@wandelbots/wandelbots-js-react-components 2.59.0-pr.dev-fix-flaky-task.488.1957fef → 2.59.0

package/src/components/jogging/JoggingStore.ts

@@ -1,18 +1,14 @@
 import { tryParseJson } from "@wandelbots/nova-js"
 import type {
   CoordinateSystem,
-  MotionGroupDescription,
+  JoggerConnection,
+  MotionGroupSpecification,
   RobotTcp,
-} from "@wandelbots/nova-js/v2"
+} from "@wandelbots/nova-js/v1"
 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 },
@@ -59,9 +55,6 @@ 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
    */
@@ -112,7 +105,7 @@ export class JoggingStore {
   maxRotationVelocityDegPerSec: number = 60
 
   /** Whether to show the coordinate system select dropdown in the UI */
-  showCoordSystemSelect: boolean = false
+  showCoordSystemSelect: boolean = true
 
   /** Whether to show the TCP select dropdown in the UI */
   showTcpSelect: boolean = true
@@ -145,34 +138,34 @@ export class JoggingStore {
     const { nova } = jogger
 
     // Find out what TCPs this motion group has (we need it for jogging)
-    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)
+    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 || [],
+    )
   }
 
   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
@@ -186,21 +179,13 @@ 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
   }
 
@@ -216,31 +201,30 @@ export class JoggingStore {
   }
 
   async deactivate() {
-    if (this.jogger.mode === "jogging") {
-      return this.jogger.stop()
+    const websocket = this.jogger.activeWebsocket
+
+    this.jogger.setJoggingMode("increment")
+
+    if (websocket) {
+      await websocket.closed()
     }
   }
 
   /** Activate the jogger with current settings */
   async activate() {
     if (this.currentTab.id === "cartesian") {
-      if (
-        this.jogger.tcp !== this.selectedTcpId ||
-        this.jogger.orientation !== this.selectedOrientation
-      ) {
-        this.jogger.setOptions({
-          tcp: this.selectedTcpId,
-          orientation: this.selectedOrientation as JoggerOrientation,
-        })
+      const cartesianJoggingOpts = {
+        tcpId: this.selectedTcpId,
+        coordSystemId: this.activeCoordSystemId,
       }
 
       if (this.activeDiscreteIncrement) {
-        this.jogger.setJoggingMode("trajectory")
+        this.jogger.setJoggingMode("increment", cartesianJoggingOpts)
       } else {
-        this.jogger.setJoggingMode("jogging")
+        this.jogger.setJoggingMode("cartesian", cartesianJoggingOpts)
       }
     } else {
-      this.jogger.setJoggingMode("jogging")
+      this.jogger.setJoggingMode("joint")
     }
 
     return this.jogger
@@ -449,17 +433,6 @@ 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/jogging/PoseCartesianValues.tsx

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

package/src/components/jogging/PoseJointValues.tsx

@@ -1,18 +1,19 @@
 import { Button, Stack } from "@mui/material"
+import type { Joints } from "@wandelbots/nova-api/v1"
 import { observer } from "mobx-react-lite"
 import { useState } from "react"
 import { externalizeComponent } from "../../externalizeComponent"
 import { CopyableText } from "../CopyableText"
 
 export type PoseJointValuesProps = {
-  joints: Array<number>
+  joints: Joints
   showCopyButton?: boolean
 }
 
 export const PoseJointValues = externalizeComponent(
   observer(({ joints, showCopyButton = false }: PoseJointValuesProps) => {
     const [copyMessage, setCopyMessage] = useState<string | null>(null)
-    const poseString = `[${joints.map((j: number) => parseFloat(j.toFixed(4))).join(", ")}]`
+    const poseString = `[${joints.joints.map((j: number) => parseFloat(j.toFixed(4))).join(", ")}]`
 
     const handleCopy = async () => {
       try {
@@ -42,7 +43,7 @@ export const PoseJointValues = externalizeComponent(
             onClick={handleCopy}
             sx={{ flexShrink: 0 }}
           >
-            {copyMessage ? copyMessage : "Copy"}
+            { copyMessage ? copyMessage : "Copy"}
           </Button>
         )}
       </Stack>

