-                        limit_reached: [
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                          false
-                        ]
-                      },
-                      joint_current: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      sequence_number: "671259"
-                    }
-                  ],
-                  sequence_number: "671259"
-                },
-                movement_state: "MOVEMENT_STATE_MOVING"
-              }
-            })
-          })
-        );
-      }
-      if (socket.url.includes("/move-tcp")) {
-        socket.dispatchEvent(
-          new MessageEvent("message", {
-            data: JSON.stringify({
-              result: {
-                motion_group: "0@ur",
-                state: {
-                  controller: "ur",
-                  operation_mode: "OPERATION_MODE_AUTO",
-                  safety_state: "SAFETY_STATE_NORMAL",
-                  timestamp: "2024-09-18T12:43:12.188335774Z",
-                  velocity_override: 100,
-                  motion_groups: [
-                    {
-                      motion_group: "0@ur",
-                      controller: "ur",
-                      joint_position: {
-                        joints: [
-                          1.3352527618408203,
-                          -1.5659207105636597,
-                          1.6653711795806885,
-                          -1.110615611076355,
-                          -1.829018235206604,
-                          1.264623761177063
-                        ]
-                      },
-                      joint_velocity: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      flange_pose: {
-                        position: [
-                          -2.763015284002938,
-                          -630.2151479701106,
-                          577.524509114342
-                        ],
-                        orientation: {
-                          x: -1.704794877102097,
-                          y: -1.9722372952861567,
-                          z: -0.4852079204210754
-                        },
-                        coordinate_system: ""
-                      },
-                      tcp_pose: {
-                        position: [
-                          -2.763015284002938,
-                          -630.2151479701106,
-                          577.524509114342
-                        ],
-                        orientation: {
-                          x: -1.704794877102097,
-                          y: -1.9722372952861567,
-                          z: -0.4852079204210754
-                        },
-                        coordinate_system: "",
-                        tcp: "Flange"
-                      },
-                      velocity: {
-                        linear: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        angular: {
-                          x: -0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      force: {
-                        force: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        moment: {
-                          x: 0,
-                          y: 0,
-                          z: 0
-                        },
-                        coordinate_system: ""
-                      },
-                      joint_limit_reached: {
-                        limit_reached: [
-                          false,
-                          false,
-                          false,
-                          false,
-                          false,
-                          false
-                        ]
-                      },
-                      joint_current: {
-                        joints: [0, 0, 0, 0, 0, 0]
-                      },
-                      sequence_number: "627897"
-                    }
-                  ],
-                  sequence_number: "627897"
-                },
-                movement_state: "MOVEMENT_STATE_MOVING"
-              }
-            })
-          })
-        );
-      }
-    }, 10);
-  }
-  handleWebsocketMessage(socket, message) {
-    console.log(`Received message on ${socket.url}`, message);
-  }
-};
-var defaultMotionState = {
-  result: {
-    motion_group: "0@universalrobots-ur5e",
-    controller: "universalrobots-ur5e",
-    timestamp: (/* @__PURE__ */ new Date()).toISOString(),
-    sequence_number: 1,
-    joint_position: [
-      1.1699999570846558,
-      -1.5700000524520874,
-      1.3600000143051147,
-      1.0299999713897705,
-      1.2899999618530273,
-      1.2799999713897705
-    ],
-    joint_limit_reached: {
-      limit_reached: [false, false, false, false, false, false]
-    },
-    standstill: false,
-    flange_pose: {
-      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
-      orientation: [
-        1.7564919306270736,
-        -1.7542521568325058,
-        0.7326972590614671
-      ]
-    },
-    tcp_pose: {
-      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],
-      orientation: [
-        1.7564919306270736,
-        -1.7542521568325058,
-        0.7326972590614671
-      ]
-    }
-  }
-};
-
-// src/lib/v2/NovaClient.ts
-var NovaClient = class {
-  constructor(config) {
-    this.authPromise = null;
-    this.accessToken = null;
-    var _a;
-    console.warn("Using experimental NOVA v2 client");
-    const cellId = (_a = config.cellId) != null ? _a : "cell";
-    this.config = __spreadValues({
-      cellId
-    }, config);
-    this.accessToken = config.accessToken || availableStorage.getString("wbjs.access_token") || null;
-    if (this.config.instanceUrl === "https://mock.example.com") {
-      this.mock = new MockNovaInstance();
-    }
-    const axiosInstance = axios2.create({
-      baseURL: urlJoin(this.config.instanceUrl, "/api/v2"),
-      // TODO - backend needs to set proper CORS headers for this
-      headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : {
-        // Identify the client to the backend for logging purposes
-        "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK"
-      }
-    });
-    axiosInstance.interceptors.request.use((request) => __async(this, null, function* () {
-      if (!request.headers.Authorization) {
-        if (this.accessToken) {
-          request.headers.Authorization = `Bearer ${this.accessToken}`;
-        } else if (this.config.username && this.config.password) {
-          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`;
-        }
-      }
-      return request;
-    }));
-    if (typeof window !== "undefined") {
-      axiosInstance.interceptors.response.use(
-        (r) => r,
-        (error) => __async(this, null, function* () {
-          var _a2, _b;
-          if (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
-    });
-  }
-};
-export {
-  NovaCellAPIClient,
-  NovaClient
-};
-//# sourceMappingURL=index.js.map