@wandelbots/nova-js 3.6.1-pr.270.f77f20a → 3.7.0-pr.267.1acb341

package/dist/NovaClient-B-QdK0HR.cjs

@@ -1,2035 +0,0 @@
-const require_LoginWithAuth0 = require("./LoginWithAuth0-oZFpwe7m.cjs");
-let axios = require("axios");
-axios = require_LoginWithAuth0.__toESM(axios, 1);
-let url_join = require("url-join");
-url_join = require_LoginWithAuth0.__toESM(url_join, 1);
-let mobx = require("mobx");
-let three = require("three");
-three = require_LoginWithAuth0.__toESM(three, 1);
-let three_src_math_Vector3_js = require("three/src/math/Vector3.js");
-let _wandelbots_nova_api_v1 = require("@wandelbots/nova-api/v1");
-let path_to_regexp = require("path-to-regexp");
-path_to_regexp = require_LoginWithAuth0.__toESM(path_to_regexp, 1);
-//#region src/lib/v1/wandelscriptUtils.ts
-/**
-* Convert a Pose object representing a motion group position
-* into a string which represents that pose in Wandelscript.
-*/
-function poseToWandelscriptString(pose) {
-	const position = [
-		pose.position.x,
-		pose.position.y,
-		pose.position.z
-	];
-	const orientation = [
-		pose.orientation?.x ?? 0,
-		pose.orientation?.y ?? 0,
-		pose.orientation?.z ?? 0
-	];
-	const positionValues = position.map((v) => v.toFixed(1));
-	const rotationValues = orientation.map((v) => v.toFixed(4));
-	return `(${positionValues.concat(rotationValues).join(", ")})`;
-}
-//#endregion
-//#region src/lib/v1/motionStateUpdate.ts
-function jointValuesEqual(oldJointValues, newJointValues, changeDeltaThreshold) {
-	if (newJointValues.length !== oldJointValues.length) return true;
-	for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) if (Math.abs(newJointValues[jointIndex] - oldJointValues[jointIndex]) > changeDeltaThreshold) return false;
-	return true;
-}
-function tcpPoseEqual(oldTcp, newTcp, changeDeltaThreshold) {
-	if (oldTcp === void 0 && newTcp || oldTcp && newTcp === void 0) return false;
-	if (oldTcp === void 0 || newTcp === void 0) return true;
-	let changedDelta = 0;
-	changedDelta += Math.abs(oldTcp.orientation.x - newTcp.orientation.x);
-	changedDelta += Math.abs(oldTcp.orientation.y - newTcp.orientation.y);
-	changedDelta += Math.abs(oldTcp.orientation.z - newTcp.orientation.z);
-	changedDelta += Math.abs(oldTcp.position.x - newTcp.position.x);
-	changedDelta += Math.abs(oldTcp.position.y - newTcp.position.y);
-	changedDelta += Math.abs(oldTcp.position.z - newTcp.position.z);
-	if (changedDelta > changeDeltaThreshold) return false;
-	return oldTcp.coordinate_system === newTcp.coordinate_system && oldTcp.tcp === newTcp.tcp;
-}
-//#endregion
-//#region src/lib/v1/ConnectedMotionGroup.ts
-const MOTION_DELTA_THRESHOLD$1 = 1e-4;
-/**
-* Store representing the current state of a connected motion group.
-*/
-var ConnectedMotionGroup = class ConnectedMotionGroup {
-	static async connect(nova, motionGroupId, controllers) {
-		const [_motionGroupIndex, controllerId] = motionGroupId.split("@");
-		const controller = controllers.find((c) => c.controller === controllerId);
-		const motionGroup = controller?.physical_motion_groups.find((mg) => mg.motion_group === motionGroupId);
-		if (!controller || !motionGroup) throw new Error(`Controller ${controllerId} or motion group ${motionGroupId} not found`);
-		const motionStateSocket = nova.openReconnectingWebsocket(`/motion-groups/${motionGroupId}/state-stream`);
-		const firstMessage = await motionStateSocket.firstMessage();
-		const initialMotionState = require_LoginWithAuth0.tryParseJson(firstMessage.data)?.result;
-		if (!initialMotionState) throw new Error(`Unable to parse initial motion state message ${firstMessage.data}`);
-		console.log(`Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\n  `, initialMotionState);
-		const isVirtual = (await nova.api.controller.getRobotController(controller.controller)).configuration.kind === "VirtualController";
-		const mounting = await (async () => {
-			try {
-				return await nova.api.motionGroupInfos.getMounting(motionGroup.motion_group);
-			} catch (err) {
-				console.error(`Error fetching mounting for ${motionGroup.motion_group}`, err);
-				return null;
-			}
-		})();
-		const controllerStateSocket = nova.openReconnectingWebsocket(`/controllers/${controller.controller}/state-stream?response_rate=1000`);
-		const firstControllerMessage = await controllerStateSocket.firstMessage();
-		const initialControllerState = require_LoginWithAuth0.tryParseJson(firstControllerMessage.data)?.result;
-		if (!initialControllerState) throw new Error(`Unable to parse initial controller state message ${firstControllerMessage.data}`);
-		console.log(`Connected controller state websocket to controller ${controller.controller}. Initial state:\n  `, initialControllerState);
-		const { tcps } = await nova.api.motionGroupInfos.listTcps(motionGroupId);
-		return new ConnectedMotionGroup(nova, controller, motionGroup, initialMotionState, motionStateSocket, isVirtual, tcps, await nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId), await nova.api.motionGroupInfos.getSafetySetup(motionGroupId), mounting, initialControllerState, controllerStateSocket);
-	}
-	constructor(nova, controller, motionGroup, initialMotionState, motionStateSocket, isVirtual, tcps, motionGroupSpecification, safetySetup, mounting, initialControllerState, controllerStateSocket) {
-		this.nova = nova;
-		this.controller = controller;
-		this.motionGroup = motionGroup;
-		this.initialMotionState = initialMotionState;
-		this.motionStateSocket = motionStateSocket;
-		this.isVirtual = isVirtual;
-		this.tcps = tcps;
-		this.motionGroupSpecification = motionGroupSpecification;
-		this.safetySetup = safetySetup;
-		this.mounting = mounting;
-		this.initialControllerState = initialControllerState;
-		this.controllerStateSocket = controllerStateSocket;
-		this.connectedJoggingCartesianSocket = null;
-		this.connectedJoggingJointsSocket = null;
-		this.joggingVelocity = 10;
-		this.activationState = "inactive";
-		this.rapidlyChangingMotionState = initialMotionState;
-		this.controllerState = initialControllerState;
-		controllerStateSocket.addEventListener("message", (event) => {
-			const data = require_LoginWithAuth0.tryParseJson(event.data)?.result;
-			if (!data) return;
-			(0, mobx.runInAction)(() => {
-				this.controllerState = data;
-			});
-		});
-		motionStateSocket.addEventListener("message", (event) => {
-			const motionStateResponse = require_LoginWithAuth0.tryParseJson(event.data)?.result;
-			if (!motionStateResponse) throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${event.data}`);
