@wandelbots/wandelbots-js-react-components 3.3.2 → 3.4.0-pr.feat-add-yaskawa-gp200s.438.0503e4b

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "3.3.2",
+  "version": "3.4.0-pr.feat-add-yaskawa-gp200s.438.0503e4b",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -13,24 +13,8 @@
   "main": "./dist/index.cjs",
   "exports": {
     ".": {
-      "types": "./dist/index.d.ts",
-      "import": "./dist/index.es.js",
-      "require": "./dist/index.cjs.js"
-    },
-    "./core": {
-      "types": "./dist/core.d.ts",
-      "import": "./dist/core.es.js",
-      "require": "./dist/core.cjs.js"
-    },
-    "./3d": {
-      "types": "./dist/3d.d.ts",
-      "import": "./dist/3d.es.js",
-      "require": "./dist/3d.cjs.js"
-    },
-    "./wandelscript": {
-      "types": "./dist/wandelscript.d.ts",
-      "import": "./dist/wandelscript.es.js",
-      "require": "./dist/wandelscript.cjs.js"
+      "import": "./dist/index.js",
+      "require": "./dist/index.cjs"
     }
   },
   "types": "./dist/index.d.ts",
@@ -66,7 +50,6 @@
   "devDependencies": {
     "@emotion/react": "^11.14.0",
     "@emotion/styled": "^11.14.0",
-    "@monaco-editor/react": "^4.7.0",
     "@mui/icons-material": "^7.1.1",
     "@mui/material": "^7.1.1",
     "@react-three/drei": "^10.2.0",
@@ -76,9 +59,8 @@
     "@rollup/plugin-node-resolve": "^16.0.0",
     "@rollup/plugin-terser": "^0.4.4",
     "@rollup/plugin-typescript": "^12.1.2",
-    "@shikijs/monaco": "^3.1.0",
-    "@storybook/addon-docs": "^10.1.7",
-    "@storybook/react-vite": "^10.1.7",
+    "@storybook/addon-docs": "^10.0.1",
+    "@storybook/react-vite": "^10.0.1",
     "@storybook/test-runner": "^0.24.1",
     "@svgr/rollup": "^8.1.0",
     "@testing-library/jest-dom": "^6.6.3",
@@ -88,9 +70,9 @@
     "@types/react": "^19.1.8",
     "@types/three": "^0.174.0",
     "@vitejs/plugin-react": "^4.3.4",
-    "@wandelbots/nova-js": "3.3.1",
+    "@wandelbots/nova-js": "^2.1.0",
     "add": "^2.0.6",
-    "eslint-plugin-storybook": "^10.1.7",
+    "eslint-plugin-storybook": "^10.0.1",
     "glob": "^11.0.1",
     "http-server": "^14.1.1",
     "husky": "^9.1.7",
@@ -113,8 +95,7 @@
     "rollup-plugin-peer-deps-external": "^2.2.4",
     "rollup-plugin-postcss": "^4.0.2",
     "semantic-release": "^24.2.3",
-    "shiki": "^3.1.0",
-    "storybook": "^10.1.7",
+    "storybook": "^10.0.1",
     "storybook-preset-inline-svg": "^1.0.1",
     "three": "^0.174.0",
     "three-stdlib": "^2.35.14",
@@ -129,15 +110,12 @@
   "peerDependencies": {
     "@emotion/react": "^11.11.1",
     "@emotion/styled": "^11.11.0",
-    "@monaco-editor/react": "^4.7.0",
     "@mui/icons-material": "^6 || ^7",
     "@mui/material": "^6 || ^7",
     "@react-three/drei": "^9.122.0 || ^10",
     "@react-three/fiber": "^8 || ^9",
-    "@shikijs/monaco": "^3.1.0",
     "react": "^18.0.0 || ^19.0.0",
     "react-dom": "^18.0.0 || ^19.0.0",
-    "shiki": "^3.1.0",
     "three": ">=0.174",
     "three-stdlib": ">=2"
   },
@@ -145,15 +123,6 @@
     "react-dom": {
       "optional": true
     },
-    "@monaco-editor/react": {
-      "optional": true
-    },
-    "@shikijs/monaco": {
-      "optional": true
-    },
-    "shiki": {
-      "optional": true
-    },
     "@react-three/drei": {
       "optional": true
     },
@@ -168,14 +137,17 @@
     }
   },
   "dependencies": {
+    "@monaco-editor/react": "^4.7.0",
     "@mui/x-charts": "^8.9.0",
     "@mui/x-data-grid": "^8.10.1",
+    "@shikijs/monaco": "^3.1.0",
     "i18next-browser-languagedetector": "^8.0.4",
     "lodash-es": "^4.17.21",
     "mobx": "^6.13.6",
     "mobx-react-lite": "^4.1.0",
     "react-error-boundary": "^6.0.0",
-    "react-i18next": "^15.5.2"
+    "react-i18next": "^15.5.2",
+    "shiki": "^3.1.0"
   },
   "overrides": {
     "storybook": "$storybook"

