@wandelbots/wandelbots-js-react-components 5.1.0 → 5.1.1-pr.fix-RB-3135-dhparam-type-check.571.707bea2

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/wandelbots-js-react-components",
-  "version": "5.1.0",
+  "version": "5.1.1-pr.fix-RB-3135-dhparam-type-check.571.707bea2",
   "description": "React UI toolkit for building applications on top of the Wandelbots platform",
   "type": "module",
   "sideEffects": false,

package/src/components/VelocitySlider.tsx

@@ -10,9 +10,10 @@ type VelocitySliderProps = {
   min: number
   max: number
   velocity: number
-  onVelocityChange: (newVelocity: number) => void
+  onVelocityChange: (newVelocity: number, useDegree: boolean) => void
   disabled?: boolean
   renderValue?: (value: number) => ReactNode
+  useDegree: boolean
   store: JoggingStore
 }
 
@@ -25,7 +26,7 @@ export const VelocitySlider = observer((props: VelocitySliderProps) => {
   function onSliderChange(_event: Event, newVelocity: number | number[]) {
     if (newVelocity === props.velocity || !isNumber(newVelocity)) return
 
-    props.onVelocityChange(newVelocity)
+    props.onVelocityChange(newVelocity, props.useDegree)
   }
 
   return (

package/src/components/jogging/JoggingCartesianTab.tsx

@@ -194,8 +194,16 @@ export const JoggingCartesianTab = observer(
     return (
       <Stack flexGrow={1} gap={2} sx={{ padding: "18px 24px" }}>
         <Stack gap={2}>
-          <JoggingOptions store={store} />
-          <JoggingVelocitySlider store={store} />
+          <JoggingOptions
+            store={store}
+            useDegree={store.selectedCartesianMotionType === "rotate"}
+          />
+
+          <JoggingVelocitySlider
+            store={store}
+            useDegree={store.selectedCartesianMotionType === "rotate"}
+          />
+
           <Divider />
         </Stack>
 

package/src/components/jogging/JoggingJointTab.tsx

@@ -3,8 +3,9 @@ import { observer } from "mobx-react-lite"
 import type { ReactNode } from "react"
 import { JoggingJointLimitDetector } from "./JoggingJointLimitDetector"
 import { JoggingJointValueControl } from "./JoggingJointValueControl"
-import { type JoggingStore, JointCategory } from "./JoggingStore"
+import { type JoggingStore } from "./JoggingStore"
 import { JoggingVelocitySlider } from "./JoggingVelocitySlider"
+import { JointTypeEnum } from "@wandelbots/nova-js/v2"
 
 export const JoggingJointTab = observer(
   ({ store, children }: { store: JoggingStore; children: ReactNode }) => {
@@ -19,11 +20,11 @@ export const JoggingJointTab = observer(
         joint: opts.joint,
         direction: opts.direction,
         velocityUnit:
-          store.jointCategory === JointCategory.PRISMATIC
+          store.jointType === JointTypeEnum.PrismaticJoint
             ? "mm/s"
             : "rad/s",
         velocityValue:
-          store.jointCategory === JointCategory.PRISMATIC
+          store.jointType === JointTypeEnum.PrismaticJoint
             ? store.translationVelocityMmPerSec
             : store.rotationVelocityRadsPerSec,
 
@@ -37,7 +38,13 @@ export const JoggingJointTab = observer(
 
     return (
       <Stack flexGrow={1} gap={2} sx={{ padding: "18px 24px" }}>
-        <JoggingVelocitySlider store={store} />
+        <JoggingVelocitySlider
+          store={store}
+          useDegree={
+            store.jointType === JointTypeEnum.RevoluteJoint
+          }
+        />
+
         <Divider />
 
         <Stack
@@ -76,7 +83,10 @@ export const JoggingJointTab = observer(
                     disabled={store.isLocked}
                     lowerLimit={jointLimits?.lower_limit}
                     upperLimit={jointLimits?.upper_limit}
-                    useDegree={store.currentMotionType === "rotate"}
+                    useDegree={
+                      store.jointType === JointTypeEnum.RevoluteJoint
+                    }
+
                     getValue={() => {
                       const value =
                         store.jogger.motionStream.rapidlyChangingMotionState

package/src/components/jogging/JoggingOptions.tsx

@@ -10,7 +10,7 @@ import {
   type OrientationId,
 } from "./JoggingStore"
 