-			if (!jointValuesEqual(this.rapidlyChangingMotionState.state.joint_position.joints, motionStateResponse.state.joint_position.joints, MOTION_DELTA_THRESHOLD$1)) (0, mobx.runInAction)(() => {
-				this.rapidlyChangingMotionState.state = motionStateResponse.state;
-			});
-			if (!tcpPoseEqual(this.rapidlyChangingMotionState.tcp_pose, motionStateResponse.tcp_pose, MOTION_DELTA_THRESHOLD$1)) (0, mobx.runInAction)(() => {
-				this.rapidlyChangingMotionState.tcp_pose = motionStateResponse.tcp_pose;
-			});
-		});
-		(0, mobx.makeAutoObservable)(this);
-	}
-	get motionGroupId() {
-		return this.motionGroup.motion_group;
-	}
-	get controllerId() {
-		return this.controller.controller;
-	}
-	get modelFromController() {
-		return this.motionGroup.model_from_controller;
-	}
-	get wandelscriptIdentifier() {
-		const num = this.motionGroupId.split("@")[0];
-		return `${this.controllerId.replaceAll("-", "_")}_${num}`;
-	}
-	/** Jogging velocity in radians for rotation and joint movement */
-	get joggingVelocityRads() {
-		return this.joggingVelocity * Math.PI / 180;
-	}
-	get joints() {
-		return this.initialMotionState.state.joint_position.joints.map((_, i) => {
-			return { index: i };
-		});
-	}
-	get dhParameters() {
-		return this.motionGroupSpecification.dh_parameters;
-	}
-	get safetyZones() {
-		return this.safetySetup.safety_zones;
-	}
-	/** Gets the robot mounting position offset in 3D viz coordinates */
-	get mountingPosition() {
-		if (!this.mounting) return [
-			0,
-			0,
-			0
-		];
-		return [
-			this.mounting.pose.position.x / 1e3,
-			this.mounting.pose.position.y / 1e3,
-			this.mounting.pose.position.z / 1e3
-		];
-	}
-	/** Gets the robot mounting position rotation in 3D viz coordinates */
-	get mountingQuaternion() {
-		const rotationVector = new three.Vector3(this.mounting?.pose.orientation?.x || 0, this.mounting?.pose.orientation?.y || 0, this.mounting?.pose.orientation?.z || 0);
-		const magnitude = rotationVector.length();
-		const axis = rotationVector.normalize();
-		return new three.Quaternion().setFromAxisAngle(axis, magnitude);
-	}
-	/**
-	* Whether the controller is currently in a safety state
-	* corresponding to an emergency stop
-	*/
-	get isEstopActive() {
-		return ["SAFETY_STATE_ROBOT_EMERGENCY_STOP", "SAFETY_STATE_DEVICE_EMERGENCY_STOP"].includes(this.controllerState.safety_state);
-	}
-	/**
-	* Whether the controller is in a safety state
-	* that may be non-functional for robot pad purposes
-	*/
-	get isMoveableSafetyState() {
-		return ["SAFETY_STATE_NORMAL", "SAFETY_STATE_REDUCED"].includes(this.controllerState.safety_state);
-	}
-	/**
-	* Whether the controller is in an operation mode that allows movement
-	*/
-	get isMoveableOperationMode() {
-		return [
-			"OPERATION_MODE_AUTO",
-			"OPERATION_MODE_MANUAL",
-			"OPERATION_MODE_MANUAL_T1",
-			"OPERATION_MODE_MANUAL_T2"
-		].includes(this.controllerState.operation_mode);
-	}
-	/**
-	* Whether the robot is currently active and can be moved, based on the
-	* safety state, operation mode and servo toggle activation state.
-	*/
-	get canBeMoved() {
-		return this.isMoveableSafetyState && this.isMoveableOperationMode && this.activationState === "active";
-	}
-	async deactivate() {
-		if (this.activationState !== "active") {
-			console.error("Tried to deactivate while already deactivating");
-			return;
-		}
-		(0, mobx.runInAction)(() => {
-			this.activationState = "deactivating";
-		});
-		try {
-			await this.nova.api.controller.setDefaultMode(this.controllerId, "MODE_MONITOR");
-			(0, mobx.runInAction)(() => {
-				this.activationState = "inactive";
-			});
-		} catch (err) {
-			(0, mobx.runInAction)(() => {
-				this.activationState = "active";
-			});
-			throw err;
-		}
-	}
-	async activate() {
-		if (this.activationState !== "inactive") {
-			console.error("Tried to activate while already activating");
-			return;
-		}
-		(0, mobx.runInAction)(() => {
-			this.activationState = "activating";
-		});
-		try {
-			await this.nova.api.controller.setDefaultMode(this.controllerId, "MODE_CONTROL");
-			(0, mobx.runInAction)(() => {
-				this.activationState = "active";
-			});
-		} catch (err) {
-			(0, mobx.runInAction)(() => {
-				this.activationState = "inactive";
-			});
-			throw err;
-		}
-	}
-	toggleActivation() {
-		if (this.activationState === "inactive") this.activate();
-		else if (this.activationState === "active") this.deactivate();
-	}
-	dispose() {
-		this.motionStateSocket.close();
-		if (this.connectedJoggingCartesianSocket) this.connectedJoggingCartesianSocket.close();
-		if (this.connectedJoggingJointsSocket) this.connectedJoggingJointsSocket.close();
-	}
-	setJoggingVelocity(velocity) {
-		this.joggingVelocity = velocity;
-	}
-};
-//#endregion
-//#region src/lib/v1/JoggerConnection.ts
-var JoggerConnection = class JoggerConnection {
-	static async open(nova, motionGroupId, opts = {}) {
-		return new JoggerConnection(await nova.connectMotionStream(motionGroupId), opts);
-	}
-	constructor(motionStream, opts = {}) {
-		this.motionStream = motionStream;
-		this.opts = opts;
-		this.cartesianWebsocket = null;
-		this.jointWebsocket = null;
-		this.cartesianJoggingOpts = {};
-	}
-	get motionGroupId() {
-		return this.motionStream.motionGroupId;
-	}
-	get nova() {
-		return this.motionStream.nova;
-	}
-	get numJoints() {
-		return this.motionStream.joints.length;
-	}
-	get activeJoggingMode() {
-		if (this.cartesianWebsocket) return "cartesian";
-		if (this.jointWebsocket) return "joint";
-		return "increment";
-	}
-	get activeWebsocket() {
-		return this.cartesianWebsocket || this.jointWebsocket;
-	}
-	async stop() {
-		if (this.cartesianWebsocket) this.cartesianWebsocket.sendJson({
-			motion_group: this.motionGroupId,
-			position_direction: {
-				x: 0,
-				y: 0,
-				z: 0
-			},
-			rotation_direction: {
-				x: 0,
-				y: 0,
-				z: 0
-			},
-			position_velocity: 0,
-			rotation_velocity: 0,
-			tcp: this.cartesianJoggingOpts.tcpId,
-			coordinate_system: this.cartesianJoggingOpts.coordSystemId
-		});
-		if (this.jointWebsocket) this.jointWebsocket.sendJson({
-			motion_group: this.motionGroupId,
-			joint_velocities: new Array(this.numJoints).fill(0)
-		});
-	}
-	dispose() {
-		if (this.cartesianWebsocket) this.cartesianWebsocket.dispose();
-		if (this.jointWebsocket) this.jointWebsocket.dispose();
-	}
-	setJoggingMode(mode, cartesianJoggingOpts) {
-		console.log("Setting jogging mode to", mode);
-		if (cartesianJoggingOpts) {
-			if (JSON.stringify(this.cartesianJoggingOpts) !== JSON.stringify(cartesianJoggingOpts)) {
-				if (this.cartesianWebsocket) {
-					this.cartesianWebsocket.dispose();
-					this.cartesianWebsocket = null;
-				}
-			}
