@wandelbots/nova-js 3.3.0 → 3.3.1

package/dist/lib/v2/index.mjs

@@ -87,6 +87,28 @@ var MockNovaInstance = class {
 	}
 	async handleAPIRequest(config) {
 		const apiHandlers = [
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers",
+				handle() {
+					return ["mock-ur5e"];
+				}
+			},
+			{
+				method: "GET",
+				path: "/cells/:cellId/controllers/:controllerId",
+				handle() {
+					return {
+						configuration: {
+							initial_joint_position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
+							kind: "VirtualController",
+							manufacturer: "universalrobots",
+							type: "universalrobots-ur5e"
+						},
+						name: "mock-ur5"
+					};
+				}
+			},
 			{
 				method: "GET",
 				path: "/cells/:cellId/controllers/:controllerId/state",
@@ -162,43 +184,6 @@ var MockNovaInstance = class {
 					};
 				}
 			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
-				handle() {
-					return [{
-						coordinate_system: "",
-						name: "world",
-						reference_coordinate_system: "",
-						position: [
-							0,
-							0,
-							0
-						],
-						orientation: [
-							0,
-							0,
-							0
-						],
-						orientation_type: "ROTATION_VECTOR"
-					}, {
-						coordinate_system: "CS-0",
-						name: "Default-CS",
-						reference_coordinate_system: "",
-						position: [
-							0,
-							0,
-							0
-						],
-						orientation: [
-							0,
-							0,
-							0
-						],
-						orientation_type: "ROTATION_VECTOR"
-					}];
-				}
-			},
 			{
 				method: "GET",
 				path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
@@ -217,68 +202,21 @@ var MockNovaInstance = class {
 								0
 							]
 						},
-						tcps: {
-							Flange: {
-								name: "Default-Flange",
-								pose: {
-									position: [
-										0,
-										0,
-										0
-									],
-									orientation: [
-										0,
-										0,
-										0
-									]
-								}
-							},
-							"complex-tcp-position": {
-								name: "Complex TCP Position",
-								pose: {
-									position: [
-										-200,
-										300,
-										150
-									],
-									orientation: [
-										-.12139440409113832,
-										-.06356210998212003,
-										-.2023240068185639
-									]
-								}
-							},
-							"offset-150mm-xy": {
-								name: "-150mm XY Offset",
-								pose: {
-									position: [
-										-150,
-										-150,
-										0
-									],
-									orientation: [
-										0,
-										0,
-										0
-									]
-								}
-							},
-							"rotated-90deg-z": {
-								name: "90° Z Axis Rotation",
-								pose: {
-									position: [
-										0,
-										0,
-										0
-									],
-									orientation: [
-										0,
-										0,
-										1.5708
-									]
-								}
+						tcps: { Flange: {
+							name: "Default-Flange",
+							pose: {
+								position: [
+									0,
+									0,
+									0
+								],
+								orientation: [
+									0,
+									0,
+									0
+								]
 							}
-						},
+						} },
 						payloads: { "FPay-0": {
 							name: "FPay-0",
 							payload: 0,
@@ -557,861 +495,39 @@ var MockNovaInstance = class {
 			},
 			{
 				method: "GET",
-				path: "/cells/:cellId/controllers",
-				handle() {
-					return { controllers: [{
-						controller: "mock-ur5e",
-						model_name: "UniversalRobots::Controller",
-						host: "mock-ur5e",
-						allow_software_install_on_controller: true,
-						motion_groups: [{
-							motion_group: "0@mock-ur5e",
-							name_from_controller: "UR5e",
-							active: false,
-							model_from_controller: "UniversalRobots_UR5e"
-						}],
-						has_error: false,
-						error_details: ""
-					}] };
-				}
-			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/controllers/:controllerId",
-				handle() {
-					return {
-						configuration: {
-							kind: "VirtualController",
-							manufacturer: "universalrobots",
-							type: "universalrobots-ur5e"
-						},
-						name: "mock-ur5"
-					};
-				}
-			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/motion-groups/:motionGroupId/specification",
-				handle() {
-					return {
-						dh_parameters: [
-							{
-								alpha: 1.5707963267948966,
-								theta: 0,
-								a: 0,
-								d: 162.25,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: 0,
-								theta: 0,
-								a: -425,
-								d: 0,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: 0,
-								theta: 0,
-								a: -392.2,
-								d: 0,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: 1.5707963267948966,
-								theta: 0,
-								a: 0,
-								d: 133.3,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: -1.5707963267948966,
-								theta: 0,
-								a: 0,
-								d: 99.7,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: 0,
-								theta: 0,
-								a: 0,
-								d: 99.6,
-								reverse_rotation_direction: false
-							}
-						],
-						mechanical_joint_limits: [
-							{
-								joint: "JOINTNAME_AXIS_1",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_2",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_3",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_4",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_5",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_6",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							}
-						]
-					};
-				}
