@wandelbots/wandelbots-js-react-components 5.5.1-pr.fix-standardize-output.591.60112ee → 5.5.1

package/src/icons/axis-x.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="19" height="10" fill="none"><path fill="#fff" fill-rule="evenodd" d="M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0" clip-rule="evenodd"/></svg>

package/src/icons/axis-y.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="19" height="10" fill="none"><path fill="#fff" fill-rule="evenodd" d="M5.131.312a.9.9 0 0 1 0 1.272L3.07 3.645h12.44l-2.06-2.061A.9.9 0 0 1 14.72.313l3.596 3.596a.9.9 0 0 1 0 1.271l-3.596 3.597a.9.9 0 0 1-1.271-1.272l2.061-2.062H3.07L5.13 7.505A.9.9 0 0 1 3.86 8.777L.263 5.18a.9.9 0 0 1 0-1.271L3.86.312a.9.9 0 0 1 1.271 0" clip-rule="evenodd"/></svg>

package/src/icons/axis-z.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="10" height="19" fill="none"><path fill="#fff" fill-rule="evenodd" d="M9.522 14.811A.899.899 0 1 0 8.25 13.54L6.19 15.601V3.16L8.25 5.221A.9.9 0 0 0 9.522 3.95L5.926.354a.9.9 0 0 0-1.272 0L1.058 3.95a.9.9 0 1 0 1.271 1.271L4.391 3.16v12.442L2.329 13.54a.899.899 0 1 0-1.271 1.271l3.596 3.597a.9.9 0 0 0 1.272 0z" clip-rule="evenodd"/></svg>

package/src/icons/home.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" fill="none"><path fill="currentColor" fill-rule="evenodd" d="M5 22a3 3 0 0 1-3-3v-7.078A4 4 0 0 1 3.501 8.8L12 2l8.499 6.799A4 4 0 0 1 22 11.923V19a3 3 0 0 1-3 3zm15.5-10.077V19a1.5 1.5 0 0 1-1.5 1.5h-3V14a2 2 0 0 0-2-2h-4a2 2 0 0 0-2 2v6.5H5A1.5 1.5 0 0 1 3.5 19v-7.078a2.5 2.5 0 0 1 .938-1.952L12 3.92l7.562 6.05a2.5 2.5 0 0 1 .938 1.952" clip-rule="evenodd"/></svg>

package/src/icons/index.ts

@@ -0,0 +1,12 @@
+export { default as AxisXIcon } from "./axis-x.svg"
+export { default as AxisYIcon } from "./axis-y.svg"
+export { default as AxisZIcon } from "./axis-z.svg"
+export { default as HomeIcon } from "./home.svg"
+export { default as JogMinusIcon } from "./jog-minus.svg"
+export { default as JogPlusIcon } from "./jog-plus.svg"
+export { default as JoggingIcon } from "./jogging.svg"
+export { default as OrientationCoordSystemIcon } from "./orientation-coord-system.svg"
+export { default as OrientationToolIcon } from "./orientation-tool.svg"
+export { default as RobotIcon } from "./robot.svg"
+export { default as RotationIcon } from "./rotation.svg"
+export { default as WBLogoIcon } from "./wbLogo.svg"

package/src/icons/jog-minus.svg

@@ -0,0 +1,5 @@
+<svg width="21" height="21" viewBox="0 0 21 21" fill="none" xmlns="http://www.w3.org/2000/svg">
+<g id="JogMinus">
+<path id="Minus" d="M0 13V8H21V13H0Z" fill="white"/>
+</g>
+</svg>

package/src/icons/jog-plus.svg

@@ -0,0 +1,9 @@
+<svg width="21" height="21" viewBox="0 0 21 21" fill="none" xmlns="http://www.w3.org/2000/svg">
+<g id="JogPlus">
+<g id="Plus">
+<path d="M0 13V8H8V13H0Z" fill="white"/>
+<path d="M8 0L13 2.18557e-07L13 21H8L8 0Z" fill="white"/>
+<path d="M13 13V8H21V13H13Z" fill="white"/>
+</g>
+</g>
+</svg>