-			this.cartesianJoggingOpts = cartesianJoggingOpts;
-		}
-		if (mode !== "cartesian" && this.cartesianWebsocket) {
-			this.cartesianWebsocket.dispose();
-			this.cartesianWebsocket = null;
-		}
-		if (mode !== "joint" && this.jointWebsocket) {
-			this.jointWebsocket.dispose();
-			this.jointWebsocket = null;
-		}
-		if (mode === "cartesian" && !this.cartesianWebsocket) {
-			this.cartesianWebsocket = this.nova.openReconnectingWebsocket(`/motion-groups/move-tcp`);
-			this.cartesianWebsocket.addEventListener("message", (ev) => {
-				const data = require_LoginWithAuth0.tryParseJson(ev.data);
-				if (data && "error" in data) if (this.opts.onError) this.opts.onError(ev.data);
-				else throw new Error(ev.data);
-			});
-		}
-		if (mode === "joint" && !this.jointWebsocket) {
-			this.jointWebsocket = this.nova.openReconnectingWebsocket(`/motion-groups/move-joint`);
-			this.jointWebsocket.addEventListener("message", (ev) => {
-				const data = require_LoginWithAuth0.tryParseJson(ev.data);
-				if (data && "error" in data) if (this.opts.onError) this.opts.onError(ev.data);
-				else throw new Error(ev.data);
-			});
-		}
-	}
-	/**
-	* Start rotation of a single robot joint at the specified velocity
-	*/
-	async startJointRotation({ joint, direction, velocityRadsPerSec }) {
-		if (!this.jointWebsocket) throw new Error("Joint jogging websocket not connected; call setJoggingMode first");
-		const jointVelocities = new Array(this.numJoints).fill(0);
-		jointVelocities[joint] = direction === "-" ? -velocityRadsPerSec : velocityRadsPerSec;
-		this.jointWebsocket.sendJson({
-			motion_group: this.motionGroupId,
-			joint_velocities: jointVelocities
-		});
-	}
-	/**
-	* Start the TCP moving along a specified axis at a given velocity
-	*/
-	async startTCPTranslation({ axis, direction, velocityMmPerSec }) {
-		if (!this.cartesianWebsocket) throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");
-		const zeroVector = {
-			x: 0,
-			y: 0,
-			z: 0
-		};
-		const joggingVector = Object.assign({}, zeroVector);
-		joggingVector[axis] = direction === "-" ? -1 : 1;
-		this.cartesianWebsocket.sendJson({
-			motion_group: this.motionGroupId,
-			position_direction: joggingVector,
-			rotation_direction: zeroVector,
-			position_velocity: velocityMmPerSec,
-			rotation_velocity: 0,
-			tcp: this.cartesianJoggingOpts.tcpId,
-			coordinate_system: this.cartesianJoggingOpts.coordSystemId
-		});
-	}
-	/**
-	* Start the TCP rotating around a specified axis at a given velocity
-	*/
-	async startTCPRotation({ axis, direction, velocityRadsPerSec }) {
-		if (!this.cartesianWebsocket) throw new Error("Cartesian jogging websocket not connected; call setJoggingMode first");
-		const zeroVector = {
-			x: 0,
-			y: 0,
-			z: 0
-		};
-		const joggingVector = Object.assign({}, zeroVector);
-		joggingVector[axis] = direction === "-" ? -1 : 1;
-		this.cartesianWebsocket.sendJson({
-			motion_group: this.motionGroupId,
-			position_direction: zeroVector,
-			rotation_direction: joggingVector,
-			position_velocity: 0,
-			rotation_velocity: velocityRadsPerSec,
-			tcp: this.cartesianJoggingOpts.tcpId,
-			coordinate_system: this.cartesianJoggingOpts.coordSystemId
-		});
-	}
-	/**
-	* Move the robot by a fixed distance in a single cartesian
-	* axis, either rotating or translating relative to the TCP.
-	* Promise resolves only after the motion has completed.
-	*/
-	async runIncrementalCartesianMotion({ currentTcpPose, currentJoints, coordSystemId, velocityInRelevantUnits, axis, direction, motion }) {
-		const commands = [];
-		if (!require_LoginWithAuth0.isSameCoordinateSystem(currentTcpPose.coordinate_system, coordSystemId)) throw new Error(`Current TCP pose coordinate system ${currentTcpPose.coordinate_system} does not match target coordinate system ${coordSystemId}`);
-		if (motion.type === "translate") {
-			const targetTcpPosition = Object.assign({}, currentTcpPose.position);
-			targetTcpPosition[axis] += motion.distanceMm * (direction === "-" ? -1 : 1);
-			commands.push({
-				settings: { limits_override: { tcp_velocity_limit: velocityInRelevantUnits } },
-				line: {
-					position: targetTcpPosition,
-					orientation: currentTcpPose.orientation,
-					coordinate_system: coordSystemId
-				}
-			});
-		} else if (motion.type === "rotate") {
-			const currentRotationVector = new three_src_math_Vector3_js.Vector3(currentTcpPose.orientation.x, currentTcpPose.orientation.y, currentTcpPose.orientation.z);
-			const currentRotationRad = currentRotationVector.length();
-			const currentRotationDirection = currentRotationVector.clone().normalize();
-			const differenceRotationRad = motion.distanceRads * (direction === "-" ? -1 : 1);
-			const differenceRotationDirection = new three_src_math_Vector3_js.Vector3(0, 0, 0);
-			differenceRotationDirection[axis] = 1;
-			const f1 = Math.cos(.5 * differenceRotationRad) * Math.cos(.5 * currentRotationRad);
-			const f2 = Math.sin(.5 * differenceRotationRad) * Math.sin(.5 * currentRotationRad);
-			const f3 = Math.sin(.5 * differenceRotationRad) * Math.cos(.5 * currentRotationRad);
-			const f4 = Math.cos(.5 * differenceRotationRad) * Math.sin(.5 * currentRotationRad);
-			const dotProduct = differenceRotationDirection.dot(currentRotationDirection);
-			const crossProduct = differenceRotationDirection.clone().cross(currentRotationDirection);
-			const newRotationRad = 2 * Math.acos(f1 - f2 * dotProduct);
-			const f5 = newRotationRad / Math.sin(.5 * newRotationRad);
-			const targetTcpOrientation = new three_src_math_Vector3_js.Vector3().addScaledVector(crossProduct, f2).addScaledVector(differenceRotationDirection, f3).addScaledVector(currentRotationDirection, f4).multiplyScalar(f5);
-			commands.push({
-				settings: { limits_override: { tcp_orientation_velocity_limit: velocityInRelevantUnits } },
-				line: {
-					position: currentTcpPose.position,
-					orientation: targetTcpOrientation,
-					coordinate_system: coordSystemId
-				}
-			});
-		}
-		const motionPlanRes = await this.nova.api.motion.planMotion({
-			motion_group: this.motionGroupId,
-			start_joint_position: currentJoints,
-			tcp: this.cartesianJoggingOpts.tcpId,
-			commands
-		});
-		const plannedMotion = motionPlanRes.plan_successful_response?.motion;
-		if (!plannedMotion) throw new Error(`Failed to plan jogging increment motion ${JSON.stringify(motionPlanRes)}`);
-		await this.nova.api.motion.streamMoveForward(plannedMotion, 100, void 0, void 0, void 0, { timeout: 1e3 * 60 });
-	}
-	/**
-	* Rotate a single robot joint by a fixed number of radians
-	* Promise resolves only after the motion has completed.
