@wandelbots/wandelbots-js-react-components 5.4.0 → 5.4.1

package/src/components/jogging/__fixtures__/motionStreamMockData.ts

@@ -0,0 +1,137 @@
+/**
+ * Real motion state data captured from websocket connections
+ * to actual robot controllers, converted to MotionGroupState format.
+ */
+import { JointTypeEnum } from "@wandelbots/nova-js/v2"
+import type {
+  MotionGroupState,
+  MotionGroupDescription,
+  DHParameter,
+} from "@wandelbots/nova-js/v2"
+
+// ---------------------------------------------------------------------------
+// UR5e – 6 revolute joints
+// ---------------------------------------------------------------------------
+
+export const ur5eMotionGroupState: MotionGroupState = {
+  motion_group: "0@ur5emock",
+  controller: "ur5emock",
+  joint_position: [
+    0, -1.5709999799728394, -1.5709999799728394, -1.5709999799728394,
+    1.5709999799728394, -1.5709999799728394,
+  ],
+  joint_limit_reached: {
+    limit_reached: [false, false, false, false, false, false],
+  },
+  tcp_pose: {
+    position: [491.9256498952305, -133.27971614361718, 487.42935363090754],
+    orientation: [
+      -3.1413887753705083, -0.0003197791888075772, 0.000959598168759525,
+    ],
+  },
+  tcp: "Flange",
+  flange_pose: {
+    position: [491.9256498952305, -133.27971614361718, 487.42935363090754],
+    orientation: [
+      -3.1413887753705083, -0.0003197791888075772, 0.000959598168759525,
+    ],
+  },
+  coordinate_system: "",
+  standstill: true,
+  sequence_number: 38283,
+  timestamp: "2026-04-24T08:23:04.230859905Z",
+  description_revision: 0,
+}
+
+export const ur5eDhParameters: DHParameter[] = Array.from(
+  { length: 6 },
+  () => ({ type: JointTypeEnum.RevoluteJoint }) as DHParameter,
+)
+
+export const ur5eDescription: MotionGroupDescription = {
+  motion_group_model: "ur5e",
+  cycle_time: 0.004,
+  mounting: {},
+  operation_limits: { auto_limits: { joints: [] } },
+  dh_parameters: ur5eDhParameters,
+} as unknown as MotionGroupDescription
+
+// ---------------------------------------------------------------------------
+// Turn mock – 2 revolute joints
+// ---------------------------------------------------------------------------
+
+export const turnMockMotionGroupState: MotionGroupState = {
+  motion_group: "0@turnmock",
+  controller: "turnmock",
+  joint_position: [0, 0],
+  joint_limit_reached: {
+    limit_reached: [false, false],
+  },
+  tcp_pose: {
+    position: [0, 0, 0],
+    orientation: [0, 0, 0],
+  },
+  tcp: "",
+  flange_pose: {
+    position: [0, 0, 0],
+    orientation: [0, 0, 0],
+  },
+  coordinate_system: "",
+  standstill: true,
+  sequence_number: 31111,
+  timestamp: "2026-04-24T08:26:21.729120996Z",
+  description_revision: 0,
+}
+
+export const turnMockDhParameters: DHParameter[] = Array.from(
+  { length: 2 },
+  () => ({ type: JointTypeEnum.RevoluteJoint }) as DHParameter,
+)
+
+export const turnMockDescription: MotionGroupDescription = {
+  motion_group_model: "turnmock",
+  cycle_time: 0.004,
+  mounting: {},
+  operation_limits: { auto_limits: { joints: [] } },
+  dh_parameters: turnMockDhParameters,
+} as unknown as MotionGroupDescription
+
+// ---------------------------------------------------------------------------
+// Linear axis mock – 1 prismatic joint
+// ---------------------------------------------------------------------------
+
+export const linearAxisMotionGroupState: MotionGroupState = {
+  motion_group: "0@linearaxismock",
+  controller: "linearaxismock",
+  joint_position: [0],
+  joint_limit_reached: {
+    limit_reached: [false],
+  },
+  tcp_pose: {
+    position: [0, 0, 0],
+    orientation: [0, 0, 0],
+  },
+  tcp: "Flange",
+  flange_pose: {
+    position: [0, 0, 0],
+    orientation: [0, 1.5707963267948966, 0],
+  },
+  coordinate_system: "",
+  standstill: true,
+  sequence_number: 40497,
+  timestamp: "2026-04-24T08:27:41.630099378Z",
+  description_revision: 0,
+}
+
+export const linearAxisDhParameters: DHParameter[] = [
+  { type: JointTypeEnum.PrismaticJoint } as DHParameter,
+]
+
+export const linearAxisDescription: MotionGroupDescription = {
+  motion_group_model: "linearaxismock",
+  cycle_time: 0.004,
+  mounting: {},
+  operation_limits: { auto_limits: { joints: [] } },
+  dh_parameters: linearAxisDhParameters,
+} as unknown as MotionGroupDescription
+

