@wandelbots/nova-js 3.9.0-pr.280.2b62f3c → 3.9.0-pr.280.5d405fb

package/README.md

@@ -15,14 +15,13 @@ If you develop a React application we also provide a set of [React components](h
 
 ## Basic usage
 
-The core of this package is the `NovaClient`, which represents a connection to a configured robot cell on a given NOVA instance:
+The core of this package is the `Nova` client, which represents a connection to a given NOVA instance:
 
 ```ts
-import { NovaClient } from "@wandelbots/nova-js/v2"
+import { Nova } from "@wandelbots/nova-js/v2"
 
-const nova = new NovaClient({
+const nova = new Nova({
   instanceUrl: "https://example.instance.wandelbots.io",
-  cellId: "cell",
   // Access token is given in the developer portal UI when you create an instance
   accessToken: "...",
 })
@@ -35,7 +34,7 @@ You can make calls to the REST API via `nova.api`, which contains a bunch of nam
 For example, to list the controllers configured in your cell:
 
 ```ts
-const controllerIds = await nova.api.controller.listRobotControllers()
+const controllerIds = await nova.api.controller.listRobotControllers("cell")
 // -> e.g. ["ur5e", ...]
 ```
 
@@ -46,9 +45,9 @@ Documentation for the various API endpoints is available on your Nova instance a
 `NovaClient` has various convenience features for websocket handling in general. Use `openReconnectingWebsocket` to get a persistent socket for a given Nova streaming endpoint that will handle unexpected closes with exponential backoff:
 
 ```ts
-const programStateSocket = nova.openReconnectingWebsocket(`/programs/state`)
+const joggingWebsocket = nova.openReconnectingWebsocket(`/cells/cell/controllers/ur5e/execution/jogging`)
 
-this.programStateSocket.addEventListener("message", (ev) => {
+this.joggingWebsocket.addEventListener("message", (ev) => {
   console.log(ev.data)
 })
 ```
@@ -56,11 +55,9 @@ this.programStateSocket.addEventListener("message", (ev) => {
 Websockets on a given NOVA client are deduplicated by path, so if you call `openReconnectingWebsocket` twice with the same path you'll get the same object. The exception is if you called `dispose`, which you may do to permanently clean up a reconnecting websocket and free its resources:
 
 ```ts
-programStateSocket.dispose()
+joggingWebsocket.dispose()
 ```
 
-The reconnecting websocket interface is fairly low-level and you won't get type safety on the messages. So when available, you'll likely want to use one of the following endpoint-specific abstractions instead which are built on top!
-
 ## Contributing
 
 If you would like to contribute a change to this repository, see [CONTRIBUTING.md](CONTRIBUTING.md).

package/dist/lib/v2/index.cjs

@@ -896,6 +896,7 @@ var Nova = class {
 			},
 			baseOptions: {
 				...this.mock ? { adapter: (config) => {
+					if (!this.mock) throw new Error("Mock adapter used without a mock instance");
 					return this.mock.handleAPIRequest(config);
 				} } : {},
 				...config.baseOptions

package/dist/lib/v2/index.cjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.cjs","names":["SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","ProgramApi","LicenseApi","NOVACloudApi","RobotConfigurationsApi","VersionApi","SessionApi","pathToRegexp","AxiosError","availableStorage","parseNovaInstanceUrl","loginWithAuth0","AutoReconnectingWebsocket","novaApiV2","availableStorage","parseNovaInstanceUrl","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/getCurrentRobotControllerState.ts","../../../src/lib/v2/mock/getMotionGroupDescription.ts","../../../src/lib/v2/mock/getMotionGroupKinematicModel.ts","../../../src/lib/v2/mock/getRobotController.ts","../../../src/lib/v2/mock/listCoordinateSystems.ts","../../../src/lib/v2/mock/listRobotControllers.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/deprecated/v2/NovaClient.ts","../../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../../src/lib/v2/NovaAPIClient.ts","../../../src/lib/v2/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  LicenseApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  NOVACloudApi,\n  ProgramApi,\n  RobotConfigurationsApi,\n  SessionApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VersionApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels =\n    this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n\n  readonly program = this.withCellId(ProgramApi)\n\n  readonly license = this.withUnwrappedResponsesOnly(LicenseApi)\n  readonly novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n  readonly robotConfigurations = this.withUnwrappedResponsesOnly(\n    RobotConfigurationsApi,\n  )\n  readonly version = this.withUnwrappedResponsesOnly(VersionApi)\n  readonly session = this.withUnwrappedResponsesOnly(SessionApi)\n}\n","export const getCurrentRobotControllerState = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/state\",\n  handle() {\n    return {\n      mode: \"MODE_CONTROL\",\n      last_error: [],\n      timestamp: \"2025-10-16T09:19:26.634534092Z\",\n      sequence_number: 1054764,\n      controller: \"mock-ur5e\",\n      operation_mode: \"OPERATION_MODE_AUTO\",\n      safety_state: \"SAFETY_STATE_NORMAL\",\n      velocity_override: 100,\n      motion_groups: [\n        {\n          timestamp: \"2025-10-16T09:19:26.634534092Z\",\n          sequence_number: 1054764,\n          motion_group: \"0@mock-ur5e\",\n          controller: \"mock-ur5e\",\n          joint_position: [\n            1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n            6.034560203552246, 1.4921919107437134, 1.593459963798523,\n          ],\n          joint_limit_reached: {\n            limit_reached: [false, false, false, false, false, false],\n          },\n          joint_torque: [],\n          joint_current: [0, 0, 0, 0, 0, 0],\n          flange_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          tcp: \"Flange\",\n          tcp_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          payload: \"\",\n          coordinate_system: \"\",\n          standstill: true,\n        },\n      ],\n    }\n  },\n}\n","export const getMotionGroupDescription = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n  handle() {\n    return {\n      motion_group_model: \"UniversalRobots_UR5e\",\n      mounting: {\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n      },\n      tcps: {\n        Flange: {\n          name: \"Default-Flange\",\n          pose: {\n            position: [0, 0, 0],\n            orientation: [0, 0, 0],\n          },\n        },\n      },\n      payloads: {\n        \"FPay-0\": {\n          name: \"FPay-0\",\n          payload: 0,\n          center_of_mass: [0, 0, 0],\n          moment_of_inertia: [0, 0, 0],\n        },\n      },\n      cycle_time: 8,\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          d: 162.25,\n        },\n        {\n          a: -425,\n        },\n        {\n          a: -392.2,\n        },\n        {\n          alpha: 1.5707963267948966,\n          d: 133.3,\n        },\n        {\n          alpha: -1.5707963267948966,\n          d: 99.7,\n        },\n        {\n          d: 99.6,\n        },\n      ],\n      operation_limits: {\n        auto_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n          elbow: {\n            velocity: 5000,\n          },\n          flange: {\n            velocity: 5000,\n          },\n        },\n        manual_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t1_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t2_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n      },\n      serial_number: \"WBVirtualRobot\",\n    }\n  },\n}\n","export const getMotionGroupKinematicModel = {\n  method: \"GET\",\n  path: \"/motion-group-models/:motionGroupModel/kinematic\",\n  handle() {\n    return {\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 162.25,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -425.0,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -392.2,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 133.3,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: -1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.7,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.6,\n          reverse_rotation_direction: false,\n        },\n      ],\n      inverse_solver: \"Universalrobots\",\n    }\n  },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId\",\n  handle() {\n    return {\n      configuration: {\n        initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n        kind: \"VirtualController\",\n        manufacturer: \"universalrobots\",\n        type: \"universalrobots-ur5e\",\n      },\n      name: \"mock-ur5\",\n    } satisfies RobotController\n  },\n}\n","export const listCoordinateSystems = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n  handle() {\n    return [\n      {\n        coordinate_system: \"\",\n        name: \"world\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n      {\n        coordinate_system: \"CS-0\",\n        name: \"Default-CS\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n    ]\n  },\n}\n","export const listRobotControllers = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers\",\n  handle() {\n    return [\"mock-ur5e\"]\n  },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel\"\nimport { getRobotController } from \"./getRobotController\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems\"\nimport { listRobotControllers } from \"./listRobotControllers\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      listRobotControllers,\n      getRobotController,\n      getMotionGroupDescription,\n      getCurrentRobotControllerState,\n      listCoordinateSystems,\n      getMotionGroupKinematicModel,\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    if (!config.url) {\n      throw new Error(\"No url sent with request\")\n    }\n    const path = config.url.split(\"?