@wandelbots/nova-js 3.9.0-pr.280.5d6f11d → 3.9.0-pr.280.641b7e2

package/dist/lib/v2/index.mjs

@@ -1,14 +1,13 @@
 import { m as AutoReconnectingWebsocket, n as loginWithAuth0, p as availableStorage, s as parseNovaInstanceUrl } from "../../LoginWithAuth0-DeirP_w9.mjs";
 import axios, { AxiosError, isAxiosError } from "axios";
-import urlJoin from "url-join";
 import * as pathToRegexp from "path-to-regexp";
-import * as novaApiV2 from "@wandelbots/nova-api/v2";
 import { ApplicationApi, BUSInputsOutputsApi, CellApi, ControllerApi, ControllerInputsOutputsApi, JoggingApi, KinematicsApi, LicenseApi, MotionGroupApi, MotionGroupModelsApi, NOVACloudApi, ProgramApi, RobotConfigurationsApi, SessionApi, StoreCollisionComponentsApi, StoreCollisionSetupsApi, StoreObjectApi, SystemApi, TrajectoryCachingApi, TrajectoryExecutionApi, TrajectoryPlanningApi, VersionApi, VirtualControllerApi, VirtualControllerBehaviorApi, VirtualControllerInputsOutputsApi } from "@wandelbots/nova-api/v2";
 export * from "@wandelbots/nova-api/v2";
 //#region src/lib/deprecated/v2/NovaCellAPIClient.ts
 /**
 * API client providing type-safe access to all the Nova API REST endpoints
 * associated with a specific cell id.
+* @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.
 */
 var NovaCellAPIClient = class {
 	constructor(cellId, opts) {
@@ -692,8 +691,8 @@ const defaultMotionState = { result: {
 //#endregion
 //#region src/lib/deprecated/v2/NovaClient.ts
 /**
-*
 * Client for connecting to a Nova instance and controlling robots.
+* @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.
 */
 var NovaClient = class {
 	constructor(config) {
@@ -708,7 +707,7 @@ var NovaClient = class {
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
 		this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.create({
-			baseURL: urlJoin(this.instanceUrl.href, "/api/v2"),
+			baseURL: new URL("/api/v2", this.instanceUrl).href,
 			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
 		});
 		axiosInstance.interceptors.request.use(async (request) => {
@@ -738,7 +737,7 @@ var NovaClient = class {
 		});
 		this.api = new NovaCellAPIClient(cellId, {
 			...config,
-			basePath: urlJoin(this.instanceUrl.href, "/api/v2"),
+			basePath: new URL("/api/v2", this.instanceUrl).href,
 			isJsonMime: (mime) => {
 				return mime === "application/json";
 			},
@@ -768,7 +767,7 @@ var NovaClient = class {
 		}
 	}
 	makeWebsocketURL(path) {
-		const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2/cells/${this.config.cellId}`, path));
+		const url = new URL(new URL(`/api/v2/cells/${this.config.cellId}/${path.replace(/^\/+/, "")}`, this.instanceUrl).href);
 		url.protocol = url.protocol.replace("http", "ws");
 		url.protocol = url.protocol.replace("https", "wss");
 		if (this.accessToken) url.searchParams.append("token", this.accessToken);
@@ -792,6 +791,7 @@ var NovaClient = class {
 /**
 * Convert a Pose object representing a motion group position
 * into a string which represents that pose in Wandelscript.
+* @deprecated Wandelscript usage is deprecated; switching to Python is recommended.
 */
 function poseToWandelscriptString(pose) {
 	const position = [
@@ -810,10 +810,7 @@ function poseToWandelscriptString(pose) {
 }
 //#endregion
 //#region src/lib/v2/NovaAPIClient.ts
-function isApiClass(name, value) {
-	return name.endsWith("Api") && typeof value === "function" && !name.includes("Factory") && !name.includes("Fp") && !name.includes("ParamCreator");
-}
-function wrapApi(ApiConstructor, opts) {
+function unwrap(ApiConstructor, opts) {
 	const apiClient = new ApiConstructor({
 		...opts,
 		isJsonMime: (mime) => mime === "application/json"
@@ -826,20 +823,36 @@ function wrapApi(ApiConstructor, opts) {
 }
 /**
 * API client providing type-safe access to all the endpoints of a NOVA
-* instance. API sections are auto-discovered from @wandelbots/nova-api/v2
-* at runtime, so new sections added upstream are exposed automatically.
+* instance.