-	*/
-	async runIncrementalJointRotation({ joint, currentJoints, velocityRadsPerSec, direction, distanceRads }) {
-		const targetJoints = [...currentJoints.joints];
-		targetJoints[joint] += distanceRads * (direction === "-" ? -1 : 1);
-		const jointVelocityLimits = new Array(currentJoints.joints.length).fill(velocityRadsPerSec);
-		const motionPlanRes = await this.nova.api.motion.planMotion({
-			motion_group: this.motionGroupId,
-			start_joint_position: currentJoints,
-			commands: [{
-				settings: { limits_override: { joint_velocity_limits: { joints: jointVelocityLimits } } },
-				joint_ptp: { joints: targetJoints }
-			}]
-		});
-		const plannedMotion = motionPlanRes.plan_successful_response?.motion;
-		if (!plannedMotion) {
-			console.error("Failed to plan jogging increment motion", motionPlanRes);
-			return;
-		}
-		await this.nova.api.motion.streamMoveForward(plannedMotion, 100, void 0, void 0, void 0, { timeout: 1e3 * 60 });
-	}
-};
-//#endregion
-//#region src/lib/v1/MotionStreamConnection.ts
-const MOTION_DELTA_THRESHOLD = 1e-4;
-function unwrapRotationVector(newRotationVectorApi, currentRotationVectorApi) {
-	const currentRotationVector = new three.Vector3(currentRotationVectorApi.x, currentRotationVectorApi.y, currentRotationVectorApi.z);
-	const newRotationVector = new three.Vector3(newRotationVectorApi.x, newRotationVectorApi.y, newRotationVectorApi.z);
-	const currentAngle = currentRotationVector.length();
-	const currentAxis = currentRotationVector.normalize();
-	let newAngle = newRotationVector.length();
-	let newAxis = newRotationVector.normalize();
-	if (newAxis.dot(currentAxis) < 0) {
-		newAngle = -newAngle;
-		newAxis = newAxis.multiplyScalar(-1);
-	}
-	let angleDifference = newAngle - currentAngle;
-	angleDifference -= 2 * Math.PI * Math.floor((angleDifference + Math.PI) / (2 * Math.PI));
-	newAngle = currentAngle + angleDifference;
-	return newAxis.multiplyScalar(newAngle);
-}
-/**
-* Store representing the current state of a connected motion group.
-*/
-var MotionStreamConnection = class MotionStreamConnection {
-	static async open(nova, motionGroupId) {
-		const { instances: controllers } = await nova.api.controller.listControllers();
-		const [_motionGroupIndex, controllerId] = motionGroupId.split("@");
-		const controller = controllers.find((c) => c.controller === controllerId);
-		const motionGroup = controller?.physical_motion_groups.find((mg) => mg.motion_group === motionGroupId);
-		if (!controller || !motionGroup) throw new Error(`Controller ${controllerId} or motion group ${motionGroupId} not found`);
-		const motionStateSocket = nova.openReconnectingWebsocket(`/motion-groups/${motionGroupId}/state-stream`);
-		const firstMessage = await motionStateSocket.firstMessage();
-		const initialMotionState = require_LoginWithAuth0.tryParseJson(firstMessage.data)?.result;
-		if (!initialMotionState) throw new Error(`Unable to parse initial motion state message ${firstMessage.data}`);
-		console.log(`Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\n  `, initialMotionState);
-		return new MotionStreamConnection(nova, controller, motionGroup, initialMotionState, motionStateSocket);
-	}
-	constructor(nova, controller, motionGroup, initialMotionState, motionStateSocket) {
-		this.nova = nova;
-		this.controller = controller;
-		this.motionGroup = motionGroup;
-		this.initialMotionState = initialMotionState;
-		this.motionStateSocket = motionStateSocket;
-		this.rapidlyChangingMotionState = initialMotionState;
-		motionStateSocket.addEventListener("message", (event) => {
-			const motionStateResponse = require_LoginWithAuth0.tryParseJson(event.data)?.result;
-			if (!motionStateResponse) throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${event.data}`);
-			if (!jointValuesEqual(this.rapidlyChangingMotionState.state.joint_position.joints, motionStateResponse.state.joint_position.joints, MOTION_DELTA_THRESHOLD)) (0, mobx.runInAction)(() => {
-				this.rapidlyChangingMotionState.state = motionStateResponse.state;
-			});
-			if (!tcpPoseEqual(this.rapidlyChangingMotionState.tcp_pose, motionStateResponse.tcp_pose, MOTION_DELTA_THRESHOLD)) (0, mobx.runInAction)(() => {
-				if (this.rapidlyChangingMotionState.tcp_pose == null) this.rapidlyChangingMotionState.tcp_pose = motionStateResponse.tcp_pose;
-				else this.rapidlyChangingMotionState.tcp_pose = {
-					position: motionStateResponse.tcp_pose.position,
-					orientation: unwrapRotationVector(motionStateResponse.tcp_pose.orientation, this.rapidlyChangingMotionState.tcp_pose.orientation),
-					tcp: motionStateResponse.tcp_pose.tcp,
-					coordinate_system: motionStateResponse.tcp_pose.coordinate_system
-				};
-			});
-		});
-		(0, mobx.makeAutoObservable)(this);
-	}
-	get motionGroupId() {
-		return this.motionGroup.motion_group;
-	}
-	get controllerId() {
-		return this.controller.controller;
-	}
-	get modelFromController() {
-		return this.motionGroup.model_from_controller;
-	}
-	get wandelscriptIdentifier() {
-		const num = this.motionGroupId.split("@")[0];
-		return `${this.controllerId.replaceAll("-", "_")}_${num}`;
-	}
-	get joints() {
-		return this.initialMotionState.state.joint_position.joints.map((_, i) => {
-			return { index: i };
-		});
-	}
-	dispose() {
-		this.motionStateSocket.close();
-	}
-};
-//#endregion
-//#region src/lib/v1/NovaCellAPIClient.ts
-/**
-* API client providing type-safe access to all the Nova API REST endpoints
-* associated with a specific cell id.