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-api/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/GenericRobot.tsx

@@ -1,12 +1,12 @@
 import { useGLTF } from "@react-three/drei"
 import type { ThreeElements } from "@react-three/fiber"
-import React, { useCallback, useEffect, useState } from "react"
+import React, { useCallback } from "react"
 import type { Group, Mesh } from "three"
 import { type Object3D } from "three"
 import { isFlange, parseRobotModel } from "./robotModelLogic"
 
 export type RobotModelProps = {
-  modelURL: string | Promise<string>
+  modelURL: string
   /**
    * Called after a robot model has been loaded and
    * rendered into the threejs scene
@@ -19,25 +19,16 @@ function isMesh(node: Object3D): node is Mesh {
   return node.type === "Mesh"
 }
 
-// Separate component that only renders when we have a valid URL
-function LoadedRobotModel({ 
-  url, 
-  flangeRef, 
-  postModelRender, 
-  ...props 
-}: { 
-  url: string
-  flangeRef?: React.Ref<Group>
-  postModelRender?: () => void
-} & ThreeElements["group"]) {
-  const gltfResult = useGLTF(url)
-  let gltf
-  try {
-    const parsed = parseRobotModel(gltfResult, 'robot.glb')
-    gltf = parsed.gltf
-  } catch (err) {
-    throw err;
-  }
+export function GenericRobot({
+  modelURL,
+  flangeRef,
+  postModelRender,
+  ...props
+}: RobotModelProps) {
+  const { gltf } = parseRobotModel(
+    useGLTF(modelURL),
+    modelURL.split("/").pop() || modelURL,
+  )
 
   const groupRef: React.RefCallback<Group> = useCallback(
     (group) => {
@@ -45,45 +36,33 @@ function LoadedRobotModel({
         postModelRender()
       }
     },
-    [postModelRender],
+    [modelURL],
   )
 
   function renderNode(node: Object3D): React.ReactNode {
-    try {
-      if (isMesh(node)) {
-        // Defensive: only render mesh if geometry exists
-        if ((node as Mesh).geometry) {
-          return (
-            <mesh
-              name={node.name}
-              key={node.uuid}
-              geometry={(node as Mesh).geometry}
-              material={(node as Mesh).material}
-              position={node.position}
-              rotation={node.rotation}
-            />
-          )
-        }
-        // Fallback to empty group if geometry is missing
-        return (
-          <group name={node.name} key={node.uuid} position={node.position} rotation={node.rotation} />
-        )
-      } else {
-        return (
-          <group
-            name={node.name}
-            key={node.uuid}
-            position={node.position}
-            rotation={node.rotation}
-            ref={isFlange(node) ? flangeRef : undefined}
-          >
-            {node.children.map(renderNode)}
-          </group>
-        )
-      }
-    } catch (e) {
-      console.warn('Error rendering node', node.name, e)
-      return null
+    if (isMesh(node)) {
+      return (
+        <mesh
+          name={node.name}
+          key={node.uuid}
+          geometry={node.geometry}
+          material={node.material}
+          position={node.position}
+          rotation={node.rotation}
+        />
+      )
+    } else {
+      return (
+        <group
+          name={node.name}
+          key={node.uuid}
+          position={node.position}
+          rotation={node.rotation}
+          ref={isFlange(node) ? flangeRef : undefined}
+        >
+          {node.children.map(renderNode)}
+        </group>
+      )
     }
   }
 