\")[0]\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path)\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    description_revision: 0,\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../../converters\"\nimport { MockNovaInstance } from \"../../v2/mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.instanceUrl.href,\n        `/api/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport * as novaApiV2 from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: unknown[]) => unknown[]\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * Filters nova-api/v2 exports to just the API class constructors,\n * excluding helper factories and param creators.\n */\ntype ApiConstructors = {\n  [K in keyof typeof novaApiV2 as K extends `${string}Api`\n    ? K extends\n        | `${string}Factory${string}`\n        | `${string}Fp${string}`\n        | `${string}ParamCreator${string}`\n      ? never\n      : K\n    : never]: (typeof novaApiV2)[K]\n}\n\n/**\n * Lowercases leading uppercase characters to produce a camelCase property name.\n * e.g. \"BUSInputsOutputs\" -> \"busInputsOutputs\", \"NOVACloud\" -> \"novaCloud\",\n *      \"Application\" -> \"application\"\n */\ntype CamelCase<S extends string> =\n  S extends `${Uppercase<infer A>}${Uppercase<infer B>}${infer Rest}`\n    ? Rest extends `${Lowercase<string>}${string}`\n      ? `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n      : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n    : Uncapitalize<S>\n\n/**\n * Maps API class names to property names by stripping \"Api\" and converting\n * the leading acronym to lowercase camelCase.\n *\n * Properties are auto-discovered from the upstream package at runtime,\n * so new API sections are available immediately without code changes.\n */\ntype ApiProperties = {\n  readonly [K in keyof ApiConstructors as K extends `${infer P}Api`\n    ? CamelCase<P>\n    : never]: ApiConstructors[K] extends new (\n    ...args: unknown[]\n  ) => infer I\n    ? WithUnwrappedAxiosResponse<I>\n    : never\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n  axiosInstance?: AxiosInstance\n  mock?: boolean\n}\n\nfunction isApiClass(\n  name: string,\n  value: unknown,\n): value is new (\n  config: BaseConfiguration,\n  basePath: string,\n  axios: AxiosInstance,\n) => BaseAPI {\n  return (\n    name.endsWith(\"Api\") &&\n    typeof value === \"function\" &&\n    !name.includes(\"Factory\") &&\n    !name.includes(\"Fp\") &&\n    !name.includes(\"ParamCreator\")\n  )\n}\n\nfunction wrapApi<T extends BaseAPI>(\n  ApiConstructor: new (\n    config: BaseConfiguration,\n    basePath: string,\n    axios: AxiosInstance,\n  ) => T,\n  opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n  const apiClient = new ApiConstructor(\n    {\n      ...opts,\n      isJsonMime: (mime: string) => mime === \"application/json\",\n    },\n    opts.basePath ?? \"\",\n    opts.axiosInstance ?? axios.create(),\n  ) as Record<string | symbol, unknown>\n\n  for (const key of Reflect.ownKeys(\n    Reflect.getPrototypeOf(apiClient) as object,\n  )) {\n    if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n      const originalFunction = apiClient[key] as (\n        ...args: unknown[]\n      ) => Promise<{ data: unknown }>\n      apiClient[key] = (...args: unknown[]) =>\n        originalFunction.apply(apiClient, args).then((res) => res.data)\n    }\n  }\n\n  return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance. API sections are auto-discovered from @wandelbots/nova-api/v2\n * at runtime, so new sections added upstream are exposed automatically.\n */\nexport const NovaAPIClient = class NovaAPIClient {\n  readonly opts: NovaAPIClientOpts\n\n  constructor(opts: NovaAPIClientOpts) {\n    this.opts = opts\n\n    for (const [name, value] of Object.entries(novaApiV2)) {\n      if (isApiClass(name, value)) {\n        const stripped = name.slice(0, -3)\n        // Lowercase leading acronym run: \"BUSInputsOutputs\" -> \"busInputsOutputs\"\n        let i = 0\n        while (\n          i < stripped.length &&\n          stripped[i] === stripped[i].toUpperCase() &&\n          stripped[i] !== stripped[i].toLowerCase()\n        ) {\n          i++\n        }\n        // If multiple uppercase chars, keep the last one uppercase (it starts the next word)\n        const boundary = i > 1 ? i - 1 : i\n        const propName =\n          stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)\n        // biome-ignore lint/suspicious/noExplicitAny: dynamically assigning discovered API properties\n        ;(this as any)[propName] = wrapApi(value, opts)\n      }\n    }\n  }\n} as {\n  new (\n    opts: NovaAPIClientOpts,\n  ): ApiProperties & {\n    readonly cellId: string\n    readonly opts: NovaAPIClientOpts\n  }\n}\n\nexport type NovaAPIClient = InstanceType<typeof NovaAPIClient>\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../converters\"\nimport { NovaAPIClient } from \"./NovaAPIClient\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed NOVA instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string\n\n  /**\n   * Access token for Bearer authentication.\n   * If running on a NOVA instance, this can be automatically retrieved from\n   * the current session when omitted.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n  readonly api: NovaAPIClient\n  readonly config: NovaClientConfig\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    this.config = config\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaAPIClient({\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                // biome-ignore lint/style/noNonNullAssertion: guarded by ternary condition\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2`, path))\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  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+{"version":3,"file":"index.cjs","names":["SystemApi","CellApi","MotionGroupApi","MotionGroupModelsApi","ControllerApi","ControllerInputsOutputsApi","TrajectoryPlanningApi","TrajectoryExecutionApi","TrajectoryCachingApi","ApplicationApi","JoggingApi","KinematicsApi","BUSInputsOutputsApi","VirtualControllerApi","VirtualControllerBehaviorApi","VirtualControllerInputsOutputsApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionSetupsApi","ProgramApi","LicenseApi","NOVACloudApi","RobotConfigurationsApi","VersionApi","SessionApi","pathToRegexp","AxiosError","availableStorage","parseNovaInstanceUrl","loginWithAuth0","AutoReconnectingWebsocket","novaApiV2","availableStorage","parseNovaInstanceUrl","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/getCurrentRobotControllerState.ts","../../../src/lib/v2/mock/getMotionGroupDescription.ts","../../../src/lib/v2/mock/getMotionGroupKinematicModel.ts","../../../src/lib/v2/mock/getRobotController.ts","../../../src/lib/v2/mock/listCoordinateSystems.ts","../../../src/lib/v2/mock/listRobotControllers.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/deprecated/v2/NovaClient.ts","../../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../../src/lib/v2/NovaAPIClient.ts","../../../src/lib/v2/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  LicenseApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  NOVACloudApi,\n  ProgramApi,\n  RobotConfigurationsApi,\n  SessionApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VersionApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels =\n    this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n\n  readonly program = this.withCellId(ProgramApi)\n\n  readonly license = this.withUnwrappedResponsesOnly(LicenseApi)\n  readonly novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n  readonly robotConfigurations = this.withUnwrappedResponsesOnly(\n    RobotConfigurationsApi,\n  )\n  readonly version = this.withUnwrappedResponsesOnly(VersionApi)\n  readonly session = this.withUnwrappedResponsesOnly(SessionApi)\n}\n","export const getCurrentRobotControllerState = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/state\",\n  handle() {\n    return {\n      mode: \"MODE_CONTROL\",\n      last_error: [],\n      timestamp: \"2025-10-16T09:19:26.634534092Z\",\n      sequence_number: 1054764,\n      controller: \"mock-ur5e\",\n      operation_mode: \"OPERATION_MODE_AUTO\",\n      safety_state: \"SAFETY_STATE_NORMAL\",\n      velocity_override: 100,\n      motion_groups: [\n        {\n          timestamp: \"2025-10-16T09:19:26.634534092Z\",\n          sequence_number: 1054764,\n          motion_group: \"0@mock-ur5e\",\n          controller: \"mock-ur5e\",\n          joint_position: [\n            1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n            6.034560203552246, 1.4921919107437134, 1.593459963798523,\n          ],\n          joint_limit_reached: {\n            limit_reached: [false, false, false, false, false, false],\n          },\n          joint_torque: [],\n          joint_current: [0, 0, 0, 0, 0, 0],\n          flange_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          tcp: \"Flange\",\n          tcp_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          payload: \"\",\n          coordinate_system: \"\",\n          standstill: true,\n        },\n      ],\n    }\n  },\n}\n","export const getMotionGroupDescription = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n  handle() {\n    return {\n      motion_group_model: \"UniversalRobots_UR5e\",\n      mounting: {\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n      },\n      tcps: {\n        Flange: {\n          name: \"Default-Flange\",\n          pose: {\n            position: [0, 0, 0],\n            orientation: [0, 0, 0],\n          },\n        },\n      },\n      payloads: {\n        \"FPay-0\": {\n          name: \"FPay-0\",\n          payload: 0,\n          center_of_mass: [0, 0, 0],\n          moment_of_inertia: [0, 0, 0],\n        },\n      },\n      cycle_time: 8,\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          d: 162.25,\n        },\n        {\n          a: -425,\n        },\n        {\n          a: -392.2,\n        },\n        {\n          alpha: 1.5707963267948966,\n          d: 133.3,\n        },\n        {\n          alpha: -1.5707963267948966,\n          d: 99.7,\n        },\n        {\n          d: 99.6,\n        },\n      ],\n      operation_limits: {\n        auto_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n          elbow: {\n            velocity: 5000,\n          },\n          flange: {\n            velocity: 5000,\n          },\n        },\n        manual_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t1_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t2_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n      },\n      serial_number: \"WBVirtualRobot\",\n    }\n  },\n}\n","export const getMotionGroupKinematicModel = {\n  method: \"GET\",\n  path: \"/motion-group-models/:motionGroupModel/kinematic\",\n  handle() {\n    return {\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 162.25,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -425.0,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -392.2,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 133.3,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: -1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.7,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.6,\n          reverse_rotation_direction: false,\n        },\n      ],\n      inverse_solver: \"Universalrobots\",\n    }\n  },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId\",\n  handle() {\n    return {\n      configuration: {\n        initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n        kind: \"VirtualController\",\n        manufacturer: \"universalrobots\",\n        type: \"universalrobots-ur5e\",\n      },\n      name: \"mock-ur5\",\n    } satisfies RobotController\n  },\n}\n","export const listCoordinateSystems = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n  handle() {\n    return [\n      {\n        coordinate_system: \"\",\n        name: \"world\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n      {\n        coordinate_system: \"CS-0\",\n        name: \"Default-CS\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n    ]\n  },\n}\n","export const listRobotControllers = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers\",\n  handle() {\n    return [\"mock-ur5e\"]\n  },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel\"\nimport { getRobotController } from \"./getRobotController\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems\"\nimport { listRobotControllers } from \"./listRobotControllers\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      listRobotControllers,\n      getRobotController,\n      getMotionGroupDescription,\n      getCurrentRobotControllerState,\n      listCoordinateSystems,\n      getMotionGroupKinematicModel,\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    if (!config.url) {\n      throw new Error(\"No url sent with request\")\n    }\n    const path = config.url.split(\"?\")[0]\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path)\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    description_revision: 0,\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../../converters\"\nimport { MockNovaInstance } from \"../../v2/mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.instanceUrl.href,\n        `/api/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport * as novaApiV2 from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * Filters nova-api/v2 exports to just the API class constructors,\n * excluding helper factories and param creators.\n */\ntype ApiConstructors = {\n  [K in keyof typeof novaApiV2 as K extends `${string}Api`\n    ? K extends\n        | `${string}Factory${string}`\n        | `${string}Fp${string}`\n        | `${string}ParamCreator${string}`\n      ? never\n      : K\n    : never]: (typeof novaApiV2)[K]\n}\n\n/**\n * Lowercases leading uppercase characters to produce a camelCase property name.\n * e.g. \"BUSInputsOutputs\" -> \"busInputsOutputs\", \"NOVACloud\" -> \"novaCloud\",\n *      \"Application\" -> \"application\"\n */\ntype CamelCase<S extends string> =\n  S extends `${Uppercase<infer A>}${Uppercase<infer B>}${infer Rest}`\n    ? Rest extends `${Lowercase<string>}${string}`\n      ? `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n      : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n    : Uncapitalize<S>\n\n/**\n * Maps API class names to property names by stripping \"Api\" and converting\n * the leading acronym to lowercase camelCase.\n */\ntype ApiProperties = {\n  readonly [K in keyof ApiConstructors as K extends `${infer P}Api`\n    ? CamelCase<P>\n    : never]: ApiConstructors[K] extends new (\n    // biome-ignore lint/suspicious/noExplicitAny: needed for contravariant parameter matching\n    ...args: any[]\n  ) => infer I\n    ? WithUnwrappedAxiosResponse<I>\n    : never\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n  axiosInstance?: AxiosInstance\n  mock?: boolean\n}\n\nfunction isApiClass(\n  name: string,\n  value: unknown,\n): value is new (\n  config: BaseConfiguration,\n  basePath: string,\n  axios: AxiosInstance,\n) => BaseAPI {\n  return (\n    name.endsWith(\"Api\") &&\n    typeof value === \"function\" &&\n    !name.includes(\"Factory\") &&\n    !name.includes(\"Fp\") &&\n    !name.includes(\"ParamCreator\")\n  )\n}\n\nfunction wrapApi<T extends BaseAPI>(\n  ApiConstructor: new (\n    config: BaseConfiguration,\n    basePath: string,\n    axios: AxiosInstance,\n  ) => T,\n  opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n  const apiClient = new ApiConstructor(\n    {\n      ...opts,\n      isJsonMime: (mime: string) => mime === \"application/json\",\n    },\n    opts.basePath ?? \"\",\n    opts.axiosInstance ?? axios.create(),\n  ) as Record<string | symbol, unknown>\n\n  for (const key of Reflect.ownKeys(\n    Reflect.getPrototypeOf(apiClient) as object,\n  )) {\n    if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n      const originalFunction = apiClient[key] as (\n        ...args: unknown[]\n      ) => Promise<{ data: unknown }>\n      apiClient[key] = (...args: unknown[]) =>\n        originalFunction.apply(apiClient, args).then((res) => res.data)\n    }\n  }\n\n  return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance. API sections are auto-discovered from @wandelbots/nova-api/v2\n * at runtime, so new sections added upstream are exposed automatically.\n */\nexport const NovaAPIClient = class NovaAPIClient {\n  readonly opts: NovaAPIClientOpts\n\n  constructor(opts: NovaAPIClientOpts) {\n    this.opts = opts\n\n    for (const [name, value] of Object.entries(novaApiV2)) {\n      if (isApiClass(name, value)) {\n        const stripped = name.slice(0, -3)\n        // Lowercase leading acronym run: \"BUSInputsOutputs\" -> \"busInputsOutputs\"\n        let i = 0\n        while (\n          i < stripped.length &&\n          stripped[i] === stripped[i].toUpperCase() &&\n          stripped[i] !== stripped[i].toLowerCase()\n        ) {\n          i++\n        }\n        // If multiple uppercase chars, keep the last one uppercase (it starts the next word)\n        const boundary = i > 1 ? i - 1 : i\n        const propName =\n          stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)\n        // biome-ignore lint/suspicious/noExplicitAny: dynamically assigning discovered API properties\n        ;(this as any)[propName] = wrapApi(value, opts)\n      }\n    }\n  }\n} as {\n  new (\n    opts: NovaAPIClientOpts,\n  ): ApiProperties & {\n    readonly cellId: string\n    readonly opts: NovaAPIClientOpts\n  }\n}\n\nexport type NovaAPIClient = InstanceType<typeof NovaAPIClient>\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../converters\"\nimport { NovaAPIClient } from \"./NovaAPIClient\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\n\nexport type NovaConfig = {\n  /**\n   * Url of the deployed NOVA instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string\n\n  /**\n   * Access token for Bearer authentication.\n   * If running on a NOVA instance, this can be automatically retrieved from\n   * the current session when omitted.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n  readonly api: NovaAPIClient\n  readonly config: NovaConfig\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaConfig) {\n    this.config = config\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaAPIClient({\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                if (!this.mock) {\n                  throw new Error(\"Mock adapter used without a mock instance\")\n                }\n                return this.mock.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2`, path))\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  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package/dist/lib/v2/index.d.cts

@@ -64,7 +64,7 @@ declare class NovaCellAPIClient {
 }
 //#endregion
 //#region src/lib/deprecated/v2/NovaClient.d.ts
-type NovaClientConfig$1 = {
+type NovaClientConfig = {
   /**
    * Url of the deployed Nova instance to connect to
    * e.g. https://saeattii.instance.wandelbots.io
@@ -90,7 +90,7 @@ type NovaClientConfig$1 = {
    */
   accessToken?: string;
 } & Omit<Configuration, "isJsonMime" | "basePath">;
-type NovaClientConfigWithDefaults = NovaClientConfig$1 & {
+type NovaClientConfigWithDefaults = NovaClientConfig & {
   cellId: string;
 };
 /**
@@ -104,7 +104,7 @@ declare class NovaClient {
   readonly instanceUrl: URL;
   authPromise: Promise<string | null> | null;
   accessToken: string | null;
-  constructor(config: NovaClientConfig$1);
+  constructor(config: NovaClientConfig);
   renewAuthentication(): Promise<void>;
   makeWebsocketURL(path: string): string;
   /**
@@ -123,7 +123,7 @@ declare class NovaClient {
 declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
 //#endregion
 //#region src/lib/v2/NovaAPIClient.d.ts
-type UnwrapAxiosResponseReturn<T> = T extends ((...a: unknown[]) => unknown[]) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
+type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
   data: infer D;
 } ? D : never> : never;
 type WithUnwrappedAxiosResponse$1<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
@@ -141,11 +141,8 @@ type CamelCase<S extends string> = S extends `${Uppercase<infer A>}${Uppercase<i
 /**
  * Maps API class names to property names by stripping "Api" and converting
  * the leading acronym to lowercase camelCase.
