@wandelbots/wandelbots-js-react-components 2.54.4 → 2.54.5-pr.feat-upgrade-jogging-to-v2.404.a6b053a

package/dist/lib/ConnectedMotionGroup.d.ts

@@ -0,0 +1,84 @@
+import { type AutoReconnectingWebsocket } from "@wandelbots/nova-js";
+import type { MotionGroupDescription, MotionGroupState, NovaClient, RobotControllerState } from "@wandelbots/nova-js/v2";
+import * as THREE from "three";
+import type { Vector3Simple } from "./JoggerConnection";
+export type RobotTcpLike = {
+    id: string;
+    readable_name: string;
+    position: Vector3Simple;
+    orientation: Vector3Simple;
+};
+export type MotionGroupOption = {
+    selectionId: string;
+};
+/**
+ * Store representing the current state of a connected motion group.
+ * API v2 version, not used yet in the components.
+ */
+export declare class ConnectedMotionGroup {
+    readonly nova: NovaClient;
+    readonly controller: RobotControllerState;
+    readonly motionGroup: MotionGroupState;
+    readonly initialMotionState: MotionGroupState;
+    readonly motionStateSocket: AutoReconnectingWebsocket;
+    readonly isVirtual: boolean;
+    readonly tcps: RobotTcpLike[];
+    readonly description: MotionGroupDescription;
+    readonly initialControllerState: RobotControllerState;
+    readonly controllerStateSocket: AutoReconnectingWebsocket;
+    static connectMultiple(nova: NovaClient, motionGroupIds: string[]): Promise<ConnectedMotionGroup[]>;
+    static connect(nova: NovaClient, motionGroupId: string): Promise<ConnectedMotionGroup>;
+    connectedJoggingSocket: WebSocket | null;
+    planData: any | null;
+    joggingVelocity: number;
+    rapidlyChangingMotionState: MotionGroupState;
+    controllerState: RobotControllerState;
+    /**
+     * Reflects activation state of the motion group / robot servos. The
+     * movement controls in the UI should only be enabled in the "active" state
+     */
+    activationState: "inactive" | "activating" | "deactivating" | "active";
+    constructor(nova: NovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket, isVirtual: boolean, tcps: RobotTcpLike[], description: MotionGroupDescription, initialControllerState: RobotControllerState, controllerStateSocket: AutoReconnectingWebsocket);
+    get motionGroupId(): string;
+    get controllerId(): string;
+    get modelFromController(): string;
+    get wandelscriptIdentifier(): string;
+    /** Jogging velocity in radians for rotation and joint movement */
+    get joggingVelocityRads(): number;
+    get joints(): {
+        index: number;
+    }[];
+    get dhParameters(): import("@wandelbots/nova-api/v2").DHParameter[] | undefined;
+    get safetyZones(): {
+        [key: string]: import("@wandelbots/nova-api/v2").Collider;
+    } | undefined;
+    /** Gets the robot mounting position offset in 3D viz coordinates */
+    get mountingPosition(): [number, number, number];
+    /** Gets the robot mounting position rotation in 3D viz coordinates */
+    get mountingQuaternion(): THREE.Quaternion;
+    /**
+     * Whether the controller is currently in a safety state
+     * corresponding to an emergency stop
+     */
+    get isEstopActive(): boolean;
+    /**
+     * Whether the controller is in a safety state
+     * that may be non-functional for robot pad purposes
+     */
+    get isMoveableSafetyState(): boolean;
+    /**
+     * Whether the controller is in an operation mode that allows movement
+     */
+    get isMoveableOperationMode(): boolean;
+    /**
+     * Whether the robot is currently active and can be moved, based on the
+     * safety state, operation mode and servo toggle activation state.
+     */
+    get canBeMoved(): boolean;
+    deactivate(): Promise<void>;
+    activate(): Promise<void>;
+    toggleActivation(): void;
+    dispose(): void;
+    setJoggingVelocity(velocity: number): void;
+}
+//# sourceMappingURL=ConnectedMotionGroup.d.ts.map

package/dist/lib/ConnectedMotionGroup.d.ts.map

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package/dist/lib/JoggerConnection.d.ts