 */
-const NovaAPIClient = class NovaAPIClient {
+var NovaAPIClient = class {
 	constructor(opts) {
 		this.opts = opts;
-		for (const [name, value] of Object.entries(novaApiV2)) if (isApiClass(name, value)) {
-			const stripped = name.slice(0, -3);
-			let i = 0;
-			while (i < stripped.length && stripped[i] === stripped[i].toUpperCase() && stripped[i] !== stripped[i].toLowerCase()) i++;
-			const boundary = i > 1 ? i - 1 : i;
-			const propName = stripped.slice(0, boundary).toLowerCase() + stripped.slice(boundary);
-			this[propName] = wrapApi(value, opts);
-		}
+		this.application = unwrap(ApplicationApi, opts);
+		this.busIOs = unwrap(BUSInputsOutputsApi, opts);
+		this.cell = unwrap(CellApi, opts);
+		this.controller = unwrap(ControllerApi, opts);
+		this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts);
+		this.jogging = unwrap(JoggingApi, opts);
+		this.kinematics = unwrap(KinematicsApi, opts);
+		this.license = unwrap(LicenseApi, opts);
+		this.motionGroup = unwrap(MotionGroupApi, opts);
+		this.motionGroupModels = unwrap(MotionGroupModelsApi, opts);
+		this.novaCloud = unwrap(NOVACloudApi, opts);
+		this.program = unwrap(ProgramApi, opts);
+		this.robotConfigurations = unwrap(RobotConfigurationsApi, opts);
+		this.session = unwrap(SessionApi, opts);
+		this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts);
+		this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts);
+		this.storeObject = unwrap(StoreObjectApi, opts);
+		this.system = unwrap(SystemApi, opts);
+		this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts);
+		this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts);
+		this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts);
+		this.version = unwrap(VersionApi, opts);
+		this.virtualController = unwrap(VirtualControllerApi, opts);
+		this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts);
+		this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts);
 	}
 };
 //#endregion
@@ -857,7 +870,7 @@ var Nova = class {
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
 		this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.create({
-			baseURL: urlJoin(this.instanceUrl.href, "/api/v2"),
+			baseURL: new URL("/api/v2", this.instanceUrl).href,
 			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
 		});
 		axiosInstance.interceptors.request.use(async (request) => {
@@ -887,7 +900,7 @@ var Nova = class {
 		});
 		this.api = new NovaAPIClient({
 			...config,
-			basePath: urlJoin(this.instanceUrl.href, "/api/v2"),
+			basePath: new URL("/api/v2", this.instanceUrl).href,
 			isJsonMime: (mime) => {
 				return mime === "application/json";
 			},
@@ -918,7 +931,7 @@ var Nova = class {
 		}
 	}
 	makeWebsocketURL(path) {
-		const url = new URL(urlJoin(this.instanceUrl.href, `/api/v2`, path));
+		const url = new URL(`/api/v2/${path.replace(/^\/+/, "")}`, this.instanceUrl);
 		url.protocol = url.protocol.replace("http", "ws");
 		url.protocol = url.protocol.replace("https", "wss");
 		if (this.accessToken) url.searchParams.append("token", this.accessToken);

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 `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport * as novaApiV2 from \"@wandelbots/nova-api/v2\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\n// biome-ignore lint/suspicious/noExplicitAny: metamagic\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any[]) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\ntype WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * Filters nova-api/v2 exports to just the API class constructors,\n * excluding helper factories and param creators.\n */\ntype ApiConstructors = {\n  [K in keyof typeof novaApiV2 as K extends `${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 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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\n/** @deprecated Use `NovaAPIClient` instead. */\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\n/** @deprecated Use `NovaAPIClient` instead. */\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 * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.\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 { loginWithAuth0 } from \"../../../LoginWithAuth0\"\nimport { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\nimport { availableStorage } from \"../../availableStorage\"\nimport { parseNovaInstanceUrl } from \"../../converters\"\n\nimport { MockNovaInstance } from \"../../v2/mock/MockNovaInstance\"\nimport { NovaCellAPIClient } from \"./NovaCellAPIClient\"\n\n/** @deprecated Use `NovaClientConfig` from `Nova` instead. */\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 * Client for connecting to a Nova instance and controlling robots.