- *
- * Properties are auto-discovered from the upstream package at runtime,
- * so new API sections are available immediately without code changes.
  */
-type ApiProperties = { readonly [K in keyof ApiConstructors as K extends `${infer P}Api` ? CamelCase<P> : never]: ApiConstructors[K] extends (new (...args: unknown[]) => infer I) ? WithUnwrappedAxiosResponse$1<I> : never };
+type ApiProperties = { readonly [K in keyof ApiConstructors as K extends `${infer P}Api` ? CamelCase<P> : never]: ApiConstructors[K] extends (new (...args: any[]) => infer I) ? WithUnwrappedAxiosResponse$1<I> : never };
 type NovaAPIClientOpts = Configuration & {
   axiosInstance?: AxiosInstance;
   mock?: boolean;
@@ -164,7 +161,7 @@ declare const NovaAPIClient: {
 type NovaAPIClient = InstanceType<typeof NovaAPIClient>;
 //#endregion
 //#region src/lib/v2/Nova.d.ts
-type NovaClientConfig = {
+type NovaConfig = {
   /**
    * Url of the deployed NOVA instance to connect to
    * e.g. https://saeattii.instance.wandelbots.io
@@ -183,12 +180,12 @@ type NovaClientConfig = {
  */
 declare class Nova {
   readonly api: NovaAPIClient;
-  readonly config: NovaClientConfig;
+  readonly config: NovaConfig;
   readonly mock?: MockNovaInstance;
   readonly instanceUrl: URL;
   authPromise: Promise<string | null> | null;
   accessToken: string | null;
-  constructor(config: NovaClientConfig);
+  constructor(config: NovaConfig);
   renewAuthentication(): Promise<void>;
   makeWebsocketURL(path: string): string;
   /**
@@ -199,5 +196,5 @@ declare class Nova {
   openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
 }
 //#endregion
-export { Nova, NovaAPIClient, NovaCellAPIClient, NovaClient, NovaClientConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
+export { Nova, NovaAPIClient, NovaCellAPIClient, NovaClient, NovaClientConfig, type NovaConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
 //# sourceMappingURL=index.d.cts.map

package/dist/lib/v2/index.d.cts.map

@@ -1 +1 @@
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package/dist/lib/v2/index.d.mts

@@ -64,7 +64,7 @@ declare class NovaCellAPIClient {
 }
 //#endregion
 //#region src/lib/deprecated/v2/NovaClient.d.ts
-type NovaClientConfig$1 = {
+type NovaClientConfig = {
   /**
    * Url of the deployed Nova instance to connect to
    * e.g. https://saeattii.instance.wandelbots.io
@@ -90,7 +90,7 @@ type NovaClientConfig$1 = {
    */
   accessToken?: string;
 } & Omit<Configuration, "isJsonMime" | "basePath">;
-type NovaClientConfigWithDefaults = NovaClientConfig$1 & {
+type NovaClientConfigWithDefaults = NovaClientConfig & {
   cellId: string;
 };
 /**
@@ -104,7 +104,7 @@ declare class NovaClient {
   readonly instanceUrl: URL;
   authPromise: Promise<string | null> | null;
   accessToken: string | null;
-  constructor(config: NovaClientConfig$1);
+  constructor(config: NovaClientConfig);
   renewAuthentication(): Promise<void>;
   makeWebsocketURL(path: string): string;
   /**
@@ -123,7 +123,7 @@ declare class NovaClient {
 declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
 //#endregion
 //#region src/lib/v2/NovaAPIClient.d.ts
-type UnwrapAxiosResponseReturn<T> = T extends ((...a: unknown[]) => unknown[]) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
+type UnwrapAxiosResponseReturn<T> = T extends ((...a: any[]) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
   data: infer D;
 } ? D : never> : never;
 type WithUnwrappedAxiosResponse$1<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
@@ -141,11 +141,8 @@ type CamelCase<S extends string> = S extends `${Uppercase<infer A>}${Uppercase<i
 /**
  * Maps API class names to property names by stripping "Api" and converting
  * the leading acronym to lowercase camelCase.
- *
- * Properties are auto-discovered from the upstream package at runtime,
- * so new API sections are available immediately without code changes.
  */
-type ApiProperties = { readonly [K in keyof ApiConstructors as K extends `${infer P}Api` ? CamelCase<P> : never]: ApiConstructors[K] extends (new (...args: unknown[]) => infer I) ? WithUnwrappedAxiosResponse$1<I> : never };
+type ApiProperties = { readonly [K in keyof ApiConstructors as K extends `${infer P}Api` ? CamelCase<P> : never]: ApiConstructors[K] extends (new (...args: any[]) => infer I) ? WithUnwrappedAxiosResponse$1<I> : never };
 type NovaAPIClientOpts = Configuration & {
   axiosInstance?: AxiosInstance;
   mock?: boolean;
@@ -164,7 +161,7 @@ declare const NovaAPIClient: {
 type NovaAPIClient = InstanceType<typeof NovaAPIClient>;
 //#endregion
 //#region src/lib/v2/Nova.d.ts
-type NovaClientConfig = {
+type NovaConfig = {
   /**
    * Url of the deployed NOVA instance to connect to
    * e.g. https://saeattii.instance.wandelbots.io
@@ -183,12 +180,12 @@ type NovaClientConfig = {
  */
 declare class Nova {
   readonly api: NovaAPIClient;
-  readonly config: NovaClientConfig;
+  readonly config: NovaConfig;
   readonly mock?: MockNovaInstance;
   readonly instanceUrl: URL;
   authPromise: Promise<string | null> | null;
   accessToken: string | null;
-  constructor(config: NovaClientConfig);
+  constructor(config: NovaConfig);
   renewAuthentication(): Promise<void>;
   makeWebsocketURL(path: string): string;
   /**
@@ -199,5 +196,5 @@ declare class Nova {
   openReconnectingWebsocket(path: string): AutoReconnectingWebsocket;
 }
 //#endregion
-export { Nova, NovaAPIClient, NovaCellAPIClient, NovaClient, NovaClientConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
+export { Nova, NovaAPIClient, NovaCellAPIClient, NovaClient, NovaClientConfig, type NovaConfig, WithCellId, WithUnwrappedAxiosResponse, poseToWandelscriptString };
 //# sourceMappingURL=index.d.mts.map

package/dist/lib/v2/index.d.mts.map

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package/dist/lib/v2/index.mjs

@@ -893,6 +893,7 @@ var Nova = class {
 			},
 			baseOptions: {
 				...this.mock ? { adapter: (config) => {
+					if (!this.mock) throw new Error("Mock adapter used without a mock instance");
 					return this.mock.handleAPIRequest(config);
 				} } : {},
 				...config.baseOptions

package/dist/lib/v2/index.mjs.map

@@ -1 +1 @@
-{"version":3,"file":"index.mjs","names":[],"sources":["../../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/getCurrentRobotControllerState.ts","../../../src/lib/v2/mock/getMotionGroupDescription.ts","../../../src/lib/v2/mock/getMotionGroupKinematicModel.ts","../../../src/lib/v2/mock/getRobotController.ts","../../../src/lib/v2/mock/listCoordinateSystems.ts","../../../src/lib/v2/mock/listRobotControllers.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/deprecated/v2/NovaClient.ts","../../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../../src/lib/v2/NovaAPIClient.ts","../../../src/lib/v2/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  LicenseApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  NOVACloudApi,\n  ProgramApi,\n  RobotConfigurationsApi,\n  SessionApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VersionApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels =\n    this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n\n  readonly program = this.withCellId(ProgramApi)\n\n  readonly license = this.withUnwrappedResponsesOnly(LicenseApi)\n  readonly novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n  readonly robotConfigurations = this.withUnwrappedResponsesOnly(\n    RobotConfigurationsApi,\n  )\n  readonly version = this.withUnwrappedResponsesOnly(VersionApi)\n  readonly session = this.withUnwrappedResponsesOnly(SessionApi)\n}\n","export const getCurrentRobotControllerState = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/state\",\n  handle() {\n    return {\n      mode: \"MODE_CONTROL\",\n      last_error: [],\n      timestamp: \"2025-10-16T09:19:26.634534092Z\",\n      sequence_number: 1054764,\n      controller: \"mock-ur5e\",\n      operation_mode: \"OPERATION_MODE_AUTO\",\n      safety_state: \"SAFETY_STATE_NORMAL\",\n      velocity_override: 100,\n      motion_groups: [\n        {\n          timestamp: \"2025-10-16T09:19:26.634534092Z\",\n          sequence_number: 1054764,\n          motion_group: \"0@mock-ur5e\",\n          controller: \"mock-ur5e\",\n          joint_position: [\n            1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n            6.034560203552246, 1.4921919107437134, 1.593459963798523,\n          ],\n          joint_limit_reached: {\n            limit_reached: [false, false, false, false, false, false],\n          },\n          joint_torque: [],\n          joint_current: [0, 0, 0, 0, 0, 0],\n          flange_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          tcp: \"Flange\",\n          tcp_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          payload: \"\",\n          coordinate_system: \"\",\n          standstill: true,\n        },\n      ],\n    }\n  },\n}\n","export const getMotionGroupDescription = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n  handle() {\n    return {\n      motion_group_model: \"UniversalRobots_UR5e\",\n      