package/src/icons/jogging.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="24" height="24"><path fill="currentColor" fill-rule="evenodd" d="m12 1 3.405 3.405L14.18 5.63l-1.315-1.314v3.849h-1.732V4.316L9.889 5.56 8.664 4.335zm-.867 14.665h1.732v4.019l1.315-1.314 1.225 1.225L11.999 23l-3.405-3.405 1.225-1.225 1.314 1.314zm-6.817-4.531h3.848v1.732H4.316L5.63 14.18l-1.225 1.225L1 12l3.405-3.405L5.63 9.82zm15.368 1.732h-4.02v-1.732h4.02L18.37 9.82l1.225-1.225L23 12l-3.405 3.405-1.225-1.225z" clip-rule="evenodd"/></svg>

package/src/icons/orientation-coord-system.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="21" height="21" fill="none" viewBox="0 0 23 22"><path fill="currentColor" d="m21.71 16.262-1.09.346.66 2.071-2.923-1.461V9.857l-6.285-3.143V2.893L13.38 4.21l.812-.806-2.674-2.69-2.706 2.687.805.812L10.93 2.91v3.803L4.643 9.857v7.36l-2.914 1.458.657-2.067-1.09-.346-1.225 3.88 3.826 1.144.346-1.09-1.836-.583 2.874-1.436 6.22 3.109 6.217-3.11 2.877 1.439-1.831.581.345 1.09 3.82-1.143zM11.5 12.646l-4.94-2.47 4.94-2.47 4.94 2.47zm.572.993 5.143-2.572v6.083l-5.143 2.572zm-6.286-2.572 5.143 2.572v6.083L5.786 17.15z"/></svg>

package/src/icons/orientation-tool.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="15" height="17" fill="none"><path fill="currentColor" d="M12.9 7.667c-.133-.534-.533-1-1-1.134L10.367 6l-.4 1.267L11.5 7.8c.067 0 .133.067.133.2l1.067 4.867a.32.32 0 0 1-.133.4l-2.267 1.8c-.267.2-.333.666-.133.933s.666.333.933.133l2.267-1.8c.533-.4.733-1.133.6-1.733zM12.5 0H1.833A1.65 1.65 0 0 0 .167 1.667v1.4c0 .866.733 1.6 1.666 1.6h10.734c.866 0 1.6-.734 1.6-1.667V1.667A1.65 1.65 0 0 0 12.5 0M1.633 12.8 2.7 8c0-.067.067-.133.133-.2l1.534-.533-.4-1.2-1.534.466c-.533.2-.933.6-1 1.134L.367 12.533c-.134.667.066 1.334.6 1.734l2.266 1.8c.267.266.734.2.934-.067s.2-.733-.134-.933l-2.266-1.8c-.134-.134-.2-.267-.134-.467"/></svg>

package/src/icons/robot.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="18" height="18" fill="none"><path fill="#38C6F4" fill-rule="evenodd" d="M6.359 14.25v2.934h7.63v-3.521L10.196 9.87 9 8.674l.859-.859.337-.337.858-.858.565.565.631.63.565.565 1.196-1.195.543-.544 1.196-1.195-1.196-1.196-2.304-2.304L11.054.75 9.86 1.946 3.446 8.359 2.25 9.554l1.196 1.196 2.913 2.913zm1.69 0v1.244h4.249v-1.13L7.804 9.87 6.608 8.674l1.196-1.196L9.86 5.424l.007-.008-.543-.543-4.681 4.681 2.912 2.913.496.496v.113h2.124l1.174 1.174zm3.005-10.022-.294.294-.543-.543.837-.837 2.304 2.304-.543.543-.565-.565z" clip-rule="evenodd"/></svg>

package/src/icons/rotation.svg

@@ -0,0 +1,3 @@
+<svg width="16" height="16" viewBox="0 0 16 16" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M8 16C5.76667 16 3.875 15.225 2.325 13.675C0.775 12.125 0 10.2333 0 8C0 5.76667 0.775 3.875 2.325 2.325C3.875 0.775 5.76667 0 8 0C9.15 0 10.25 0.2375 11.3 0.7125C12.35 1.1875 13.25 1.86667 14 2.75V0H16V7H9V5H13.2C12.6667 4.06667 11.9375 3.33333 11.0125 2.8C10.0875 2.26667 9.08333 2 8 2C6.33333 2 4.91667 2.58333 3.75 3.75C2.58333 4.91667 2 6.33333 2 8C2 9.66667 2.58333 11.0833 3.75 12.25C4.91667 13.4167 6.33333 14 8 14C9.28333 14 10.4417 13.6333 11.475 12.9C11.0583 14.1 12.5083 12.1667 11.475 12.9L12.9 14.325C11.4667 15.4417 9.83333 16 8 16Z" fill="white"/>
+</svg>