@@ -0,0 +1,112 @@
+import { AutoReconnectingWebsocket } from "@wandelbots/nova-js";
+import type { NovaClient, Pose } from "@wandelbots/nova-js/v2";
+import { MotionStreamConnection } from "./MotionStreamConnection";
+export type Vector3Simple = [number, number, number];
+export type JoggerConnectionOptions = {
+    mode?: JoggerMode;
+    timeout?: number;
+    /**
+     * When an error message is received from the jogging websocket, it
+     * will be passed here. If this handler is not provided, the error will
+     * instead be thrown as an unhandled error.
+     */
+    onError?: (err: unknown) => void;
+    tcp?: string;
+    orientation?: JoggerOrientation;
+};
+export type JoggerMode = "jogging" | "trajectory" | "off";
+export type JoggerOrientation = "coordsys" | "tool";
+export declare class JoggerConnection {
+    readonly motionStream: MotionStreamConnection;
+    readonly options: JoggerConnectionOptions | undefined;
+    ENDPOINT_JOGGING: string;
+    ENDPOINT_TRAJECTORY: string;
+    DEFAULT_MODE: JoggerMode;
+    DEFAULT_TCP: string;
+    DEFAULT_INIT_TIMEOUT: number;
+    DEFAULT_ORIENTATION: JoggerOrientation;
+    mode: JoggerMode;
+    joggingSocket: AutoReconnectingWebsocket | null;
+    trajectorySocket: AutoReconnectingWebsocket | null;
+    timeout: number;
+    tcp: string;
+    orientation: JoggerOrientation;
+    onError?: (err: unknown) => void;
+    /**
+     * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
+     *
+     * @param nova - The Nova client instance
+     * @param motionGroupId - The ID of the motion group to connect to
+     * @param options - Configuration options for the jogger connection
+     * @param options.mode - The jogging mode to initialize:
+     *   - "jogging": Continuous jogging mode with persistent websocket for real-time velocity commands
+     *   - "trajectory": Incremental jogging mode for fixed-distance motions via trajectory planning
+     *   - "off": No jogging enabled, all websockets closed (default)
+     * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)
+     * @param options.tcp - TCP frame to use for motions (default: from motion group)
+     * //param options.coordinateSystem - Coordinate system for jogging commands (default: "world"). Please note: Currently not implemented
+     * @param options.orientation - If set to "tool", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: "coordsys")
+     * @param options.onError - Error handler for websocket errors
+     * @returns Promise resolving to initialized JoggerConnection instance
+     */
+    static open(nova: NovaClient, motionGroupId: string, options?: JoggerConnectionOptions): Promise<JoggerConnection>;
+    constructor(motionStream: MotionStreamConnection, options?: JoggerConnectionOptions | undefined);
+    setOptions(options: Partial<JoggerConnectionOptions>): Promise<void>;
+    get motionGroupId(): string;
+    get nova(): NovaClient;
+    get numJoints(): number;
+    stop(): Promise<void>;
+    dispose(): Promise<void[]>;
+    setJoggingMode(mode: JoggerMode, skipReinitializeIfSameMode?: boolean): Promise<void>;
+    initializeJoggingWebsocket(): Promise<void>;
+    /**
+     * Jogging: Start rotation of a single robot joint at the specified velocity
+     */
+    rotateJoints({ joint, direction, velocityRadsPerSec, }: {
+        /** Index of the joint to rotate */
+        joint: number;
+        /** Direction of rotation ("+" or "-") */
+        direction: "+" | "-";
+        /** Speed of the rotation in radians per second */
+        velocityRadsPerSec: number;
+    }): Promise<void>;
+    /**
+     * Jogging: Start the TCP moving along a specified axis at a given velocity
+     */
+    translateTCP({ axis, direction, velocityMmPerSec, }: {
+        axis: "x" | "y" | "z";
+        direction: "-" | "+";
+        velocityMmPerSec: number;
+    }): Promise<void>;
+    /**
+     * Jogging: Start the TCP rotating around a specified axis at a given velocity
+     */
+    rotateTCP({ axis, direction, velocityRadsPerSec, }: {
+        axis: "x" | "y" | "z";
+        direction: "-" | "+";
+        velocityRadsPerSec: number;
+    }): Promise<void>;
+    /**
+     * Trajectory jogging:
+     *
+     * Move the robot by a fixed distance in a single cartesian
+     * axis, either rotating or translating relative to the TCP.
+     * Promise resolves only after the motion has completed.
+     */
+    runIncrementalCartesianMotion({ currentTcpPose, currentJoints, coordSystemId, velocityInRelevantUnits, axis, direction, motion, }: {
+        currentTcpPose: Pose;
+        currentJoints: Vector3Simple;
+        coordSystemId: string;
+        velocityInRelevantUnits: number;
+        axis: "x" | "y" | "z";
+        direction: "-" | "+";
+        motion: {
+            type: "rotate";
+            distanceRads: number;
+        } | {
+            type: "translate";
+            distanceMm: number;
+        };
+    }): Promise<void>;
+}
+//# sourceMappingURL=JoggerConnection.d.ts.map