mounting: {\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n      },\n      tcps: {\n        Flange: {\n          name: \"Default-Flange\",\n          pose: {\n            position: [0, 0, 0],\n            orientation: [0, 0, 0],\n          },\n        },\n      },\n      payloads: {\n        \"FPay-0\": {\n          name: \"FPay-0\",\n          payload: 0,\n          center_of_mass: [0, 0, 0],\n          moment_of_inertia: [0, 0, 0],\n        },\n      },\n      cycle_time: 8,\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          d: 162.25,\n        },\n        {\n          a: -425,\n        },\n        {\n          a: -392.2,\n        },\n        {\n          alpha: 1.5707963267948966,\n          d: 133.3,\n        },\n        {\n          alpha: -1.5707963267948966,\n          d: 99.7,\n        },\n        {\n          d: 99.6,\n        },\n      ],\n      operation_limits: {\n        auto_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n          elbow: {\n            velocity: 5000,\n          },\n          flange: {\n            velocity: 5000,\n          },\n        },\n        manual_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t1_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t2_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n      },\n      serial_number: \"WBVirtualRobot\",\n    }\n  },\n}\n","export const getMotionGroupKinematicModel = {\n  method: \"GET\",\n  path: \"/motion-group-models/:motionGroupModel/kinematic\",\n  handle() {\n    return {\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 162.25,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -425.0,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -392.2,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 133.3,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: -1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.7,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.6,\n          reverse_rotation_direction: false,\n        },\n      ],\n      inverse_solver: \"Universalrobots\",\n    }\n  },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId\",\n  handle() {\n    return {\n      configuration: {\n        initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n        kind: \"VirtualController\",\n        manufacturer: \"universalrobots\",\n        type: \"universalrobots-ur5e\",\n      },\n      name: \"mock-ur5\",\n    } satisfies RobotController\n  },\n}\n","export const listCoordinateSystems = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n  handle() {\n    return [\n      {\n        coordinate_system: \"\",\n        name: \"world\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n      {\n        coordinate_system: \"CS-0\",\n        name: \"Default-CS\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n    ]\n  },\n}\n","export const listRobotControllers = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers\",\n  handle() {\n    return [\"mock-ur5e\"]\n  },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel\"\nimport { getRobotController } from \"./getRobotController\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems\"\nimport { listRobotControllers } from \"./listRobotControllers\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      listRobotControllers,\n      getRobotController,\n      getMotionGroupDescription,\n      getCurrentRobotControllerState,\n      listCoordinateSystems,\n      getMotionGroupKinematicModel,\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    if (!config.url) {\n      throw new Error(\"No url sent with request\")\n    }\n    const path = config.url.split(\"?\")[0]\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path)\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    description_revision: 0,\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../../converters\"\nimport { MockNovaInstance } from \"../../v2/mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.instanceUrl.href,\n        `/api/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport * as novaApiV2 from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: unknown[]) => unknown[]\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * Filters nova-api/v2 exports to just the API class constructors,\n * excluding helper factories and param creators.\n */\ntype ApiConstructors = {\n  [K in keyof typeof novaApiV2 as K extends `${string}Api`\n    ? K extends\n        | `${string}Factory${string}`\n        | `${string}Fp${string}`\n        | `${string}ParamCreator${string}`\n      ? never\n      : K\n    : never]: (typeof novaApiV2)[K]\n}\n\n/**\n * Lowercases leading uppercase characters to produce a camelCase property name.\n * e.g. \"BUSInputsOutputs\" -> \"busInputsOutputs\", \"NOVACloud\" -> \"novaCloud\",\n *      \"Application\" -> \"application\"\n */\ntype CamelCase<S extends string> =\n  S extends `${Uppercase<infer A>}${Uppercase<infer B>}${infer Rest}`\n    ? Rest extends `${Lowercase<string>}${string}`\n      ? `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n      : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n    : Uncapitalize<S>\n\n/**\n * Maps API class names to property names by stripping \"Api\" and converting\n * the leading acronym to lowercase camelCase.\n *\n * Properties are auto-discovered from the upstream package at runtime,\n * so new API sections are available immediately without code changes.\n */\ntype ApiProperties = {\n  readonly [K in keyof ApiConstructors as K extends `${infer P}Api`\n    ? CamelCase<P>\n    : never]: ApiConstructors[K] extends new (\n    ...args: unknown[]\n  ) => infer I\n    ? WithUnwrappedAxiosResponse<I>\n    : never\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n  axiosInstance?: AxiosInstance\n  mock?: boolean\n}\n\nfunction isApiClass(\n  name: string,\n  value: unknown,\n): value is new (\n  config: BaseConfiguration,\n  basePath: string,\n  axios: AxiosInstance,\n) => BaseAPI {\n  return (\n    name.endsWith(\"Api\") &&\n    typeof value === \"function\" &&\n    !name.includes(\"Factory\") &&\n    !name.includes(\"Fp\") &&\n    !name.includes(\"ParamCreator\")\n  )\n}\n\nfunction wrapApi<T extends BaseAPI>(\n  ApiConstructor: new (\n    config: BaseConfiguration,\n    basePath: string,\n    axios: AxiosInstance,\n  ) => T,\n  opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n  const apiClient = new ApiConstructor(\n    {\n      ...opts,\n      isJsonMime: (mime: string) => mime === \"application/json\",\n    },\n    opts.basePath ?? \"\",\n    opts.axiosInstance ?? axios.create(),\n  ) as Record<string | symbol, unknown>\n\n  for (const key of Reflect.ownKeys(\n    Reflect.getPrototypeOf(apiClient) as object,\n  )) {\n    if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n      const originalFunction = apiClient[key] as (\n        ...args: unknown[]\n      ) => Promise<{ data: unknown }>\n      apiClient[key] = (...args: unknown[]) =>\n        originalFunction.apply(apiClient, args).then((res) => res.data)\n    }\n  }\n\n  return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance. API sections are auto-discovered from @wandelbots/nova-api/v2\n * at runtime, so new sections added upstream are exposed automatically.\n */\nexport const NovaAPIClient = class NovaAPIClient {\n  readonly opts: NovaAPIClientOpts\n\n  constructor(opts: NovaAPIClientOpts) {\n    this.opts = opts\n\n    for (const [name, value] of Object.entries(novaApiV2)) {\n      if (isApiClass(name, value)) {\n        const stripped = name.slice(0, -3)\n        // Lowercase leading acronym run: \"BUSInputsOutputs\" -> \"busInputsOutputs\"\n        let i = 0\n        while (\n          i < stripped.length &&\n          stripped[i] === stripped[i].toUpperCase() &&\n          stripped[i] !== stripped[i].toLowerCase()\n        ) {\n          i++\n        }\n        // If multiple uppercase chars, keep the last one uppercase (it starts the next word)\n        const boundary = i > 1 ? i - 1 : i\n        const propName =\n          stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)\n        // biome-ignore lint/suspicious/noExplicitAny: dynamically assigning discovered API properties\n        ;(this as any)[propName] = wrapApi(value, opts)\n      }\n    }\n  }\n} as {\n  new (\n    opts: NovaAPIClientOpts,\n  ): ApiProperties & {\n    readonly cellId: string\n    readonly opts: NovaAPIClientOpts\n  }\n}\n\nexport type NovaAPIClient = InstanceType<typeof NovaAPIClient>\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../converters\"\nimport { NovaAPIClient } from \"./NovaAPIClient\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed NOVA instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string\n\n  /**\n   * Access token for Bearer authentication.\n   * If running on a NOVA instance, this can be automatically retrieved from\n   * the current session when omitted.