@wandelbots/wandelbots-js-react-components 4.7.1 → 4.7.2-pr.dev-RB-3348-v1-clean-up.560.cbf9c17

package/dist/lib/ConnectedMotionGroup.d.ts

@@ -42,7 +42,6 @@ export declare class ConnectedMotionGroup {
     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(): {
@@ -54,10 +53,10 @@ export declare class ConnectedMotionGroup {
         a?: number;
         d?: number;
         reverse_rotation_direction?: boolean;
-        type?: import("@wandelbots/nova-api/v2").JointTypeEnum;
+        type?: import("@wandelbots/nova-js/v2").JointTypeEnum;
     }[] | undefined;
     get safetyZones(): {
-        [key: string]: import("@wandelbots/nova-api/v2").Collider;
+        [key: string]: import("@wandelbots/nova-js/v2").Collider;
     } | undefined;
     /** Gets the robot mounting position offset in 3D viz coordinates */
     get mountingPosition(): [number, number, number];

package/dist/lib/ConnectedMotionGroup.d.ts.map

@@ -1 +1 @@
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+{"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,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/MotionStreamConnection.d.ts

@@ -15,7 +15,6 @@ export declare class MotionStreamConnection {
     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;
     }[];

package/dist/lib/MotionStreamConnection.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"MotionStreamConnection.d.ts","sourceRoot":"","sources":["../../src/lib/MotionStreamConnection.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,KAAK,yBAAyB,EAE/B,MAAM,qBAAqB,CAAA;AAC5B,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,MAAM;;QAMT;IAED,OAAO;CAGR"}

package/dist/themes/createDarkTheme.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"createDarkTheme.d.ts","sourceRoot":"","sources":["../../src/themes/createDarkTheme.ts"],"names":[],"mappings":"AAAA,OAAO,EAAyB,KAAK,KAAK,EAAE,MAAM,eAAe,CAAA;AAEjE,wBAAgB,eAAe,IAAI,KAAK,CA0WvC"}
+{"version":3,"file":"createDarkTheme.d.ts","sourceRoot":"","sources":["../../src/themes/createDarkTheme.ts"],"names":[],"mappings":"AAAA,OAAO,EAAyB,KAAK,KAAK,EAAE,MAAM,eAAe,CAAA;AAEjE,wBAAgB,eAAe,IAAI,KAAK,CAqVvC"}

package/dist/themes/themeTypes.d.ts

@@ -1,4 +1,3 @@
-import type { editor } from "monaco-editor";
 type NovaColorPaletteExtension = {
     paletteExt?: {
         primary?: {
@@ -45,9 +44,6 @@ interface NovaComponentsExtension {
                 sliderLegendColor?: string;
             };
         };
-        WandelscriptEditor?: {
-            monacoTheme: editor.IStandaloneThemeData;
-        };
     };
 }
 interface BackgroundPaperElevation {