package/dist/lib/JoggerConnection.d.ts.map

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package/dist/lib/MotionStreamConnection.d.ts

@@ -0,0 +1,24 @@
+import { AutoReconnectingWebsocket } from "@wandelbots/nova-js";
+import type { MotionGroupDescription, MotionGroupState, NovaClient, RobotControllerState } from "@wandelbots/nova-js/v2";
+/**
+ * Store representing the current state of a connected motion group.
+ */
+export declare class MotionStreamConnection {
+    readonly nova: NovaClient;
+    readonly controller: RobotControllerState;
+    readonly motionGroup: MotionGroupState;
+    readonly description: MotionGroupDescription;
+    readonly initialMotionState: MotionGroupState;
+    readonly motionStateSocket: AutoReconnectingWebsocket;
+    static open(nova: NovaClient, motionGroupId: string): Promise<MotionStreamConnection>;
+    rapidlyChangingMotionState: MotionGroupState;
+    constructor(nova: NovaClient, controller: RobotControllerState, motionGroup: MotionGroupState, description: MotionGroupDescription, initialMotionState: MotionGroupState, motionStateSocket: AutoReconnectingWebsocket);
+    get motionGroupId(): string;
+    get controllerId(): string;
+    get wandelscriptIdentifier(): string;
+    get joints(): {
+        index: number;
+    }[];
+    dispose(): void;
+}
+//# sourceMappingURL=MotionStreamConnection.d.ts.map

package/dist/lib/MotionStreamConnection.d.ts.map

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package/dist/lib/MotionStreamConnection.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=MotionStreamConnection.test.d.ts.map

package/dist/lib/MotionStreamConnection.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"MotionStreamConnection.test.d.ts","sourceRoot":"","sources":["../../src/lib/MotionStreamConnection.test.ts"],"names":[],"mappings":""}

package/dist/lib/motionStateUpdate.d.ts

@@ -0,0 +1,5 @@
+import type { MotionGroupState, Pose } from "@wandelbots/nova-js/v2";
+export declare function jointValuesEqual(oldJointValues: number[], newJointValues: number[], changeDeltaThreshold: number): boolean;
+export declare function poseEqual(oldTcp: Pose | undefined, newTcp: Pose | undefined, changeDeltaThreshold: number): boolean;
+export declare function tcpMotionEqual(oldMotionState: MotionGroupState, newMotionState: MotionGroupState, changeDeltaThreshold: number): boolean;
+//# sourceMappingURL=motionStateUpdate.d.ts.map

package/dist/lib/motionStateUpdate.d.ts.map

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package/dist/lib/motionStateUpdate.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=motionStateUpdate.test.d.ts.map