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n  readonly api: NovaAPIClient\n  readonly config: NovaClientConfig\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    this.config = config\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaAPIClient({\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                // biome-ignore lint/style/noNonNullAssertion: guarded by ternary condition\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2`, path))\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  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+{"version":3,"file":"index.mjs","names":[],"sources":["../../../src/lib/deprecated/v2/NovaCellAPIClient.ts","../../../src/lib/v2/mock/getCurrentRobotControllerState.ts","../../../src/lib/v2/mock/getMotionGroupDescription.ts","../../../src/lib/v2/mock/getMotionGroupKinematicModel.ts","../../../src/lib/v2/mock/getRobotController.ts","../../../src/lib/v2/mock/listCoordinateSystems.ts","../../../src/lib/v2/mock/listRobotControllers.ts","../../../src/lib/v2/mock/MockNovaInstance.ts","../../../src/lib/deprecated/v2/NovaClient.ts","../../../src/lib/deprecated/v2/wandelscriptUtils.ts","../../../src/lib/v2/NovaAPIClient.ts","../../../src/lib/v2/Nova.ts"],"sourcesContent":["/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\n/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\n  ApplicationApi,\n  BUSInputsOutputsApi,\n  CellApi,\n  ControllerApi,\n  ControllerInputsOutputsApi,\n  JoggingApi,\n  KinematicsApi,\n  LicenseApi,\n  MotionGroupApi,\n  MotionGroupModelsApi,\n  NOVACloudApi,\n  ProgramApi,\n  RobotConfigurationsApi,\n  SessionApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionSetupsApi,\n  StoreObjectApi,\n  SystemApi,\n  TrajectoryCachingApi,\n  TrajectoryExecutionApi,\n  TrajectoryPlanningApi,\n  VersionApi,\n  VirtualControllerApi,\n  VirtualControllerBehaviorApi,\n  VirtualControllerInputsOutputsApi,\n} from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupModels =\n    this.withUnwrappedResponsesOnly(MotionGroupModelsApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly controllerIOs = this.withCellId(ControllerInputsOutputsApi)\n\n  readonly trajectoryPlanning = this.withCellId(TrajectoryPlanningApi)\n  readonly trajectoryExecution = this.withCellId(TrajectoryExecutionApi)\n  readonly trajectoryCaching = this.withCellId(TrajectoryCachingApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly jogging = this.withCellId(JoggingApi)\n\n  readonly kinematics = this.withCellId(KinematicsApi)\n\n  readonly busInputsOutputs = this.withCellId(BUSInputsOutputsApi)\n\n  readonly virtualController = this.withCellId(VirtualControllerApi)\n  readonly virtualControllerBehavior = this.withCellId(\n    VirtualControllerBehaviorApi,\n  )\n  readonly virtualControllerIOs = this.withCellId(\n    VirtualControllerInputsOutputsApi,\n  )\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionSetups = this.withCellId(StoreCollisionSetupsApi)\n\n  readonly program = this.withCellId(ProgramApi)\n\n  readonly license = this.withUnwrappedResponsesOnly(LicenseApi)\n  readonly novaCloud = this.withUnwrappedResponsesOnly(NOVACloudApi)\n  readonly robotConfigurations = this.withUnwrappedResponsesOnly(\n    RobotConfigurationsApi,\n  )\n  readonly version = this.withUnwrappedResponsesOnly(VersionApi)\n  readonly session = this.withUnwrappedResponsesOnly(SessionApi)\n}\n","export const getCurrentRobotControllerState = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/state\",\n  handle() {\n    return {\n      mode: \"MODE_CONTROL\",\n      last_error: [],\n      timestamp: \"2025-10-16T09:19:26.634534092Z\",\n      sequence_number: 1054764,\n      controller: \"mock-ur5e\",\n      operation_mode: \"OPERATION_MODE_AUTO\",\n      safety_state: \"SAFETY_STATE_NORMAL\",\n      velocity_override: 100,\n      motion_groups: [\n        {\n          timestamp: \"2025-10-16T09:19:26.634534092Z\",\n          sequence_number: 1054764,\n          motion_group: \"0@mock-ur5e\",\n          controller: \"mock-ur5e\",\n          joint_position: [\n            1.487959623336792, -1.8501918315887451, 1.8003005981445312,\n            6.034560203552246, 1.4921919107437134, 1.593459963798523,\n          ],\n          joint_limit_reached: {\n            limit_reached: [false, false, false, false, false, false],\n          },\n          joint_torque: [],\n          joint_current: [0, 0, 0, 0, 0, 0],\n          flange_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          tcp: \"Flange\",\n          tcp_pose: {\n            position: [\n              107.6452433732927, -409.0402987746852, 524.2402132330305,\n            ],\n            orientation: [\n              0.9874434028353319, -0.986571714997442, 1.3336589451098142,\n            ],\n          },\n          payload: \"\",\n          coordinate_system: \"\",\n          standstill: true,\n        },\n      ],\n    }\n  },\n}\n","export const getMotionGroupDescription = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description\",\n  handle() {\n    return {\n      motion_group_model: \"UniversalRobots_UR5e\",\n      mounting: {\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n      },\n      tcps: {\n        Flange: {\n          name: \"Default-Flange\",\n          pose: {\n            position: [0, 0, 0],\n            orientation: [0, 0, 0],\n          },\n        },\n      },\n      payloads: {\n        \"FPay-0\": {\n          name: \"FPay-0\",\n          payload: 0,\n          center_of_mass: [0, 0, 0],\n          moment_of_inertia: [0, 0, 0],\n        },\n      },\n      cycle_time: 8,\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          d: 162.25,\n        },\n        {\n          a: -425,\n        },\n        {\n          a: -392.2,\n        },\n        {\n          alpha: 1.5707963267948966,\n          d: 133.3,\n        },\n        {\n          alpha: -1.5707963267948966,\n          d: 99.7,\n        },\n        {\n          d: 99.6,\n        },\n      ],\n      operation_limits: {\n        auto_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n          elbow: {\n            velocity: 5000,\n          },\n          flange: {\n            velocity: 5000,\n          },\n        },\n        manual_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t1_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n        manual_t2_limits: {\n          joints: [\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 150,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n            {\n              position: {\n                lower_limit: -6.283185307179586,\n                upper_limit: 6.283185307179586,\n              },\n              velocity: 3.34159255027771,\n              acceleration: 40,\n              torque: 28,\n            },\n          ],\n          tcp: {\n            velocity: 5000,\n          },\n        },\n      },\n      serial_number: \"WBVirtualRobot\",\n    }\n  },\n}\n","export const getMotionGroupKinematicModel = {\n  method: \"GET\",\n  path: \"/motion-group-models/:motionGroupModel/kinematic\",\n  handle() {\n    return {\n      dh_parameters: [\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 162.25,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -425.0,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: -392.2,\n          d: 0.0,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 133.3,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: -1.5707963267948966,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.7,\n          reverse_rotation_direction: false,\n        },\n        {\n          alpha: 0.0,\n          theta: 0.0,\n          a: 0.0,\n          d: 99.6,\n          reverse_rotation_direction: false,\n        },\n      ],\n      inverse_solver: \"Universalrobots\",\n    }\n  },\n}\n","import type { RobotController } from \"@wandelbots/nova-api/v2\"\n\nexport const getRobotController = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId\",\n  handle() {\n    return {\n      configuration: {\n        initial_joint_position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n        kind: \"VirtualController\",\n        manufacturer: \"universalrobots\",\n        type: \"universalrobots-ur5e\",\n      },\n      name: \"mock-ur5\",\n    } satisfies RobotController\n  },\n}\n","export const listCoordinateSystems = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers/:controllerId/coordinate-systems\",\n  handle() {\n    return [\n      {\n        coordinate_system: \"\",\n        name: \"world\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n      {\n        coordinate_system: \"CS-0\",\n        name: \"Default-CS\",\n        reference_coordinate_system: \"\",\n        position: [0, 0, 0],\n        orientation: [0, 0, 0],\n        orientation_type: \"ROTATION_VECTOR\",\n      },\n    ]\n  },\n}\n","export const listRobotControllers = {\n  method: \"GET\",\n  path: \"/cells/:cellId/controllers\",\n  handle() {\n    return [\"mock-ur5e\"]\n  },\n}\n","import type { MotionGroupState } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { getCurrentRobotControllerState } from \"./getCurrentRobotControllerState\"\nimport { getMotionGroupDescription } from \"./getMotionGroupDescription\"\nimport { getMotionGroupKinematicModel } from \"./getMotionGroupKinematicModel\"\nimport { getRobotController } from \"./getRobotController\"\nimport { listCoordinateSystems } from \"./listCoordinateSystems\"\nimport { listRobotControllers } from \"./listRobotControllers\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      listRobotControllers,\n      getRobotController,\n      getMotionGroupDescription,\n      getCurrentRobotControllerState,\n      listCoordinateSystems,\n      getMotionGroupKinematicModel,\n    ]\n\n    const method = config.method?.toUpperCase() || \"GET\"\n    if (!config.url) {\n      throw new Error(\"No url sent with request\")\n    }\n    const path = config.url.split(\"?