@wandelbots/wandelbots-js-react-components 2.54.5-pr.feat-upgrade-jogging-to-v2.404.50fa670 → 2.54.5-pr.feat-upgrade-robot-motions-to-v2.407.56c347d

package/dist/lib/ConnectedMotionGroup.d.ts

@@ -48,7 +48,13 @@ export declare class ConnectedMotionGroup {
     get joints(): {
         index: number;
     }[];
-    get dhParameters(): import("@wandelbots/nova-api/v2").DHParameter[] | undefined;
+    get dhParameters(): {
+        alpha?: number;
+        theta?: number;
+        a?: number;
+        d?: number;
+        reverse_rotation_direction?: boolean;
+    }[] | undefined;
     get safetyZones(): {
         [key: string]: import("@wandelbots/nova-api/v2").Collider;
     } | undefined;

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

@@ -1 +1 @@
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+{"version":3,"file":"ConnectedMotionGroup.d.ts","sourceRoot":"","sources":["../../src/lib/ConnectedMotionGroup.ts"],"names":[],"mappings":"AAAA,OAAO,EAEL,KAAK,yBAAyB,EAC/B,MAAM,qBAAqB,CAAA;AAC5B,OAAO,KAAK,EAEV,sBAAsB,EACtB,gBAAgB,EAChB,UAAU,EAEV,oBAAoB,EAErB,MAAM,wBAAwB,CAAA;AAE/B,OAAO,KAAK,KAAK,MAAM,OAAO,CAAA;AAC9B,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,oBAAoB,CAAA;AAKvD,MAAM,MAAM,YAAY,GAAG;IACzB,EAAE,EAAE,MAAM,CAAA;IACV,aAAa,EAAE,MAAM,CAAA;IACrB,QAAQ,EAAE,aAAa,CAAA;IACvB,WAAW,EAAE,aAAa,CAAA;CAC3B,CAAA;AAED,MAAM,MAAM,iBAAiB,GAAG;IAC9B,WAAW,EAAE,MAAM,CAAA;CACpB,CAAA;AAUD;;;GAGG;AACH,qBAAa,oBAAoB;IA8H7B,QAAQ,CAAC,IAAI,EAAE,UAAU;IACzB,QAAQ,CAAC,UAAU,EAAE,oBAAoB;IACzC,QAAQ,CAAC,WAAW,EAAE,gBAAgB;IACtC,QAAQ,CAAC,kBAAkB,EAAE,gBAAgB;IAC7C,QAAQ,CAAC,iBAAiB,EAAE,yBAAyB;IACrD,QAAQ,CAAC,SAAS,EAAE,OAAO;IAC3B,QAAQ,CAAC,IAAI,EAAE,YAAY,EAAE;IAC7B,QAAQ,CAAC,WAAW,EAAE,sBAAsB;IAC5C,QAAQ,CAAC,sBAAsB,EAAE,oBAAoB;IACrD,QAAQ,CAAC,qBAAqB,EAAE,yBAAyB;WAtI9C,eAAe,CAAC,IAAI,EAAE,UAAU,EAAE,cAAc,EAAE,MAAM,EAAE;WAQ1D,OAAO,CAAC,IAAI,EAAE,UAAU,EAAE,aAAa,EAAE,MAAM;IAgG5D,sBAAsB,EAAE,SAAS,GAAG,IAAI,CAAO;IAE/C,QAAQ,EAAE,GAAG,GAAG,IAAI,CAAA;IACpB,eAAe,EAAE,MAAM,CAAK;IAI5B,0BAA0B,EAAE,gBAAgB,CAAA;IAI5C,eAAe,EAAE,oBAAoB,CAAA;IAErC;;;OAGG;IACH,eAAe,EAAE,UAAU,GAAG,YAAY,GAAG,cAAc,GAAG,QAAQ,CAC1D;gBAGD,IAAI,EAAE,UAAU,EAChB,UAAU,EAAE,oBAAoB,EAChC,WAAW,EAAE,gBAAgB,EAC7B,kBAAkB,EAAE,gBAAgB,EACpC,iBAAiB,EAAE,yBAAyB,EAC5C,SAAS,EAAE,OAAO,EAClB,IAAI,EAAE,YAAY,EAAE,EACpB,WAAW,EAAE,sBAAsB,EACnC,sBAAsB,EAAE,oBAAoB,EAC5C,qBAAqB,EAAE,yBAAyB;IAsE3D,IAAI,aAAa,WAEhB;IAED,IAAI,YAAY,WAEf;IAED,IAAI,mBAAmB,WAEtB;IAED,IAAI,sBAAsB,WAGzB;IAED,kEAAkE;IAClE,IAAI,mBAAmB,WAEtB;IAED,IAAI,MAAM;;QAMT;IAGD,IAAI,YAAY;;;;;;oBASf;IAED,IAAI,WAAW;;kBAEd;IAED,oEAAoE;IACpE,IAAI,gBAAgB,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAU/C;IAED,sEAAsE;IACtE,IAAI,kBAAkB,qBAWrB;IAED;;;OAGG;IACH,IAAI,aAAa,YAOhB;IAED;;;OAGG;IACH,IAAI,qBAAqB,YAOxB;IAED;;OAEG;IACH,IAAI,uBAAuB,YAS1B;IAED;;;OAGG;IACH,IAAI,UAAU,YAMb;IAEK,UAAU;IA2BV,QAAQ;IA2Bd,gBAAgB;IAQhB,OAAO;IAKP,kBAAkB,CAAC,QAAQ,EAAE,MAAM;CAGpC"}

