@wandelbots/wandelbots-js-react-components 3.5.1-pr.feat-add-eight-abbs-v2.450.4419c66 → 3.6.0-pr.feat-model-retrieval-from-rdp.463.3cb7d2e

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

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package/dist/lib/JoggerConnection.d.ts

@@ -0,0 +1,113 @@
+import { type 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

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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 { type 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

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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

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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":""}