\")[0]\n\n    for (const handler of apiHandlers) {\n      const match = pathToRegexp.match(handler.path)(path)\n      if (method === handler.method && match) {\n        const json = handler.handle()\n        return {\n          status: 200,\n          statusText: \"Success\",\n          data: JSON.stringify(json),\n          headers: {},\n          config,\n          request: {\n            responseURL: config.url,\n          },\n        }\n      }\n    }\n\n    throw new AxiosError(\n      `No mock handler matched this request: ${method} ${path}`,\n      \"404\",\n      config,\n    )\n  }\n\n  // Please note: Only very basic websocket mocking is done here, needs to be extended as needed\n  handleWebsocketConnection(socket: AutoReconnectingWebsocket) {\n    this.connections.push(socket)\n\n    setTimeout(() => {\n      socket.dispatchEvent(new Event(\"open\"))\n\n      console.log(\"Websocket connection opened from\", socket.url)\n\n      if (socket.url.includes(\"/state-stream\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify(defaultMotionState),\n          }),\n        )\n      }\n\n      if (socket.url.includes(\"/execution/jogging\")) {\n        socket.dispatchEvent(\n          new MessageEvent(\"message\", {\n            data: JSON.stringify({\n              result: {\n                message: \"string\",\n                kind: \"INITIALIZE_RECEIVED\",\n              },\n            }),\n          }),\n        )\n      }\n    }, 10)\n  }\n\n  handleWebsocketMessage(socket: AutoReconnectingWebsocket, message: string) {\n    console.log(`Received message on ${socket.url}`, message)\n  }\n}\n\nconst defaultMotionState = {\n  result: {\n    motion_group: \"0@universalrobots-ur5e\",\n    controller: \"universalrobots-ur5e\",\n    timestamp: new Date().toISOString(),\n    sequence_number: 1,\n    joint_position: [\n      1.1699999570846558, -1.5700000524520874, 1.3600000143051147,\n      1.0299999713897705, 1.2899999618530273, 1.2799999713897705,\n    ],\n    joint_limit_reached: {\n      limit_reached: [false, false, false, false, false, false],\n    },\n    standstill: false,\n    flange_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    tcp_pose: {\n      position: [1.3300010259703043, -409.2680714682808, 531.0203477065281],\n      orientation: [\n        1.7564919306270736, -1.7542521568325058, 0.7326972590614671,\n      ],\n    },\n    description_revision: 0,\n  } satisfies MotionGroupState,\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../../converters\"\nimport { MockNovaInstance } from \"../../v2/mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\nexport type NovaClientConfig = {\n  /**\n   * Url of the deployed Nova instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string | \"https://mock.example.com\"\n\n  /**\n   * Identifier of the cell on the Nova instance to connect this client to.\n   * If omitted, the default identifier \"cell\" is used.\n   **/\n  cellId?: string\n\n  /**\n   * Username for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  username?: string\n\n  /**\n   * Password for basic auth to the Nova instance.\n   * @deprecated use accessToken instead\n   */\n  password?: string\n\n  /**\n   * Access token for Bearer authentication.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\ntype NovaClientConfigWithDefaults = NovaClientConfig & { cellId: string }\n\n/**\n *\n * Client for connecting to a Nova instance and controlling robots.\n */\nexport class NovaClient {\n  readonly api: NovaCellAPIClient\n  readonly config: NovaClientConfigWithDefaults\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaClientConfig) {\n    const cellId = config.cellId ?? \"cell\"\n    this.config = {\n      cellId,\n      ...config,\n    }\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaCellAPIClient(cellId, {\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                return this.mock!.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(\n      urlJoin(\n        this.instanceUrl.href,\n        `/api/v2/cells/${this.config.cellId}`,\n        path,\n      ),\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport * as novaApiV2 from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * Filters nova-api/v2 exports to just the API class constructors,\n * excluding helper factories and param creators.\n */\ntype ApiConstructors = {\n  [K in keyof typeof novaApiV2 as K extends `${string}Api`\n    ? K extends\n        | `${string}Factory${string}`\n        | `${string}Fp${string}`\n        | `${string}ParamCreator${string}`\n      ? never\n      : K\n    : never]: (typeof novaApiV2)[K]\n}\n\n/**\n * Lowercases leading uppercase characters to produce a camelCase property name.\n * e.g. \"BUSInputsOutputs\" -> \"busInputsOutputs\", \"NOVACloud\" -> \"novaCloud\",\n *      \"Application\" -> \"application\"\n */\ntype CamelCase<S extends string> =\n  S extends `${Uppercase<infer A>}${Uppercase<infer B>}${infer Rest}`\n    ? Rest extends `${Lowercase<string>}${string}`\n      ? `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n      : `${Lowercase<A>}${CamelCase<`${Uppercase<B>}${Rest}`>}`\n    : Uncapitalize<S>\n\n/**\n * Maps API class names to property names by stripping \"Api\" and converting\n * the leading acronym to lowercase camelCase.\n */\ntype ApiProperties = {\n  readonly [K in keyof ApiConstructors as K extends `${infer P}Api`\n    ? CamelCase<P>\n    : never]: ApiConstructors[K] extends new (\n    // biome-ignore lint/suspicious/noExplicitAny: needed for contravariant parameter matching\n    ...args: any[]\n  ) => infer I\n    ? WithUnwrappedAxiosResponse<I>\n    : never\n}\n\ntype NovaAPIClientOpts = BaseConfiguration & {\n  axiosInstance?: AxiosInstance\n  mock?: boolean\n}\n\nfunction isApiClass(\n  name: string,\n  value: unknown,\n): value is new (\n  config: BaseConfiguration,\n  basePath: string,\n  axios: AxiosInstance,\n) => BaseAPI {\n  return (\n    name.endsWith(\"Api\") &&\n    typeof value === \"function\" &&\n    !name.includes(\"Factory\") &&\n    !name.includes(\"Fp\") &&\n    !name.includes(\"ParamCreator\")\n  )\n}\n\nfunction wrapApi<T extends BaseAPI>(\n  ApiConstructor: new (\n    config: BaseConfiguration,\n    basePath: string,\n    axios: AxiosInstance,\n  ) => T,\n  opts: NovaAPIClientOpts,\n): WithUnwrappedAxiosResponse<T> {\n  const apiClient = new ApiConstructor(\n    {\n      ...opts,\n      isJsonMime: (mime: string) => mime === \"application/json\",\n    },\n    opts.basePath ?? \"\",\n    opts.axiosInstance ?? axios.create(),\n  ) as Record<string | symbol, unknown>\n\n  for (const key of Reflect.ownKeys(\n    Reflect.getPrototypeOf(apiClient) as object,\n  )) {\n    if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n      const originalFunction = apiClient[key] as (\n        ...args: unknown[]\n      ) => Promise<{ data: unknown }>\n      apiClient[key] = (...args: unknown[]) =>\n        originalFunction.apply(apiClient, args).then((res) => res.data)\n    }\n  }\n\n  return apiClient as WithUnwrappedAxiosResponse<T>\n}\n\n/**\n * API client providing type-safe access to all the endpoints of a NOVA\n * instance. API sections are auto-discovered from @wandelbots/nova-api/v2\n * at runtime, so new sections added upstream are exposed automatically.\n */\nexport const NovaAPIClient = class NovaAPIClient {\n  readonly opts: NovaAPIClientOpts\n\n  constructor(opts: NovaAPIClientOpts) {\n    this.opts = opts\n\n    for (const [name, value] of Object.entries(novaApiV2)) {\n      if (isApiClass(name, value)) {\n        const stripped = name.slice(0, -3)\n        // Lowercase leading acronym run: \"BUSInputsOutputs\" -> \"busInputsOutputs\"\n        let i = 0\n        while (\n          i < stripped.length &&\n          stripped[i] === stripped[i].toUpperCase() &&\n          stripped[i] !