package/src/icons/wbLogo.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" fill="currentColor" viewBox="0 0 21 25"><path d="M0 8.256v5.96l17.023-9.745L14.42 0zM9.703 11.676 0 17.21v5.974l9.703-5.536zM11.889 19.413l-9.663 5.58h13.278v-5.58z"/></svg>

package/src/index.ts

@@ -0,0 +1,4 @@
+// Re-export all sub-entry points
+export * from "./3d"
+export * from "./core"
+export * from "./wb-icons"

package/src/lib/ConnectedMotionGroup.ts

@@ -0,0 +1,441 @@
+import {
+  tryParseJson,
+  type AutoReconnectingWebsocket,
+} from "@wandelbots/nova-js"
+import type {
+  DHParameter,
+  MotionGroupDescription,
+  MotionGroupState,
+  NovaClient,
+  OperationMode,
+  RobotControllerState,
+  SafetyStateType,
+} from "@wandelbots/nova-js/v2"
+import { makeAutoObservable, runInAction } from "mobx"
+import * as THREE from "three"
+import type { Vector3Simple } from "./JoggerConnection"
+import { jointValuesEqual, tcpMotionEqual } from "./motionStateUpdate"
+
+const MOTION_DELTA_THRESHOLD = 0.0001
+
+export type RobotTcpLike = {
+  id: string
+  readable_name: string
+  position: Vector3Simple
+  orientation: Vector3Simple
+}
+
+export type MotionGroupOption = {
+  selectionId: string
+}
+
+const EMPTY_DH_PARAMETER: DHParameter = {
+  a: 0,
+  d: 0,
+  alpha: 0,
+  theta: 0,
+  reverse_rotation_direction: false,
+}
+
+/**
+ * Store representing the current state of a connected motion group.
+ * API v2 version, not used yet in the components.
+ */
+export class ConnectedMotionGroup {
+  static async connectMultiple(nova: NovaClient, motionGroupIds: string[]) {
+    return Promise.all(
+      motionGroupIds.map((motionGroupId) =>
+        ConnectedMotionGroup.connect(nova, motionGroupId),
+      ),
+    )
+  }
+
+  static async connect(nova: NovaClient, motionGroupId: string) {
+    const [_motionGroupIndex, controllerId] = motionGroupId.split("@") as [
+      string,
+      string,
+    ]
+
+    const controller =
+      await nova.api.controller.getCurrentRobotControllerState(controllerId)
+    const motionGroup = controller?.motion_groups.find(
+      (mg) => mg.motion_group === motionGroupId,
+    )
+    if (!controller || !motionGroup) {
+      throw new Error(
+        `Controller ${controllerId} or motion group ${motionGroupId} not found`,
+      )
+    }
+
+    const motionStateSocket = nova.openReconnectingWebsocket(
+      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,
+    )
+
+    // Wait for the first message to get the initial state
+    const firstMessage = await motionStateSocket.firstMessage()
+    const initialMotionState = tryParseJson(firstMessage.data)
+      ?.result as MotionGroupState
+
+    if (!initialMotionState) {
+      throw new Error(
+        `Unable to parse initial motion state message ${firstMessage.data}`,
+      )
+    }
+
+    console.log(
+      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\n  `,
+      initialMotionState,
+    )
+
+    // Check if robot is virtual or physical
+    const config = await nova.api.controller.getRobotController(
+      controller.controller,
+    )
+    const isVirtual = config.configuration.kind === "VirtualController"
+
+    // If there's a configured mounting, we need it to show the right
+    // position of the robot model
+    const description = await nova.api.motionGroup.getMotionGroupDescription(
+      controllerId,
+      motionGroup.motion_group,
+    )
+
+    // Find out what TCPs this motion group has (we need it for jogging)
+    // There are converted into a RobotTcpLike for easier use in the UI
+    const tcps: RobotTcpLike[] = Object.entries(description.tcps || {}).map(
+      ([id, tcp]) => ({
+        id,
+        readable_name: tcp.name,
+        position: tcp.pose.position as Vector3Simple,
+        orientation: tcp.pose.orientation as Vector3Simple,
+      }),
+    )
+
+    // Open the websocket to monitor controller state for e.g. e-stop
+    const controllerStateSocket = nova.openReconnectingWebsocket(
+      `/controllers/${controller.controller}/state-stream?response_rate=1000`,
+    )
+
+    // Wait for the first message to get the initial state
+    const firstControllerMessage = await controllerStateSocket.firstMessage()
+    const initialControllerState = tryParseJson(firstControllerMessage.data)
+      ?.result as RobotControllerState