-*/
-var NovaCellAPIClient = class {
-	constructor(cellId, opts) {
-		this.cellId = cellId;
-		this.opts = opts;
-		this.system = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v1.SystemApi);
-		this.cell = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v1.CellApi);
-		this.deviceConfig = this.withCellId(_wandelbots_nova_api_v1.DeviceConfigurationApi);
-		this.motionGroup = this.withCellId(_wandelbots_nova_api_v1.MotionGroupApi);
-		this.motionGroupInfos = this.withCellId(_wandelbots_nova_api_v1.MotionGroupInfosApi);
-		this.controller = this.withCellId(_wandelbots_nova_api_v1.ControllerApi);
-		this.program = this.withCellId(_wandelbots_nova_api_v1.ProgramApi);
-		this.programValues = this.withCellId(_wandelbots_nova_api_v1.ProgramValuesApi);
-		this.controllerIOs = this.withCellId(_wandelbots_nova_api_v1.ControllerIOsApi);
-		this.motionGroupKinematic = this.withCellId(_wandelbots_nova_api_v1.MotionGroupKinematicApi);
-		this.motion = this.withCellId(_wandelbots_nova_api_v1.MotionApi);
-		this.coordinateSystems = this.withCellId(_wandelbots_nova_api_v1.CoordinateSystemsApi);
-		this.application = this.withCellId(_wandelbots_nova_api_v1.ApplicationApi);
-		this.applicationGlobal = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v1.ApplicationApi);
-		this.motionGroupJogging = this.withCellId(_wandelbots_nova_api_v1.MotionGroupJoggingApi);
-		this.virtualRobot = this.withCellId(_wandelbots_nova_api_v1.VirtualRobotApi);
-		this.virtualRobotSetup = this.withCellId(_wandelbots_nova_api_v1.VirtualRobotSetupApi);
-		this.virtualRobotMode = this.withCellId(_wandelbots_nova_api_v1.VirtualRobotModeApi);
-		this.virtualRobotBehavior = this.withCellId(_wandelbots_nova_api_v1.VirtualRobotBehaviorApi);
-		this.libraryProgramMetadata = this.withCellId(_wandelbots_nova_api_v1.LibraryProgramMetadataApi);
-		this.libraryProgram = this.withCellId(_wandelbots_nova_api_v1.LibraryProgramApi);
-		this.libraryRecipeMetadata = this.withCellId(_wandelbots_nova_api_v1.LibraryRecipeMetadataApi);
-		this.libraryRecipe = this.withCellId(_wandelbots_nova_api_v1.LibraryRecipeApi);
-		this.storeObject = this.withCellId(_wandelbots_nova_api_v1.StoreObjectApi);
-		this.storeCollisionComponents = this.withCellId(_wandelbots_nova_api_v1.StoreCollisionComponentsApi);
-		this.storeCollisionScenes = this.withCellId(_wandelbots_nova_api_v1.StoreCollisionScenesApi);
-	}
-	/**
-	* Some TypeScript sorcery which alters the API class methods so you don't
-	* have to pass the cell id to every single one, and de-encapsulates the
-	* response data
-	*/
-	withCellId(ApiConstructor) {
-		const apiClient = new ApiConstructor({
-			...this.opts,
-			isJsonMime: (mime) => {
-				return mime === "application/json";
-			}
-		}, this.opts.basePath ?? "", this.opts.axiosInstance ?? axios.default.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) {
-		const apiClient = new ApiConstructor({
-			...this.opts,
-			isJsonMime: (mime) => {
-				return mime === "application/json";
-			}
-		}, this.opts.basePath ?? "", this.opts.axiosInstance ?? axios.default.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;
-	}
-};
-//#endregion
-//#region src/lib/v1/mock/MockNovaInstance.ts
-/**
-* Ultra-simplified mock Nova server for testing stuff
-*/
-var MockNovaInstance = class {
-	constructor() {
-		this.connections = [];
-	}
-	async handleAPIRequest(config) {
-		const apiHandlers = [
-			{
-				method: "GET",
-				path: "/cells/:cellId/controllers",
-				handle() {
-					return { instances: [{
-						controller: "mock-ur5e",
-						model_name: "UniversalRobots::Controller",
-						host: "mock-ur5e",
-						allow_software_install_on_controller: true,
-						physical_motion_groups: [{
-							motion_group: "0@mock-ur5e",
-							name_from_controller: "UR5e",
-							active: false,
-							model_from_controller: "UniversalRobots_UR5e"
-						}],
-						has_error: false,
-						error_details: ""
-					}] };
-				}
-			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/controllers/:controllerId",
-				handle() {
-					return {
-						configuration: {
-							kind: "VirtualController",
-							manufacturer: "universalrobots",
-							position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
-							type: "universalrobots-ur5e"
-						},
-						name: "mock-ur5"
-					};
-				}
-			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/motion-groups/:motionGroupId/specification",
-				handle() {
-					return {
-						dh_parameters: [
-							{
-								alpha: 1.5707963267948966,
-								theta: 0,
-								a: 0,
-								d: 162.25,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: 0,
-								theta: 0,
-								a: -425,
-								d: 0,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: 0,
-								theta: 0,
-								a: -392.2,
-								d: 0,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: 1.5707963267948966,
-								theta: 0,
-								a: 0,
-								d: 133.3,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: -1.5707963267948966,
-								theta: 0,
-								a: 0,
-								d: 99.7,
-								reverse_rotation_direction: false
-							},
-							{
-								alpha: 0,
-								theta: 0,
-								a: 0,
-								d: 99.6,
-								reverse_rotation_direction: false
-							}
-						],
-						mechanical_joint_limits: [
-							{
-								joint: "JOINTNAME_AXIS_1",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_2",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_3",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_4",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_5",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							},
-							{
-								joint: "JOINTNAME_AXIS_6",
-								lower_limit: -6.335545063018799,
-								upper_limit: 6.335545063018799,
-								unlimited: false
-							}
-						]
-					};
-				}
-			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/motion-groups/:motionGroupId/safety-setup",
-				handle() {
-					return {
-						safety_settings: [{
-							safety_state: "SAFETY_NORMAL",
-							settings: {
-								joint_position_limits: [
-									{
-										joint: "JOINTNAME_AXIS_1",
-										lower_limit: -2.96705961227417,
-										upper_limit: 2.96705961227417,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_2",
-										lower_limit: -1.7453292608261108,
-										upper_limit: 2.7925267219543457,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_3",
-										lower_limit: -3.3161256313323975,
-										upper_limit: .40142571926116943,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_4",
-										lower_limit: -3.4906585216522217,
-										upper_limit: 3.4906585216522217,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_5",
-										lower_limit: -2.4434609413146973,
-										upper_limit: 2.4434609413146973,
-										unlimited: false
-									},
-									{
-										joint: "JOINTNAME_AXIS_6",
-										lower_limit: -4.71238899230957,
-										upper_limit: 4.71238899230957,
-										unlimited: false
-									}
-								],
-								joint_velocity_limits: [
-									{
-										joint: "JOINTNAME_AXIS_1",
-										limit: 3.1415927410125732
-									},
-									{
-										joint: "JOINTNAME_AXIS_2",
-										limit: 3.1415927410125732
-									},
-									{
-										joint: "JOINTNAME_AXIS_3",
-										limit: 3.4906585216522217
-									},
-									{
-										joint: "JOINTNAME_AXIS_4",
-										limit: 6.108652591705322
-									},
-									{
-										joint: "JOINTNAME_AXIS_5",