-			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/motion-groups/:motionGroupId/safety-setup",
-				handle() {
-					return {
-						safety_settings: [{
-							safety_state: "SAFETY_NORMAL",
-							settings: {
-								joint_position_limits: [
-									{
-										joint: "JOINTNAME_AXIS_1",
-										lower_limit: -2.96705961227417,
-										upper_limit: 2.96705961227417,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_2",
-										lower_limit: -1.7453292608261108,
-										upper_limit: 2.7925267219543457,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_3",
-										lower_limit: -3.3161256313323975,
-										upper_limit: .40142571926116943,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_4",
-										lower_limit: -3.4906585216522217,
-										upper_limit: 3.4906585216522217,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_5",
-										lower_limit: -2.4434609413146973,
-										upper_limit: 2.4434609413146973,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_6",
-										lower_limit: -4.71238899230957,
-										upper_limit: 4.71238899230957,
-										unlimited: false
-									}
-								],
-								joint_velocity_limits: [
-									{
-										joint: "JOINTNAME_AXIS_1",
-										limit: 3.1415927410125732
-									},
-									{
-										joint: "JOINTNAME_AXIS_2",
-										limit: 3.1415927410125732
-									},
-									{
-										joint: "JOINTNAME_AXIS_3",
-										limit: 3.4906585216522217
-									},
-									{
-										joint: "JOINTNAME_AXIS_4",
-										limit: 6.108652591705322
-									},
-									{
-										joint: "JOINTNAME_AXIS_5",
-										limit: 6.108652591705322
-									},
-									{
-										joint: "JOINTNAME_AXIS_6",
-										limit: 6.981317043304443
-									}
-								],
-								joint_acceleration_limits: [],
-								joint_torque_limits: [],
-								tcp_velocity_limit: 1800
-							}
-						}],
-						safety_zones: [
-							{
-								id: 1,
-								priority: 0,
-								geometry: {
-									compound: { child_geometries: [
-										{
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-											init_pose: {
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-									id: "Transport"
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-									id: "Tunel"
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-									id: "Fanuc controller"
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-											1
-										]
-									},
-									id: "Robot base"
-								},
-								motion_group_uid: 1
-							}
-						],
-						robot_model_geometries: [
-							{
-								link_index: 1,
-								geometry: {
-									sphere: { radius: 270 },
-									init_pose: {
-										position: [
-											-70,
-											-70,
-											-50
-										],
-										orientation: [
-											0,
-											0,
-											0,
-											1
-										]
-									},
-									id: "link1_sphere"
-								}
-							},
-							{
-								link_index: 2,
-								geometry: {
-									capsule: {
-										radius: 160,
-										cylinder_height: 800
-									},
-									init_pose: {
-										position: [
-											-450,
-											40,
-											170
-										],
-										orientation: [
-											0,
-											-Math.SQRT1_2,
-											0,
-											Math.SQRT1_2
-										]
-									},
-									id: "link2_capsule"
-								}
-							},
-							{
-								link_index: 3,
-								geometry: {
-									sphere: { radius: 270 },
-									init_pose: {
-										position: [
-											-110,
-											10,
-											-100
-										],
-										orientation: [
-											0,
-											0,
-											0,
-											1
-										]
-									},
-									id: "link3_sphere"
-								}
-							},
-							{
-								link_index: 4,
-								geometry: {
-									capsule: {
-										radius: 110,
-										cylinder_height: 600
-									},
-									init_pose: {
-										position: [
-											0,
-											300,
-											40
-										],
-										orientation: [
-											-Math.SQRT1_2,
-											0,
-											0,
-											Math.SQRT1_2
-										]
-									},
-									id: "link4_capsule"
-								}
-							},
-							{
-								link_index: 5,
-								geometry: {
-									sphere: { radius: 75 },
-									init_pose: {
-										position: [
-											0,
-											0,
-											-50
-										],
-										orientation: [
-											0,
-											0,
-											0,
-											1
-										]
-									},
-									id: "link5_sphere"
-								}
-							}
-						],
-						tool_geometries: []
-					};
-				}
-			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",
+				path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
 				handle() {
-					return { tcps: [{
-						id: "Flange",
-						readable_name: "Default-Flange",
+					return [{
+						coordinate_system: "",
+						name: "world",
+						reference_coordinate_system: "",
 						position: [
 							0,
 							0,
 							0
 						],
-						rotation: {
-							angles: [
-								0,
-								0,
-								0,
-								0
-							],
-							type: "ROTATION_VECTOR"
-						}
+						orientation: [
+							0,
+							0,
+							0
+						],
+						orientation_type: "ROTATION_VECTOR"
 					}, {
-						id: "complex-tcp-position",
-						readable_name: "Complex TCP Position",
+						coordinate_system: "CS-0",