\n * @deprecated Use `Nova` from `@wandelbots/nova-js/v2` instead.\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: new URL(\"/api/v2\", this.instanceUrl).href,\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: new URL(\"/api/v2\", this.instanceUrl).href,\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      new URL(\n        `/api/v2/cells/${this.config.cellId}/${path.replace(/^\\/+/, \"\")}`,\n        this.instanceUrl,\n      ).href,\n    )\n    url.protocol = url.protocol.replace(\"http\", \"ws\")\n    url.protocol = url.protocol.replace(\"https\", \"wss\")\n\n    // If provided, add basic auth credentials to the URL\n    // NOTE - basic auth is deprecated on websockets and doesn't work in Safari\n    // use tokens instead\n    if (this.accessToken) {\n      url.searchParams.append(\"token\", this.accessToken)\n    } else if (this.config.username && this.config.password) {\n      url.username = this.config.username\n      url.password = this.config.password\n    }\n\n    return url.toString()\n  }\n\n  /**\n   * Retrieve an AutoReconnectingWebsocket to the given path on the Nova instance.\n   * If you explicitly want to reconnect an existing websocket, call `reconnect`\n   * on the returned object.\n   */\n  openReconnectingWebsocket(path: string) {\n    return new AutoReconnectingWebsocket(this.makeWebsocketURL(path), {\n      mock: this.mock,\n    })\n  }\n}\n","import type { Pose } from \"@wandelbots/nova-api/v2\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n * @deprecated Wandelscript usage is deprecated; switching to Python is recommended.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [\n    pose.position?.[0] ?? 0,\n    pose.position?.[1] ?? 0,\n    pose.position?.[2] ?? 0,\n  ]\n\n  const orientation = [\n    pose.orientation?.[0] ?? 0,\n    pose.orientation?.[1] ?? 0,\n    pose.orientation?.[2] ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v2\"\nimport {\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\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\ntype NovaAPIClientOpts = BaseConfiguration & {\n  axiosInstance?: AxiosInstance\n  mock?: boolean\n}\n\nfunction unwrap<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.\n */\nexport class NovaAPIClient {\n  readonly opts: NovaAPIClientOpts\n\n  readonly application: WithUnwrappedAxiosResponse<ApplicationApi>\n  readonly busIOs: WithUnwrappedAxiosResponse<BUSInputsOutputsApi>\n  readonly cell: WithUnwrappedAxiosResponse<CellApi>\n  readonly controller: WithUnwrappedAxiosResponse<ControllerApi>\n  readonly controllerIOs: WithUnwrappedAxiosResponse<ControllerInputsOutputsApi>\n  readonly jogging: WithUnwrappedAxiosResponse<JoggingApi>\n  readonly kinematics: WithUnwrappedAxiosResponse<KinematicsApi>\n  readonly license: WithUnwrappedAxiosResponse<LicenseApi>\n  readonly motionGroup: WithUnwrappedAxiosResponse<MotionGroupApi>\n  readonly motionGroupModels: WithUnwrappedAxiosResponse<MotionGroupModelsApi>\n  readonly novaCloud: WithUnwrappedAxiosResponse<NOVACloudApi>\n  readonly program: WithUnwrappedAxiosResponse<ProgramApi>\n  readonly robotConfigurations: WithUnwrappedAxiosResponse<RobotConfigurationsApi>\n  readonly session: WithUnwrappedAxiosResponse<SessionApi>\n  readonly storeCollisionComponents: WithUnwrappedAxiosResponse<StoreCollisionComponentsApi>\n  readonly storeCollisionSetups: WithUnwrappedAxiosResponse<StoreCollisionSetupsApi>\n  readonly storeObject: WithUnwrappedAxiosResponse<StoreObjectApi>\n  readonly system: WithUnwrappedAxiosResponse<SystemApi>\n  readonly trajectoryCaching: WithUnwrappedAxiosResponse<TrajectoryCachingApi>\n  readonly trajectoryExecution: WithUnwrappedAxiosResponse<TrajectoryExecutionApi>\n  readonly trajectoryPlanning: WithUnwrappedAxiosResponse<TrajectoryPlanningApi>\n  readonly version: WithUnwrappedAxiosResponse<VersionApi>\n  readonly virtualController: WithUnwrappedAxiosResponse<VirtualControllerApi>\n  readonly virtualControllerBehavior: WithUnwrappedAxiosResponse<VirtualControllerBehaviorApi>\n  readonly virtualControllerIOs: WithUnwrappedAxiosResponse<VirtualControllerInputsOutputsApi>\n\n  constructor(opts: NovaAPIClientOpts) {\n    this.opts = opts\n\n    this.application = unwrap(ApplicationApi, opts)\n    this.busIOs = unwrap(BUSInputsOutputsApi, opts)\n    this.cell = unwrap(CellApi, opts)\n    this.controller = unwrap(ControllerApi, opts)\n    this.controllerIOs = unwrap(ControllerInputsOutputsApi, opts)\n    this.jogging = unwrap(JoggingApi, opts)\n    this.kinematics = unwrap(KinematicsApi, opts)\n    this.license = unwrap(LicenseApi, opts)\n    this.motionGroup = unwrap(MotionGroupApi, opts)\n    this.motionGroupModels = unwrap(MotionGroupModelsApi, opts)\n    this.novaCloud = unwrap(NOVACloudApi, opts)\n    this.program = unwrap(ProgramApi, opts)\n    this.robotConfigurations = unwrap(RobotConfigurationsApi, opts)\n    this.session = unwrap(SessionApi, opts)\n    this.storeCollisionComponents = unwrap(StoreCollisionComponentsApi, opts)\n    this.storeCollisionSetups = unwrap(StoreCollisionSetupsApi, opts)\n    this.storeObject = unwrap(StoreObjectApi, opts)\n    this.system = unwrap(SystemApi, opts)\n    this.trajectoryCaching = unwrap(TrajectoryCachingApi, opts)\n    this.trajectoryExecution = unwrap(TrajectoryExecutionApi, opts)\n    this.trajectoryPlanning = unwrap(TrajectoryPlanningApi, opts)\n    this.version = unwrap(VersionApi, opts)\n    this.virtualController = unwrap(VirtualControllerApi, opts)\n    this.virtualControllerBehavior = unwrap(VirtualControllerBehaviorApi, opts)\n    this.virtualControllerIOs = unwrap(VirtualControllerInputsOutputsApi, opts)\n  }\n}\n","import type { Configuration as BaseConfiguration } from \"@wandelbots/nova-api/v2\"\nimport type { AxiosRequestConfig } from \"axios\"\nimport axios, { isAxiosError } from \"axios\"\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: new URL(\"/api/v2\", this.instanceUrl).href,\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: new URL(\"/api/v2\", this.instanceUrl).href,\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(`/api/v2/${path.replace(/^\\/+/, \"\")}`, this.instanceUrl)\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/{wandelscriptUtils-Cz-yQ2eJ.d.mts → wandelscriptUtils-1A9uFPV_.d.cts}

@@ -1,14 +1,16 @@
-import { r as MockNovaInstance, t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-DEs8wlLZ.mjs";
+import { r as MockNovaInstance, t as AutoReconnectingWebsocket } from "./AutoReconnectingWebsocket-DNOF9mpz.cjs";
 import { AxiosInstance } from "axios";
-import * as THREE from "three";
 import { ApplicationApi, CellApi, Configuration, ControllerApi, ControllerIOsApi, ControllerInstance, CoordinateSystemsApi, DeviceConfigurationApi, Joints, LibraryProgramApi, LibraryProgramMetadataApi, LibraryRecipeApi, LibraryRecipeMetadataApi, MotionApi, MotionGroupApi, MotionGroupInfosApi, MotionGroupJoggingApi, MotionGroupKinematicApi, MotionGroupPhysical, MotionGroupSpecification, MotionGroupStateResponse, Mounting, Pose, ProgramApi, ProgramValuesApi, RobotControllerState, RobotTcp, SafetySetup, StoreCollisionComponentsApi, StoreCollisionScenesApi, StoreObjectApi, SystemApi, TcpPose, VirtualRobotApi, VirtualRobotBehaviorApi, VirtualRobotModeApi, VirtualRobotSetupApi } from "@wandelbots/nova-api/v1";
+import * as THREE from "three";
 
 //#region src/lib/deprecated/v1/ConnectedMotionGroup.d.ts
+/** @deprecated */
 type MotionGroupOption = {
   selectionId: string;
 } & MotionGroupPhysical;
 /**
  * Store representing the current state of a connected motion group.
+ * @deprecated
  */
 declare class ConnectedMotionGroup {
   readonly nova: NovaClient;
@@ -80,6 +82,7 @@ declare class ConnectedMotionGroup {
 //#region src/lib/deprecated/v1/MotionStreamConnection.d.ts
 /**
  * Store representing the current state of a connected motion group.
+ * @deprecated
  */
 declare class MotionStreamConnection {
   readonly nova: NovaClient;
@@ -101,6 +104,7 @@ declare class MotionStreamConnection {
 }
 //#endregion
 //#region src/lib/deprecated/v1/JoggerConnection.d.ts
+/** @deprecated */
 type JoggerConnectionOpts = {
   /**
    * When an error message is received from the jogging websocket, it
@@ -109,6 +113,7 @@ type JoggerConnectionOpts = {
    */
   onError?: (err: unknown) => void;
 };
+/** @deprecated */
 declare class JoggerConnection {
   readonly motionStream: MotionStreamConnection;
   readonly opts: JoggerConnectionOpts;
@@ -219,11 +224,14 @@ type OmitFirstArg<F> = F extends ((x: any, ...args: infer P) => infer R) ? (...a
 type UnwrapAxiosResponseReturn<T> = T extends ((...a: any) => any) ? (...a: Parameters<T>) => Promise<Awaited<ReturnType<T>> extends {
   data: infer D;
 } ? D : never> : never;
+/** @deprecated Use `NovaAPIClient` instead. */
 type WithCellId<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>> };
+/** @deprecated Use `NovaAPIClient` instead. */
 type WithUnwrappedAxiosResponse<T> = { [P in keyof T]: UnwrapAxiosResponseReturn<T[P]> };
 /**
  * API client providing type-safe access to all the Nova API REST endpoints
  * associated with a specific cell id.
+ * @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.