+
+    if (!initialControllerState) {
+      throw new Error(
+        `Unable to parse initial controller state message ${firstControllerMessage.data}`,
+      )
+    }
+
+    console.log(
+      `Connected controller state websocket to controller ${controller.controller}. Initial state:\n  `,
+      initialControllerState,
+    )
+
+    return new ConnectedMotionGroup(
+      nova,
+      controller,
+      motionGroup,
+      initialMotionState,
+      motionStateSocket,
+      isVirtual,
+      tcps,
+      description,
+      initialControllerState,
+      controllerStateSocket,
+    )
+  }
+
+  connectedJoggingSocket: WebSocket | null = null
+  // biome-ignore lint/suspicious/noExplicitAny: legacy code
+  planData: any | null // tmp
+  joggingVelocity: number = 10
+
+  // Not mobx-observable as this changes very fast; should be observed
+  // using animation frames
+  rapidlyChangingMotionState: MotionGroupState
+
+  // Response rate on the websocket should be a bit slower on this one since
+  // we don't use the motion data
+  controllerState: RobotControllerState
+
+  /**
+   * Reflects activation state of the motion group / robot servos. The
+   * movement controls in the UI should only be enabled in the "active" state
+   */
+  activationState: "inactive" | "activating" | "deactivating" | "active" =
+    "inactive"
+
+  constructor(
+    readonly nova: NovaClient,
+    readonly controller: RobotControllerState,
+    readonly motionGroup: MotionGroupState,
+    readonly initialMotionState: MotionGroupState,
+    readonly motionStateSocket: AutoReconnectingWebsocket,
+    readonly isVirtual: boolean,
+    readonly tcps: RobotTcpLike[],
+    readonly description: MotionGroupDescription,
+    readonly initialControllerState: RobotControllerState,
+    readonly controllerStateSocket: AutoReconnectingWebsocket,
+  ) {
+    this.rapidlyChangingMotionState = initialMotionState
+    this.controllerState = initialControllerState
+
+    // Track controller state updates (e.g. safety state and operation mode)
+    controllerStateSocket.addEventListener("message", (event) => {
+      const data = tryParseJson(event.data)?.result
+
+      if (!data) {
+        return
+      }
+
+      runInAction(() => {
+        this.controllerState = data
+      })
+    })
+
+    motionStateSocket.addEventListener("message", (event) => {
+      const latestMotionState = tryParseJson(event.data)?.result as
+        | MotionGroupState
+        | undefined
+
+      if (!latestMotionState) {
+        throw new Error(
+          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,
+        )
+      }
+
+      // handle joint position changes
+      if (
+        !jointValuesEqual(
+          this.rapidlyChangingMotionState.joint_position,
+          latestMotionState.joint_position,
+          MOTION_DELTA_THRESHOLD,
+        )
+      ) {
+        runInAction(() => {
+          this.rapidlyChangingMotionState.joint_position =
+            latestMotionState.joint_position
+        })
+      }
+
+      // handle tcp pose changes
+      if (
+        !tcpMotionEqual(
+          this.rapidlyChangingMotionState,
+          latestMotionState,
+          MOTION_DELTA_THRESHOLD,
+        )
+      ) {
+        runInAction(() => {
+          this.rapidlyChangingMotionState.tcp_pose = latestMotionState.tcp_pose
+        })
+      }
+
+      // handle standstill changes
+      if (
+        this.rapidlyChangingMotionState.standstill !==
+        latestMotionState.standstill
+      ) {
+        runInAction(() => {
+          this.rapidlyChangingMotionState.standstill =
+            latestMotionState.standstill
+        })
+      }
+    })
+    makeAutoObservable(this)
+  }
+
+  get motionGroupId() {
+    return this.motionGroup.motion_group
+  }
+
+  get controllerId() {
+    return this.controller.controller
+  }
+
+  get modelFromController() {
+    return this.description.motion_group_model
+  }
+
+  /** Jogging velocity in radians for rotation and joint movement */
+  get joggingVelocityRads() {
+    return (this.joggingVelocity * Math.PI) / 180
+  }
+
+  get joints() {
+    return this.initialMotionState.joint_position.map((_, i) => {
+      return {
+        index: i,
+      }
+    })
+  }
+
+  // Please note that API v2 omits 0 values