== stripped[i].toLowerCase()\n        ) {\n          i++\n        }\n        // If multiple uppercase chars, keep the last one uppercase (it starts the next word)\n        const boundary = i > 1 ? i - 1 : i\n        const propName =\n          stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary)\n        // biome-ignore lint/suspicious/noExplicitAny: dynamically assigning discovered API properties\n        ;(this as any)[propName] = wrapApi(value, opts)\n      }\n    }\n  }\n} as {\n  new (\n    opts: NovaAPIClientOpts,\n  ): ApiProperties & {\n    readonly cellId: string\n    readonly opts: NovaAPIClientOpts\n  }\n}\n\nexport type NovaAPIClient = InstanceType<typeof NovaAPIClient>\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\nimport urlJoin from \"url-join\"\nimport { loginWithAuth0 } from \"../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../converters\"\nimport { NovaAPIClient } from \"./NovaAPIClient\"\nimport { MockNovaInstance } from \"./mock/MockNovaInstance\"\n\nexport type NovaConfig = {\n  /**\n   * Url of the deployed NOVA instance to connect to\n   * e.g. https://saeattii.instance.wandelbots.io\n   */\n  instanceUrl: string\n\n  /**\n   * Access token for Bearer authentication.\n   * If running on a NOVA instance, this can be automatically retrieved from\n   * the current session when omitted.\n   */\n  accessToken?: string\n} & Omit<BaseConfiguration, \"isJsonMime\" | \"basePath\">\n\n/**\n *\n * Client for connecting to a NOVA instance and controlling robots.\n */\nexport class Nova {\n  readonly api: NovaAPIClient\n  readonly config: NovaConfig\n  readonly mock?: MockNovaInstance\n  readonly instanceUrl: URL\n  authPromise: Promise<string | null> | null = null\n  accessToken: string | null = null\n\n  constructor(config: NovaConfig) {\n    this.config = config\n    this.accessToken =\n      config.accessToken ||\n      availableStorage.getString(\"wbjs.access_token\") ||\n      null\n\n    if (this.config.instanceUrl === \"https://mock.example.com\") {\n      this.mock = new MockNovaInstance()\n    }\n    this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl)\n\n    // Set up Axios instance with interceptor for token fetching\n    const axiosInstance = axios.create({\n      baseURL: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      // TODO - backend needs to set proper CORS headers for this\n      headers:\n        typeof window !== \"undefined\" &&\n        window.location.origin.includes(\"localhost\")\n          ? {}\n          : {\n              // Identify the client to the backend for logging purposes\n              \"X-Wandelbots-Client\": \"Wandelbots-Nova-JS-SDK\",\n            },\n    })\n\n    axiosInstance.interceptors.request.use(async (request) => {\n      if (!request.headers.Authorization) {\n        if (this.accessToken) {\n          request.headers.Authorization = `Bearer ${this.accessToken}`\n        } else if (this.config.username && this.config.password) {\n          request.headers.Authorization = `Basic ${btoa(`${config.username}:${config.password}`)}`\n        }\n      }\n      return request\n    })\n\n    if (typeof window !== \"undefined\") {\n      axiosInstance.interceptors.response.use(\n        (r) => r,\n        async (error) => {\n          if (isAxiosError(error)) {\n            if (error.response?.status === 401) {\n              // If we hit a 401, attempt to login the user and retry with\n              // a new access token\n              try {\n                await this.renewAuthentication()\n\n                if (error.config) {\n                  if (this.accessToken) {\n                    error.config.headers.Authorization = `Bearer ${this.accessToken}`\n                  } else {\n                    delete error.config.headers.Authorization\n                  }\n                  return axiosInstance.request(error.config)\n                }\n              } catch (err) {\n                return Promise.reject(err)\n              }\n            } else if (error.response?.status === 503) {\n              // Check if the server as a whole is down\n              const res = await fetch(window.location.href)\n              if (res.status === 503) {\n                // Go to 503 page\n                window.location.reload()\n              }\n            }\n          }\n\n          return Promise.reject(error)\n        },\n      )\n    }\n\n    this.api = new NovaAPIClient({\n      ...config,\n      basePath: urlJoin(this.instanceUrl.href, \"/api/v2\"),\n      isJsonMime: (mime: string) => {\n        return mime === \"application/json\"\n      },\n      baseOptions: {\n        ...(this.mock\n          ? ({\n              adapter: (config) => {\n                if (!this.mock) {\n                  throw new Error(\"Mock adapter used without a mock instance\")\n                }\n                return this.mock.handleAPIRequest(config)\n              },\n            } satisfies AxiosRequestConfig)\n          : {}),\n        ...config.baseOptions,\n      },\n      axiosInstance,\n    })\n  }\n\n  async renewAuthentication(): Promise<void> {\n    if (this.authPromise) {\n      // Don't double up\n      return\n    }\n\n    const storedToken = availableStorage.getString(\"wbjs.access_token\")\n    if (storedToken && this.accessToken !== storedToken) {\n      // Might be newer than the one we have\n      this.accessToken = storedToken\n      return\n    }\n\n    // Otherwise, perform login flow\n    this.authPromise = loginWithAuth0(this.instanceUrl)\n    try {\n      this.accessToken = await this.authPromise\n      if (this.accessToken) {\n        // Cache access token so we don't need to log in every refresh\n        availableStorage.setString(\"wbjs.access_token\", this.accessToken)\n      } else {\n        availableStorage.delete(\"wbjs.access_token\")\n      }\n    } finally {\n      this.authPromise = null\n    }\n  }\n\n  makeWebsocketURL(path: string): string {\n    const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2`, path))\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  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package/package.json

@@ -1,7 +1,7 @@
 {
   "name": "@wandelbots/nova-js",
   "type": "module",
-  "version": "3.9.0-pr.280.2b62f3c",
+  "version": "3.9.0-pr.280.5d405fb",
   "description": "Official JS client for the Wandelbots API",
   "sideEffects": false,
   "packageManager": "pnpm@11.1.3+sha512.c85357fe17ca12dd23dd7071822666dfd7e3cb76fe214e3370b5ea2fb34f2a231185509b63e717f3cd0acb38dd3f8d82bcd5e8172400ae678b70ea4fbed0896d",

package/src/lib/v2/Nova.ts

@@ -9,7 +9,7 @@ import { parseNovaInstanceUrl } from "../converters"
 import { NovaAPIClient } from "./NovaAPIClient"
 import { MockNovaInstance } from "./mock/MockNovaInstance"
 
-export type NovaClientConfig = {
+export type NovaConfig = {
   /**
    * Url of the deployed NOVA instance to connect to
    * e.g. https://saeattii.instance.wandelbots.io
@@ -30,13 +30,13 @@ export type NovaClientConfig = {
  */
 export class Nova {
   readonly api: NovaAPIClient
-  readonly config: NovaClientConfig
+  readonly config: NovaConfig
   readonly mock?: MockNovaInstance
   readonly instanceUrl: URL
   authPromise: Promise<string | null> | null = null
   accessToken: string | null = null
 
-  constructor(config: NovaClientConfig) {
+  constructor(config: NovaConfig) {
     this.config = config
     this.accessToken =
       config.accessToken ||
@@ -120,8 +120,10 @@ export class Nova {
         ...(this.mock
           ? ({
               adapter: (config) => {
-                // biome-ignore lint/style/noNonNullAssertion: guarded by ternary condition
-                return this.mock!.handleAPIRequest(config)
+                if (!this.mock) {
+                  throw new Error("Mock adapter used without a mock instance")
+                }
+                return this.mock.handleAPIRequest(config)
               },
             } satisfies AxiosRequestConfig)
           : {}),

package/src/lib/v2/NovaAPIClient.ts

@@ -6,7 +6,8 @@ import * as novaApiV2 from "@wandelbots/nova-api/v2"
 import type { AxiosInstance } from "axios"
 import axios from "axios"
 
-type UnwrapAxiosResponseReturn<T> = T extends (...a: unknown[]) => unknown[]
+// biome-ignore lint/suspicious/noExplicitAny: metamagic
+type UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any
   ? (
       ...a: Parameters<T>
     ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>
@@ -46,15 +47,13 @@ type CamelCase<S extends string> =
 /**
  * Maps API class names to property names by stripping "Api" and converting
  * the leading acronym to lowercase camelCase.
- *
- * Properties are auto-discovered from the upstream package at runtime,
- * so new API sections are available immediately without code changes.
  */
 type ApiProperties = {
   readonly [K in keyof ApiConstructors as K extends `${infer P}Api`
     ? CamelCase<P>
     : never]: ApiConstructors[K] extends new (
-    ...args: unknown[]
+    // biome-ignore lint/suspicious/noExplicitAny: needed for contravariant parameter matching
+    ...args: any[]
   ) => infer I
     ? WithUnwrappedAxiosResponse<I>
     : never

package/src/lib/v2/index.ts

@@ -3,5 +3,5 @@ export * from "../deprecated/v2/NovaCellAPIClient"
 export * from "../deprecated/v2/NovaClient"
 export * from "../deprecated/v2/wandelscriptUtils"
 export { Nova } from "./Nova"
-export type { NovaClientConfig } from "./Nova"
+export type { NovaConfig } from "./Nova"
 export { NovaAPIClient } from "./NovaAPIClient"