package/dist/themes/themeTypes.d.ts.map

@@ -1 +1 @@
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+{"version":3,"file":"themeTypes.d.ts","sourceRoot":"","sources":["../../src/themes/themeTypes.ts"],"names":[],"mappings":"AAAA,KAAK,yBAAyB,GAAG;IAC/B,UAAU,CAAC,EAAE;QACX,OAAO,CAAC,EAAE;YACR,KAAK,CAAC,EAAE,MAAM,CAAA;YACd,QAAQ,CAAC,EAAE,MAAM,CAAA;YACjB,KAAK,CAAC,EAAE,MAAM,CAAA;YACd,YAAY,CAAC,EAAE,MAAM,CAAA;YACrB,aAAa,CAAC,EAAE,MAAM,CAAA;SACvB,CAAA;QACD,SAAS,CAAC,EAAE;YACV,KAAK,CAAC,EAAE,MAAM,CAAA;SACf,CAAA;KACF,CAAA;CACF,CAAA;AAED,MAAM,WAAW,0BAA0B;IACzC,KAAK,CAAC,EAAE,MAAM,CAAA;IACd,WAAW,CAAC,EAAE,MAAM,CAAA;IACpB,eAAe,CAAC,EAAE,MAAM,CAAA;IACxB,qBAAqB,CAAC,EAAE;QACtB,OAAO,CAAC,EAAE,MAAM,CAAA;QAChB,OAAO,CAAC,EAAE,MAAM,CAAA;QAChB,QAAQ,CAAC,EAAE,MAAM,CAAA;QACjB,OAAO,CAAC,EAAE,MAAM,CAAA;KACjB,CAAA;IACD,UAAU,CAAC,EAAE,MAAM,CAAA;CACpB;AAED,UAAU,uBAAuB;IAC/B,aAAa,CAAC,EAAE;QACd,YAAY,CAAC,EAAE;YACb,gBAAgB,CAAC,EAAE;gBACjB,IAAI,CAAC,EAAE;oBACL,CAAC,CAAC,EAAE,0BAA0B,CAAA;oBAC9B,CAAC,CAAC,EAAE,0BAA0B,CAAA;oBAC9B,CAAC,CAAC,EAAE,0BAA0B,CAAA;oBAC9B,cAAc,CAAC,EAAE,0BAA0B,CAAA;iBAC5C,CAAA;aACF,CAAA;YACD,YAAY,CAAC,EAAE;gBACb,KAAK,CAAC,EAAE;oBACN,UAAU,CAAC,EAAE,MAAM,CAAA;iBACpB,CAAA;aACF,CAAA;YACD,cAAc,CAAC,EAAE;gBACf,iBAAiB,CAAC,EAAE,MAAM,CAAA;aAC3B,CAAA;SACF,CAAA;KACF,CAAA;CACF;AAED,UAAU,wBAAwB;IAChC,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,CAAC,CAAC,EAAE,MAAM,CAAA;IACV,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;IACX,EAAE,CAAC,EAAE,MAAM,CAAA;CACZ;AAED,OAAO,QAAQ,sBAAsB,CAAC;IACpC,UAAU,OAAO;QACf,QAAQ,EAAE,OAAO,CAAC,SAAS,CAAC,CAAA;QAC5B,wBAAwB,CAAC,EAAE,wBAAwB,CAAA;KACpD;IAED,UAAU,cAAc;QACtB,QAAQ,CAAC,EAAE,cAAc,CAAC,SAAS,CAAC,CAAA;QACpC,wBAAwB,CAAC,EAAE,wBAAwB,CAAA;KACpD;IAED,UAAU,KAAM,SAAQ,uBAAuB,EAAE,yBAAyB;KAAG;IAE7E,UAAU,YACR,SAAQ,uBAAuB,EAC7B,yBAAyB;KAAG;CACjC"}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "4.7.1",
+  "version": "4.7.2-pr.dev-RB-3348-v1-clean-up.560.cbf9c17",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
@@ -26,19 +26,14 @@
       "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"
     }
   },
   "types": "./dist/index.d.ts",
   "scripts": {
     "dev": "storybook dev -p 6006 --no-open",
-    "dev:pack": "nodemon -V -w src -e '*' -x \"npm run build && npm pack\"",
+    "dev:pack": "nodemon -V -w src -e '*' -x \"pnpm run build && pnpm pack\"",
     "dev:build": "nodemon -V -w src -e '*' -x \"vite build && tsc --declaration --emitDeclarationOnly\"",
-    "dev:wbjs": "nodemon --watch $WBJS_PATH -e tgz --exec 'npm install file:$WBJS_PATH && storybook dev -p 6006 --no-open'",
+    "dev:wbjs": "nodemon --watch $WBJS_PATH -e tgz --exec 'pnpm install file:$WBJS_PATH && storybook dev -p 6006 --no-open'",
     "tsc": "tsc --pretty --noEmit -p stories/tsconfig.json",
     "test": "test-storybook --url http://127.0.0.1:6006 --index-json --browsers chromium",
