@wandelbots/wandelbots-js-react-components 2.54.5-pr.feat-upgrade-robot-motions-to-v2.407.caf8b62 → 2.54.5-pr.feat-jogging-blocked.406.76c87b3

package/dist/lib/ConnectedMotionGroup.d.ts

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

@@ -32,6 +32,7 @@ export declare class JoggerConnection {
     tcp: string;
     orientation: JoggerOrientation;
     onError?: (err: unknown) => void;
+    onBlocked?: () => void;
     /**
      * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
      *
@@ -93,7 +94,7 @@ export declare class JoggerConnection {
      * 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, }: {
+    runIncrementalCartesianMotion({ currentTcpPose, currentJoints, velocityInRelevantUnits, axis, direction, motion, }: {
         currentTcpPose: Pose;
         currentJoints: Vector3Simple;
         coordSystemId: string;

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

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

@@ -1 +1 @@
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+{"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"}

package/dist/lib/motionStateUpdate.d.ts

@@ -1,7 +1,5 @@
 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;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"}
+{"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"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "2.54.5-pr.feat-upgrade-robot-motions-to-v2.407.caf8b62",
+  "version": "2.54.5-pr.feat-jogging-blocked.406.76c87b3",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/ProgramStateIndicator.tsx

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

package/src/components/RobotCard.tsx

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

package/src/components/jogging/JoggingBlocked.tsx

@@ -0,0 +1,37 @@
+import { Alert, AlertTitle, Backdrop, Button, Stack } from "@mui/material"
+import { observer } from "mobx-react-lite"
+import { useTranslation } from "react-i18next"
+import { type JoggingStore } from "./JoggingStore"
+
+export const JoggingBlocked = observer(({ store }: { store: JoggingStore }) => {
+  const { t } = useTranslation()
+
+  return (
+    <Backdrop
+      open={true}
+      sx={{
+        position: "absolute",
+        zIndex: (theme) => theme.zIndex.drawer + 1,
+        color: "#fff",
+        background: "rgba(15, 15, 15, 0.88)",
+        justifyContent: "flex-start",
+        alignItems: "flex-start",
+      }}
+    >
+      <Stack sx={{ m: 2, width: "100%" }}>
+        <Alert severity="error" sx={{ mb: 2 }}>
+          <AlertTitle>{t("Jogging.Blocked.ti")}</AlertTitle>
+          {t("Jogging.Blocked.lb")}
+        </Alert>
+
+        <Button
+          variant="contained"
+          color="secondary"
+          onClick={() => store.unblock()}
+        >
+          {t("Jogging.Blocked.Reenable.bt")}
+        </Button>
+      </Stack>
+    </Backdrop>
+  )
+})

package/src/components/jogging/JoggingPanel.tsx

@@ -10,6 +10,7 @@ import { useTranslation } from "react-i18next"
 import { externalizeComponent } from "../../externalizeComponent"
 import { JoggerConnection } from "../../lib/JoggerConnection"
 import { LoadingCover } from "../LoadingCover"
+import { JoggingBlocked } from "./JoggingBlocked"
 import { JoggingCartesianTab } from "./JoggingCartesianTab"
 import { JoggingJointTab } from "./JoggingJointTab"
 import { JoggingStore } from "./JoggingStore"
@@ -182,7 +183,6 @@ const JoggingPanelInner = observer(
             )
           })}
         </Tabs>
-
         {/* Current tab content */}
         <Stack
           flexGrow={1}
@@ -191,6 +191,8 @@ const JoggingPanelInner = observer(
         >
           {renderTabContent()}
         </Stack>
+        {/* Overlay when jogging connection is blocked */}
+        {store.blocked && <JoggingBlocked store={store} />}
       </Stack>
     )
   },

package/src/components/jogging/JoggingStore.ts

@@ -59,6 +59,9 @@ export class JoggingStore {
   /** Locks to prevent UI interactions during certain operations */
   locks = new Set<string>()
 