  */
 declare class NovaCellAPIClient {
   readonly cellId: string;
@@ -274,6 +282,7 @@ declare class NovaCellAPIClient {
 }
 //#endregion
 //#region src/lib/deprecated/v1/NovaClient.d.ts
+/** @deprecated Use `NovaConfig` from `@wandelbots/nova-js/v2` instead. */
 type NovaClientConfig = {
   /**
    * Url of the deployed Nova instance to connect to
@@ -339,8 +348,9 @@ declare class NovaClient {
 /**
  * Convert a Pose object representing a motion group position
  * into a string which represents that pose in Wandelscript.
+ * @deprecated
  */
 declare function poseToWandelscriptString(pose: Pick<Pose, "position" | "orientation">): string;
 //#endregion
 export { WithCellId as a, JoggerConnectionOpts as c, MotionGroupOption as d, NovaCellAPIClient as i, MotionStreamConnection as l, NovaClient as n, WithUnwrappedAxiosResponse as o, NovaClientConfig as r, JoggerConnection as s, poseToWandelscriptString as t, ConnectedMotionGroup as u };
-//# sourceMappingURL=wandelscriptUtils-Cz-yQ2eJ.d.mts.map
+//# sourceMappingURL=wandelscriptUtils-1A9uFPV_.d.cts.map

package/dist/wandelscriptUtils-1A9uFPV_.d.cts.map

@@ -0,0 +1 @@
+{"version":3,"file":"wandelscriptUtils-1A9uFPV_.d.cts","names":[],"sources":["../src/lib/deprecated/v1/ConnectedMotionGroup.ts","../src/lib/deprecated/v1/MotionStreamConnection.ts","../src/lib/deprecated/v1/JoggerConnection.ts","../src/lib/deprecated/v1/NovaCellAPIClient.ts","../src/lib/deprecated/v1/NovaClient.ts","../src/lib/deprecated/v1/wandelscriptUtils.ts"],"mappings":";;;;;;;KAsBY,iBAAA;EACV,WAAA;AAAA,IACE,mBAAmB;;;AAAA;AAMvB;cAAa,oBAAA;EAAA,SAoIA,IAAA,EAAM,UAAA;EAAA,SACN,UAAA,EAAY,kBAAA;EAAA,SACZ,WAAA,EAAa,mBAAA;EAAA,SACb,kBAAA,EAAoB,wBAAA;EAAA,SACpB,iBAAA,EAAmB,yBAAA;EAAA,SACnB,SAAA;EAAA,SACA,IAAA,EAAM,QAAA;EAAA,SACN,wBAAA,EAA0B,wBAAA;EAAA,SAC1B,WAAA,EAAa,WAAA;EAAA,SACb,QAAA,EAAU,QAAA;EAAA,SACV,sBAAA,EAAwB,oBAAA;EAAA,SACxB,qBAAA,EAAuB,yBAAA;EAAA,OA9IrB,OAAA,CACX,IAAA,EAAM,UAAA,EACN,aAAA,UACA,WAAA,EAAa,kBAAA,KAAoB,OAAA,CAAA,oBAAA;EA0GnC,+BAAA,EAAiC,SAAA;EACjC,4BAAA,EAA8B,SAAA;EAE9B,QAAA;EACA,eAAA;EAIA,0BAAA,EAA4B,wBAAA;EAI5B,eAAA,EAAiB,oBAAA;EAAA;;;;EAMjB,eAAA;cAIW,IAAA,EAAM,UAAA,EACN,UAAA,EAAY,kBAAA,EACZ,WAAA,EAAa,mBAAA,EACb,kBAAA,EAAoB,wBAAA,EACpB,iBAAA,EAAmB,yBAAA,EACnB,SAAA,WACA,IAAA,EAAM,QAAA,IACN,wBAAA,EAA0B,wBAAA,EAC1B,WAAA,EAAa,WAAA,EACb,QAAA,EAAU,QAAA,SACV,sBAAA,EAAwB,oBAAA,EACxB,qBAAA,EAAuB,yBAAA;EAAA,IA2D9B,aAAA,CAAA;EAAA,IAIA,YAAA,CAAA;EAAA,IAIA,mBAAA,CAAA;EAAA,IAIA,sBAAA,CAAA;EAxE+B;EAAA,IA8E/B,mBAAA,CAAA;EAAA,IAIA,MAAA,CAAA;;;MAQA,YAAA,CAAA,qCAAY,WAAA;EAAA,IAIZ,WAAA,CAAA,qCAAW,qBAAA;EAxGJ;EAAA,IA6GP,gBAAA,CAAA;EA5GO;EAAA,IAyHP,kBAAA,CAAA,GAAkB,KAAA,CAAA,UAAA;EAxHX;;;;EAAA,IAyIP,aAAA,CAAA;EAvI0B;;;;EAAA,IAoJ1B,qBAAA,CAAA;EAjJiC;;;EAAA,IA6JjC,uBAAA,CAAA;EA3JiB;;;;EAAA