package/dist/lib/motionStateUpdate.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"motionStateUpdate.test.d.ts","sourceRoot":"","sources":["../../src/lib/motionStateUpdate.test.ts"],"names":[],"mappings":""}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "2.54.4",
+  "version": "2.54.5-pr.feat-upgrade-jogging-to-v2.404.a6b053a",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -70,7 +70,7 @@
     "@types/react": "^19.1.8",
     "@types/three": "^0.174.0",
     "@vitejs/plugin-react": "^4.3.4",
-    "@wandelbots/nova-js": "^2.1.0",
+    "@wandelbots/nova-js": "3.3.0",
     "add": "^2.0.6",
     "eslint-plugin-storybook": "^10.0.1",
     "glob": "^11.0.1",

package/src/components/3d-viewport/CoordinateSystemTransform.tsx

@@ -1,4 +1,4 @@
-import type { CoordinateSystem } from "@wandelbots/nova-api/v1"
+import type { CoordinateSystem } from "@wandelbots/nova-js/v1"
 import type { ReactNode } from "react"
 import { Quaternion, Vector3 } from "three"
 

package/src/components/3d-viewport/SafetyZonesRenderer.tsx

@@ -1,6 +1,5 @@
 import { type ThreeElements } from "@react-three/fiber"
-import type { Geometry } from "@wandelbots/nova-api/v1"
-import type { SafetySetupSafetyZone } from "@wandelbots/nova-js/v1"
+import type { Geometry, SafetySetupSafetyZone } from "@wandelbots/nova-js/v1"
 import * as THREE from "three"
 import { ConvexGeometry } from "three-stdlib"
 

package/src/components/3d-viewport/collider/ColliderCollection.tsx

@@ -1,5 +1,5 @@
 import type { ThreeElements } from "@react-three/fiber"
-import type { Collider } from "@wandelbots/nova-api/v1"
+import type { Collider } from "@wandelbots/nova-js/v1"
 import ColliderElement from "./ColliderElement"
 
 export type MeshChildrenProvider = (

package/src/components/3d-viewport/collider/ColliderElement.tsx

@@ -1,4 +1,4 @@
-import type { Collider } from "@wandelbots/nova-api/v1"
+import type { Collider } from "@wandelbots/nova-js/v1"
 import type React from "react"
 import * as THREE from "three"
 import { colliderShapeToBufferGeometry } from "./colliderShapeToBufferGeometry"

package/src/components/3d-viewport/collider/CollisionSceneRenderer.tsx

@@ -1,4 +1,4 @@
-import type { CollisionScene } from "@wandelbots/nova-api/v1"
+import type { CollisionScene } from "@wandelbots/nova-js/v1"
 import ColliderCollection, {
   type MeshChildrenProvider,
 } from "./ColliderCollection"

package/src/components/3d-viewport/collider/colliderShapeToBufferGeometry.ts

@@ -1,4 +1,4 @@
-import type { ColliderShape } from "@wandelbots/nova-api/v1"
+import type { ColliderShape } from "@wandelbots/nova-js/v1"
 import * as THREE from "three"
 import { ConvexGeometry } from "three-stdlib"
 

package/src/components/jogging/JoggingCartesianTab.tsx

@@ -6,13 +6,18 @@ import {
   useTheme,
   type Theme,
 } from "@mui/material"
-import { degreesToRadians, radiansToDegrees } from "@wandelbots/nova-js"
+import {
+  degreesToRadians,
+  radiansToDegrees,
+  XYZ_TO_VECTOR,
+} from "@wandelbots/nova-js"
 import { observer } from "mobx-react-lite"
 import { useTranslation } from "react-i18next"
 import XAxisIcon from "../../icons/axis-x.svg"
 import YAxisIcon from "../../icons/axis-y.svg"
 import ZAxisIcon from "../../icons/axis-z.svg"
 import RotationIcon from "../../icons/rotation.svg"
+import type { Vector3Simple } from "../../lib/JoggerConnection"
 import { useReaction } from "../utils/hooks"
 import { JoggingCartesianAxisControl } from "./JoggingCartesianAxisControl"
 import { JoggingJointLimitDetector } from "./JoggingJointLimitDetector"
@@ -56,7 +61,7 @@ export const JoggingCartesianTab = observer(
       () => {
         store.jogger.motionStream.motionStateSocket.changeUrl(
           store.jogger.nova.makeWebsocketURL(
-            `/motion-groups/${store.jogger.motionGroupId}/state-stream?tcp=${store.selectedTcpId}&response_coordinate_system=${store.selectedCoordSystemId}`,
+            `/controllers/${store.jogger.motionStream.controllerId}/motion-groups/${store.jogger.motionGroupId}/state-stream?tcp=${store.selectedTcpId}`,
           ),
         )
       },
@@ -70,8 +75,8 @@ export const JoggingCartesianTab = observer(
       const jogger = await store.activate()
 