+						name: "Default-CS",
+						reference_coordinate_system: "",
 						position: [
-							-200,
-							300,
-							150
+							0,
+							0,
+							0
 						],
-						rotation: {
-							angles: [
-								-.12139440409113832,
-								-.06356210998212003,
-								-.2023240068185639,
-								0
-							],
-							type: "ROTATION_VECTOR"
-						}
-					}] };
+						orientation: [
+							0,
+							0,
+							0
+						],
+						orientation_type: "ROTATION_VECTOR"
+					}];
 				}
 			}
 		];
@@ -1439,209 +555,9 @@ var MockNovaInstance = class {
 			socket.dispatchEvent(new Event("open"));
 			console.log("Websocket connection opened from", socket.url);
 			if (socket.url.includes("/state-stream")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify(defaultMotionState) }));
-			if (socket.url.includes("/move-joint")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify({ result: {
-				motion_group: "0@ur",
-				state: {
-					controller: "ur",
-					operation_mode: "OPERATION_MODE_AUTO",
-					safety_state: "SAFETY_STATE_NORMAL",
-					timestamp: "2024-09-18T12:48:26.096266444Z",
-					velocity_override: 100,
-					motion_groups: [{
-						motion_group: "0@ur",
-						controller: "ur",
-						joint_position: [
-							1.3492152690887451,
-							-1.5659207105636597,
-							1.6653711795806885,
-							-1.0991662740707397,
-							-1.829018235206604,
-							1.264623761177063
-						],
-						joint_velocity: { joints: [
-							0,
-							0,
-							0,
-							0,
-							0,
-							0
-						] },
-						flange_pose: {
-							position: [
-								6.437331889439328,
-								-628.4123774830913,
-								577.0569957147832
-							],
-							orientation: {
-								x: -1.683333649797158,
-								y: -1.9783363827298732,
-								z: -.4928031860165713
-							},
-							coordinate_system: ""
-						},
-						tcp_pose: {
-							position: [
-								6.437331889439328,
-								-628.4123774830913,
-								577.0569957147832
-							],
-							orientation: {
-								x: -1.683333649797158,
-								y: -1.9783363827298732,
-								z: -.4928031860165713
-							},
-							coordinate_system: "",
-							tcp: "Flange"
-						},
-						velocity: {
-							linear: {
-								x: 0,
-								y: 0,
-								z: 0
-							},
-							angular: {
-								x: -0,
-								y: 0,
-								z: 0
-							},
-							coordinate_system: ""
-						},
-						force: {
-							force: {
-								x: 0,
-								y: 0,
-								z: 0
-							},
-							moment: {
-								x: 0,
-								y: 0,
-								z: 0
-							},
-							coordinate_system: ""
-						},
-						joint_limit_reached: { limit_reached: [
-							false,
-							false,
-							false,
-							false,
-							false,
-							false
-						] },
-						joint_current: { joints: [
-							0,
-							0,
-							0,
-							0,
-							0,
-							0
-						] },
-						sequence_number: "671259"
-					}],
-					sequence_number: "671259"
-				},
-				movement_state: "MOVEMENT_STATE_MOVING"
-			} }) }));
-			if (socket.url.includes("/move-tcp")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify({ result: {
-				motion_group: "0@ur",
-				state: {
-					controller: "ur",
-					operation_mode: "OPERATION_MODE_AUTO",
-					safety_state: "SAFETY_STATE_NORMAL",
-					timestamp: "2024-09-18T12:43:12.188335774Z",
-					velocity_override: 100,
-					motion_groups: [{
-						motion_group: "0@ur",
-						controller: "ur",
-						joint_position: { joints: [
-							1.3352527618408203,
-							-1.5659207105636597,
-							1.6653711795806885,
-							-1.110615611076355,
-							-1.829018235206604,
-							1.264623761177063
-						] },
-						joint_velocity: { joints: [
-							0,
-							0,
-							0,
-							0,
-							0,
-							0
-						] },
-						flange_pose: {
-							position: [
-								-2.763015284002938,
-								-630.2151479701106,
-								577.524509114342
-							],
-							orientation: {
-								x: -1.704794877102097,
-								y: -1.9722372952861567,
-								z: -.4852079204210754
-							},
-							coordinate_system: ""
-						},
-						tcp_pose: {
-							position: [
-								-2.763015284002938,
-								-630.2151479701106,
-								577.524509114342
-							],
-							orientation: {
-								x: -1.704794877102097,
-								y: -1.9722372952861567,
-								z: -.4852079204210754
-							},
-							coordinate_system: "",
-							tcp: "Flange"
-						},
-						velocity: {
-							linear: {
-								x: 0,
-								y: 0,
-								z: 0
-							},
-							angular: {
-								x: -0,
-								y: 0,
-								z: 0
-							},
-							coordinate_system: ""
-						},
-						force: {
-							force: {
-								x: 0,
-								y: 0,
-								z: 0
-							},
-							moment: {
-								x: 0,
-								y: 0,
-								z: 0
-							},
-							coordinate_system: ""
-						},
-						joint_limit_reached: { limit_reached: [
-							false,
-							false,
-							false,
-							false,
-							false,
-							false
-						] },
-						joint_current: { joints: [
-							0,
-							0,
-							0,
-							0,
-							0,
-							0
-						] },
-						sequence_number: "627897"
-					}],
-					sequence_number: "627897"
-				},
-				movement_state: "MOVEMENT_STATE_MOVING"
+			if (socket.url.includes("/execution/jogging")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify({ result: {
+				message: "string",
+				kind: "INITIALIZE_RECEIVED"
 			} }) }));
 		}, 10);
 	}