@wandelbots/wandelbots-js-react-components 4.7.2-pr.v4.554.f8a153d → 5.0.0

package/package.json

@@ -1,9 +1,10 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "4.7.2-pr.v4.554.f8a153d",
+  "version": "5.0.0",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,
+  "packageManager": "pnpm@10.33.0",
   "files": [
     "dist",
     "src",
@@ -26,19 +27,14 @@
       "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",
@@ -65,13 +61,11 @@
   "author": "Wandelbots",
   "license": "Apache-2.0",
   "engines": {
-    "node": ">=18.14.0",
-    "npm": ">=8.0.0"
+    "node": ">=18.14.0"
   },
   "devDependencies": {
     "@emotion/react": "^11.14.0",
     "@emotion/styled": "^11.14.0",
-    "@monaco-editor/react": "^4.7.0",
     "@mui/icons-material": "^7.3.7",
     "@mui/material": "^7.3.7",
     "@react-three/drei": "^10.2.0",
@@ -81,14 +75,15 @@
     "@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": "^10.2.3",
+    "@storybook/react": "^10.3.5",
     "@storybook/react-vite": "^10.2.3",
     "@storybook/test-runner": "^0.24.1",
     "@svgr/rollup": "^8.1.0",
     "@testing-library/jest-dom": "^6.6.3",
     "@testing-library/react": "^16.3.2",
     "@testing-library/user-event": "^14.6.1",
+    "@types/lodash": "^4.17.24",
     "@types/lodash-es": "^4.17.12",
     "@types/react": "^19.1.8",
     "@types/three": "^0.182.0",
@@ -102,9 +97,9 @@
     "jest-simple-dot-reporter": "^1.0.5",
     "jest-summary-reporter": "^0.0.2",
     "jsdom": "^27.4.0",
-    "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",
@@ -117,7 +112,6 @@
     "rollup-plugin-peer-deps-external": "^2.2.4",
     "rollup-plugin-postcss": "^4.0.2",
     "semantic-release": "^25.0.2",
-    "shiki": "^3.1.0",
     "storybook": "^10.2.3",
     "storybook-preset-inline-svg": "^2.0.0",
     "three": "^0.182.0",
@@ -134,15 +128,12 @@
   "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": ">=0.182",
     "three-stdlib": ">=2"
   },
@@ -150,15 +141,6 @@
     "react-dom": {
       "optional": true
     },
-    "@monaco-editor/react": {
-      "optional": true
-    },
-    "@shikijs/monaco": {
-      "optional": true
-    },
-    "shiki": {
-      "optional": true
-    },
     "@react-three/drei": {
       "optional": true
     },
@@ -176,7 +158,7 @@
     "@mui/x-charts": "^8.27.0",
     "@mui/x-data-grid": "^8.27.0",
     "@wandelbots/nova-js": "^3.5.4",
-    "axios": "^1.13.2",
+    "axios": "^1.15.0",
     "dotenv": "^17.2.3",
     "i18next-browser-languagedetector": "^8.2.0",
     "lodash-es": "^4.17.21",
@@ -186,7 +168,11 @@
     "react-i18next": "^16.5.2",
     "username": "^7.0.0"
   },
-  "overrides": {
-    "storybook": "$storybook"
+  "pnpm": {
+    "overrides": {
+      "storybook": "$storybook",
+      "handlebars": "^4.7.9",
+      "minimatch@<3.1.3": "^3.1.3"
+    }
   }
 }

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

@@ -1,27 +1,22 @@
+import { useMemo } from "react"
 import { type ThreeElements } from "@react-three/fiber"
-import { useEffect, useMemo } from "react"
 import * as THREE from "three"
 import { ConvexGeometry, RoundedBoxGeometry } from "three-stdlib"
 