       const tcpPose = jogger.motionStream.rapidlyChangingMotionState.tcp_pose
-      const jointPosition =
-        jogger.motionStream.rapidlyChangingMotionState.state.joint_position
+      const jointPosition = jogger.motionStream.rapidlyChangingMotionState
+        .joint_position as Vector3Simple
       if (!tcpPose) return
 
       await store.withMotionLock(async () => {
@@ -117,13 +122,13 @@ export const JoggingCartesianTab = observer(
       }
 
       if (opts.motionType === "translate") {
-        await store.jogger.startTCPTranslation({
+        await store.jogger.translateTCP({
           axis: opts.axis,
           direction: opts.direction,
           velocityMmPerSec: store.translationVelocityMmPerSec,
         })
       } else {
-        await store.jogger.startTCPRotation({
+        await store.jogger.rotateTCP({
           axis: opts.axis,
           direction: opts.direction,
           velocityRadsPerSec: store.rotationVelocityRadsPerSec,
@@ -189,10 +194,7 @@ export const JoggingCartesianTab = observer(
     return (
       <Stack flexGrow={1} gap={2} sx={{ padding: "18px 24px" }}>
         <Stack gap={2}>
-          {/* Jogging options */}
           <JoggingOptions store={store} />
-
-          {/* Velocity slider */}
           <JoggingVelocitySlider store={store} />
           <Divider />
         </Stack>
@@ -257,7 +259,7 @@ export const JoggingCartesianTab = observer(
                   getDisplayedValue={() =>
                     formatMM(
                       store.jogger.motionStream.rapidlyChangingMotionState
-                        .tcp_pose?.position[axis.id] || 0,
+                        .tcp_pose?.position?.[XYZ_TO_VECTOR[axis.id]] || 0,
                     )
                   }
                   startJogging={(direction: "-" | "+") =>
@@ -301,7 +303,7 @@ export const JoggingCartesianTab = observer(
                   getDisplayedValue={() =>
                     formatDegrees(
                       store.jogger.motionStream.rapidlyChangingMotionState
-                        .tcp_pose?.orientation?.[axis.id] || 0,
+                        .tcp_pose?.orientation?.[XYZ_TO_VECTOR[axis.id]] || 0,
                     )
                   }
                   startJogging={(direction: "-" | "+") =>

package/src/components/jogging/JoggingJointLimitDetector.tsx

@@ -17,14 +17,14 @@ export const JoggingJointLimitDetector = ({
   const { t } = useTranslation()
 
   const [jointLimitsReached, setJointLimitsReached] = useState(
-    store.jogger.motionStream.rapidlyChangingMotionState.state
+    store.jogger.motionStream.rapidlyChangingMotionState
       .joint_limit_reached.limit_reached,
   )
   const jointLimitsReachedRef = useRef(jointLimitsReached)
 
   useAnimationFrame(() => {
     const newLimitsReached =
-      store.jogger.motionStream.rapidlyChangingMotionState.state
+      store.jogger.motionStream.rapidlyChangingMotionState
         .joint_limit_reached.limit_reached
 
     if (!isEqual(jointLimitsReachedRef.current, newLimitsReached)) {

package/src/components/jogging/JoggingJointTab.tsx

@@ -16,7 +16,7 @@ export const JoggingJointTab = observer(
     }) {
       await store.activate()
 