     "test:unit": "vitest --workspace vitest.workspace.ts --project unit",
@@ -66,7 +61,7 @@
   "license": "Apache-2.0",
   "engines": {
     "node": ">=18.14.0",
-    "npm": ">=8.0.0"
+    "pnpm": ">=10.0.0"
   },
   "devDependencies": {
     "@emotion/react": "^11.14.0",
@@ -79,10 +74,11 @@
     "@rollup/plugin-commonjs": "^29.0.0",
     "@rollup/plugin-json": "^6.1.0",
     "@rollup/plugin-node-resolve": "^16.0.0",
-    "@rollup/plugin-terser": "^0.4.4",
+    "@rollup/plugin-terser": "^1.0.0",
     "@rollup/plugin-typescript": "^12.1.2",
-    "@shikijs/monaco": "^3.1.0",
+    "@shikijs/monaco": "^4.0.2",
     "@storybook/addon-docs": "^10.2.3",
+    "@storybook/react": "^10.3.5",
     "@storybook/react-vite": "^10.2.3",
     "@storybook/test-runner": "^0.24.1",
     "@svgr/rollup": "^8.1.0",
@@ -92,19 +88,20 @@
     "@types/lodash-es": "^4.17.12",
     "@types/react": "^19.1.8",
     "@types/three": "^0.182.0",
-    "@vitejs/plugin-react": "^4.3.4",
+    "@vitejs/plugin-react": "^6.0.1",
     "add": "^2.0.6",
     "eslint-plugin-storybook": "^10.1.10",
     "glob": "^13.0.0",
     "http-server": "^14.1.1",
     "husky": "^9.1.7",
-    "i18next": "^25.7.4",
+    "i18next": "^26.0.3",
     "jest-simple-dot-reporter": "^1.0.5",
     "jest-summary-reporter": "^0.0.2",
-    "jsdom": "^27.4.0",
+    "jsdom": "^29.0.1",
     "monaco-editor": "^0.55.1",
     "nodemon": "^3.1.9",
     "npm-run-all": "^4.1.5",
+    "playwright": "^1.59.1",
     "postcss": "^8.5.3",
     "prettier-eslint": "^16.3.0",
     "prop-types": "^15.8.1",
@@ -117,18 +114,18 @@
     "rollup-plugin-peer-deps-external": "^2.2.4",
     "rollup-plugin-postcss": "^4.0.2",
     "semantic-release": "^25.0.2",
-    "shiki": "^3.1.0",
+    "shiki": "^4.0.2",
     "storybook": "^10.2.3",
     "storybook-preset-inline-svg": "^2.0.0",
-    "three": "^0.182.0",
+    "three": "^0.183.2",
     "three-stdlib": "^2.35.14",
     "ts-dedent": "^2.2.0",
     "tsx": "^4.21.0",
-    "typescript": "^5.8.2",
-    "unplugin": "^1.15.0",
-    "vite": "^6.2.0",
-    "vite-plugin-svgr": "^4.3.0",
-    "vitest": "^3.0.7",
+    "typescript": "^6.0.2",
+    "unplugin": "^3.0.0",
+    "vite": "^8.0.4",
+    "vite-plugin-svgr": "^5.2.0",
+    "vitest": "^4.1.2",
     "wait-on": "^9.0.3"
   },
   "peerDependencies": {
@@ -139,10 +136,10 @@
     "@mui/material": "^6 || ^7",
     "@react-three/drei": "^9.122.0 || ^10",
     "@react-three/fiber": "^8 || ^9",
-    "@shikijs/monaco": "^3.1.0",
+    "@shikijs/monaco": "^4.0.2",
     "react": "^18.0.0 || ^19.0.0",
     "react-dom": "^18.0.0 || ^19.0.0",
-    "shiki": "^3.1.0",
+    "shiki": "^4.0.2",
     "three": ">=0.182",
     "three-stdlib": ">=2"
   },
@@ -183,7 +180,7 @@
     "mobx": "^6.13.6",
     "mobx-react-lite": "^4.1.0",
     "react-error-boundary": "^6.0.3",
-    "react-i18next": "^16.5.2",
+    "react-i18next": "^17.0.2",
     "username": "^7.0.0"
   },
   "overrides": {