+  /** Block jogging UI interactions when connection is taken by another jogger */
+  blocked: boolean = false
+
   /**
    * Id of selected coordinate system from among those defined on the API side
    */
@@ -183,13 +186,21 @@ export class JoggingStore {
     this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || "world"
     this.selectedTcpId = tcps[0]?.id || ""
 
+    // Make all properties observable and actions auto-bound
     makeAutoObservable(this, {}, { autoBind: true })
 
+    // Register blocked watching
+    this.jogger.onBlocked = () => {
+      this.block()
+    }
+
     // Load user settings from local storage if available
     this.loadFromLocalStorage()
 
     // Automatically save user settings to local storage when save changes
     this.disposers.push(autorun(() => this.saveToLocalStorage()))
+
+    // Assign joggingStore to window
     ;(window as any).joggingStore = this
   }
 
@@ -438,6 +449,17 @@ export class JoggingStore {
     this.locks.delete(id)
   }
 
+  block() {
+    this.blocked = true
+  }
+
+  unblock() {
+    this.blocked = false
+    if (this.jogger.mode === "jogging") {
+      this.jogger.initializeJoggingWebsocket()
+    }
+  }
+
   /** Lock the UI until the given async callback resolves */
   async withMotionLock(fn: () => Promise<void>) {
     const lockId = uniqueId()

package/src/components/robots/DHRobot.tsx

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

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

package/src/components/robots/RobotAnimator.tsx

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

package/src/components/robots/SupportedRobot.tsx

@@ -1,5 +1,8 @@
 import type { ThreeElements } from "@react-three/fiber"
-import type { DHParameter, MotionGroupState } from "@wandelbots/nova-js/v2"
+import type {
+  DHParameter,
+  MotionGroupStateResponse,
+} from "@wandelbots/nova-js/v1"
 import { Suspense, useCallback, useEffect, useState } from "react"
 import { DHRobot } from "./DHRobot"
 
@@ -13,12 +16,12 @@ import { applyGhostStyle, removeGhostStyle } from "./ghostStyle"
 import { defaultGetModel } from "./robotModelLogic"
 
 export type DHRobotProps = {
-  rapidlyChangingMotionState: MotionGroupState
+  rapidlyChangingMotionState: MotionGroupStateResponse
   dhParameters: Array<DHParameter>
 } & ThreeElements["group"]
 
 export type SupportedRobotProps = {
-  rapidlyChangingMotionState: MotionGroupState
+  rapidlyChangingMotionState: MotionGroupStateResponse
   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/v2"
+import { Manufacturer } from "@wandelbots/nova-js/v1"
 
 /**
  * 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 { OperationMode } from "@wandelbots/nova-js/v2"
+import type { RobotControllerStateOperationModeEnum } from "@wandelbots/nova-js/v1"
 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: OperationMode
+  operationMode: RobotControllerStateOperationModeEnum
   anchorOrigin?: PopoverOrigin
   transformOrigin?: PopoverOrigin
   compact: boolean

package/src/components/safetyBar/SafetyBar.tsx

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

package/src/i18n/locales/de/translations.json

@@ -4,6 +4,9 @@
   "Jogging.Velocity.lb": "Geschwindigkeit",
   "General.degree.variable": "{{amount}}°",
   "General.mm.variable": "{{amount}} mm",
+  "Jogging.Blocked.ti": "Verbindung blockiert",
+  "Jogging.Blocked.lb": "Ein anderer Client kontrolliert das Jogging.",
+  "Jogging.Blocked.Reenable.bt": "Neu verbinden",
   "Jogging.Cartesian.MotionType.lb": "Bewegungstyp",
   "Jogging.Cartesian.Translation.bt": "Translation",
   "Jogging.Cartesian.Rotation.bt": "Rotation",