-export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
+export const JoggingOptions = observer(({ store, useDegree }: { store: JoggingStore, useDegree: boolean }) => {
   const { t } = useTranslation()
   const componentId = useId()
   const joggingOptions: React.ReactElement[] = []
@@ -118,9 +118,9 @@ export const JoggingOptions = observer(({ store }: { store: JoggingStore }) => {
           ? null
           : store.discreteIncrementOptions.map((inc) => (
               <MenuItem key={inc.id} value={inc.id}>
-                {store.currentMotionType === "translate"
-                  ? `${inc.mm}mm`
-                  : `${inc.degrees}°`}
+                {useDegree
+                  ? `${inc.degrees}°`
+                  : `${inc.mm}mm`}
               </MenuItem>
             ))}
       </AdornedSelect>,

package/src/components/jogging/JoggingStore.ts

@@ -1,8 +1,11 @@
 import { tryParseJson } from "@wandelbots/nova-js"
-import type {
-  CoordinateSystem,
-  MotionGroupDescription,
-  RobotTcp,
+import {
+  type CoordinateSystem,
+  type DHParameter,
+  type MotionGroupDescription,
+  type RobotTcp,
+  type KinematicModel,
+  JointTypeEnum,
 } from "@wandelbots/nova-js/v2"
 import { countBy } from "lodash-es"
 import keyBy from "lodash-es/keyBy"
@@ -40,30 +43,12 @@ export type IncrementJogInProgress = {
   axis: JoggingAxis
 }
 
-export enum JointCategory {
-  REVOLUTE = "REVOLUTE",
-  PRISMATIC = "PRISMATIC",
-}
-
 type TabType = "cartesian" | "joint" | "debug";
-
+export type CartesianMotionType = "translate" | "rotate"
 
 export class JoggingStore {
   selectedTabId: TabType = "cartesian";
 
-  /**
-   * State of the jogging panel. Starts as "inactive"
-   */
-  activationState: "inactive" | "loading" | "active" = "inactive"
-
-  /**
-   * If an error occurred connecting to the jogging websocket
-   */
-  activationError: unknown | null = null
-
-  /** To avoid activation race conditions */
-  activationCounter: number = 0
-
   /** Locks to prevent UI interactions during certain operations */
   locks = new Set<string>()
 
@@ -96,7 +81,7 @@ export class JoggingStore {
    * When on the cartesian tab, jogging can be either translating or rotating
    * around the TCP.
    */
-  selectedCartesianMotionType: "translate" | "rotate" = "translate"
+  selectedCartesianMotionType: CartesianMotionType = "translate"
 
   /**
    * If the jogger is busy running an incremental jog, this will be set
@@ -145,6 +130,19 @@ export class JoggingStore {
 
   disposers: IReactionDisposer[] = []
 
+  dhParameters: DHParameter[] = []
+
+  /**
+   * Inverse solver from the kinematic model of the motion group to determine, which tabs should be rendered
+   */
+  inverseSolver: string | null | undefined = undefined
+
+  /**
+   * Joint type to determine, whether the active robot should be displayed as Robot or Linear Axis and what tabs
+   * should be rendered by the JoggingPanel component.
+   */
+  jointType: JointTypeEnum = JointTypeEnum.RevoluteJoint
+
   /**
    * Load a jogging store with the relevant data it needs
    * from the backend
@@ -167,6 +165,10 @@ export class JoggingStore {
       ),
     ])
 
+    const kinematicModel: KinematicModel = await nova.api.motionGroupModels.getMotionGroupKinematicModel(
+      description.motion_group_model,
+    )
+
     const tcps = Object.entries(description.tcps || {}).map(([id, tcp]) => ({
       id,
       readable_name: tcp.name,
@@ -174,7 +176,7 @@ export class JoggingStore {
       orientation: tcp.pose.orientation as Vector3Simple,
     }))
 