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

@@ -1 +1 @@
-{"version":3,"file":"MotionStreamConnection.d.ts","sourceRoot":"","sources":["../../src/lib/MotionStreamConnection.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,yBAAyB,EAAgB,MAAM,qBAAqB,CAAA;AAC7E,OAAO,KAAK,EACV,sBAAsB,EACtB,gBAAgB,EAChB,UAAU,EACV,oBAAoB,EACrB,MAAM,wBAAwB,CAAA;AA+C/B;;GAEG;AACH,qBAAa,sBAAsB;IA2D/B,QAAQ,CAAC,IAAI,EAAE,UAAU;IACzB,QAAQ,CAAC,UAAU,EAAE,oBAAoB;IACzC,QAAQ,CAAC,WAAW,EAAE,gBAAgB;IACtC,QAAQ,CAAC,WAAW,EAAE,sBAAsB;IAC5C,QAAQ,CAAC,kBAAkB,EAAE,gBAAgB;IAC7C,QAAQ,CAAC,iBAAiB,EAAE,yBAAyB;WA/D1C,IAAI,CAAC,IAAI,EAAE,UAAU,EAAE,aAAa,EAAE,MAAM;IAuDzD,0BAA0B,EAAE,gBAAgB,CAAA;gBAGjC,IAAI,EAAE,UAAU,EAChB,UAAU,EAAE,oBAAoB,EAChC,WAAW,EAAE,gBAAgB,EAC7B,WAAW,EAAE,sBAAsB,EACnC,kBAAkB,EAAE,gBAAgB,EACpC,iBAAiB,EAAE,yBAAyB;IA4EvD,IAAI,aAAa,WAEhB;IAED,IAAI,YAAY,WAEf;IAED,IAAI,sBAAsB,WAGzB;IAED,IAAI,MAAM;;QAMT;IAED,OAAO;CAGR"}
+{"version":3,"file":"MotionStreamConnection.d.ts","sourceRoot":"","sources":["../../src/lib/MotionStreamConnection.ts"],"names":[],"mappings":"AAAA,OAAO,EAAE,yBAAyB,EAAgB,MAAM,qBAAqB,CAAA;AAC7E,OAAO,KAAK,EACV,sBAAsB,EACtB,gBAAgB,EAChB,UAAU,EACV,oBAAoB,EACrB,MAAM,wBAAwB,CAAA;AAW/B;;GAEG;AACH,qBAAa,sBAAsB;IA2D/B,QAAQ,CAAC,IAAI,EAAE,UAAU;IACzB,QAAQ,CAAC,UAAU,EAAE,oBAAoB;IACzC,QAAQ,CAAC,WAAW,EAAE,gBAAgB;IACtC,QAAQ,CAAC,WAAW,EAAE,sBAAsB;IAC5C,QAAQ,CAAC,kBAAkB,EAAE,gBAAgB;IAC7C,QAAQ,CAAC,iBAAiB,EAAE,yBAAyB;WA/D1C,IAAI,CAAC,IAAI,EAAE,UAAU,EAAE,aAAa,EAAE,MAAM;IAuDzD,0BAA0B,EAAE,gBAAgB,CAAA;gBAGjC,IAAI,EAAE,UAAU,EAChB,UAAU,EAAE,oBAAoB,EAChC,WAAW,EAAE,gBAAgB,EAC7B,WAAW,EAAE,sBAAsB,EACnC,kBAAkB,EAAE,gBAAgB,EACpC,iBAAiB,EAAE,yBAAyB;IA6EvD,IAAI,aAAa,WAEhB;IAED,IAAI,YAAY,WAEf;IAED,IAAI,sBAAsB,WAGzB;IAED,IAAI,MAAM;;QAMT;IAED,OAAO;CAGR"}