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-js/v2"
 import type { ReactNode } from "react"
 import { Quaternion, Vector3 } from "three"
 
@@ -14,28 +14,39 @@ export const CoordinateSystemTransform = ({
   children: ReactNode
 }) => {
   const position = new Vector3(
-    (coordinateSystem?.position?.x ?? 0) / 1000,
-    (coordinateSystem?.position?.y ?? 0) / 1000,
-    (coordinateSystem?.position?.z ?? 0) / 1000,
+    (coordinateSystem?.position?.[0] ?? 0) / 1000,
+    (coordinateSystem?.position?.[1] ?? 0) / 1000,
+    (coordinateSystem?.position?.[2] ?? 0) / 1000,
   )
 
-  let rotation = coordinateSystem?.rotation
-  const rotationType = rotation?.type
-  if (rotationType && rotationType !== "ROTATION_VECTOR") {
-    console.warn(
-      `Unsupported rotation type ${rotationType}. Only ROTATION_VECTOR is supported.`,
+  const orientationType = coordinateSystem?.orientation_type
+
+  let quaternion: Quaternion
+
+  if (orientationType === "QUATERNION") {
+    quaternion = new Quaternion(
+      coordinateSystem?.orientation?.[0] ?? 0,
+      coordinateSystem?.orientation?.[1] ?? 0,
+      coordinateSystem?.orientation?.[2] ?? 0,
+      coordinateSystem?.orientation?.[3] ?? 1,
     )
-    rotation = { type: "ROTATION_VECTOR", angles: [0, 0, 0, 0] }
+  } else {
+    if (orientationType && orientationType !== "ROTATION_VECTOR") {
+      console.warn(
+        `Unsupported orientation type ${orientationType}. Only ROTATION_VECTOR and QUATERNION are supported.`,
+      )
+    }
+    // Default to ROTATION_VECTOR
+    const rotationVector = new Vector3(
+      coordinateSystem?.orientation?.[0] ?? 0,
+      coordinateSystem?.orientation?.[1] ?? 0,
+      coordinateSystem?.orientation?.[2] ?? 0,
+    )
+    const magnitude = rotationVector.length()
+    const axis = rotationVector.normalize()
+    quaternion = new Quaternion().setFromAxisAngle(axis, magnitude)
   }
 
-  const rotationVector = new Vector3(
-    rotation?.angles[0] ?? 0,
-    rotation?.angles[1] ?? 0,
-    rotation?.angles[2] ?? 0,
-  )
-  const magnitude = rotationVector.length()
-  const axis = rotationVector.normalize()
-  const quaternion = new Quaternion().setFromAxisAngle(axis, magnitude)
   return (
     <group position={position} quaternion={quaternion}>
       {children}

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

@@ -1,4 +1,4 @@
-import { useEffect, useMemo } from "react"
+import { useMemo } from "react"
 import { type ThreeElements } from "@react-three/fiber"
 import * as THREE from "three"
 import { ConvexGeometry, RoundedBoxGeometry } from "three-stdlib"
@@ -12,12 +12,11 @@ import type {
   Capsule,
   RectangularCapsule,
 } from "@wandelbots/nova-js/v2"
-import type { Geometry, SafetySetupSafetyZone } from "@wandelbots/nova-js/v1"
 
 import { dhParametersToPlaneSize, orientationToQuaternion, verticesToCoplanarity } from "../utils/converters"
 
 export type SafetyZonesRendererProps = {
-  safetyZones: SafetySetupSafetyZone[] | MotionGroupDescription["safety_zones"]
+  safetyZones: MotionGroupDescription["safety_zones"]
   dhParameters?: DHParameter[]
 } & ThreeElements["group"]
 