-import type { Geometry, SafetySetupSafetyZone } from "@wandelbots/nova-js/v1"
 import type {
-  Capsule,
   Collider,
   ConvexHull,
   DHParameter,
   MotionGroupDescription,
-  RectangularCapsule,
   Sphere,
+  Capsule,
+  RectangularCapsule,
 } from "@wandelbots/nova-js/v2"
 
-import {
-  dhParametersToPlaneSize,
-  orientationToQuaternion,
-  verticesToCoplanarity,
-} from "../utils/converters"
+import { dhParametersToPlaneSize, orientationToQuaternion, verticesToCoplanarity } from "../utils/converters"
 
 export type SafetyZonesRendererProps = {
-  safetyZones: SafetySetupSafetyZone[] | MotionGroupDescription["safety_zones"]
+  safetyZones: MotionGroupDescription["safety_zones"]
   dhParameters?: DHParameter[]
 } & ThreeElements["group"]
 
@@ -49,16 +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
@@ -69,23 +54,14 @@ export function SafetyZonesRenderer({
       return null
     }
 
-    const position = new THREE.Vector3(
-      zone.pose.position[0] / 1000,
-      zone.pose.position[1] / 1000,
-      zone.pose.position[2] / 1000,
-    )
-    const orientation = new THREE.Vector3(
-      zone.pose.orientation[0],
-      zone.pose.orientation[1],
-      zone.pose.orientation[2],
-    )
+    const position = new THREE.Vector3(zone.pose.position[0] / 1000, zone.pose.position[1] / 1000, zone.pose.position[2] / 1000)
+    const orientation = new THREE.Vector3(zone.pose.orientation[0], zone.pose.orientation[1], zone.pose.orientation[2])
 
     let geometry: React.ReactElement | null
 
-    const materialProps =
-      zone.shape.shape_type === "plane"
-        ? { ...safetyZoneMaterialProps, side: THREE.DoubleSide }
-        : { ...safetyZoneMaterialProps, side: THREE.FrontSide }
+    const materialProps = zone.shape.shape_type === "plane"
+      ? { ...safetyZoneMaterialProps, side: THREE.DoubleSide }
+      : { ...safetyZoneMaterialProps, side: THREE.FrontSide }
 
     switch (zone.shape.shape_type) {
       /**
@@ -133,12 +109,7 @@ export function SafetyZonesRenderer({
           vertices.push(newVertex)
         }
         try {
-          geometry = (
-            <primitive
-              object={new ConvexGeometry(vertices)}
-              attach="geometry"
-            />
-          )
+          geometry = <primitive object={new ConvexGeometry(vertices)} attach="geometry" />
         } catch (error) {
           console.log("Error creating ConvexGeometry:", error)
           return null
@@ -170,10 +141,7 @@ export function SafetyZonesRenderer({
       }
 
       default: {
-        console.warn(
-          "Unsupported safety zone shape type:",
-          zone.shape.shape_type,
-        )
+        console.warn("Unsupported safety zone shape type:", zone.shape.shape_type)
         geometry = null
       }
     }
@@ -192,112 +160,17 @@ export function SafetyZonesRenderer({
   }
 
   /**
-   * Helper function to render V2 safety zones
-   */
-  const renderV2SafetyZones = () => {
-    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}`}
-                position={
-                  new THREE.Vector3(
-                    geometry.init_pose.position!.x!,
-                    geometry.init_pose.position!.y!,
-                    geometry.init_pose.position!.z!,
-                  )
-                }
-                quaternion={
-                  new THREE.Quaternion(
-                    geometry.init_pose.orientation!.x!,
-                    geometry.init_pose.orientation!.y!,
-                    geometry.init_pose.orientation!.z!,
-                    geometry.init_pose.orientation!.w!,
-                  )
-                }
-                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
+   * Helper variable render safety zones
    */
   const renderedSafetyZones = useMemo(() => {
-    return Array.isArray(safetyZones)
-      ? renderV1SafetyZones()
-      : renderV2SafetyZones()
-  }, [safetyZones, renderV1SafetyZones, renderV2SafetyZones])
-
-  return <group {...props}>{renderedSafetyZones}</group>
-}
+    return Object.values(safetyZones ?? {}).map((zone: Collider, index: number) => {
+      return renderMesh(index, zone)
+    })
+  }, [safetyZones, planeSize])
+
+  return (
+    <group {...props}>
+      {renderedSafetyZones}
+    </group>
+  )
+}

