@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/src/components/jogging/JoggingStore.ts

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

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

package/src/components/jogging/PoseJointValues.tsx

@@ -1,19 +1,18 @@
 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: Joints
+  joints: Array<number>
   showCopyButton?: boolean
 }
 
 export const PoseJointValues = externalizeComponent(
   observer(({ joints, showCopyButton = false }: PoseJointValuesProps) => {
     const [copyMessage, setCopyMessage] = useState<string | null>(null)
-    const poseString = `[${joints.joints.map((j: number) => parseFloat(j.toFixed(4))).join(", ")}]`
+    const poseString = `[${joints.map((j: number) => parseFloat(j.toFixed(4))).join(", ")}]`
 
     const handleCopy = async () => {
       try {
@@ -43,7 +42,7 @@ 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-api/v1"
+import type { DHParameter } from "@wandelbots/nova-js/v2"
 import React, { useRef } from "react"
 import type * as THREE from "three"
 import { Matrix4, Quaternion, Vector3 } from "three"
@@ -113,8 +113,7 @@ export function DHRobot({
           {dhParameters!.map((param, index) => {
             const { a, b } = getLinePoints(
               param,
-              rapidlyChangingMotionState.state.joint_position.joints[index] ??
-                0,
+              rapidlyChangingMotionState.joint_position[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 } from "react"
+import React, { useCallback, useEffect, useState } from "react"
 import type { Group, Mesh } from "three"
 import { type Object3D } from "three"
 import { isFlange, parseRobotModel } from "./robotModelLogic"
 
 export type RobotModelProps = {
-  modelURL: string
+  modelURL: string | Promise<string>
   /**
    * Called after a robot model has been loaded and
    * rendered into the threejs scene
@@ -19,16 +19,19 @@ function isMesh(node: Object3D): node is Mesh {
   return node.type === "Mesh"
 }
 
-export function GenericRobot({
-  modelURL,
-  flangeRef,
-  postModelRender,
-  ...props
-}: RobotModelProps) {
-  const { gltf } = parseRobotModel(
-    useGLTF(modelURL),
-    modelURL.split("/").pop() || modelURL,
-  )
+// 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)
+  const { gltf } = parseRobotModel(gltfResult, 'robot.glb')
 
   const groupRef: React.RefCallback<Group> = useCallback(
     (group) => {
@@ -36,7 +39,7 @@ export function GenericRobot({
         postModelRender()
       }
     },
-    [modelURL],
+    [postModelRender],
   )
 
   function renderNode(node: Object3D): React.ReactNode {
@@ -72,3 +75,43 @@ export function GenericRobot({
     </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) => string
+  getModel?: (modelFromController: string) => Promise<string>
   flangeRef?: React.Ref<Group>
   transparentColor?: string
   postModelRender?: () => void

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

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

package/src/components/robots/RobotAnimator.tsx

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

package/src/components/robots/SupportedRobot.tsx

@@ -1,8 +1,5 @@
 import type { ThreeElements } from "@react-three/fiber"
-import type {
-  DHParameter,
-  MotionGroupStateResponse,
-} from "@wandelbots/nova-api/v1"
+import type { DHParameter, MotionGroupState } from "@wandelbots/nova-js/v2"
 import { Suspense, useCallback, useEffect, useState } from "react"
 import { DHRobot } from "./DHRobot"
 
@@ -16,16 +13,16 @@ import { applyGhostStyle, removeGhostStyle } from "./ghostStyle"
 import { defaultGetModel } from "./robotModelLogic"
 
 export type DHRobotProps = {
-  rapidlyChangingMotionState: MotionGroupStateResponse
+  rapidlyChangingMotionState: MotionGroupState
   dhParameters: Array<DHParameter>
 } & ThreeElements["group"]
 
 export type SupportedRobotProps = {
-  rapidlyChangingMotionState: MotionGroupStateResponse
+  rapidlyChangingMotionState: MotionGroupState
   modelFromController: string
   dhParameters: DHParameter[]
   flangeRef?: React.Ref<THREE.Group>
-  getModel?: (modelFromController: string) => string
+  getModel?: (modelFromController: string) => Promise<string> | undefined
   postModelRender?: () => void
   transparentColor?: string
 } & ThreeElements["group"]
@@ -80,7 +77,15 @@ export const SupportedRobot = externalizeComponent(
               dhParameters={dhParameters}
             >
               <GenericRobot
-                modelURL={getModel(modelFromController)}
+                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
+                })()}
                 postModelRender={postModelRender}
                 flangeRef={flangeRef}
                 {...props}

package/src/components/robots/manufacturerHomePositions.ts

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

package/src/components/robots/robotModelLogic.ts

@@ -1,13 +1,47 @@
+import { NovaClient } from "@wandelbots/nova-js/v2"
 import type { Object3D } from "three"
 import type { GLTF } from "three-stdlib"
-import { version } from "../../../package.json"
 