,IA0KjB,UAAA,CAAA;EAQE,UAAA,CAAA,GAAU,OAAA;EA2BV,QAAA,CAAA,GAAQ,OAAA;EA2Bd,gBAAA,CAAA;EAQA,OAAA,CAAA;EAQA,kBAAA,CAAmB,QAAA;AAAA;;;;;AA7YrB;;cCqCa,sBAAA;EAAA,SAqDA,IAAA,EAAM,UAAA;EAAA,SACN,UAAA,EAAY,kBAAA;EAAA,SACZ,WAAA,EAAa,mBAAA;EAAA,SACb,kBAAA,EAAoB,wBAAA;EAAA,SACpB,iBAAA,EAAmB,yBAAA;EAAA,OAxDjB,IAAA,CAAK,IAAA,EAAM,UAAA,EAAY,aAAA,WAAqB,OAAA,CAAA,sBAAA;EAiDzD,0BAAA,EAA4B,wBAAA;cAGjB,IAAA,EAAM,UAAA,EACN,UAAA,EAAY,kBAAA,EACZ,WAAA,EAAa,mBAAA,EACb,kBAAA,EAAoB,wBAAA,EACpB,iBAAA,EAAmB,yBAAA;EAAA,IA0D1B,aAAA,CAAA;EAAA,IAIA,YAAA,CAAA;EAAA,IAIA,mBAAA,CAAA;EAAA,IAIA,sBAAA,CAAA;EAAA,IAKA,MAAA,CAAA;;;EAQJ,OAAA,CAAA;AAAA;;;;KC/LU,oBAAA;EFcA;;;;AAEW;EEVrB,OAAA,IAAW,GAAY;AAAA;;cAIZ,gBAAA;EAAA,SAqBA,YAAA,EAAc,sBAAA;EAAA,SACd,IAAA,EAAM,oBAAA;EAnBjB,kBAAA,EAAoB,yBAAA;EACpB,cAAA,EAAgB,yBAAA;EAChB,oBAAA;IACE,KAAA;IACA,aAAA;EAAA;EAAA,OAGW,IAAA,CACX,IAAA,EAAM,UAAA,EACN,aAAA,UACA,IAAA,GAAM,oBAAA,GAAyB,OAAA,CAAA,gBAAA;cAQtB,YAAA,EAAc,sBAAA,EACd,IAAA,GAAM,oBAAA;EAAA,IAGb,aAAA,CAAA;EAAA,IAIA,IAAA,CAAA,GAAI,UAAA;EAAA,IAIJ,SAAA,CAAA;EAAA,IAIA,iBAAA,CAAA;EAAA,IAMA,eAAA,CAAA,GAAe,yBAAA;EAIb,IAAA,CAAA,GAAI,OAAA;EAyBV,OAAA,CAAA;EAUA,cAAA,CACE,IAAA,uCACA,oBAAA;IACE,KAAA;IACA,aAAA;EAAA;EF6D2B;;;EESzB,kBAAA,CAAA;IACJ,KAAA;IACA,SAAA;IACA;EAAA;IFPsB,mCEUtB,KAAA,UFRiC;IEUjC,SAAA,aFsGoB;IEpGpB,kBAAA;EAAA,IACD,OAAA;EF+La;;;EE1KR,mBAAA,CAAA;IACJ,IAAA;IACA,SAAA;IACA;EAAA;IAEA,IAAA;IACA,SAAA;IACA,gBAAA;EAAA,IACD,OAAA;EFjDU;;;EE0EL,gBAAA,CAAA;IACJ,IAAA;IACA,SAAA;IACA;EAAA;IAEA,IAAA;IACA,SAAA;IACA,kBAAA;EAAA,IACD,OAAA;EF9EoC;;;;;EEyG/B,6BAAA,CAAA;IACJ,cAAA;IACA,aAAA;IACA,aAAA;IACA,uBAAA;IACA,IAAA;IACA,SAAA;IACA;EAAA;IAEA,cAAA,EAAgB,OAAA;IAChB,aAAA,EAAe,MAAA;IACf,aAAA;IACA,uBAAA;IACA,IAAA;IACA,SAAA;IACA,MAAA;MAEM,IAAA;MACA,YAAA;IAAA;MAGA,IAAA;MACA,UAAA;IAAA;EAAA,IAEP,OAAA;EF7J6B;;;;EE6RxB,2BAAA,CAAA;IACJ,KAAA;IACA,aAAA;IACA,kBAAA;IACA,SAAA;IACA;EAAA;IAEA,KAAA;IACA,aAAA,EAAe,MAAA;IACf,kBAAA;IACA,SAAA;IACA,YAAA;EAAA,IACD,OAAA;AAAA;;;KClZE,YAAA,MAAkB,CAAA,WAAW,CAAA,UAAW,IAAA,6BACrC,IAAA,EAAM,CAAA,KAAM,CAAA;AAAA,KAGf,yBAAA,MAA+B,CAAA,cAAc,CAAA,qBAEzC,CAAA,EAAG,UAAA,CAAW,CAAA,MACd,OAAA,CAAQ,OAAA,CAAQ,UAAA,CAAW,CAAA;EAAc,IAAA;AAAA,IAAkB,CAAA;;KAIxD,UAAA,oBACE,CAAA,GAAI,yBAAA,CAA0B,YAAA,CAAa,CAAA,CAAE,CAAA;;KAI/C,0BAAA,oBACE,CAAA,GAAI,yBAAA,CAA0B,CAAA,CAAE,CAAA;;;;;;cAQjC,iBAAA;EAAA,SAEA,MAAA;EAAA,SACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;cAHO,MAAA,UACA,IAAA,EAAM,aAAA;IACb,aAAA,GAAgB,aAAA;IAChB,IAAA;EAAA;EHsFa;;;;;EAAA,QG7ET,UAAA;EH6FS;;;EAAA,QGxDT,0BAAA;EAAA,SAkCC,MAAA,EAAM,0BAAA,CAAA,SAAA;EAAA,SACN,IAAA,EAAI,0BAAA,CAAA,OAAA;EAAA,SAEJ,YAAA,EAAY,UAAA,CAAA,sBAAA;EAAA,SAEZ,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,gBAAA,EAAgB,UAAA,CAAA,mBAAA;EAAA,SAEhB,UAAA,EAAU,UAAA,CAAA,aAAA;EAAA,SAEV,OAAA,EAAO,UAAA,CAAA,UAAA;EAAA,SACP,aAAA