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

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

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

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

package/src/components/AppHeader.md

@@ -16,7 +16,7 @@ A navigation header component that displays the current application's icon and n
 import {
   AppHeader,
   type AppItem,
-} from "@wandelbots/wandelbots-js-react-components/core"
+} from "@wandelbots/wandelbots-js-react-components"
 import { Home, Settings, Person } from "@mui/icons-material"
 
 const apps: AppItem[] = [

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/JoggingCartesianTab.tsx

@@ -6,18 +6,13 @@ import {
   useTheme,
   type Theme,
 } from "@mui/material"
-import {
-  degreesToRadians,
-  radiansToDegrees,
-  XYZ_TO_VECTOR,
-} from "@wandelbots/nova-js"
+import { degreesToRadians, radiansToDegrees } 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"
@@ -61,7 +56,7 @@ export const JoggingCartesianTab = observer(
       () => {
         store.jogger.motionStream.motionStateSocket.changeUrl(
           store.jogger.nova.makeWebsocketURL(
-            `/controllers/${store.jogger.motionStream.controllerId}/motion-groups/${store.jogger.motionGroupId}/state-stream?tcp=${store.selectedTcpId}`,
+            `/motion-groups/${store.jogger.motionGroupId}/state-stream?tcp=${store.selectedTcpId}&response_coordinate_system=${store.selectedCoordSystemId}`,
           ),
         )
       },
@@ -75,8 +70,8 @@ export const JoggingCartesianTab = observer(
       const jogger = await store.activate()
 
       const tcpPose = jogger.motionStream.rapidlyChangingMotionState.tcp_pose
-      const jointPosition = jogger.motionStream.rapidlyChangingMotionState
-        .joint_position as Vector3Simple
+      const jointPosition =
+        jogger.motionStream.rapidlyChangingMotionState.state.joint_position
       if (!tcpPose) return
 
       await store.withMotionLock(async () => {
@@ -122,13 +117,13 @@ export const JoggingCartesianTab = observer(
       }
 
       if (opts.motionType === "translate") {
-        await store.jogger.translateTCP({
+        await store.jogger.startTCPTranslation({
           axis: opts.axis,
           direction: opts.direction,
           velocityMmPerSec: store.translationVelocityMmPerSec,
         })
       } else {
-        await store.jogger.rotateTCP({
+        await store.jogger.startTCPRotation({
           axis: opts.axis,
           direction: opts.direction,
           velocityRadsPerSec: store.rotationVelocityRadsPerSec,
@@ -194,7 +189,10 @@ 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>
@@ -259,7 +257,7 @@ export const JoggingCartesianTab = observer(
                   getDisplayedValue={() =>
                     formatMM(
                       store.jogger.motionStream.rapidlyChangingMotionState
-                        .tcp_pose?.position?.[XYZ_TO_VECTOR[axis.id]] || 0,
+                        .tcp_pose?.position[axis.id] || 0,
                     )
                   }
                   startJogging={(direction: "-" | "+") =>
@@ -303,7 +301,7 @@ export const JoggingCartesianTab = observer(
                   getDisplayedValue={() =>
                     formatDegrees(
                       store.jogger.motionStream.rapidlyChangingMotionState
-                        .tcp_pose?.orientation?.[XYZ_TO_VECTOR[axis.id]] || 0,
+                        .tcp_pose?.orientation?.[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
+    store.jogger.motionStream.rapidlyChangingMotionState.state
       .joint_limit_reached.limit_reached,
   )
   const jointLimitsReachedRef = useRef(jointLimitsReached)
 