-    return new JoggingStore(jogger, coordinatesystems || [], description, tcps)
+    return new JoggingStore(jogger, coordinatesystems || [], description, tcps, kinematicModel)
   }
 
   constructor(
@@ -182,6 +184,7 @@ export class JoggingStore {
     readonly coordSystems: CoordinateSystem[],
     readonly motionGroupDescription: MotionGroupDescription,
     readonly tcps: RobotTcp[],
+    readonly kinematicModel: KinematicModel,
   ) {
     // TODO workaround for default coord system on backend having a canonical id
     // of empty string. Can remove when fixed on API side
@@ -193,6 +196,10 @@ export class JoggingStore {
     }
     this.selectedCoordSystemId = coordSystems[0]?.coordinate_system || "world"
     this.selectedTcpId = tcps[0]?.id || ""
+    this.inverseSolver = this.kinematicModel.inverse_solver
+    this.jointType =
+      motionGroupDescription?.dh_parameters?.[0]?.type ??
+      JointTypeEnum.RevoluteJoint
 
     // Make all properties observable and actions auto-bound
     makeAutoObservable(this, {}, { autoBind: true })
@@ -306,17 +313,25 @@ export class JoggingStore {
   }
 
   get tabs() {
-    const tempTabs : {id: TabType, label: string}[] = [{
-      id: "joint",
-      label: "Joints",
-    }] ;
-    if(this.isTcpCartesianMoveable){
+    const tempTabs: { id: TabType; label: string }[] = [
+      {
+        id: "joint",
+        label: "Joints",
+      },
+    ]
+    // show the cartesian tab only : 1. when there is a solver or 2. when no solver could be loaded ( as a default )
+    // do not show the cartesia tab when the solver is null this means, it cannot get jogged cartesian
+    if (
+      this.inverseSolver === undefined ||
+      this.inverseSolver !== null
+    ) {
       tempTabs.unshift({
         id: "cartesian",
         label: "Cartesian",
-      })}
+      })
+    }
 
-    return tempTabs;
+    return tempTabs
   }
 
 
@@ -348,10 +363,6 @@ export class JoggingStore {
     return keyBy(this.coordSystems, (cs) => cs.coordinate_system)
   }
 
-  get selectedCoordSystem() {
-    return this.coordSystemsById[this.selectedCoordSystemId]
-  }
-
   /**
    * The id of the coordinate system to use for jogging.
    * If in tool orientation, this is set to "tool", not the
@@ -379,59 +390,26 @@ export class JoggingStore {
   }
 
   /** Selected velocity in mm/sec or deg/sec */
-  get velocityInDisplayUnits() {
-    return this.currentMotionType === "translate"
-      ? this.translationVelocityMmPerSec
-      : this.rotationVelocityDegPerSec
-  }
-
-  /** Minimum selectable velocity in mm/sec or deg/sec */
-  get minVelocityInDisplayUnits() {
-    return this.currentMotionType === "translate"
-      ? this.minTranslationVelocityMmPerSec
-      : this.minRotationVelocityDegPerSec
+  velocityInDisplayUnits(useDegree: boolean) {
+    return useDegree
+      ? this.rotationVelocityDegPerSec
+      : this.translationVelocityMmPerSec
   }
 
-  /** Maximum selectable velocity in mm/sec or deg/sec */
-  get maxVelocityInDisplayUnits() {
-    return this.currentMotionType === "translate"
-      ? this.maxTranslationVelocityMmPerSec
-      : this.maxRotationVelocityDegPerSec
-  }
 
-  /**
-   * For velocity unit purposes, joint and cartesian rotation
-   * are treated as the same type of motion
-   */
-  get currentMotionType() {
-    if (
-      (
-        this.selectedTabId === "cartesian" &&
-        this.selectedCartesianMotionType === "translate"
-      ) || this.jointCategory === JointCategory.PRISMATIC
-    ) {
-      return "translate"
-    } else {
-      return "rotate"
-    }
+  /** Minimum selectable velocity in mm/sec or deg/sec */
+  minVelocityInDisplayUnits(useDegree: boolean) {
+    return useDegree
+      ? this.minRotationVelocityDegPerSec
+      : this.minTranslationVelocityMmPerSec
   }
 
