@wandelbots/nova-js 3.3.0 → 3.3.1

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

@@ -1,3 +1,4 @@
+/** biome-ignore-all lint/suspicious/noApproximativeNumericConstant: mock data contains approximative pi values from robot description */
 import type { MotionGroupState, RobotController } from "@wandelbots/nova-api/v2"
 import type { AxiosResponse, InternalAxiosRequestConfig } from "axios"
 import { AxiosError } from "axios"
@@ -14,6 +15,28 @@ export class MockNovaInstance {
     config: InternalAxiosRequestConfig,
   ): Promise<AxiosResponse> {
     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",
+          } satisfies RobotController
+        },
+      },
       {
         method: "GET",
         path: "/cells/:cellId/controllers/:controllerId/state",
@@ -67,33 +90,6 @@ export class MockNovaInstance {
           }
         },
       },
-      {
-        method: "GET",
-        path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
-        handle() {
-          return [
-            {
-              coordinate_system: "",
-              name: "world",
-              reference_coordinate_system: "",
-              position: [0, 0, 0],
-              orientation: [0, 0, 0],
-              orientation_type: "ROTATION_VECTOR",
-            },
-            {
-              coordinate_system: "CS-0",
-              name: "Default-CS",
-              reference_coordinate_system: "",
-              position: [0, 0, 0],
-              orientation: [0, 0, 0],
-              orientation_type: "ROTATION_VECTOR",
-            },
-          ] //satisfies CoordinateSystems
-        },
-      },
-
-      // As you need, add more mock requests here...
-      // Below is mostly V1:
       {
         method: "GET",
         path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
@@ -112,30 +108,6 @@ export class MockNovaInstance {
                   orientation: [0, 0, 0],
                 },
               },
-              "complex-tcp-position": {
-                name: "Complex TCP Position",
-                pose: {
-                  position: [-200, 300, 150],
-                  orientation: [
-                    -0.12139440409113832, -0.06356210998212003,
-                    -0.2023240068185639,
-                  ],
-                },
-              },
-              "offset-150mm-xy": {
-                name: "-150mm XY Offset",
-                pose: {
-                  position: [-150, -150, 0],
-                  orientation: [0, 0, 0],
-                },
-              },
-              "rotated-90deg-z": {
-                name: "90° Z Axis Rotation",
-                pose: {
-                  position: [0, 0, 0],
-                  orientation: [0, 0, 1.5708],
-                },
-              },
             },
             payloads: {
               "FPay-0": {
@@ -427,623 +399,26 @@ export class MockNovaInstance {
       },
       {
         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",
+        path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
         handle() {
-          return {
-            configuration: {
-              kind: "VirtualController",
-              manufacturer: "universalrobots",
-              type: "universalrobots-ur5e",
+          return [
+            {
+              coordinate_system: "",
+              name: "world",
+              reference_coordinate_system: "",
+              position: [0, 0, 0],
+              orientation: [0, 0, 0],
+              orientation_type: "ROTATION_VECTOR",
             },
-            name: "mock-ur5",
-          } satisfies RobotController
-        },
-      },
-      {
-        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,
-              },
-            ],
-          } // Mock motion group specification
-        },
-      },
-      {
-        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: [],
-          } // Mock safety setup
-        },
-      },
-      {
-        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",
-                },
-              },
-            ],
-          }
+            {
+              coordinate_system: "CS-0",
+              name: "Default-CS",
+              reference_coordinate_system: "",
+              position: [0, 0, 0],
+              orientation: [0, 0, 0],
+              orientation_type: "ROTATION_VECTOR",
+            },
+          ] //satisfies CoordinateSystems
         },
       },
     ]
@@ -1086,6 +461,7 @@ export class MockNovaInstance {
     // }
   }
 
+  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed
   handleWebsocketConnection(socket: AutoReconnectingWebsocket) {
     this.connections.push(socket)
 
@@ -1102,202 +478,13 @@ export class MockNovaInstance {
         )
       }
 
-      if (socket.url.includes("/move-joint")) {
+      if (socket.url.includes("/execution/jogging")) {
         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",
+                message: "string",
+                kind: "INITIALIZE_RECEIVED",
               },
             }),
           }),