   useAnimationFrame(() => {
     const newLimitsReached =
-      store.jogger.motionStream.rapidlyChangingMotionState
+      store.jogger.motionStream.rapidlyChangingMotionState.state
         .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.rotateJoints({
+      await store.jogger.startJointRotation({
         joint: opts.joint,
         direction: opts.direction,
         velocityRadsPerSec: store.rotationVelocityRadsPerSec,
@@ -37,12 +37,12 @@ export const JoggingJointTab = observer(
           justifyContent="center"
           alignItems="stretch"
           sx={{ flexGrow: "1" }}
+          id="JointControls"
         >
           <Stack alignItems="center" gap="24px">
             {store.jogger.motionStream.joints.map((joint) => {
               const jointLimits =
-                store.motionGroupDescription.operation_limits.auto_limits
-                  ?.joints?.[joint.index]?.position
+                store.motionGroupSpec.mechanical_joint_limits?.[joint.index]
               const lowerLimitDegs =
                 jointLimits?.lower_limit !== undefined
                   ? radiansToDegrees(jointLimits.lower_limit)
@@ -80,7 +80,7 @@ export const JoggingJointTab = observer(
                     getValueDegs={() => {
                       const value =
                         store.jogger.motionStream.rapidlyChangingMotionState
-                          .joint_position[joint.index]
+                          .state.joint_position.joints[joint.index]
                       return value !== undefined
                         ? radiansToDegrees(value)
                         : undefined

package/src/components/jogging/JoggingOptions.tsx

@@ -1,6 +1,5 @@
 import { Box, MenuItem } from "@mui/material"
 import { observer } from "mobx-react-lite"
-import { useId } from "react"
 import { useTranslation } from "react-i18next"
 import AdornedSelect from "../experimental/utils/AdornedSelect"
 import {
@@ -12,7 +11,6 @@ import {
 
 export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
   const { t } = useTranslation()
-  const componentId = useId()
   const joggingOptions: React.ReactElement[] = []
 
   function translateOrientation(orientation: OrientationId): string {
@@ -30,7 +28,7 @@ export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
     joggingOptions.push(
       <AdornedSelect
         key="coord"
-        labelId={`jogging-coord-select-${componentId}`}
+        labelId="jogging-coord-select"
         labelValue={t("Jogging.CoordinateSystem.hlb")}
         value={store.selectedCoordSystemId}
         size="small"
@@ -56,7 +54,7 @@ export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
     joggingOptions.push(
       <AdornedSelect
         key="tcp"
-        labelId={`jogging-tcp-select-${componentId}`}
+        labelId="jogging-tcp-select"
         labelValue="TCP"
         value={store.selectedTcpId}
         size="small"
@@ -80,7 +78,8 @@ export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
       <AdornedSelect
         key="orientation"
         labelValue={t("Jogging.Cartesian.Orientation.lb")}
-        labelId={`orientation-select-${componentId}`}
+        id="orientation-select"
+        labelId="orientation-select"
         value={store.selectedOrientation}
         onChange={(event) =>
           store.setSelectedOrientation(event.target.value as OrientationId)
@@ -101,7 +100,7 @@ export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
       <AdornedSelect
         key="increment"
         labelValue={t("Jogging.Increment.hlb")}
-        labelId={`jogging-increment-select-${componentId}`}
+        labelId="jogging-increment-select"
         size="small"
         variant="filled"
         value={store.activeDiscreteIncrement?.id || "continuous"}

package/src/components/jogging/JoggingPanel.tsx

@@ -1,16 +1,14 @@
 import MoveIcon from "@mui/icons-material/OpenWith"
 import ShareIcon from "@mui/icons-material/Share"
 import { Stack, Tab, Tabs, type SxProps } from "@mui/material"
-import { NovaClient } from "@wandelbots/nova-js/v2"
+import { NovaClient } from "@wandelbots/nova-js/v1"
 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"
@@ -60,7 +58,7 @@ export const JoggingPanel = externalizeComponent(
       try {
         let joggingStore = props.store
         if (!joggingStore) {
-          const jogger = await JoggerConnection.open(nova, props.motionGroupId)
+          const jogger = await nova.connectJogger(props.motionGroupId)
           joggingStore = await JoggingStore.loadFor(jogger)
         }
         runInAction(() => {
@@ -183,6 +181,7 @@ const JoggingPanelInner = observer(
             )
           })}
         </Tabs>
+
         {/* Current tab content */}
         <Stack
           flexGrow={1}
@@ -191,8 +190,6 @@ const JoggingPanelInner = observer(
         >
           {renderTabContent()}
         </Stack>
-        {/* Overlay when jogging connection is blocked */}
-        {store.blocked && <JoggingBlocked store={store} />}
       </Stack>
     )
   },

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()