@@ -93,43 +72,3 @@ function LoadedRobotModel({
     </group>
   )
 }
-
-export function GenericRobot({
-  modelURL,
-  flangeRef,
-  postModelRender,
-  ...props
-}: RobotModelProps) {
-  const [resolvedURL, setResolvedURL] = useState<string | null>(null)
-  
-  useEffect(() => {
-    const resolveURL = async () => {
-      try {
-        if (typeof modelURL === 'string') {
-          setResolvedURL(modelURL)
-        } else {
-          const url = await modelURL
-          setResolvedURL(url)
-        }
-      } catch (error) {
-        console.error('Failed to resolve model URL:', error)
-      }
-    }
-    
-    resolveURL()
-  }, [modelURL])
-
-  // Don't render until we have a resolved URL
-  if (!resolvedURL) {
-    return null // Loading state
-  }
-  
-  return (
-    <LoadedRobotModel 
-      url={resolvedURL}
-      flangeRef={flangeRef}
-      postModelRender={postModelRender}
-      {...props}
-    />
-  )
-}

package/src/components/robots/Robot.tsx

@@ -1,13 +1,13 @@
 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"
 
 export type RobotProps = {
   connectedMotionGroup: ConnectedMotionGroup
-  getModel?: (modelFromController: string) => Promise<string>
+  getModel?: (modelFromController: string) => string
   flangeRef?: React.Ref<Group>
   transparentColor?: string
   postModelRender?: () => void
@@ -51,5 +51,3 @@ export function Robot({
     />
   )
 }
-
-export { defaultGetModel }

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

@@ -1,4 +1,7 @@
-import type { DHParameter, MotionGroupState } from "@wandelbots/nova-js/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

@@ -1,13 +1,16 @@
 import { useFrame, useThree } from "@react-three/fiber"
-import type { DHParameter, MotionGroupState } from "@wandelbots/nova-js/v2"
-import React, { useEffect, useRef, useCallback } from "react"
+import type {
+  DHParameter,
+  MotionGroupStateResponse,
+} from "@wandelbots/nova-api/v1"
+import React, { useCallback, useEffect, useRef } from "react"
 import type { Group, Object3D } from "three"
 import { useAutorun } from "../utils/hooks"
 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
@@ -82,9 +86,10 @@ export default function RobotAnimator({
   }
 
   const updateJoints = useCallback(() => {
-    const newJointValues = rapidlyChangingMotionState.joint_position.filter(
-      (item) => item !== undefined,
-    )
+    const newJointValues =
+      rapidlyChangingMotionState.state.joint_position.joints.filter(
+        (item) => item !== undefined,
+      )
 
     requestAnimationFrame(() => {
       jointValues.current = 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-api/v1"
 import { Suspense, useCallback, useEffect, useState } from "react"
 import { DHRobot } from "./DHRobot"
 
@@ -13,16 +16,16 @@ 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>
-  getModel?: (modelFromController: string) => Promise<string> | undefined
+  getModel?: (modelFromController: string) => string
   postModelRender?: () => void
   transparentColor?: string
 } & ThreeElements["group"]
@@ -67,7 +70,7 @@ export const SupportedRobot = externalizeComponent(
         fallback={dhrobot}
         onError={(err) => {
           // Missing model; show the fallback for now
-          console.warn(err)
+          console.error(err)
         }}
       >
         <Suspense fallback={dhrobot}>
@@ -77,15 +80,7 @@ export const SupportedRobot = externalizeComponent(
               dhParameters={dhParameters}
             >
               <GenericRobot
-                modelURL={(() => {
-                  const result = getModel(modelFromController)
-                  if (!result) {
-                    const mockBlob = new Blob([], { type: 'model/gltf-binary' })
-                    const mockFile = new File([mockBlob], `${modelFromController}.glb`, { type: 'model/gltf-binary' })
-                    return Promise.resolve(URL.createObjectURL(mockFile))
-                  }
-                  return result
-                })()}
+                modelURL={getModel(modelFromController)}
                 postModelRender={postModelRender}
                 flangeRef={flangeRef}
                 {...props}

package/src/components/robots/manufacturerHomePositions.ts

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