package/dist/lib/motionStateUpdate.d.ts

@@ -1,5 +1,7 @@
 import type { MotionGroupState, Pose } from "@wandelbots/nova-js/v2";
+import type { Vector3Simple } from "./JoggerConnection";
 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;
+export declare function unwrapRotationVector(newRotationVectorApi: Vector3Simple, currentRotationVectorApi: Vector3Simple): Vector3Simple;
 //# sourceMappingURL=motionStateUpdate.d.ts.map

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

@@ -1 +1 @@
-{"version":3,"file":"motionStateUpdate.d.ts","sourceRoot":"","sources":["../../src/lib/motionStateUpdate.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,gBAAgB,EAAE,IAAI,EAAE,MAAM,wBAAwB,CAAA;AAEpE,wBAAgB,gBAAgB,CAC9B,cAAc,EAAE,MAAM,EAAE,EACxB,cAAc,EAAE,MAAM,EAAE,EACxB,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CAgBT;AAED,wBAAgB,SAAS,CACvB,MAAM,EAAE,IAAI,GAAG,SAAS,EACxB,MAAM,EAAE,IAAI,GAAG,SAAS,EACxB,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CA8BT;AAGD,wBAAgB,cAAc,CAC5B,cAAc,EAAE,gBAAgB,EAChC,cAAc,EAAE,gBAAgB,EAChC,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CAUT"}
+{"version":3,"file":"motionStateUpdate.d.ts","sourceRoot":"","sources":["../../src/lib/motionStateUpdate.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,gBAAgB,EAAE,IAAI,EAAE,MAAM,wBAAwB,CAAA;AACpE,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,oBAAoB,CAAA;AAGvD,wBAAgB,gBAAgB,CAC9B,cAAc,EAAE,MAAM,EAAE,EACxB,cAAc,EAAE,MAAM,EAAE,EACxB,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CAgBT;AAED,wBAAgB,SAAS,CACvB,MAAM,EAAE,IAAI,GAAG,SAAS,EACxB,MAAM,EAAE,IAAI,GAAG,SAAS,EACxB,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CA8BT;AAGD,wBAAgB,cAAc,CAC5B,cAAc,EAAE,gBAAgB,EAChC,cAAc,EAAE,gBAAgB,EAChC,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CAUT;AAED,wBAAgB,oBAAoB,CAClC,oBAAoB,EAAE,aAAa,EACnC,wBAAwB,EAAE,aAAa,GACtC,aAAa,CAkCf"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "2.54.5-pr.feat-upgrade-jogging-to-v2.404.50fa670",
+  "version": "2.54.5-pr.feat-upgrade-robot-motions-to-v2.407.56c347d",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/ProgramStateIndicator.tsx

@@ -1,8 +1,5 @@
 import { Chip, Typography, useTheme } from "@mui/material"
-import type {
-  RobotControllerStateOperationModeEnum,
-  RobotControllerStateSafetyStateEnum,
-} from "@wandelbots/nova-js/v1"
+import type { OperationMode, SafetyStateType } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
 import { useTranslation } from "react-i18next"
 import { externalizeComponent } from "../externalizeComponent"
@@ -12,9 +9,9 @@ export interface ProgramStateIndicatorProps {
   /** The current state of the program */
   programState: ProgramState
   /** The current safety state of the robot controller */
-  safetyState: RobotControllerStateSafetyStateEnum
+  safetyState: SafetyStateType
   /** The current operation mode of the robot controller */
-  operationMode: RobotControllerStateOperationModeEnum
+  operationMode: OperationMode
   /** Additional CSS class name */
   className?: string
 }

