@wandelbots/nova-js 3.7.0-pr.267.2d2af4c → 3.7.0-pr.276.de5eb8e

package/dist/lib/v2/index.cjs

@@ -0,0 +1,825 @@
+Object.defineProperty(exports, Symbol.toStringTag, { value: "Module" });
+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 path_to_regexp = require("path-to-regexp");
+path_to_regexp = require_LoginWithAuth0.__toESM(path_to_regexp, 1);
+let _wandelbots_nova_api_v2 = require("@wandelbots/nova-api/v2");
+//#region src/lib/v2/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_v2.SystemApi);
+		this.cell = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.CellApi);
+		this.motionGroup = this.withCellId(_wandelbots_nova_api_v2.MotionGroupApi);
+		this.motionGroupModels = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.MotionGroupModelsApi);
+		this.controller = this.withCellId(_wandelbots_nova_api_v2.ControllerApi);
+		this.controllerIOs = this.withCellId(_wandelbots_nova_api_v2.ControllerInputsOutputsApi);
+		this.trajectoryPlanning = this.withCellId(_wandelbots_nova_api_v2.TrajectoryPlanningApi);
+		this.trajectoryExecution = this.withCellId(_wandelbots_nova_api_v2.TrajectoryExecutionApi);
+		this.trajectoryCaching = this.withCellId(_wandelbots_nova_api_v2.TrajectoryCachingApi);
+		this.application = this.withCellId(_wandelbots_nova_api_v2.ApplicationApi);
+		this.applicationGlobal = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.ApplicationApi);
+		this.jogging = this.withCellId(_wandelbots_nova_api_v2.JoggingApi);
+		this.kinematics = this.withCellId(_wandelbots_nova_api_v2.KinematicsApi);
+		this.busInputsOutputs = this.withCellId(_wandelbots_nova_api_v2.BUSInputsOutputsApi);
+		this.virtualController = this.withCellId(_wandelbots_nova_api_v2.VirtualControllerApi);
+		this.virtualControllerBehavior = this.withCellId(_wandelbots_nova_api_v2.VirtualControllerBehaviorApi);
+		this.virtualControllerIOs = this.withCellId(_wandelbots_nova_api_v2.VirtualControllerInputsOutputsApi);
+		this.storeObject = this.withCellId(_wandelbots_nova_api_v2.StoreObjectApi);
+		this.storeCollisionComponents = this.withCellId(_wandelbots_nova_api_v2.StoreCollisionComponentsApi);
+		this.storeCollisionSetups = this.withCellId(_wandelbots_nova_api_v2.StoreCollisionSetupsApi);
+		this.program = this.withCellId(_wandelbots_nova_api_v2.ProgramApi);
+		this.license = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.LicenseApi);
+		this.novaCloud = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.NOVACloudApi);
+		this.robotConfigurations = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.RobotConfigurationsApi);
+		this.version = this.withUnwrappedResponsesOnly(_wandelbots_nova_api_v2.VersionApi);
+	}
+	/**
+	* 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/v2/mock/getCurrentRobotControllerState.ts
+const getCurrentRobotControllerState = {
+	method: "GET",
+	path: "/cells/:cellId/controllers/:controllerId/state",
+	handle() {
+		return {
+			mode: "MODE_CONTROL",
+			last_error: [],
+			timestamp: "2025-10-16T09:19:26.634534092Z",
+			sequence_number: 1054764,
+			controller: "mock-ur5e",
+			operation_mode: "OPERATION_MODE_AUTO",
+			safety_state: "SAFETY_STATE_NORMAL",
+			velocity_override: 100,
+			motion_groups: [{
+				timestamp: "2025-10-16T09:19:26.634534092Z",
+				sequence_number: 1054764,
+				motion_group: "0@mock-ur5e",
+				controller: "mock-ur5e",
+				joint_position: [
+					1.487959623336792,
+					-1.8501918315887451,
+					1.8003005981445312,
+					6.034560203552246,
+					1.4921919107437134,
+					1.593459963798523
+				],
+				joint_limit_reached: { limit_reached: [
+					false,
+					false,
+					false,
+					false,
+					false,
+					false
+				] },
+				joint_torque: [],
+				joint_current: [
+					0,
+					0,
+					0,
+					0,
+					0,
+					0
+				],
+				flange_pose: {
+					position: [
+						107.6452433732927,
+						-409.0402987746852,
+						524.2402132330305
+					],
+					orientation: [
+						.9874434028353319,
+						-.986571714997442,
+						1.3336589451098142