package/src/lib/JoggerConnection.ts

@@ -3,12 +3,13 @@ import {
   tryParseJson,
   XYZ_TO_VECTOR,
 } from "@wandelbots/nova-js"
-import type {
-  InitializeMovementResponse,
-  MotionCommand,
-  NovaClient,
-  Pose,
-  StartMovementResponse,
+import {
+  JointTypeEnum,
+  type InitializeMovementResponse,
+  type MotionCommand,
+  type NovaClient,
+  type Pose,
+  type StartMovementResponse,
 } from "@wandelbots/nova-js/v2"
 import { when } from "mobx"
 import { Vector3 } from "three/src/math/Vector3.js"
@@ -55,7 +56,8 @@ export class JoggerConnection {
   ENDPOINT_JOGGING = "/execution/jogging"
   ENDPOINT_TRAJECTORY = "/execution/trajectory"
   DEFAULT_MODE = "off" as JoggerMode
-  DEFAULT_TCP = "Flange"
+  DEFAULT_TCP: string | undefined = "Flange"
+  NO_TCP: string | undefined = undefined;
   // DEFAULT_COORDINATE_SYSTEM = "world"
   DEFAULT_INIT_TIMEOUT = 5000
   DEFAULT_ORIENTATION = "coordsys" as JoggerOrientation
@@ -64,7 +66,7 @@ export class JoggerConnection {
   joggingSocket: AutoReconnectingWebsocket | null = null
   trajectorySocket: AutoReconnectingWebsocket | null = null
   timeout: number = this.DEFAULT_INIT_TIMEOUT
-  tcp: string
+  tcp: string | undefined
   // coordinateSystem?: string
   orientation: JoggerOrientation
   onError?: (err: unknown) => void
@@ -95,6 +97,7 @@ export class JoggerConnection {
     // Get matching motion stream
     const motionStream = await MotionStreamConnection.open(nova, motionGroupId)
 
+
     // Initialize jogger with options
     const jogger = new JoggerConnection(motionStream, options)
 
@@ -109,7 +112,7 @@ export class JoggerConnection {
     readonly motionStream: MotionStreamConnection,
     readonly options: JoggerConnectionOptions | undefined = {},
   ) {
-    this.tcp = options?.tcp || motionStream.motionGroup.tcp || this.DEFAULT_TCP
+    this.tcp = options?.tcp || motionStream.motionGroup.tcp || this.getDefaultTcp(motionStream)
     // this.coordinateSystem = options?.coordinateSystem || this.DEFAULT_COORDINATE_SYSTEM
     this.orientation = options?.orientation || this.DEFAULT_ORIENTATION
     this.timeout = options?.timeout || this.DEFAULT_INIT_TIMEOUT
@@ -117,6 +120,17 @@ export class JoggerConnection {
     this.onError = options?.onError
   }
 
+  getDefaultTcp(motionStream: MotionStreamConnection){
+    const firstJointType = motionStream.description.dh_parameters?.[0]?.type
+    if(
+      motionStream.joints.length < 6 &&
+      (firstJointType === JointTypeEnum.RevoluteJoint || firstJointType === JointTypeEnum.PrismaticJoint)
+    ){
+      return this.NO_TCP;
+    }
+    return this.DEFAULT_TCP;
+  }
+
   // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket
   async setOptions(options: Partial<JoggerConnectionOptions>) {
     if (options.tcp) {
@@ -271,7 +285,7 @@ export class JoggerConnection {
       this.joggingSocket.sendJson({
         message_type: "InitializeJoggingRequest",
         motion_group: this.motionGroupId,
-        tcp: this.tcp,
+        ...(this.tcp ? { tcp: this.tcp } : {}),
       })
     })
   }