+  get dhParameters() {
+    if (this.description.dh_parameters === undefined) {
+      return undefined
+    }
+
+    return this.description.dh_parameters.map((dh_param) => ({
+      ...EMPTY_DH_PARAMETER,
+      ...dh_param,
+    }))
+  }
+
+  get safetyZones() {
+    return this.description.safety_zones
+  }
+
+  /** Gets the robot mounting position offset in 3D viz coordinates */
+  get mountingPosition(): [number, number, number] {
+    if (!this.description.mounting) {
+      return [0, 0, 0]
+    }
+
+    return [
+      (this.description.mounting.position?.[0] || 0) / 1000,
+      (this.description.mounting.position?.[1] || 0) / 1000,
+      (this.description.mounting.position?.[2] || 0) / 1000,
+    ]
+  }
+
+  /** Gets the robot mounting position rotation in 3D viz coordinates */
+  get mountingQuaternion() {
+    const rotationVector = new THREE.Vector3(
+      this.description.mounting?.orientation?.[0] || 0,
+      this.description.mounting?.orientation?.[1] || 0,
+      this.description.mounting?.orientation?.[2] || 0,
+    )
+
+    const magnitude = rotationVector.length()
+    const axis = rotationVector.normalize()
+
+    return new THREE.Quaternion().setFromAxisAngle(axis, magnitude)
+  }
+
+  /**
+   * Whether the controller is currently in a safety state
+   * corresponding to an emergency stop
+   */
+  get isEstopActive() {
+    const estopStates: SafetyStateType[] = [
+      "SAFETY_STATE_ROBOT_EMERGENCY_STOP",
+      "SAFETY_STATE_DEVICE_EMERGENCY_STOP",
+    ]
+
+    return estopStates.includes(this.controllerState.safety_state)
+  }
+
+  /**
+   * Whether the controller is in a safety state
+   * that may be non-functional for robot pad purposes
+   */
+  get isMoveableSafetyState() {
+    const goodSafetyStates: SafetyStateType[] = [
+      "SAFETY_STATE_NORMAL",
+      "SAFETY_STATE_REDUCED",
+    ]
+
+    return goodSafetyStates.includes(this.controllerState.safety_state)
+  }
+
+  /**
+   * Whether the controller is in an operation mode that allows movement
+   */
+  get isMoveableOperationMode() {
+    const goodOperationModes: OperationMode[] = [
+      "OPERATION_MODE_AUTO",
+      "OPERATION_MODE_MANUAL",
+      "OPERATION_MODE_MANUAL_T1",
+      "OPERATION_MODE_MANUAL_T2",
+    ]
+
+    return goodOperationModes.includes(this.controllerState.operation_mode)
+  }
+
+  /**
+   * Whether the robot is currently active and can be moved, based on the
+   * safety state, operation mode and servo toggle activation state.
+   */
+  get canBeMoved() {
+    return (
+      this.isMoveableSafetyState &&
+      this.isMoveableOperationMode &&
+      this.activationState === "active"
+    )
+  }
+
+  async deactivate() {
+    if (this.activationState !== "active") {
+      console.error("Tried to deactivate while already deactivating")
+      return
+    }
+
+    runInAction(() => {
+      this.activationState = "deactivating"
+    })
+
+    try {
+      await this.nova.api.controller.setDefaultMode(
+        this.controllerId,
+        "ROBOT_SYSTEM_MODE_MONITOR",
+      )
+
+      runInAction(() => {
+        this.activationState = "inactive"
+      })
+    } catch (err) {
+      runInAction(() => {
+        this.activationState = "active"
+      })
+      throw err
+    }
+  }
+
+  async activate() {
+    if (this.activationState !== "inactive") {
+      console.error("Tried to activate while already activating")
+      return
+    }
+
+    runInAction(() => {
+      this.activationState = "activating"
+    })
+
+    try {
+      await this.nova.api.controller.setDefaultMode(
+        this.controllerId,
+        "ROBOT_SYSTEM_MODE_CONTROL",
+      )
+
+      runInAction(() => {
+        this.activationState = "active"
+      })
+    } catch (err) {
+      runInAction(() => {
+        this.activationState = "inactive"
+      })
+      throw err
+    }
+  }
+
+  toggleActivation() {
+    if (this.activationState === "inactive") {
+      this.activate()
+    } else if (this.activationState === "active") {
+      this.deactivate()
+    }
+  }
+
+  dispose() {
+    this.motionStateSocket.close()
+    if (this.connectedJoggingSocket) this.connectedJoggingSocket.close()
+  }
+
+  setJoggingVelocity(velocity: number) {
+    this.joggingVelocity = velocity
+  }
+}
+
+export default ConnectedMotionGroup