@@ -45,14 +44,6 @@ export function SafetyZonesRenderer({
    */
   const planeSize = dhParametersToPlaneSize(dhParameters ?? [])
 
-  /**
-   * Warning during runtime stating the deprecation of the V1 safety zones
-   */
-  useEffect(() => {
-    Array.isArray(safetyZones) &&
-    console.warn("SafetyZonesRenderer: The support of V1 safety zones is deprecated. Please migrate to V2 safety zones.")
-  }, [safetyZones])
-
   /**
    * Helper function to render plane, sphere, and capsule meshes
    * @param id number
@@ -134,13 +125,18 @@ export function SafetyZonesRenderer({
        * Basically a rounded box with a rectangular cross-section.
        */
       case "rectangular_capsule": {
-        const shape = (zone.shape as RectangularCapsule)
+        const shape = zone.shape as RectangularCapsule
         const rcRadius = shape.radius / 1000
         const width = shape.sphere_center_distance_x / 1000
         const height = shape.sphere_center_distance_y / 1000
         const depth = rcRadius * 2
 
-        geometry = <primitive object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)} attach="geometry" />
+        geometry = (
+          <primitive
+            object={new RoundedBoxGeometry(width, height, depth, 2, rcRadius)}
+            attach="geometry"
+          />
+        )
         break
       }
 
@@ -158,98 +154,19 @@ export function SafetyZonesRenderer({
         quaternion={orientationToQuaternion(orientation)}
       >
         {geometry}
-        <meshStandardMaterial
-          {...materialProps}
-          polygonOffsetFactor={-id}
-        />
+        <meshStandardMaterial {...materialProps} polygonOffsetFactor={-id} />
       </mesh>
     )
   }
 
   /**
-   * Helper function to render V2 safety zones
+   * Helper variable render safety zones
    */
-  const renderV2SafetyZones = () => {
+  const renderedSafetyZones = useMemo(() => {
     return Object.values(safetyZones ?? {}).map((zone: Collider, index: number) => {
       return renderMesh(index, zone)
     })
-  }
-
-  /**
-   * Helper function to V1 safety zones
-   * @deprecated this render function is to be seen as a temporary measure, as the support
-   * for the V1 safety zones is to be removed in the future
-   */
-  const renderV1SafetyZones = () => {
-    if (Array.isArray(safetyZones)) {
-      return (safetyZones as SafetySetupSafetyZone[]).map((zone: SafetySetupSafetyZone, index) => {
-        let geometries: Geometry[] = []
-        if (zone.geometry) {
-          if (zone.geometry.compound) {
-            geometries = zone.geometry.compound.child_geometries
-          } else if (zone.geometry.convex_hull) {
-            geometries = [zone.geometry]
-          }
-        }
-
-        return geometries.map((geometry, i) => {
-          if (!geometry.convex_hull) return null
-
-          const vertices = geometry.convex_hull.vertices.map(
-            (v) => new THREE.Vector3(v.x / 1000, v.y / 1000, v.z / 1000),
-          )
-
-          // Check if the vertices are on the same plane and only define a plane
-          // Algorithm has troubles with vertices that are on the same plane so we
-          // add a new vertex slightly moved along the normal direction
-          const coplanarityResult = verticesToCoplanarity(vertices)
-
-          if (coplanarityResult.isCoplanar && coplanarityResult.normal) {
-            // Add a new vertex slightly moved along the normal direction
-            const offset = 0.0001
-            const newVertex = new THREE.Vector3().addVectors(
-              vertices[0],
-              coplanarityResult.normal.multiplyScalar(offset),
-            )
-            vertices.push(newVertex)
-          }
-
-          let convexGeometry
-          try {
-            convexGeometry = new ConvexGeometry(vertices)
-          } catch (error) {
-            console.log("Error creating ConvexGeometry:", error)
-            return null
-          }
-          return (
-            <mesh key={`${index}-${i}`} geometry={convexGeometry}>
-              <meshStandardMaterial
-                key={index}
-                attach="material"
-                color="#009f4d"
-                opacity={0.2}
-                depthTest={false}
-                depthWrite={false}
-                transparent
-                polygonOffset
-                polygonOffsetFactor={-i}
-              />
-            </mesh>
-          )
-        })
-      })
-    }
-    return null
-  }
-
-  /**
-   * Helper variable to render both api versions of safety zones
-   */
-  const renderedSafetyZones = useMemo(() => {
-    return Array.isArray(safetyZones)
-      ? renderV1SafetyZones()
-      : renderV2SafetyZones()
-  }, [safetyZones, renderV1SafetyZones, renderV2SafetyZones])
+  }, [safetyZones, planeSize])
 