,EAAa,UAAA,CAAA,gBAAA;EAAA,SAEb,aAAA,EAAa,UAAA,CAAA,gBAAA;EAAA,SAEb,oBAAA,EAAoB,UAAA,CAAA,uBAAA;EAAA,SACpB,MAAA,EAAM,UAAA,CAAA,SAAA;EAAA,SAEN,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SAEjB,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,iBAAA,EAAiB,0BAAA,CAAA,cAAA;EAAA,SAEjB,kBAAA,EAAkB,UAAA,CAAA,qBAAA;EAAA,SAElB,YAAA,EAAY,UAAA,CAAA,eAAA;EAAA,SACZ,iBAAA,EAAiB,UAAA,CAAA,oBAAA;EAAA,SACjB,gBAAA,EAAgB,UAAA,CAAA,mBAAA;EAAA,SAChB,oBAAA,EAAoB,UAAA,CAAA,uBAAA;EAAA,SAEpB,sBAAA,EAAsB,UAAA,CAAA,yBAAA;EAAA,SACtB,cAAA,EAAc,UAAA,CAAA,iBAAA;EAAA,SACd,qBAAA,EAAqB,UAAA,CAAA,wBAAA;EAAA,SACrB,aAAA,EAAa,UAAA,CAAA,gBAAA;EAAA,SAEb,WAAA,EAAW,UAAA,CAAA,cAAA;EAAA,SACX,wBAAA,EAAwB,UAAA,CAAA,2BA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package/dist/{wandelscriptUtils-CsQAUu_9.mjs → wandelscriptUtils-C7hQePlo.mjs}

@@ -1,6 +1,5 @@
 import { a as isSameCoordinateSystem, m as AutoReconnectingWebsocket, n as loginWithAuth0, p as availableStorage, s as parseNovaInstanceUrl, u as tryParseJson } from "./LoginWithAuth0-DeirP_w9.mjs";
 import axios, { AxiosError, isAxiosError } from "axios";
-import urlJoin from "url-join";
 import { makeAutoObservable, runInAction } from "mobx";
 import * as THREE from "three";
 import { Vector3 } from "three";
@@ -8,11 +7,13 @@ import { Vector3 as Vector3$1 } from "three/src/math/Vector3.js";
 import { ApplicationApi, CellApi, ControllerApi, ControllerIOsApi, CoordinateSystemsApi, DeviceConfigurationApi, LibraryProgramApi, LibraryProgramMetadataApi, LibraryRecipeApi, LibraryRecipeMetadataApi, MotionApi, MotionGroupApi, MotionGroupInfosApi, MotionGroupJoggingApi, MotionGroupKinematicApi, ProgramApi, ProgramValuesApi, StoreCollisionComponentsApi, StoreCollisionScenesApi, StoreObjectApi, SystemApi, VirtualRobotApi, VirtualRobotBehaviorApi, VirtualRobotModeApi, VirtualRobotSetupApi } from "@wandelbots/nova-api/v1";
 import * as pathToRegexp from "path-to-regexp";
 //#region src/lib/deprecated/v1/motionStateUpdate.ts
+/** @deprecated */
 function jointValuesEqual(oldJointValues, newJointValues, changeDeltaThreshold) {
 	if (newJointValues.length !== oldJointValues.length) return true;
 	for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) if (Math.abs(newJointValues[jointIndex] - oldJointValues[jointIndex]) > changeDeltaThreshold) return false;
 	return true;
 }
+/** @deprecated */
 function tcpPoseEqual(oldTcp, newTcp, changeDeltaThreshold) {
 	if (oldTcp === void 0 && newTcp || oldTcp && newTcp === void 0) return false;
 	if (oldTcp === void 0 || newTcp === void 0) return true;
@@ -31,6 +32,7 @@ function tcpPoseEqual(oldTcp, newTcp, changeDeltaThreshold) {
 const MOTION_DELTA_THRESHOLD$1 = 1e-4;
 /**
 * Store representing the current state of a connected motion group.