-      await store.jogger.startJointRotation({
+      await store.jogger.rotateJoints({
         joint: opts.joint,
         direction: opts.direction,
         velocityRadsPerSec: store.rotationVelocityRadsPerSec,
@@ -42,7 +42,8 @@ export const JoggingJointTab = observer(
           <Stack alignItems="center" gap="24px">
             {store.jogger.motionStream.joints.map((joint) => {
               const jointLimits =
-                store.motionGroupSpec.mechanical_joint_limits?.[joint.index]
+                store.motionGroupDescription.operation_limits.auto_limits
+                  ?.joints?.[joint.index]?.position
               const lowerLimitDegs =
                 jointLimits?.lower_limit !== undefined
                   ? radiansToDegrees(jointLimits.lower_limit)
@@ -80,7 +81,7 @@ export const JoggingJointTab = observer(
                     getValueDegs={() => {
                       const value =
                         store.jogger.motionStream.rapidlyChangingMotionState
-                          .state.joint_position.joints[joint.index]
+                          .joint_position[joint.index]
                       return value !== undefined
                         ? radiansToDegrees(value)
                         : undefined

package/src/components/jogging/JoggingPanel.tsx

@@ -1,13 +1,14 @@
 import MoveIcon from "@mui/icons-material/OpenWith"
 import ShareIcon from "@mui/icons-material/Share"
 import { Stack, Tab, Tabs, type SxProps } from "@mui/material"
-import { NovaClient } from "@wandelbots/nova-js/v1"
+import { NovaClient } from "@wandelbots/nova-js/v2"
 import { isString } from "lodash-es"
 import { runInAction } from "mobx"
 import { observer, useLocalObservable } from "mobx-react-lite"
 import { useEffect } from "react"
 import { useTranslation } from "react-i18next"
 import { externalizeComponent } from "../../externalizeComponent"
+import { JoggerConnection } from "../../lib/JoggerConnection"
 import { LoadingCover } from "../LoadingCover"
 import { JoggingCartesianTab } from "./JoggingCartesianTab"
 import { JoggingJointTab } from "./JoggingJointTab"
@@ -58,7 +59,7 @@ export const JoggingPanel = externalizeComponent(
       try {
         let joggingStore = props.store
         if (!joggingStore) {
-          const jogger = await nova.connectJogger(props.motionGroupId)
+          const jogger = await JoggerConnection.open(nova, props.motionGroupId)
           joggingStore = await JoggingStore.loadFor(jogger)
         }
         runInAction(() => {

package/src/components/jogging/JoggingStore.ts

@@ -1,14 +1,18 @@
 import { tryParseJson } from "@wandelbots/nova-js"
 import type {
   CoordinateSystem,
-  JoggerConnection,
-  MotionGroupSpecification,
+  MotionGroupDescription,
   RobotTcp,
-} from "@wandelbots/nova-js/v1"
+} from "@wandelbots/nova-js/v2"
 import { countBy } from "lodash-es"
 import keyBy from "lodash-es/keyBy"
 import uniqueId from "lodash-es/uniqueId"
 import { autorun, makeAutoObservable, type IReactionDisposer } from "mobx"
+import type {
+  JoggerConnection,
+  JoggerOrientation,
+  Vector3Simple,
+} from "../../lib/JoggerConnection"
 
 const discreteIncrementOptions = [
   { id: "0.1", mm: 0.1, degrees: 0.05 },
@@ -105,7 +109,7 @@ export class JoggingStore {
   maxRotationVelocityDegPerSec: number = 60
 
   /** Whether to show the coordinate system select dropdown in the UI */
-  showCoordSystemSelect: boolean = true
+  showCoordSystemSelect: boolean = false
 
   /** Whether to show the TCP select dropdown in the UI */
   showTcpSelect: boolean = true
@@ -138,34 +142,34 @@ export class JoggingStore {
     const { nova } = jogger
 