-										limit: 6.108652591705322
-									},
-									{
-										joint: "JOINTNAME_AXIS_6",
-										limit: 6.981317043304443
-									}
-								],
-								joint_acceleration_limits: [],
-								joint_torque_limits: [],
-								tcp_velocity_limit: 1800
-							}
-						}],
-						safety_zones: [
-							{
-								id: 1,
-								priority: 0,
-								geometry: {
-									compound: { child_geometries: [
-										{
-											convex_hull: { vertices: [
-												{
-													x: -800,
-													y: -1330,
-													z: -1820
-												},
-												{
-													x: 1650,
-													y: -1330,
-													z: -1820
-												},
-												{
-													x: 1650,
-													y: 1330,
-													z: -1820
-												},
-												{
-													x: -800,
-													y: 1330,
-													z: -1820
-												}
-											] },
-											init_pose: {
-												position: {
-													x: 0,
-													y: 0,
-													z: 0
-												},
-												orientation: {
-													x: 0,
-													y: 0,
-													z: 0,
-													w: 1
-												}
-											},
-											id: "box"
-										},
-										{
-											convex_hull: { vertices: [
-												{
-													x: -800,
-													y: -1330,
-													z: -1820
-												},
-												{
-													x: 1650,
-													y: -1330,
-													z: -1820
-												},
-												{
-													x: 1650,
-													y: -1330,
-													z: 1500
-												},
-												{
-													x: -800,
-													y: -1330,
-													z: 1500
-												}
-											] },
-											init_pose: {
-												position: {
-													x: 0,
-													y: 0,
-													z: 0
-												},
-												orientation: {
-													x: 0,
-													y: 0,
-													z: 0,
-													w: 1
-												}
-											},
-											id: "box"
-										},
-										{
-											convex_hull: { vertices: [
-												{
-													x: -800,
-													y: -1330,
-													z: -1820
-												},
-												{
-													x: -800,
-													y: 1330,
-													z: -1820
-												},
-												{
-													x: -800,
-													y: 1330,
-													z: 1500
-												},
-												{
-													x: -800,
-													y: -1330,
-													z: 1500
-												}
-											] },
-											init_pose: {
-												position: {
-													x: 0,
-													y: 0,
-													z: 0
-												},
-												orientation: {
-													x: 0,
-													y: 0,
-													z: 0,
-													w: 1
-												}
-											},
-											id: "box"
-										},
-										{
-											convex_hull: { vertices: [
-												{
-													x: 1650,
-													y: 1330,
-													z: 1500
-												},
-												{
-													x: -800,
-													y: 1330,
-													z: 1500
-												},
-												{
-													x: -800,
-													y: -1330,
-													z: 1500
-												},
-												{
-													x: 1650,
-													y: -1330,
-													z: 1500
-												}
-											] },
-											init_pose: {
-												position: {
-													x: 0,
-													y: 0,
-													z: 0
-												},
-												orientation: {
-													x: 0,
-													y: 0,
-													z: 0,
-													w: 1
-												}
-											},
-											id: "box"
-										},
-										{
-											convex_hull: { vertices: [
-												{
-													x: 1650,
-													y: 1330,
-													z: 1500
-												},
-												{
-													x: -800,
-													y: 1330,
-													z: 1500
-												},
-												{
-													x: -800,
-													y: 1330,
-													z: -1820
-												},
-												{
-													x: 1650,
-													y: 1330,
-													z: -1820
-												}
-											] },
-											init_pose: {
-												position: {
-													x: 0,
-													y: 0,
-													z: 0
-												},
-												orientation: {
-													x: 0,
-													y: 0,
-													z: 0,
-													w: 1
-												}
-											},
-											id: "box"
-										},
-										{
-											convex_hull: { vertices: [
-												{
-													x: 1650,
-													y: 1330,
-													z: 1500
-												},
-												{
-													x: 1650,
-													y: -1330,
-													z: 1500
-												},
-												{
-													x: 1650,
-													y: -1330,
-													z: -1820
-												},
-												{
-													x: 1650,
-													y: 1330,
-													z: -1820
-												}
-											] },
-											init_pose: {
-												position: {
-													x: 0,
-													y: 0,
-													z: 0
-												},
-												orientation: {
-													x: 0,
-													y: 0,
-													z: 0,
-													w: 1
-												}
-											},
-											id: "box"
-										}
-									] },
-									init_pose: {
-										position: {
-											x: 0,
-											y: 0,
-											z: 0
-										},
-										orientation: {
-											x: 0,
-											y: 0,
-											z: 0,
-											w: 1
-										}
-									},
-									id: "Cell workzone"
-								},
-								motion_group_uid: 1
-							},
-							{
-								id: 2,
-								priority: 0,
-								geometry: {
-									convex_hull: { vertices: [
-										{
-											x: 1650,
-											y: 1330,
-											z: -1850
-										},
-										{
-											x: 865,
-											y: 1330,
-											z: -1850
-										},
-										{
-											x: 865,
-											y: -720,
-											z: -1850
-										},
-										{
-											x: 1650,
-											y: -720,
-											z: -1850
-										},
-										{
-											x: 1650,
-											y: 1330,
-											z: -920
-										},
-										{
-											x: 865,
-											y: 1330,
-											z: -920
-										},
-										{
-											x: 865,
-											y: -720,
-											z: -920
-										},
-										{
-											x: 1650,
-											y: -720,
-											z: -920
-										}
-									] },
-									init_pose: {
-										position: {
-											x: 0,
-											y: 0,
-											z: 0
-										},
-										orientation: {
-											x: 0,
-											y: 0,
-											z: 0,
-											w: 1
-										}
-									},
-									id: "Transport"
-								},
-								motion_group_uid: 1
-							},
-							{
-								id: 3,
-								priority: 0,
-								geometry: {
-									convex_hull: { vertices: [
-										{
-											x: 1650,
-											y: 1330,
-											z: -600
-										},
-										{
-											x: 865,
-											y: 1330,
-											z: -600
-										},
-										{
-											x: 865,
-											y: 430,
-											z: -600
-										},
-										{
-											x: 1650,
-											y: 430,
-											z: -600
-										},
-										{
-											x: 1650,
-											y: 1330,
-											z: -1250
-										},
-										{
-											x: 865,
-											y: 1330,
-											z: -1250
-										},
-										{
-											x: 865,
-											y: 430,
-											z: -1250
-										},
-										{
-											x: 1650,
-											y: 430,
-											z: -1250
-										}
-									] },
-									init_pose: {
-										position: {
-											x: 0,
-											y: 0,
-											z: 0
-										},
-										orientation: {