+* @deprecated
 */
 var ConnectedMotionGroup = class ConnectedMotionGroup {
 	static async connect(nova, motionGroupId, controllers) {
@@ -233,6 +235,7 @@ var ConnectedMotionGroup = class ConnectedMotionGroup {
 };
 //#endregion
 //#region src/lib/deprecated/v1/JoggerConnection.ts
+/** @deprecated */
 var JoggerConnection = class JoggerConnection {
 	static async open(nova, motionGroupId, opts = {}) {
 		return new JoggerConnection(await nova.connectMotionStream(motionGroupId), opts);
@@ -479,6 +482,7 @@ function unwrapRotationVector(newRotationVectorApi, currentRotationVectorApi) {
 }
 /**
 * Store representing the current state of a connected motion group.
+* @deprecated
 */
 var MotionStreamConnection = class MotionStreamConnection {
 	static async open(nova, motionGroupId) {
@@ -546,6 +550,7 @@ var MotionStreamConnection = class MotionStreamConnection {
 /**
 * API client providing type-safe access to all the Nova API REST endpoints
 * associated with a specific cell id.
+* @deprecated Use `NovaAPIClient` from `@wandelbots/nova-js/v2` instead.
 */
 var NovaCellAPIClient = class {
 	constructor(cellId, opts) {
@@ -621,6 +626,7 @@ var NovaCellAPIClient = class {
 //#region src/lib/deprecated/v1/mock/MockNovaInstance.ts
 /**
 * Ultra-simplified mock Nova server for testing stuff
+* @deprecated
 */
 var MockNovaInstance = class {
 	constructor() {
@@ -1872,7 +1878,7 @@ var NovaClient = class {
 		if (this.config.instanceUrl === "https://mock.example.com") this.mock = new MockNovaInstance();
 		this.instanceUrl = parseNovaInstanceUrl(this.config.instanceUrl);
 		const axiosInstance = axios.create({
-			baseURL: urlJoin(this.config.instanceUrl, "/api/v1"),
+			baseURL: new URL("/api/v1", this.config.instanceUrl).href,
 			headers: typeof window !== "undefined" && window.location.origin.includes("localhost") ? {} : { "X-Wandelbots-Client": "Wandelbots-Nova-JS-SDK" }
 		});
 		axiosInstance.interceptors.request.use(async (request) => {
@@ -1902,7 +1908,7 @@ var NovaClient = class {
 		});
 		this.api = new NovaCellAPIClient(cellId, {
 			...config,
-			basePath: urlJoin(this.instanceUrl.href, "/api/v1"),
+			basePath: new URL("/api/v1", this.instanceUrl).href,
 			isJsonMime: (mime) => {
 				return mime === "application/json";
 			},
@@ -1932,7 +1938,7 @@ var NovaClient = class {
 		}
 	}
 	makeWebsocketURL(path) {
-		const url = new URL(urlJoin(this.instanceUrl.href, `/api/v1/cells/${this.config.cellId}`, path));
+		const url = new URL(new URL(`/api/v1/cells/${this.config.cellId}/${path.replace(/^\/+/, "")}`, this.instanceUrl).href);
 		url.protocol = url.protocol.replace("http", "ws");
 		url.protocol = url.protocol.replace("https", "wss");
 		if (this.accessToken) url.searchParams.append("token", this.accessToken);
@@ -1975,6 +1981,7 @@ var NovaClient = class {
 /**
 * Convert a Pose object representing a motion group position
 * into a string which represents that pose in Wandelscript.
+* @deprecated
 */
 function poseToWandelscriptString(pose) {
 	const position = [
@@ -1994,4 +2001,4 @@ function poseToWandelscriptString(pose) {
 //#endregion
 export { JoggerConnection as a, MotionStreamConnection as i, NovaClient as n, ConnectedMotionGroup as o, NovaCellAPIClient as r, poseToWandelscriptString as t };
 
-//# sourceMappingURL=wandelscriptUtils-CsQAUu_9.mjs.map
+//# sourceMappingURL=wandelscriptUtils-C7hQePlo.mjs.map