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({
@@ -11,14 +11,13 @@ export function TrajectoryRenderer({
   ...props
 }: TrajectoryRendererProps) {
   const points =
-    trajectory.trajectory
-      ?.map((point) => {
-        if (point.tcp_pose) {
-          return new THREE.Vector3(
-            point.tcp_pose.position.x / 1000,
-            point.tcp_pose.position.z / 1000,
-            -point.tcp_pose.position.y / 1000,
-          )
+    trajectory
+      ?.map((pose: Pose) => {
+        if (pose.position && pose.position.length >= 3) {
+          const [x, y, z] = pose.position
+          if (isFinite(x) && isFinite(y) && isFinite(z)) {
+            return new THREE.Vector3(x / 1000, z / 1000, -y / 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/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/LoadingCover-B3UN1lnU.js

@@ -1,81 +0,0 @@
-import { t as l, j as t } from "./externalizeComponent-BOqKMZMc.js";
-import { useTheme as c, Stack as i, CircularProgress as g, capitalize as d } from "@mui/material";
-import { lowerFirst as u } from "lodash-es";
-import { useState as f, useEffect as x } from "react";
-import { AxiosError as a } from "axios";
-function T(e, r) {
-  throw new Error(r + ` ${JSON.stringify(e)}`);
-}
-function h(e) {
-  var r, s, o, n;
-  return e instanceof a && e.code === "ERR_NETWORK" ? "Failed to connect to the server. Please check your internet connection." : e instanceof a && e.response ? `${(r = e.response) == null ? void 0 : r.status} ${(s = e.response) == null ? void 0 : s.statusText} from ${(o = e.response) == null ? void 0 : o.config.url}: ${JSON.stringify((n = e.response) == null ? void 0 : n.data)}` : e instanceof Error ? e.message : `Unexpected error: ${l(e) || e}`;
-}
-const k = (e) => {
-  const r = e.softTimeout || 3e3, [s, o] = f(!1), n = c();
-  return x(() => {
-    const m = setTimeout(() => {
-      o(!0);
-    }, r);
-    return () => clearTimeout(m);
-  }), /* @__PURE__ */ t.jsx(
-    i,
-    {
-      width: "100%",
-      height: "100%",
-      alignItems: "center",
-      justifyContent: "center",
-      sx: { color: n.palette.text.primary },
-      children: e.error ? /* @__PURE__ */ t.jsx(
-        w,
-        {
-          loadingMessage: e.message,
-          error: e.error
-        }
-      ) : /* @__PURE__ */ t.jsxs(t.Fragment, { children: [
-        /* @__PURE__ */ t.jsx(g, { sx: { marginBottom: "24px" } }),
-        !!e.message && /* @__PURE__ */ t.jsx("div", { children: e.message }),
-        /* @__PURE__ */ t.jsx(
-          i,
-          {
-            sx: {
-              visibility: s ? "visible" : "hidden",
-              marginTop: "1rem",
-              color: n.palette.text.secondary
-            },
-            children: "This is taking longer than expected..."
-          }
-        )
-      ] })
-    }
-  );
-}, w = (e) => {
-  const r = h(e.error), s = e.error instanceof Error ? e.error.stack : null, o = c();
-  return /* @__PURE__ */ t.jsxs(
-    i,
-    {
-      sx: {
-        maxHeight: "100%",
-        maxWidth: "min(100%, 800px)",
-        padding: 2,
-        overflow: "auto",
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