package/src/components/RobotCard.tsx

@@ -1,16 +1,13 @@
 import { Box, Button, Card, Divider, Typography, useTheme } from "@mui/material"
 import { Bounds } from "@react-three/drei"
 import { Canvas } from "@react-three/fiber"
-import type {
-  ConnectedMotionGroup,
-  RobotControllerStateOperationModeEnum,
-  RobotControllerStateSafetyStateEnum,
-} from "@wandelbots/nova-js/v1"
+import type { OperationMode, SafetyStateType } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
 import { useCallback, useEffect, useRef, useState } from "react"
 import { useTranslation } from "react-i18next"
 import type { Group } from "three"
 import { externalizeComponent } from "../externalizeComponent"
+import type { ConnectedMotionGroup } from "../lib/ConnectedMotionGroup"
 import { PresetEnvironment } from "./3d-viewport/PresetEnvironment"
 import type { ProgramState } from "./ProgramControl"
 import { ProgramStateIndicator } from "./ProgramStateIndicator"
@@ -22,9 +19,9 @@ export interface RobotCardProps {
   /** Current program state */
   programState: ProgramState
   /** Current safety state of the robot controller */
-  safetyState: RobotControllerStateSafetyStateEnum
+  safetyState: SafetyStateType
   /** Current operation mode of the robot controller */
-  operationMode: RobotControllerStateOperationModeEnum
+  operationMode: OperationMode
   /** Whether the "Drive to Home" button should be enabled */
   driveToHomeEnabled?: boolean
   /** Callback fired when "Drive to Home" button is pressed */

package/src/components/robots/DHRobot.tsx

@@ -1,5 +1,5 @@
 import { Line } from "@react-three/drei"
-import type { DHParameter } from "@wandelbots/nova-js/v1"
+import type { DHParameter } from "@wandelbots/nova-js/v2"
 import React, { useRef } from "react"
 import type * as THREE from "three"
 import { Matrix4, Quaternion, Vector3 } from "three"
@@ -113,8 +113,7 @@ export function DHRobot({
           {dhParameters!.map((param, index) => {
             const { a, b } = getLinePoints(
               param,
-              rapidlyChangingMotionState.state.joint_position.joints[index] ??
-                0,
+              rapidlyChangingMotionState.joint_position[index] ?? 0,
             )
             const jointName = `dhrobot_J0${index}`
             return (

package/src/components/robots/Robot.tsx

@@ -1,7 +1,7 @@
 import type { ThreeElements } from "@react-three/fiber"
 
-import type { ConnectedMotionGroup } from "@wandelbots/nova-js/v1"
 import type { Group } from "three"
+import type { ConnectedMotionGroup } from "../../lib/ConnectedMotionGroup"
 import { defaultGetModel } from "./robotModelLogic"
 import { SupportedRobot } from "./SupportedRobot"
 

package/src/components/robots/RobotAnimator.test.tsx

@@ -1,7 +1,4 @@
-import type {
-  DHParameter,
-  MotionGroupStateResponse,
-} from "@wandelbots/nova-api/v1"
+import type { DHParameter, MotionGroupState } from "@wandelbots/nova-api/v2"
 import { describe, expect, it, vi } from "vitest"
 import RobotAnimator from "./RobotAnimator"
 
@@ -26,12 +23,8 @@ describe("RobotAnimator", () => {
 
   it("should handle props with different numbers of joints", () => {
     // Test that the component accepts different numbers of DH parameters
-    const mockMotionState4Joints: MotionGroupStateResponse = {
-      state: {
-        joint_position: {
-          joints: [0.1, 0.2, 0.3, 0.4],
-        },
-      },
+    const mockMotionState4Joints: MotionGroupState = {
+      joint_position: [0.1, 0.2, 0.3, 0.4],
     } as any
 
     const mockDHParameters4Joints: DHParameter[] = [
@@ -41,12 +34,8 @@ describe("RobotAnimator", () => {
       { theta: 0, reverse_rotation_direction: false },
     ]
 