     // Find out what TCPs this motion group has (we need it for jogging)
-    const [motionGroupSpec, { coordinatesystems }, { tcps }] =
-      await Promise.all([
-        nova.api.motionGroupInfos.getMotionGroupSpecification(
-          jogger.motionGroupId,
-        ),
-
-        // Fetch coord systems so user can select between them
-        nova.api.coordinateSystems.listCoordinateSystems("ROTATION_VECTOR"),
-
-        // Same for TCPs
-        nova.api.motionGroupInfos.listTcps(
-          jogger.motionGroupId,
-          "ROTATION_VECTOR",
-        ),
-      ])
-
-    return new JoggingStore(
-      jogger,
-      motionGroupSpec,
-      coordinatesystems || [],
-      tcps || [],
-    )
+    const [coordinatesystems, description] = await Promise.all([
+      // Fetch coord systems so user can select between them
+      nova.api.controller.listCoordinateSystems(
+        jogger.motionStream.controllerId,
+        "ROTATION_VECTOR",
+      ),
+
+      // Same for TCPs and other info from description
+      nova.api.motionGroup.getMotionGroupDescription(
+        jogger.motionStream.controllerId,
+        jogger.motionGroupId,
+      ),
+    ])
+
+    const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({
+      id,
+      readable_name: tcp.name,
+      position: tcp.pose.position as Vector3Simple,
+      orientation: tcp.pose.orientation as Vector3Simple,
+    }))
+
+    return new JoggingStore(jogger, coordinatesystems || [], description, tcps)
   }
 
   constructor(
     readonly jogger: JoggerConnection,
-    readonly motionGroupSpec: MotionGroupSpecification,
     readonly coordSystems: CoordinateSystem[],
+    readonly motionGroupDescription: MotionGroupDescription,
     readonly tcps: RobotTcp[],
   ) {
     // TODO workaround for default coord system on backend having a canonical id
@@ -201,30 +205,31 @@ export class JoggingStore {
   }
 
   async deactivate() {
-    const websocket = this.jogger.activeWebsocket
-
-    this.jogger.setJoggingMode("increment")
-
-    if (websocket) {
-      await websocket.closed()
+    if (this.jogger.mode === "jogging") {
+      return this.jogger.stop()
     }
   }
 
   /** Activate the jogger with current settings */
   async activate() {
     if (this.currentTab.id === "cartesian") {
-      const cartesianJoggingOpts = {
-        tcpId: this.selectedTcpId,
-        coordSystemId: this.activeCoordSystemId,
+      if (
+        this.jogger.tcp !== this.selectedTcpId ||
+        this.jogger.orientation !== this.selectedOrientation
+      ) {
+        this.jogger.setOptions({
+          tcp: this.selectedTcpId,
+          orientation: this.selectedOrientation as JoggerOrientation,
+        })
       }
 
       if (this.activeDiscreteIncrement) {
-        this.jogger.setJoggingMode("increment", cartesianJoggingOpts)
+        this.jogger.setJoggingMode("trajectory")
       } else {
-        this.jogger.setJoggingMode("cartesian", cartesianJoggingOpts)
+        this.jogger.setJoggingMode("jogging")
       }
     } else {
-      this.jogger.setJoggingMode("joint")
+      this.jogger.setJoggingMode("jogging")
     }
 
     return this.jogger

package/src/components/jogging/PoseCartesianValues.tsx

@@ -1,13 +1,12 @@
 import { Button, Stack } from "@mui/material"
-import { poseToWandelscriptString } from "@wandelbots/nova-js"
-import type { TcpPose } from "@wandelbots/nova-js/v1"
+import { poseToWandelscriptString, type Pose } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
 import { useState } from "react"
 import { externalizeComponent } from "../../externalizeComponent"
 import { CopyableText } from "../CopyableText"
 
 export type PoseCartesianValuesProps = {
-  tcpPose: TcpPose
+  tcpPose: Pose
   showCopyButton?: boolean
 }
 
@@ -44,7 +43,7 @@ export const PoseCartesianValues = externalizeComponent(
             onClick={handleCopy}
             sx={{ flexShrink: 0 }}
           >
-            { copyMessage ? copyMessage : "Copy"}
+            {copyMessage ? copyMessage : "Copy"}
           </Button>
         )}
       </Stack>