 
-  /*
-  * ToDo replace Hardcoded Models with an api request that delivers the type (will become part of DH-Parameters)
-  *  Ticket already created
-  * */
-  get jointCategory(): JointCategory {
-    return this.motionGroupDescription.motion_group_model === "ABB_IRT710"
-      ? JointCategory.PRISMATIC
-      : JointCategory.REVOLUTE
-  }
-
-  get isTcpCartesianMoveable(): boolean{
-    if(this.motionGroupDescription.motion_group_model === "ABB_IRT710"){
-      return false;
-    }
-    return true;
+  /** Maximum selectable velocity in mm/sec or deg/sec */
+  maxVelocityInDisplayUnits(useDegree: boolean) {
+    return useDegree
+      ? this.maxRotationVelocityDegPerSec
+      : this.maxTranslationVelocityMmPerSec
   }
 
   onTabChange(_event: React.SyntheticEvent, newValue: number) {
@@ -459,15 +437,16 @@ export class JoggingStore {
     this.incrementJogInProgress = incrementJog
   }
 
-  setVelocityFromSlider(velocity: number) {
-    if (this.currentMotionType === "translate") {
-      this.translationVelocityMmPerSec = velocity
-    } else {
+  setVelocityFromSlider(velocity: number, useDegree: boolean) {
+    if (useDegree) {
       this.rotationVelocityDegPerSec = velocity
+    } else {
+      this.translationVelocityMmPerSec = velocity
     }
   }
 
-  setSelectedCartesianMotionType(type: "translate" | "rotate") {
+
+  setSelectedCartesianMotionType(type: CartesianMotionType) {
     this.selectedCartesianMotionType = type
   }
 

package/src/components/jogging/JoggingVelocitySlider.tsx

@@ -1,35 +1,38 @@
-import { observer, useLocalObservable } from "mobx-react-lite"
+import { observer} from "mobx-react-lite"
 import { useTranslation } from "react-i18next"
 import { VelocitySlider, VelocitySliderLabel } from "../VelocitySlider"
 import type { JoggingStore } from "./JoggingStore"
 
 export const JoggingVelocitySlider = observer(
-  ({ store }: { store: JoggingStore }) => {
+  ({
+     store,
+     useDegree,
+   }: {
+    store: JoggingStore
+    useDegree: boolean
+  }) => {
+
     const { t } = useTranslation()
 
-    const state = useLocalObservable(() => ({
-      get valueLabelFormat() {
-        if (store.currentMotionType === "translate") {
-          return (value: number) =>
-            `v = ${t("Jogging.Cartesian.Translation.velocityMmPerSec.lb", { amount: value })}`
-        } else {
-          return (value: number) =>
-            `ω = ${t("Jogging.Cartesian.Rotation.velocityDegPerSec.lb", { amount: value })}`
-        }
-      },
-    }))
+    function valueLabelFormat(value: number, useDegree: boolean): string {
+      return useDegree
+        ? `ω = ${t("Jogging.Cartesian.Rotation.velocityDegPerSec.lb", { amount: value })}`
+        : `v = ${t("Jogging.Cartesian.Translation.velocityMmPerSec.lb", { amount: value })}`
+    }
+
 
     return (
       <VelocitySlider
         store={store}
-        velocity={store.velocityInDisplayUnits}
-        min={store.minVelocityInDisplayUnits}
-        max={store.maxVelocityInDisplayUnits}
+        velocity={store.velocityInDisplayUnits(useDegree)}
+        min={store.minVelocityInDisplayUnits(useDegree)}
+        max={store.maxVelocityInDisplayUnits(useDegree)}
         onVelocityChange={store.setVelocityFromSlider}
+        useDegree={useDegree}
         disabled={store.isLocked}
         renderValue={(value) => (
           <VelocitySliderLabel
-            value={state.valueLabelFormat(value)}
+            value={valueLabelFormat(value, useDegree)}
             sx={{
               minWidth: "111px",
               span: {

package/src/components/robots/MotionGroupVisualizer.tsx

@@ -25,10 +25,6 @@ export const MotionGroupVisualizer: React.FC<MotionGroupVisualizerProps> = exter
 
   /**
    * Sets the joint type according to delivered dh parameter type
-   *
-   * TODO as soon as V2 api migration is done, the setting of the default RevoluteJoint value should be
-   *  deleted, cause the type property is expected to be always delivered. It is not the case in the V1 at the
-   *  moment.
    */
   useEffect(() => {
     if (dhParameters.length) {