-    const mockMotionState7Joints: MotionGroupStateResponse = {
-      state: {
-        joint_position: {
-          joints: [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7],
-        },
-      },
+    const mockMotionState7Joints: MotionGroupState = {
+      joint_position: [0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7],
     } as any
 
     const mockDHParameters7Joints: DHParameter[] = Array(7).fill({
@@ -63,9 +52,7 @@ describe("RobotAnimator", () => {
       }
       // Verify props are correctly typed
       expect(props4.dhParameters).toHaveLength(4)
-      expect(
-        props4.rapidlyChangingMotionState.state.joint_position.joints,
-      ).toHaveLength(4)
+      expect(props4.rapidlyChangingMotionState.joint_position).toHaveLength(4)
     }).not.toThrow()
 
     expect(() => {
@@ -75,9 +62,7 @@ describe("RobotAnimator", () => {
         children: null,
       }
       expect(props7.dhParameters).toHaveLength(7)
-      expect(
-        props7.rapidlyChangingMotionState.state.joint_position.joints,
-      ).toHaveLength(7)
+      expect(props7.rapidlyChangingMotionState.joint_position).toHaveLength(7)
     }).not.toThrow()
   })
 

package/src/components/robots/RobotAnimator.tsx

@@ -1,8 +1,5 @@
 import { useFrame, useThree } from "@react-three/fiber"
-import type {
-  DHParameter,
-  MotionGroupStateResponse,
-} from "@wandelbots/nova-js/v1"
+import type { DHParameter, MotionGroupState } from "@wandelbots/nova-js/v2"
 import React, { useEffect, useRef } from "react"
 import type { Group, Object3D } from "three"
 import { useAutorun } from "../utils/hooks"
@@ -10,7 +7,7 @@ import { ValueInterpolator } from "../utils/interpolation"
 import { collectJoints } from "./robotModelLogic"
 
 type RobotAnimatorProps = {
-  rapidlyChangingMotionState: MotionGroupStateResponse
+  rapidlyChangingMotionState: MotionGroupState
   dhParameters: DHParameter[]
   onRotationChanged?: (joints: Object3D[], jointValues: number[]) => void
   children: React.ReactNode
@@ -29,10 +26,9 @@ export default function RobotAnimator({
 
   // Initialize interpolator
   useEffect(() => {
-    const initialJointValues =
-      rapidlyChangingMotionState.state.joint_position.joints.filter(
-        (item) => item !== undefined,
-      )
+    const initialJointValues = rapidlyChangingMotionState.joint_position.filter(
+      (item) => item !== undefined,
+    )
 
     interpolatorRef.current = new ValueInterpolator(initialJointValues, {
       tension: 120, // Controls spring stiffness - higher values create faster, more responsive motion
@@ -91,10 +87,9 @@ export default function RobotAnimator({
   }
 
   useAutorun(() => {
-    const newJointValues =
-      rapidlyChangingMotionState.state.joint_position.joints.filter(
-        (item) => item !== undefined,
-      )
+    const newJointValues = rapidlyChangingMotionState.joint_position.filter(
+      (item) => item !== undefined,
+    )
 
     requestAnimationFrame(() => updateJoints(newJointValues))
   })

package/src/components/robots/SupportedRobot.tsx

@@ -1,8 +1,5 @@
 import type { ThreeElements } from "@react-three/fiber"
-import type {
-  DHParameter,
-  MotionGroupStateResponse,
-} from "@wandelbots/nova-js/v1"
+import type { DHParameter, MotionGroupState } from "@wandelbots/nova-js/v2"
 import { Suspense, useCallback, useEffect, useState } from "react"
 import { DHRobot } from "./DHRobot"
 
@@ -16,12 +13,12 @@ import { applyGhostStyle, removeGhostStyle } from "./ghostStyle"
 import { defaultGetModel } from "./robotModelLogic"
 
 export type DHRobotProps = {
-  rapidlyChangingMotionState: MotionGroupStateResponse
+  rapidlyChangingMotionState: MotionGroupState
   dhParameters: Array<DHParameter>
 } & ThreeElements["group"]
 
 export type SupportedRobotProps = {
-  rapidlyChangingMotionState: MotionGroupStateResponse
+  rapidlyChangingMotionState: MotionGroupState
   modelFromController: string
   dhParameters: DHParameter[]
   flangeRef?: React.Ref<THREE.Group>

package/src/components/robots/manufacturerHomePositions.ts

@@ -1,4 +1,4 @@
-import { Manufacturer } from "@wandelbots/nova-js/v1"
+import { Manufacturer } from "@wandelbots/nova-js/v2"
 
 /**
  * Default home configs for different robot manufacturers.