-export function defaultGetModel(modelFromController: string): string {
-  let useVersion = version
-  if (version.startsWith("0.")) {
-    useVersion = ""
+const modelCache = new Map<string, Promise<string>>()
+
+export async function defaultGetModel(modelFromController: string): Promise<string> {
+  // Check cache first
+  if (modelCache.has(modelFromController)) {
+    return modelCache.get(modelFromController)!
   }
-  return `https://cdn.jsdelivr.net/gh/wandelbotsgmbh/wandelbots-js-react-components${useVersion ? `@${useVersion}` : ""}/public/models/${modelFromController}.glb`
+  
+  // Create the promise and cache it immediately to prevent duplicate calls
+  const modelPromise = (async () => {
+    const instanceUrl = import.meta.env.WANDELAPI_BASE_URL || import.meta.env.VITE_NOVA_INSTANCE_URL
+    
+    const nova = new NovaClient({ instanceUrl })
+    
+    // Configure axios to handle binary responses for GLB files
+    const apiInstance = nova.api.motionGroupModels as any
+    if (apiInstance.axios?.interceptors) {
+      apiInstance.axios.interceptors.request.use((config: any) => {
+        if (config.url?.includes('/glb')) {
+          config.responseType = 'blob'
+        }
+        return config
+      })
+    }
+    
+    try {
+      const file = await nova.api.motionGroupModels.getMotionGroupGlbModel(modelFromController)
+      
+      // Create object URL from the file and return it
+      const url = URL.createObjectURL(file)
+      return url
+    } catch (error) {
+      console.error("Failed to fetch model:", error)
+      throw error
+    }
+  })()
+  
+  // Cache the promise
+  modelCache.set(modelFromController, modelPromise)
+  return modelPromise
 }
 
 /**

package/src/components/safetyBar/ControllerTypeIndicator.tsx

@@ -1,5 +1,6 @@
 import { useTheme, type PopoverOrigin } from "@mui/material"
 import { observer } from "mobx-react-lite"
+import { useId } from "react"
 import { Trans, useTranslation } from "react-i18next"
 import ControllerTypePhysicalIcon from "./icons/controller-type-physical.svg"
 import ControllerTypeVirtualIcon from "./icons/controller-type-virtual.svg"
@@ -22,12 +23,13 @@ export const ControllerTypeIndicator = observer(
     compact,
   }: ControllerTypeIndicatorProps) => {
     const theme = useTheme()
+    const componentId = useId()
     const { t } = useTranslation()
 
     if (isVirtual) {
       return (
         <IndicatorWithExplanation
-          id="motion-group-virtual"
+          id={`motion-group-virtual-${componentId}`}
           icon={ControllerTypeVirtualIcon}
           color={theme.palette.tertiary.main}
           name={t("SafetyBar.ControllerType.Virtual.lb")}
@@ -52,7 +54,7 @@ export const ControllerTypeIndicator = observer(
 
     return (
       <IndicatorWithExplanation
-        id="motion-group-physical"
+        id={`motion-group-physical-${componentId}`}
         icon={ControllerTypePhysicalIcon}
         color={theme.palette.primary.main}
         name={t("SafetyBar.ControllerType.Physical.lb")}

package/src/components/safetyBar/OperationModeIndicator.tsx

@@ -1,6 +1,7 @@
 import { useTheme, type PopoverOrigin } from "@mui/material"
-import type { RobotControllerStateOperationModeEnum } from "@wandelbots/nova-js/v1"
+import type { OperationMode } from "@wandelbots/nova-js/v2"
 import { observer } from "mobx-react-lite"
+import { useId } from "react"
 import { Trans, useTranslation } from "react-i18next"
 import OperationModeAutomaticIcon from "./icons/operation-mode-automatic.svg"
 import OperationModeErrorIcon from "./icons/operation-mode-error.svg"
@@ -8,7 +9,7 @@ import OperationModeManualIcon from "./icons/operation-mode-manual.svg"
 import { IndicatorWithExplanation } from "./IndicatorWithExplanation"
 
 interface OperationModeIndicatorProps {
-  operationMode: RobotControllerStateOperationModeEnum
+  operationMode: OperationMode
   anchorOrigin?: PopoverOrigin
   transformOrigin?: PopoverOrigin
   compact: boolean
@@ -23,12 +24,13 @@ export const OperationModeIndicator = observer(
   }: OperationModeIndicatorProps) => {
     const { t } = useTranslation()
     const theme = useTheme()
+    const componentId = useId()
 
     switch (operationMode) {
       case "OPERATION_MODE_AUTO":
         return (
           <IndicatorWithExplanation
-            id="operation-mode-auto"
+            id={`operation-mode-auto-${componentId}`}
             icon={OperationModeAutomaticIcon}
             title={t("SafetyBar.OperationMode.ti")}
             name={t("SafetyBar.OperationMode.Automatic.ti")}
@@ -49,7 +51,7 @@ export const OperationModeIndicator = observer(
       case "OPERATION_MODE_MANUAL_T2": {
         return (
           <IndicatorWithExplanation
-            id="operation-mode-manual"
+            id={`operation-mode-manual-${componentId}`}
             icon={OperationModeManualIcon}
             color={theme.palette.warning.main}
             title={t("SafetyBar.OperationMode.ti")}
@@ -71,7 +73,7 @@ export const OperationModeIndicator = observer(
       default:
         return (
           <IndicatorWithExplanation
-            id="operation-mode-error"
+            id={`operation-mode-error-${componentId}`}
             icon={OperationModeErrorIcon}
             color={theme.palette.warning.main}
             title={t("SafetyBar.OperationMode.ti")}