package/src/i18n/locales/en/translations.json

@@ -4,6 +4,9 @@
   "Jogging.Velocity.lb": "Velocity",
   "General.degree.variable": "{{amount}}°",
   "General.mm.variable": "{{amount}} mm",
+  "Jogging.Blocked.ti": "Connection blocked",
+  "Jogging.Blocked.lb": "Another client is currently controlling the jogging.",
+  "Jogging.Blocked.Reenable.bt": "Reconnect",
   "Jogging.Cartesian.MotionType.lb": "Motion type",
   "Jogging.Cartesian.Translation.bt": "Translation",
   "Jogging.Cartesian.Rotation.bt": "Rotation",

package/src/lib/ConnectedMotionGroup.ts

@@ -3,7 +3,6 @@ import {
   type AutoReconnectingWebsocket,
 } from "@wandelbots/nova-js"
 import type {
-  DHParameter,
   MotionGroupDescription,
   MotionGroupState,
   NovaClient,
@@ -29,14 +28,6 @@ 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.
@@ -205,7 +196,7 @@ export class ConnectedMotionGroup {
         )
       }
 
-      // handle joint position changes
+      // handle motionState message
       if (
         !jointValuesEqual(
           this.rapidlyChangingMotionState.joint_position,
@@ -214,12 +205,11 @@ export class ConnectedMotionGroup {
         )
       ) {
         runInAction(() => {
-          this.rapidlyChangingMotionState.joint_position =
-            latestMotionState.joint_position
+          this.rapidlyChangingMotionState = latestMotionState
         })
       }
 
-      // handle tcp pose changes
+      // handle tcpPose message
       if (
         !tcpMotionEqual(
           this.rapidlyChangingMotionState,
@@ -276,16 +266,8 @@ export class ConnectedMotionGroup {
     })
   }
 
-  // Please note that API v2 omits 0 values
   get dhParameters() {
-    if (this.description.dh_parameters === undefined) {
-      return undefined
-    }
-
-    return this.description.dh_parameters.map((dh_param) => ({
-      ...EMPTY_DH_PARAMETER,
-      ...dh_param,
-    }))
+    return this.description.dh_parameters
   }
 
   get safetyZones() {

package/src/lib/JoggerConnection.ts

@@ -16,6 +16,8 @@ import { MotionStreamConnection } from "./MotionStreamConnection"
 
 export type Vector3Simple = [number, number, number]
 
+const API_ERROR_CONNECTION_BLOCKED = `Movement request rejected. Another client is currently executing a 'Jogging' motion!`
+
 export type JoggerConnectionOptions = {
   // The mode of the jogger connection - see type description of JoggerMode for details
   mode?: JoggerMode
@@ -66,6 +68,7 @@ export class JoggerConnection {
   // coordinateSystem?: string
   orientation: JoggerOrientation
   onError?: (err: unknown) => void
+  onBlocked?: () => void
 
   /**
    * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
@@ -248,12 +251,16 @@ export class JoggerConnection {
           return
         }
 
-        if (
-          (data && "error" in data) ||
-          data?.result?.kind === "MOTION_ERROR"
-        ) {
+        if (data?.result?.kind === "MOTION_ERROR") {
           clearTimeout(connectionFailedTimeout)
-          if (this.onError) {
+          if (
+            this.onBlocked &&
+            data?.result?.message.includes(API_ERROR_CONNECTION_BLOCKED)
+          ) {
+            this.joggingSocket?.dispose()
+            this.onBlocked()
+            return
+          } else if (this.onError) {
             this.onError(ev.data)
           } else {
             reject(new Error(ev.data))
@@ -370,7 +377,7 @@ export class JoggerConnection {
   async runIncrementalCartesianMotion({
     currentTcpPose,
     currentJoints,
-    coordSystemId,
+    // coordSystemId,
     velocityInRelevantUnits,
     axis,
     direction,
@@ -625,6 +632,14 @@ export class JoggerConnection {
         )
       }
 
+      if (
+        this.onBlocked &&
+        data.result.message?.includes(API_ERROR_CONNECTION_BLOCKED)
+      ) {
+        this.onBlocked()
+        return
+      }
+
       if (data.result.kind === "INITIALIZE_RECEIVED") {
         messageInitializeMovementResponse(data.result)
       } else if (data.result.kind === "START_RECEIVED") {