+					]
+				},
+				tcp: "Flange",
+				tcp_pose: {
+					position: [
+						107.6452433732927,
+						-409.0402987746852,
+						524.2402132330305
+					],
+					orientation: [
+						.9874434028353319,
+						-.986571714997442,
+						1.3336589451098142
+					]
+				},
+				payload: "",
+				coordinate_system: "",
+				standstill: true
+			}]
+		};
+	}
+};
+//#endregion
+//#region src/lib/v2/mock/getMotionGroupDescription.ts
+const getMotionGroupDescription = {
+	method: "GET",
+	path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
+	handle() {
+		return {
+			motion_group_model: "UniversalRobots_UR5e",
+			mounting: {
+				position: [
+					0,
+					0,
+					0
+				],
+				orientation: [
+					0,
+					0,
+					0
+				]
+			},
+			tcps: { Flange: {
+				name: "Default-Flange",
+				pose: {
+					position: [
+						0,
+						0,
+						0
+					],
+					orientation: [
+						0,
+						0,
+						0
+					]
+				}
+			} },
+			payloads: { "FPay-0": {
+				name: "FPay-0",
+				payload: 0,
+				center_of_mass: [
+					0,
+					0,
+					0
+				],
+				moment_of_inertia: [
+					0,
+					0,
+					0
+				]
+			} },
+			cycle_time: 8,
+			dh_parameters: [
+				{
+					alpha: 1.5707963267948966,
+					d: 162.25
+				},
+				{ a: -425 },
+				{ a: -392.2 },
+				{
+					alpha: 1.5707963267948966,
+					d: 133.3
+				},
+				{
+					alpha: -1.5707963267948966,
+					d: 99.7
+				},
+				{ d: 99.6 }
+			],
+			operation_limits: {
+				auto_limits: {
+					joints: [
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						}
+					],
+					tcp: { velocity: 5e3 },
+					elbow: { velocity: 5e3 },
+					flange: { velocity: 5e3 }
+				},
+				manual_limits: {
+					joints: [
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						}
+					],
+					tcp: { velocity: 5e3 }
+				},
+				manual_t1_limits: {
+					joints: [
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						}
+					],
+					tcp: { velocity: 5e3 }
+				},
+				manual_t2_limits: {
+					joints: [
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 150
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						},
+						{
+							position: {
+								lower_limit: -6.283185307179586,
+								upper_limit: 6.283185307179586
+							},
+							velocity: 3.34159255027771,
+							acceleration: 40,
+							torque: 28
+						}
+					],
+					tcp: { velocity: 5e3 }
+				}
+			},
+			serial_number: "WBVirtualRobot"
+		};
+	}
+};
+//#endregion
+//#region src/lib/v2/mock/getMotionGroupKinematicModel.ts
+const getMotionGroupKinematicModel = {
+	method: "GET",
+	path: "/motion-group-models/:motionGroupModel/kinematic",
+	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
+				}
+			],
+			inverse_solver: "Universalrobots"
+		};
+	}
+};
+//#endregion
+//#region src/lib/v2/mock/getRobotController.ts
+const getRobotController = {
+	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"
+		};
+	}
+};
+//#endregion
+//#region src/lib/v2/mock/listCoordinateSystems.ts
+const listCoordinateSystems = {
+	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"
+		}];
+	}
+};
+//#endregion
+//#region src/lib/v2/mock/listRobotControllers.ts
+const listRobotControllers = {
+	method: "GET",
+	path: "/cells/:cellId/controllers",
+	handle() {
+		return ["mock-ur5e"];
+	}
+};
+//#endregion
+//#region src/lib/v2/mock/MockNovaInstance.ts
+/**
+* Ultra-simplified mock Nova server for testing stuff
+*/
+var MockNovaInstance = class {
+	constructor() {
+		this.connections = [];
+	}
+	async handleAPIRequest(config) {
+		const apiHandlers = [
+			listRobotControllers,
+			getRobotController,
+			getMotionGroupDescription,
+			getCurrentRobotControllerState,
+			listCoordinateSystems,
+			getMotionGroupKinematicModel
+		];
+		const method = config.method?.toUpperCase() || "GET";
+		if (!config.url) throw new Error("No url sent with request");
+		const path = config.url.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("/execution/jogging")) socket.dispatchEvent(new MessageEvent("message", { data: JSON.stringify({ result: {