package/src/lib/JoggerConnection.test.ts

@@ -0,0 +1,122 @@
+import { NovaClient } from "@wandelbots/nova-js/v2"
+import { expect, test, vi } from "vitest"
+import { delay } from "../components/utils/errorHandling"
+import { JoggerConnection } from "./JoggerConnection"
+import { jointValuesEqual } from "./motionStateUpdate"
+
+// Notes:
+// - In mock mode, no joint comparison takes place (always successful)
+// - To test with real (virtual or physical) instance, set an INSTANCE_URL
+
+const INSTANCE_URL = undefined // This could be read from ENV in future
+const MOCK = !INSTANCE_URL
+
+test("jog a robot somewhat", async () => {
+  const nova = new NovaClient({
+    instanceUrl: MOCK ? "https://mock.example.com" : INSTANCE_URL,
+  })
+
+  // Find a virtual robot we can jog
+  const controllerNames = await nova.api.controller.listRobotControllers()
+  const firstControllerName = controllerNames[0]
+
+  if (!firstControllerName) {
+    throw new Error("No robot controllers found on instance")
+  }
+
+  const controllerConfig =
+    await nova.api.controller.getRobotController(firstControllerName)
+  const controllerState =
+    await nova.api.controller.getCurrentRobotControllerState(
+      firstControllerName,
+    )
+  console.log("verify, got controller config and state", {
+    controllerConfig,
+    controllerState,
+  })
+
+  if (!controllerConfig || !controllerState) {
+    throw new Error(
+      `Could not get controller config and state for ${firstControllerName}`,
+    )
+  }
+
+  if (controllerConfig.configuration.kind !== "VirtualController") {
+    throw new Error(
+      `Controller ${firstControllerName} is not a VirtualController, it's a ${controllerConfig.configuration.kind}`,
+    )
+  }
+
+  if (controllerState.last_error?.[0]) {
+    throw new Error(
+      `Controller ${firstControllerName} has error: ${controllerState.last_error[0]}`,
+    )
+  }
+
+  const virtualMotionGroup = controllerState.motion_groups[0]
+
+  if (!virtualMotionGroup) {
+    throw new Error(
+      `Could not find a joggable motion group. Saw controller: ${firstControllerName}`,
+    )
+  }
+
+  const jogger = await JoggerConnection.open(
+    nova,
+    virtualMotionGroup.motion_group,
+  )
+
+  function getJoints() {
+    return jogger.motionStream.rapidlyChangingMotionState.joint_position
+  }
+
+  let joints = getJoints()
+
+  await jogger.setJoggingMode("jogging")
+
+  await jogger.rotateJoints({
+    joint: 0,
+    direction: "+",
+    velocityValue: 0.1,
+    velocityUnit: "rad/s",
+  })
+
+  await delay(500)
+  await jogger.stop()
+
+  if (!MOCK) {
+    // Only verify joint movement in non-mock mode
+    await expect.poll(() => getJoints()[0]).toBeGreaterThan(joints[0] + 0.01)
+    expect(getJoints()[1]).toBeCloseTo(joints[1])
+  }
+
+  joints = getJoints()
+
+  await jogger.rotateJoints({
+    joint: 0,
+    direction: "-",
+    velocityValue: 0.1,
+    velocityUnit: "rad/s",
+  })
+  await delay(500)
+  await jogger.stop()
+
+  await expect.poll(() => getJoints()[0]).toBeLessThan(joints[0] + 0.01)
+  expect(getJoints()[1]).toBeCloseTo(joints[1])
+
+  if (MOCK) {
+    return
+  }
+
+  // Wait for motion to stop
+  await vi.waitUntil(
+    async () => {
+      const joints = getJoints()
+      await jogger.motionStream.motionStateSocket.nextMessage()
+      return jointValuesEqual(joints, getJoints(), 0.0001)
+    },
+    {
+      timeout: 3000,
+    },
+  )
+})