-											x: 0,
-											y: 0,
-											z: 0,
-											w: 1
-										}
-									},
-									id: "Tunel"
-								},
-								motion_group_uid: 1
-							},
-							{
-								id: 4,
-								priority: 0,
-								geometry: {
-									convex_hull: { vertices: [
-										{
-											x: 1650,
-											y: -760,
-											z: -440
-										},
-										{
-											x: 900,
-											y: -760,
-											z: -440
-										},
-										{
-											x: 900,
-											y: -1330,
-											z: -440
-										},
-										{
-											x: 1650,
-											y: -1330,
-											z: -440
-										},
-										{
-											x: 1650,
-											y: -760,
-											z: -1800
-										},
-										{
-											x: 900,
-											y: -760,
-											z: -1800
-										},
-										{
-											x: 900,
-											y: -1330,
-											z: -1800
-										},
-										{
-											x: 1650,
-											y: -1330,
-											z: -1800
-										}
-									] },
-									init_pose: {
-										position: {
-											x: 0,
-											y: 0,
-											z: 0
-										},
-										orientation: {
-											x: 0,
-											y: 0,
-											z: 0,
-											w: 1
-										}
-									},
-									id: "Fanuc controller"
-								},
-								motion_group_uid: 1
-							},
-							{
-								id: 6,
-								priority: 0,
-								geometry: {
-									convex_hull: { vertices: [
-										{
-											x: -200,
-											y: -200,
-											z: -1900
-										},
-										{
-											x: 200,
-											y: -200,
-											z: -1900
-										},
-										{
-											x: 200,
-											y: 200,
-											z: -1900
-										},
-										{
-											x: -200,
-											y: 200,
-											z: -1900
-										},
-										{
-											x: -200,
-											y: -200,
-											z: -350
-										},
-										{
-											x: 200,
-											y: -200,
-											z: -350
-										},
-										{
-											x: 200,
-											y: 200,
-											z: -350
-										},
-										{
-											x: -200,
-											y: 200,
-											z: -350
-										}
-									] },
-									init_pose: {
-										position: {
-											x: 0,
-											y: 0,
-											z: 0
-										},
-										orientation: {
-											x: 0,
-											y: 0,
-											z: 0,
-											w: 1
-										}
-									},
-									id: "Robot base"
-								},
-								motion_group_uid: 1
-							}
-						],
-						robot_model_geometries: [
-							{
-								link_index: 1,
-								geometry: {
-									sphere: { radius: 270 },
-									init_pose: {
-										position: {
-											x: -70,
-											y: -70,
-											z: -50
-										},
-										orientation: {
-											x: 0,
-											y: 0,
-											z: 0,
-											w: 1
-										}
-									},
-									id: "link1_sphere"
-								}
-							},
-							{
-								link_index: 2,
-								geometry: {
-									capsule: {
-										radius: 160,
-										cylinder_height: 800
-									},
-									init_pose: {
-										position: {
-											x: -450,
-											y: 40,
-											z: 170
-										},
-										orientation: {
-											x: 0,
-											y: -Math.SQRT1_2,
-											z: 0,
-											w: Math.SQRT1_2
-										}
-									},
-									id: "link2_capsule"
-								}
-							},
-							{
-								link_index: 3,
-								geometry: {
-									sphere: { radius: 270 },
-									init_pose: {
-										position: {
-											x: -110,
-											y: 10,
-											z: -100
-										},
-										orientation: {
-											x: 0,
-											y: 0,
-											z: 0,
-											w: 1
-										}
-									},
-									id: "link3_sphere"
-								}
-							},
-							{
-								link_index: 4,
-								geometry: {
-									capsule: {
-										radius: 110,
-										cylinder_height: 600
-									},
-									init_pose: {
-										position: {
-											x: 0,
-											y: 300,
-											z: 40
-										},
-										orientation: {
-											x: -Math.SQRT1_2,
-											y: 0,
-											z: 0,
-											w: Math.SQRT1_2
-										}
-									},
-									id: "link4_capsule"
-								}
-							},
-							{
-								link_index: 5,
-								geometry: {
-									sphere: { radius: 75 },
-									init_pose: {
-										position: {
-											x: 0,
-											y: 0,
-											z: -50
-										},
-										orientation: {
-											x: 0,
-											y: 0,
-											z: 0,
-											w: 1
-										}
-									},
-									id: "link5_sphere"
-								}
-							}
-						],
-						tool_geometries: []
-					};
-				}
-			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/coordinate-systems",
-				handle() {
-					return { coordinatesystems: [{
-						coordinate_system: "",
-						name: "world",
-						reference_uid: "",
-						position: {
-							x: 0,
-							y: 0,
-							z: 0
-						},
-						rotation: {
-							angles: [
-								0,
-								0,
-								0
-							],
-							type: "ROTATION_VECTOR"
-						}
-					}] };
-				}
-			},
-			{
-				method: "GET",
-				path: "/cells/:cellId/motion-groups/:motionGroupId/tcps",
-				handle() {
-					return { tcps: [{
-						id: "Flange",
-						readable_name: "Default-Flange",
-						position: {
-							x: 0,
-							y: 0,
-							z: 0
-						},
-						rotation: {
-							angles: [
-								0,
-								0,
-								0,
-								0
-							],
-							type: "ROTATION_VECTOR"
-						}
-					}, {
-						id: "complex-tcp-position",
-						readable_name: "Complex TCP Position",
-						position: {
-							x: -200,
-							y: 300,
-							z: 150
-						},
-						rotation: {
-							angles: [
-								-.12139440409113832,
-								-.06356210998212003,
-								-.2023240068185639,
-								0
-							],
-							type: "ROTATION_VECTOR"
-						}
-					}] };
-				}
-			}
-		];
-		const method = config.method?.toUpperCase() || "GET";
-		const path = `/cells${config.url?.split("/cells")[1]?.split("?")[0]}`;
-		for (const handler of apiHandlers) {
-			const match = path_to_regexp.match(handler.path)(path || "");
-			if (method === handler.method && match) {
-				const json = handler.handle();
-				return {
-					status: 200,
-					statusText: "Success",
-					data: JSON.stringify(json),
-					headers: {},
-					config,
-					request: { responseURL: config.url }
-				};
-			}
-		}
-		throw new axios.AxiosError(`No mock handler matched this request: ${method} ${path}`, "404", config);
-	}
-	handleWebsocketConnection(socket) {
-		this.connections.push(socket);
-		setTimeout(() => {
-			socket.dispatchEvent(new Event("open"));
-			console.log("Websocket connection opened from", socket.url);
-			if (socket.url.includes("/state-stream")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify(defaultMotionState) }));
-			if (socket.url.includes("/move-joint")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify({ result: {
-				motion_group: "0@ur",
-				state: {
-					controller: "ur",
-					operation_mode: "OPERATION_MODE_AUTO",
-					safety_state: "SAFETY_STATE_NORMAL",
-					timestamp: "2024-09-18T12:48:26.096266444Z",
-					velocity_override: 100,
-					motion_groups: [{
-						motion_group: "0@ur",
-						controller: "ur",
-						joint_position: { joints: [
-							1.3492152690887451,
-							-1.5659207105636597,
-							1.6653711795806885,
-							-1.0991662740707397,
-							-1.829018235206604,
-							1.264623761177063
-						] },
-						joint_velocity: { joints: [
-							0,