   return (
     <group {...props}>

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

@@ -1,9 +1,9 @@
 import { Line } from "@react-three/drei"
-import type { GetTrajectoryResponse } from "@wandelbots/nova-js/v1"
+import type { Pose } from "@wandelbots/nova-js/v2"
 import * as THREE from "three"
 
 export type TrajectoryRendererProps = {
-  trajectory: GetTrajectoryResponse
+  trajectory: Pose[]
 } & React.JSX.IntrinsicElements["group"]
 
 export function TrajectoryRenderer({
@@ -11,13 +11,13 @@ export function TrajectoryRenderer({
   ...props
 }: TrajectoryRendererProps) {
   const points =
-    trajectory.trajectory
-      ?.map((point) => {
-        if (point.tcp_pose) {
+    trajectory
+      ?.map((pose: Pose) => {
+        if (pose.position?.length) {
           return new THREE.Vector3(
-            point.tcp_pose.position.x / 1000,
-            point.tcp_pose.position.z / 1000,
-            -point.tcp_pose.position.y / 1000,
+            pose.position[0] / 1000,
+            pose.position[2] / 1000,
+            -pose.position[1] / 1000,
           )
         }
         return null

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-js/v2"
 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-js/v2"
 import type React from "react"
 import * as THREE from "three"
 import { colliderShapeToBufferGeometry } from "./colliderShapeToBufferGeometry"

package/src/components/3d-viewport/collider/CollisionSceneRenderer.tsx

@@ -1,10 +1,10 @@
-import type { CollisionScene } from "@wandelbots/nova-js/v1"
+import type { CollisionSetup } from "@wandelbots/nova-js/v2"
 import ColliderCollection, {
   type MeshChildrenProvider,
 } from "./ColliderCollection"
 
 type CollisionSceneRendererProps = {
-  scene: CollisionScene
+  scene: CollisionSetup
   meshChildrenProvider: MeshChildrenProvider
 }
 

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-js/v2"
 import * as THREE from "three"
 import { ConvexGeometry } from "three-stdlib"
 

package/src/components/jogging/JoggingStore.ts

@@ -219,7 +219,7 @@ export class JoggingStore {
     this.jogger.dispose()
   }
 
-  get coordSystemCountByName() {
+  get coordSystemCountByName(): Record<string, number> {
     return countBy(this.coordSystems, (cs) => cs.name)
   }
 
@@ -328,11 +328,11 @@ export class JoggingStore {
     return discreteIncrementOptions
   }
 
-  get incrementOptionsById() {
+  get incrementOptionsById(): Record<string, IncrementOption> {
     return keyBy(this.incrementOptions, (o) => o.id)
   }
 
-  get tabsById() {
+  get tabsById(): Record<string, { id: TabType; label: string }> {
     return keyBy(this.tabs, (t) => t.id)
   }
 
@@ -344,7 +344,7 @@ export class JoggingStore {
     return this.tabs.indexOf(this.currentTab)
   }
 