package/src/components/safetyBar/OperationModeIndicator.tsx

@@ -1,5 +1,5 @@
 import { useTheme, type PopoverOrigin } from "@mui/material"
-import type { RobotControllerStateOperationModeEnum } from "@wandelbots/nova-js/v1"
+import type { OperationMode } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
 import { Trans, useTranslation } from "react-i18next"
 import OperationModeAutomaticIcon from "./icons/operation-mode-automatic.svg"
@@ -8,7 +8,7 @@ import OperationModeManualIcon from "./icons/operation-mode-manual.svg"
 import { IndicatorWithExplanation } from "./IndicatorWithExplanation"
 
 interface OperationModeIndicatorProps {
-  operationMode: RobotControllerStateOperationModeEnum
+  operationMode: OperationMode
   anchorOrigin?: PopoverOrigin
   transformOrigin?: PopoverOrigin
   compact: boolean

package/src/components/safetyBar/SafetyBar.tsx

@@ -1,8 +1,5 @@
 import { Divider, Stack, type PopoverOrigin } from "@mui/material"
-import type {
-  RobotControllerStateOperationModeEnum,
-  RobotControllerStateSafetyStateEnum,
-} from "@wandelbots/nova-js/v1"
+import type { OperationMode, SafetyStateType } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
 import { externalizeComponent } from "../../externalizeComponent"
 import { ControllerTypeIndicator } from "./ControllerTypeIndicator"
@@ -12,8 +9,8 @@ import { SafetyStateIndicator } from "./SafetyStateIndicator"
 export interface SafetyBarProps {
   isVirtual: boolean
   motionGroupId: string
-  operationMode: RobotControllerStateOperationModeEnum
-  safetyState: RobotControllerStateSafetyStateEnum
+  operationMode: OperationMode
+  safetyState: SafetyStateType
   anchorOrigin?: PopoverOrigin
   transformOrigin?: PopoverOrigin
   compact?: boolean

package/src/components/safetyBar/SafetyStateIndicator.tsx

@@ -1,5 +1,5 @@
 import { useTheme, type PopoverOrigin } from "@mui/material"
-import type { RobotControllerStateSafetyStateEnum } from "@wandelbots/nova-js/v1"
+import type { SafetyStateType } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
 import { Trans, useTranslation } from "react-i18next"
 import { assertUnreachable } from "../utils/errorHandling"
@@ -11,7 +11,7 @@ import SafetyStateStopIcon from "./icons/safety-state-stop.svg"
 import { IndicatorWithExplanation } from "./IndicatorWithExplanation"
 
 interface SafetyStateIndicatorProps {
-  safetyState: RobotControllerStateSafetyStateEnum
+  safetyState: SafetyStateType
   anchorOrigin?: PopoverOrigin
   transformOrigin?: PopoverOrigin
   compact: boolean

package/src/lib/ConnectedMotionGroup.ts

@@ -3,6 +3,7 @@ import {
   type AutoReconnectingWebsocket,
 } from "@wandelbots/nova-js"
 import type {
+  DHParameter,
   MotionGroupDescription,
   MotionGroupState,
   NovaClient,
@@ -28,6 +29,14 @@ export type MotionGroupOption = {
   selectionId: string
 }
 
+const EMPTY_DH_PARAMETER: DHParameter = {
+  a: 0,
+  d: 0,
+  alpha: 0,
+  theta: 0,
+  reverse_rotation_direction: false,
+}
+
 /**
  * Store representing the current state of a connected motion group.
  * API v2 version, not used yet in the components.
@@ -196,7 +205,7 @@ export class ConnectedMotionGroup {
         )
       }
 
-      // handle motionState message
+      // handle joint position changes
       if (
         !jointValuesEqual(
           this.rapidlyChangingMotionState.joint_position,
@@ -205,11 +214,12 @@ export class ConnectedMotionGroup {
         )
       ) {
         runInAction(() => {
-          this.rapidlyChangingMotionState = latestMotionState
+          this.rapidlyChangingMotionState.joint_position =
+            latestMotionState.joint_position
         })
       }
 
-      // handle tcpPose message
+      // handle tcp pose changes
       if (
         !tcpMotionEqual(
           this.rapidlyChangingMotionState,
@@ -266,8 +276,16 @@ export class ConnectedMotionGroup {
     })
   }
 