+				message: "string",
+				kind: "INITIALIZE_RECEIVED"
+			} }) }));
+		}, 10);
+	}
+	handleWebsocketMessage(socket, message) {
+		console.log(`Received message on ${socket.url}`, message);
+	}
+};
+const defaultMotionState = { result: {
+	motion_group: "0@universalrobots-ur5e",
+	controller: "universalrobots-ur5e",
+	timestamp: (/* @__PURE__ */ new Date()).toISOString(),
+	sequence_number: 1,
+	joint_position: [
+		1.1699999570846558,
+		-1.5700000524520874,
+		1.3600000143051147,
+		1.0299999713897705,
+		1.2899999618530273,
+		1.2799999713897705
+	],
+	joint_limit_reached: { limit_reached: [
+		false,
+		false,
+		false,
+		false,
+		false,
+		false
+	] },
+	standstill: false,
+	flange_pose: {
+		position: [
+			1.3300010259703043,
+			-409.2680714682808,
+			531.0203477065281
+		],
+		orientation: [
+			1.7564919306270736,
+			-1.7542521568325058,
+			.7326972590614671
+		]
+	},
+	tcp_pose: {
+		position: [
+			1.3300010259703043,
+			-409.2680714682808,
+			531.0203477065281
+		],
+		orientation: [
+			1.7564919306270736,
+			-1.7542521568325058,
+			.7326972590614671
+		]
+	},
+	description_revision: 0
+} };
+//#endregion
+//#region src/lib/v2/NovaClient.ts
+/**
+*
+* Client for connecting to a Nova instance and controlling robots.
+*/
+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.instanceUrl.href, "/api/v2"),
+			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 ${this.accessToken}`;
+						else delete error.config.headers.Authorization;
+						return axiosInstance.request(error.config);
+					}
+				} catch (err) {
+					return Promise.reject(err);
+				}
+				else if (error.response?.status === 503) {
+					if ((await fetch(window.location.href)).status === 503) window.location.reload();
+				}
+			}
+			return Promise.reject(error);
+		});
+		this.api = new NovaCellAPIClient(cellId, {
+			...config,
+			basePath: (0, url_join.default)(this.instanceUrl.href, "/api/v2"),
+			isJsonMime: (mime) => {
+				return mime === "application/json";
+			},
+			baseOptions: {
+				...this.mock ? { adapter: (config) => {
+					return this.mock.handleAPIRequest(config);
+				} } : {},
+				...config.baseOptions
+			},
+			axiosInstance
+		});
+	}
+	async renewAuthentication() {
+		if (this.authPromise) return;
+		const storedToken = require_LoginWithAuth0.availableStorage.getString("wbjs.access_token");
+		if (storedToken && this.accessToken !== storedToken) {
+			this.accessToken = storedToken;
+			return;
+		}
+		this.authPromise = require_LoginWithAuth0.loginWithAuth0(this.instanceUrl);
+		try {
+			this.accessToken = await this.authPromise;
+			if (this.accessToken) require_LoginWithAuth0.availableStorage.setString("wbjs.access_token", this.accessToken);
+			else require_LoginWithAuth0.availableStorage.delete("wbjs.access_token");
+		} finally {
+			this.authPromise = null;
+		}
+	}
+	makeWebsocketURL(path) {
+		const url = new URL((0, url_join.default)(this.instanceUrl.href, `/api/v2/cells/${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 });
+	}
+};
+//#endregion
+//#region src/lib/v2/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?.[0] ?? 0,
+		pose.position?.[1] ?? 0,
+		pose.position?.[2] ?? 0
+	];
+	const orientation = [
+		pose.orientation?.[0] ?? 0,
+		pose.orientation?.[1] ?? 0,
+		pose.orientation?.[2] ?? 0
+	];
+	const positionValues = position.map((v) => v.toFixed(1));
+	const rotationValues = orientation.map((v) => v.toFixed(4));
+	return `(${positionValues.concat(rotationValues).join(", ")})`;
+}
+//#endregion
+exports.NovaCellAPIClient = NovaCellAPIClient;
+exports.NovaClient = NovaClient;
+exports.poseToWandelscriptString = poseToWandelscriptString;
+Object.keys(_wandelbots_nova_api_v2).forEach(function(k) {
+	if (k !== "default" && !Object.prototype.hasOwnProperty.call(exports, k)) Object.defineProperty(exports, k, {
+		enumerable: true,
+		get: function() {
+			return _wandelbots_nova_api_v2[k];
+		}
+	});
+});
+
+//# sourceMappingURL=index.cjs.map