-  get coordSystemsById() {
+  get coordSystemsById(): Record<string, CoordinateSystem> {
     return keyBy(this.coordSystems, (cs) => cs.coordinate_system)
   }
 
@@ -363,7 +363,7 @@ export class JoggingStore {
       : this.selectedCoordSystemId
   }
 
-  get tcpsById() {
+  get tcpsById(): Record<string, RobotTcp> {
     return keyBy(this.tcps, (tcp) => tcp.id)
   }
 

package/src/components/utils/interpolation.test.ts

@@ -1,10 +1,10 @@
-import { afterEach, beforeEach, describe, expect, it, vi } from "vitest"
+import { afterEach, beforeEach, describe, expect, it, type MockedFunction, vi } from "vitest"
 import { ValueInterpolator } from "./interpolation"
 
 describe("ValueInterpolator", () => {
   let interpolator: ValueInterpolator
-  let mockOnChange: ReturnType<typeof vi.fn>
-  let mockOnComplete: ReturnType<typeof vi.fn>
+  let mockOnChange: MockedFunction<(values: number[]) => void>
+  let mockOnComplete: MockedFunction<(values: number[]) => void>
 
   beforeEach(() => {
     mockOnChange = vi.fn()

package/src/index.ts

@@ -1,4 +1,3 @@
 // Re-export all sub-entry points
 export * from "./3d"
 export * from "./core"
-export * from "./wandelscript"

package/src/lib/ConnectedMotionGroup.ts

@@ -258,11 +258,6 @@ export class ConnectedMotionGroup {
     return this.description.motion_group_model
   }
 
-  get wandelscriptIdentifier() {
-    const num = this.motionGroupId.split("@")[0]
-    return `${this.controllerId.replace(/-/g, "_")}_${num}`
-  }
-
   /** Jogging velocity in radians for rotation and joint movement */
   get joggingVelocityRads() {
     return (this.joggingVelocity * Math.PI) / 180

package/src/lib/MotionStreamConnection.ts

@@ -170,11 +170,6 @@ export class MotionStreamConnection {
     return this.controller.controller
   }
 
-  get wandelscriptIdentifier() {
-    const num = this.motionGroupId.split("@")[0]
-    return `${this.controllerId.replace(/-/g, "_")}_${num}`
-  }
-
   get joints() {
     return this.initialMotionState.joint_position.map((_, i) => {
       return {

package/src/themes/createDarkTheme.ts

@@ -338,28 +338,7 @@ export function createDarkTheme(): Theme {
         VelocitySlider: {
           sliderLegendColor: baseTheme.palette.text.primary,
         },
-      },
-      WandelscriptEditor: {
-        monacoTheme: {
-          base: "vs-dark",
-          inherit: true,
-          rules: [
-            {
-              token: "keyword",
-              foreground: "#b349a9ff",
-            },
-          ],
-          colors: {
-            "editor.background": rgbToHex(
-              baseTheme.palette.backgroundPaperElevation?.[5] ?? "",
-            ),
-            "editor.foreground": "#d4d4d4",
-            "editorLineNumber.foreground": "#797979",
-            "editorLineNumber.activeForeground": "#e9e9e9",
-            "editor.lineHighlightBorder": "#e9e9e911",
-          },
-        },
-      },
+      }
     },
   } as Theme
 }

package/src/themes/themeTypes.ts

@@ -1,5 +1,3 @@
-import type { editor } from "monaco-editor"
-
 type NovaColorPaletteExtension = {
   paletteExt?: {
     primary?: {
@@ -48,9 +46,6 @@ interface NovaComponentsExtension {
         sliderLegendColor?: string
       }
     }
-    WandelscriptEditor?: {
-      monacoTheme: editor.IStandaloneThemeData
-    }
   }
 }
 

package/dist/3d.cjs.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"3d.cjs.js","sources":[],"sourcesContent":[],"names":[],"mappings":""}