@wandelbots/wandelbots-js-react-components 2.54.5 → 3.0.0

package/dist/lib/ConnectedMotionGroup.d.ts

@@ -0,0 +1,90 @@
+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(): {
+        alpha?: number;
+        theta?: number;
+        a?: number;
+        d?: number;
+        reverse_rotation_direction?: boolean;
+    }[] | 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

@@ -0,0 +1 @@
+{"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/JoggerConnection.d.ts

@@ -0,0 +1,113 @@
+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;
+    onBlocked?: () => 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, 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

@@ -0,0 +1 @@
+{"version":3,"file":"JoggerConnection.d.ts","sourceRoot":"","sources":["../../src/lib/JoggerConnection.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,yBAAyB,EAG1B,MAAM,qBAAqB,CAAA;AAC5B,OAAO,KAAK,EAGV,UAAU,EACV,IAAI,EAEL,MAAM,wBAAwB,CAAA;AAG/B,OAAO,EAAE,sBAAsB,EAAE,MAAM,0BAA0B,CAAA;AAEjE,MAAM,MAAM,aAAa,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;AAIpD,MAAM,MAAM,uBAAuB,GAAG;IAEpC,IAAI,CAAC,EAAE,UAAU,CAAA;IAGjB,OAAO,CAAC,EAAE,MAAM,CAAA;IAEhB;;;;OAIG;IACH,OAAO,CAAC,EAAE,CAAC,GAAG,EAAE,OAAO,KAAK,IAAI,CAAA;IAGhC,GAAG,CAAC,EAAE,MAAM,CAAA;IAMZ,WAAW,CAAC,EAAE,iBAAiB,CAAA;CAChC,CAAA;AAMD,MAAM,MAAM,UAAU,GAAG,SAAS,GAAG,YAAY,GAAG,KAAK,CAAA;AAGzD,MAAM,MAAM,iBAAiB,GAAG,UAAU,GAAG,MAAM,CAAA;AAEnD,qBAAa,gBAAgB;IAuDzB,QAAQ,CAAC,YAAY,EAAE,sBAAsB;IAC7C,QAAQ,CAAC,OAAO,EAAE,uBAAuB,GAAG,SAAS;IAvDvD,gBAAgB,SAAuB;IACvC,mBAAmB,SAA0B;IAC7C,YAAY,EAAY,UAAU,CAAA;IAClC,WAAW,SAAW;IAEtB,oBAAoB,SAAO;IAC3B,mBAAmB,EAAiB,iBAAiB,CAAA;IAErD,IAAI,EAAE,UAAU,CAAQ;IACxB,aAAa,EAAE,yBAAyB,GAAG,IAAI,CAAO;IACtD,gBAAgB,EAAE,yBAAyB,GAAG,IAAI,CAAO;IACzD,OAAO,EAAE,MAAM,CAA4B;IAC3C,GAAG,EAAE,MAAM,CAAA;IAEX,WAAW,EAAE,iBAAiB,CAAA;IAC9B,OAAO,CAAC,EAAE,CAAC,GAAG,EAAE,OAAO,KAAK,IAAI,CAAA;IAChC,SAAS,CAAC,EAAE,MAAM,IAAI,CAAA;IAEtB;;;;;;;;;;;;;;;;OAgBG;WACU,IAAI,CACf,IAAI,EAAE,UAAU,EAChB,aAAa,EAAE,MAAM,EACrB,OAAO,GAAE,uBAA4B;gBAgB5B,YAAY,EAAE,sBAAsB,EACpC,OAAO,GAAE,uBAAuB,GAAG,SAAc;IAWtD,UAAU,CAAC,OAAO,EAAE,OAAO,CAAC,uBAAuB,CAAC;IA4B1D,IAAI,aAAa,WAEhB;IAED,IAAI,IAAI,eAEP;IAED,IAAI,SAAS,WAEZ;IAWK,IAAI;IAiBJ,OAAO;IAsBP,cAAc,CAAC,IAAI,EAAE,UAAU,EAAE,0BAA0B,UAAO;IAsBlE,0BAA0B;IAgDhC;;OAEG;IACG,YAAY,CAAC,EACjB,KAAK,EACL,SAAS,EACT,kBAAkB,GACnB,EAAE;QACD,mCAAmC;QACnC,KAAK,EAAE,MAAM,CAAA;QACb,yCAAyC;QACzC,SAAS,EAAE,GAAG,GAAG,GAAG,CAAA;QACpB,kDAAkD;QAClD,kBAAkB,EAAE,MAAM,CAAA;KAC3B;IAkBD;;OAEG;IACG,YAAY,CAAC,EACjB,IAAI,EACJ,SAAS,EACT,gBAAgB,GACjB,EAAE;QACD,IAAI,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QACrB,SAAS,EAAE,GAAG,GAAG,GAAG,CAAA;QACpB,gBAAgB,EAAE,MAAM,CAAA;KACzB;IAmBD;;OAEG;IACG,SAAS,CAAC,EACd,IAAI,EACJ,SAAS,EACT,kBAAkB,GACnB,EAAE;QACD,IAAI,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QACrB,SAAS,EAAE,GAAG,GAAG,GAAG,CAAA;QACpB,kBAAkB,EAAE,MAAM,CAAA;KAC3B;IAkBD;;;;;;OAMG;IACG,6BAA6B,CAAC,EAClC,cAAc,EACd,aAAa,EAEb,uBAAuB,EACvB,IAAI,EACJ,SAAS,EACT,MAAM,GACP,EAAE;QACD,cAAc,EAAE,IAAI,CAAA;QACpB,aAAa,EAAE,aAAa,CAAA;QAC5B,aAAa,EAAE,MAAM,CAAA;QACrB,uBAAuB,EAAE,MAAM,CAAA;QAC/B,IAAI,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QACrB,SAAS,EAAE,GAAG,GAAG,GAAG,CAAA;QACpB,MAAM,EACF;YACE,IAAI,EAAE,QAAQ,CAAA;YACd,YAAY,EAAE,MAAM,CAAA;SACrB,GACD;YACE,IAAI,EAAE,WAAW,CAAA;YACjB,UAAU,EAAE,MAAM,CAAA;SACnB,CAAA;KACN;CAiRF"}

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

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

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

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

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

@@ -0,0 +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;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/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 +1,7 @@
+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

@@ -0,0 +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"}

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": "2.54.5",
+  "version": "3.0.0",
   "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": "3.3.1",
     "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/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/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/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

@@ -1,14 +1,16 @@
 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 { JoggingBlocked } from "./JoggingBlocked"
 import { JoggingCartesianTab } from "./JoggingCartesianTab"
 import { JoggingJointTab } from "./JoggingJointTab"
 import { JoggingStore } from "./JoggingStore"
@@ -58,7 +60,7 @@ 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(() => {
@@ -181,7 +183,6 @@ const JoggingPanelInner = observer(
             )
           })}
         </Tabs>
-
         {/* Current tab content */}
         <Stack
           flexGrow={1}
@@ -190,6 +191,8 @@ const JoggingPanelInner = observer(
         >
           {renderTabContent()}
         </Stack>
+        {/* Overlay when jogging connection is blocked */}
+        {store.blocked && <JoggingBlocked store={store} />}
       </Stack>
     )
   },