-							0,
-							0,
-							0,
-							0,
-							0
-						] },
-						flange_pose: {
-							position: {
-								x: 6.437331889439328,
-								y: -628.4123774830913,
-								z: 577.0569957147832
-							},
-							orientation: {
-								x: -1.683333649797158,
-								y: -1.9783363827298732,
-								z: -.4928031860165713
-							},
-							coordinate_system: ""
-						},
-						tcp_pose: {
-							position: {
-								x: 6.437331889439328,
-								y: -628.4123774830913,
-								z: 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: {
-								x: -2.763015284002938,
-								y: -630.2151479701106,
-								z: 577.524509114342
-							},
-							orientation: {
-								x: -1.704794877102097,
-								y: -1.9722372952861567,
-								z: -.4852079204210754
-							},
-							coordinate_system: ""
-						},
-						tcp_pose: {
-							position: {
-								x: -2.763015284002938,
-								y: -630.2151479701106,
-								z: 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"
-			} }) }));
-		}, 10);
-	}
-	handleWebsocketMessage(socket, message) {
-		console.log(`Received message on ${socket.url}`, message);
-	}
-};
-const defaultMotionState = { result: {
-	state: {
-		motion_group: "0@universalrobots-ur5e",
-		controller: "universalrobots-ur5e",
-		joint_position: { joints: [
-			1.1699999570846558,
-			-1.5700000524520874,
-			1.3600000143051147,
-			1.0299999713897705,
-			1.2899999618530273,
-			1.2799999713897705
-		] },
-		joint_velocity: { joints: [
-			0,
-			0,
-			0,
-			0,
-			0,
-			0
-		] },
-		flange_pose: {
-			position: {
-				x: 1.3300010259703043,
-				y: -409.2680714682808,
-				z: 531.0203477065281
-			},
-			orientation: {
-				x: 1.7564919306270736,
-				y: -1.7542521568325058,
-				z: .7326972590614671
-			},
-			coordinate_system: ""
-		},
-		tcp_pose: {
-			position: {
-				x: 1.3300010259703043,
-				y: -409.2680714682808,
-				z: 531.0203477065281
-			},
-			orientation: {
-				x: 1.7564919306270736,
-				y: -1.7542521568325058,
-				z: .7326972590614671
-			},
-			coordinate_system: "",
-			tcp: "Flange"
-		},
-		velocity: {
-			linear: {
-				x: 0,
-				y: 0,
-				z: 0
-			},
-			angular: {
-				x: 0,
-				y: 0,
-				z: 0
-			},
-			coordinate_system: ""
-		},
-		force: {
-			force: {
-				x: 0,
-				y: 0,
-				z: 0
-			},
-			moment: {
-				x: 0,
-				y: 0,
-				z: 0
-			},
-			coordinate_system: ""
-		},
-		joint_limit_reached: { limit_reached: [
-			false,
-			false,
-			false,
-			false,
-			false,
-			false
-		] },
-		joint_current: { joints: [
-			0,
-			0,
-			0,
-			0,
-			0,
-			0
-		] },
-		sequence_number: "1"
-	},
-	tcp_pose: {
-		position: {
-			x: 302.90748476115556,
-			y: -152.87065869452337,
-			z: 424.0454619321661
-		},
-		orientation: {
-			x: 2.3403056115045353,
-			y: -1.1706836379431356,
-			z: .9772511964246311
-		},
-		coordinate_system: "",
-		tcp: "Flange"
-	}
-} };
-//#endregion
-//#region src/lib/v1/NovaClient.ts
-/**
-* Client for connecting to a Nova instance and controlling robots.
-* @deprecated The nova v1 client is deprecated. Please use the v2 client from `@wandelbots/nova-js/v2` instead.
-*/
-var NovaClient = class {
-	constructor(config) {
-		this.authPromise = null;
-		this.accessToken = null;
-		const cellId = config.cellId ?? "cell";
-		this.config = {
-			cellId,
-			...config
-		};
-		this.accessToken = config.accessToken || require_LoginWithAuth0.availableStorage.getString("wbjs.access_token") || null;
-		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
-		this.instanceUrl = require_LoginWithAuth0.parseNovaInstanceUrl(this.config.instanceUrl);
-		const axiosInstance = axios.default.create({
-			baseURL: (0, url_join.default)(this.config.instanceUrl, "/api/v1"),
-			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
-		});
-		axiosInstance.interceptors.request.use(async (request) => {
-			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, async (error) => {
-			if ((0, axios.isAxiosError)(error)) {
-				if (error.response?.status === 401) try {
-					await this.renewAuthentication();
-					if (error.config) {
-						if (this.accessToken) error.config.headers.Authorization = `Bearer ${this.accessToken}`;
-						else delete error.config.headers.Authorization;
-						return axiosInstance.request(error.config);
-					}
-				} catch (err) {
-					return Promise.reject(err);
-				}
-				else if (error.response?.status === 503) {
-					if ((await fetch(window.location.href)).status === 503) window.location.reload();
-				}
-			}
-			return Promise.reject(error);
-		});
-		this.api = new NovaCellAPIClient(cellId, {
-			...config,
-			basePath: (0, url_join.default)(this.instanceUrl.href, "/api/v1"),
-			isJsonMime: (mime) => {
-				return mime === "application/json";
-			},
-			baseOptions: {
-				...this.mock ? { adapter: (config) => {
-					return this.mock.handleAPIRequest(config);
-				} } : {},
-				...config.baseOptions
-			},
-			axiosInstance
-		});
-	}
-	async renewAuthentication() {
-		if (this.authPromise) return;
-		const storedToken = require_LoginWithAuth0.availableStorage.getString("wbjs.access_token");
-		if (storedToken && this.accessToken !== storedToken) {
-			this.accessToken = storedToken;
-			return;
-		}
-		this.authPromise = require_LoginWithAuth0.loginWithAuth0(this.instanceUrl);
-		try {
-			this.accessToken = await this.authPromise;
-			if (this.accessToken) require_LoginWithAuth0.availableStorage.setString("wbjs.access_token", this.accessToken);
-			else require_LoginWithAuth0.availableStorage.delete("wbjs.access_token");
-		} finally {
-			this.authPromise = null;
-		}
-	}
-	makeWebsocketURL(path) {
-		const url = new URL((0, url_join.default)(this.instanceUrl.href, `/api/v1/cells/${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 require_LoginWithAuth0.AutoReconnectingWebsocket(this.makeWebsocketURL(path), { mock: this.mock });
-	}
-	/**
-	* Connect to the motion state websocket(s) for a given motion group
-	*/
-	async connectMotionStream(motionGroupId) {
-		return await MotionStreamConnection.open(this, motionGroupId);
-	}
-	/**
-	* Connect to the jogging websocket(s) for a given motion group
-	*/
-	async connectJogger(motionGroupId) {
-		return await JoggerConnection.open(this, motionGroupId);
-	}
-	async connectMotionGroups(motionGroupIds) {
-		const { instances } = await this.api.controller.listControllers();
-		return Promise.all(motionGroupIds.map((motionGroupId) => ConnectedMotionGroup.connect(this, motionGroupId, instances)));
-	}
-	async connectMotionGroup(motionGroupId) {
-		return (await this.connectMotionGroups([motionGroupId]))[0];
-	}
-};
-//#endregion
-Object.defineProperty(exports, "ConnectedMotionGroup", {
-	enumerable: true,
-	get: function() {
-		return ConnectedMotionGroup;
-	}
-});
-Object.defineProperty(exports, "JoggerConnection", {
-	enumerable: true,
-	get: function() {
-		return JoggerConnection;
-	}
-});
-Object.defineProperty(exports, "MotionStreamConnection", {
-	enumerable: true,
-	get: function() {
-		return MotionStreamConnection;
-	}
-});
-Object.defineProperty(exports, "NovaCellAPIClient", {
-	enumerable: true,
-	get: function() {
-		return NovaCellAPIClient;
-	}
-});
-Object.defineProperty(exports, "NovaClient", {
-	enumerable: true,
-	get: function() {
-		return NovaClient;
-	}
-});
-Object.defineProperty(exports, "poseToWandelscriptString", {
-	enumerable: true,
-	get: function() {
-		return poseToWandelscriptString;
-	}
-});
-
-//# sourceMappingURL=NovaClient-B-QdK0HR.cjs.map