+  // Please note that API v2 omits 0 values
   get dhParameters() {
-    return this.description.dh_parameters
+    if (this.description.dh_parameters === undefined) {
+      return undefined
+    }
+
+    return this.description.dh_parameters.map((dh_param) => ({
+      ...EMPTY_DH_PARAMETER,
+      ...dh_param,
+    }))
   }
 
   get safetyZones() {

package/src/lib/MotionStreamConnection.ts

@@ -6,51 +6,15 @@ import type {
   RobotControllerState,
 } from "@wandelbots/nova-js/v2"
 import { makeAutoObservable, runInAction } from "mobx"
-import { Vector3 } from "three"
 import type { Vector3Simple } from "./JoggerConnection"
-import { jointValuesEqual, tcpMotionEqual } from "./motionStateUpdate"
+import {
+  jointValuesEqual,
+  tcpMotionEqual,
+  unwrapRotationVector,
+} from "./motionStateUpdate"
 
 const MOTION_DELTA_THRESHOLD = 0.0001
 
-function unwrapRotationVector(
-  newRotationVectorApi: Vector3Simple,
-  currentRotationVectorApi: Vector3Simple,
-): Vector3Simple {
-  const currentRotationVector = new Vector3(
-    currentRotationVectorApi[0],
-    currentRotationVectorApi[1],
-    currentRotationVectorApi[2],
-  )
-
-  const newRotationVector = new Vector3(
-    newRotationVectorApi[0],
-    newRotationVectorApi[1],
-    newRotationVectorApi[2],
-  )
-
-  const currentAngle = currentRotationVector.length()
-  const currentAxis = currentRotationVector.normalize()
-
-  let newAngle = newRotationVector.length()
-  let newAxis = newRotationVector.normalize()
-
-  // Align rotation axes
-  if (newAxis.dot(currentAxis) < 0) {
-    newAngle = -newAngle
-    newAxis = newAxis.multiplyScalar(-1.0)
-  }
-
-  // Shift rotation angle close to previous one to extend domain of rotation angles beyond [0, pi]
-  // - this simplifies interpolation and prevents abruptly changing signs of the rotation angles
-  let angleDifference = newAngle - currentAngle
-  angleDifference -=
-    2.0 * Math.PI * Math.floor((angleDifference + Math.PI) / (2.0 * Math.PI))
-
-  newAngle = currentAngle + angleDifference
-
-  return [...newAxis.multiplyScalar(newAngle)] as Vector3Simple
-}
-
 /**
  * Store representing the current state of a connected motion group.
  */
@@ -142,7 +106,8 @@ export class MotionStreamConnection {
         )
       ) {
         runInAction(() => {
-          this.rapidlyChangingMotionState = latestMotionState
+          this.rapidlyChangingMotionState.joint_position =
+            latestMotionState.joint_position
         })
       }
 

package/src/lib/motionStateUpdate.ts

@@ -1,4 +1,6 @@
 import type { MotionGroupState, Pose } from "@wandelbots/nova-js/v2"
+import type { Vector3Simple } from "./JoggerConnection"
+import { Vector3 } from "three"
 
 export function jointValuesEqual(
   oldJointValues: number[],
@@ -74,3 +76,42 @@ export function tcpMotionEqual(
     )
   )
 }
+
+export function unwrapRotationVector(
+  newRotationVectorApi: Vector3Simple,
+  currentRotationVectorApi: Vector3Simple,
+): Vector3Simple {
+  const currentRotationVector = new Vector3(
+    currentRotationVectorApi[0],
+    currentRotationVectorApi[1],
+    currentRotationVectorApi[2],
+  )
+
+  const newRotationVector = new Vector3(
+    newRotationVectorApi[0],
+    newRotationVectorApi[1],
+    newRotationVectorApi[2],
+  )
+
+  const currentAngle = currentRotationVector.length()
+  const currentAxis = currentRotationVector.normalize()
+
+  let newAngle = newRotationVector.length()
+  let newAxis = newRotationVector.normalize()
+
+  // Align rotation axes
+  if (newAxis.dot(currentAxis) < 0) {
+    newAngle = -newAngle
+    newAxis = newAxis.multiplyScalar(-1.0)
+  }
+
+  // Shift rotation angle close to previous one to extend domain of rotation angles beyond [0, pi]
+  // - this simplifies interpolation and prevents abruptly changing signs of the rotation angles
+  let angleDifference = newAngle - currentAngle
+  angleDifference -=
+    2.0 * Math.PI * Math.floor((angleDifference + Math.PI) / (2.0 * Math.PI))
+
+  newAngle = currentAngle + angleDifference
+
+  return [...newAxis.multiplyScalar(newAngle)] as Vector3Simple
+}