@wandelbots/wandelbots-js-react-components 5.5.1 → 5.5.2-pr.fix-performance-issues.594.d053ea2

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

@@ -1 +0,0 @@
-{"version":3,"file":"JoggerConnection.d.ts","sourceRoot":"","sources":["../../src/lib/JoggerConnection.ts"],"names":[],"mappings":"AAAA,OAAO,EACL,KAAK,yBAAyB,EAG/B,MAAM,qBAAqB,CAAA;AAC5B,OAAO,EAIL,KAAK,UAAU,EACf,KAAK,IAAI,EAEV,MAAM,wBAAwB,CAAA;AAG/B,OAAO,EAAE,sBAAsB,EAAE,MAAM,0BAA0B,CAAA;AAEjE,MAAM,MAAM,aAAa,GAAG,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,CAAC,CAAA;AAIpD,MAAM,MAAM,uBAAuB,GAAG;IAEpC,IAAI,CAAC,EAAE,UAAU,CAAA;IAGjB,OAAO,CAAC,EAAE,MAAM,CAAA;IAEhB;;;;OAIG;IACH,OAAO,CAAC,EAAE,CAAC,GAAG,EAAE,OAAO,KAAK,IAAI,CAAA;IAGhC,GAAG,CAAC,EAAE,MAAM,CAAA;IAMZ,WAAW,CAAC,EAAE,iBAAiB,CAAA;CAChC,CAAA;AAMD,MAAM,MAAM,UAAU,GAAG,SAAS,GAAG,YAAY,GAAG,KAAK,CAAA;AAGzD,MAAM,MAAM,iBAAiB,GAAG,UAAU,GAAG,MAAM,CAAA;AAEnD,qBAAa,gBAAgB;IAwDzB,QAAQ,CAAC,YAAY,EAAE,sBAAsB;IAC7C,QAAQ,CAAC,OAAO,EAAE,uBAAuB,GAAG,SAAS;IAxDvD,gBAAgB,SAAuB;IACvC,mBAAmB,SAA0B;IAC7C,YAAY,EAAY,UAAU,CAAA;IAClC,WAAW,EAAE,MAAM,GAAG,SAAS,CAAW;IAC1C,MAAM,EAAE,MAAM,GAAG,SAAS,CAAY;IAEtC,oBAAoB,SAAO;IAC3B,mBAAmB,EAAiB,iBAAiB,CAAA;IAErD,IAAI,EAAE,UAAU,CAAQ;IACxB,aAAa,EAAE,yBAAyB,GAAG,IAAI,CAAO;IACtD,gBAAgB,EAAE,yBAAyB,GAAG,IAAI,CAAO;IACzD,OAAO,EAAE,MAAM,CAA4B;IAC3C,GAAG,EAAE,MAAM,GAAG,SAAS,CAAA;IAEvB,WAAW,EAAE,iBAAiB,CAAA;IAC9B,OAAO,CAAC,EAAE,CAAC,GAAG,EAAE,OAAO,KAAK,IAAI,CAAA;IAChC,SAAS,CAAC,EAAE,MAAM,IAAI,CAAA;IAEtB;;;;;;;;;;;;;;;;OAgBG;WACU,IAAI,CACf,IAAI,EAAE,UAAU,EAChB,aAAa,EAAE,MAAM,EACrB,OAAO,GAAE,uBAA4B;gBAgB5B,YAAY,EAAE,sBAAsB,EACpC,OAAO,GAAE,uBAAuB,GAAG,SAAc;IAa5D,aAAa,CAAC,YAAY,EAAE,sBAAsB;IAa5C,UAAU,CAAC,OAAO,EAAE,OAAO,CAAC,uBAAuB,CAAC;IA4B1D,IAAI,aAAa,WAEhB;IAED,IAAI,IAAI,eAEP;IAED,IAAI,SAAS,WAEZ;IAWK,IAAI;IAiBJ,OAAO;IAsBP,cAAc,CAAC,IAAI,EAAE,UAAU,EAAE,0BAA0B,UAAO;IAsBlE,0BAA0B;IAgDhC;;OAEG;IACG,YAAY,CAAC,EACjB,KAAK,EACL,SAAS,EACT,aAAa,EACb,YAAY,GACb,EAAE;QACD,mCAAmC;QACnC,KAAK,EAAE,MAAM,CAAA;QACb,yCAAyC;QACzC,SAAS,EAAE,GAAG,GAAG,GAAG,CAAA;QACpB,iIAAiI;QACjI,aAAa,EAAE,MAAM,CAAA;QACrB,YAAY,EAAE,MAAM,GAAG,OAAO,CAAA;KAC/B;IAiBD;;OAEG;IACG,YAAY,CAAC,EACjB,IAAI,EACJ,SAAS,EACT,gBAAgB,GACjB,EAAE;QACD,IAAI,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QACrB,SAAS,EAAE,GAAG,GAAG,GAAG,CAAA;QACpB,gBAAgB,EAAE,MAAM,CAAA;KACzB;IAmBD;;OAEG;IACG,SAAS,CAAC,EACd,IAAI,EACJ,SAAS,EACT,kBAAkB,GACnB,EAAE;QACD,IAAI,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QACrB,SAAS,EAAE,GAAG,GAAG,GAAG,CAAA;QACpB,kBAAkB,EAAE,MAAM,CAAA;KAC3B;IAkBD;;;;;;OAMG;IACG,6BAA6B,CAAC,EAClC,cAAc,EACd,aAAa,EAEb,uBAAuB,EACvB,IAAI,EACJ,SAAS,EACT,MAAM,GACP,EAAE;QACD,cAAc,EAAE,IAAI,CAAA;QACpB,aAAa,EAAE,aAAa,CAAA;QAC5B,aAAa,EAAE,MAAM,CAAA;QACrB,uBAAuB,EAAE,MAAM,CAAA;QAC/B,IAAI,EAAE,GAAG,GAAG,GAAG,GAAG,GAAG,CAAA;QACrB,SAAS,EAAE,GAAG,GAAG,GAAG,CAAA;QACpB,MAAM,EACF;YACE,IAAI,EAAE,QAAQ,CAAA;YACd,YAAY,EAAE,MAAM,CAAA;SACrB,GACD;YACE,IAAI,EAAE,WAAW,CAAA;YACjB,UAAU,EAAE,MAAM,CAAA;SACnB,CAAA;KACN;CAiRF;AAED,eAAe,gBAAgB,CAAA"}

package/dist/lib/JoggerConnection.js

@@ -1,342 +0,0 @@
-import { tryParseJson as w, XYZ_TO_VECTOR as u } from "@wandelbots/nova-js";
-import { JointTypeEnum as T } from "@wandelbots/nova-js/v2";
-import { when as y } from "mobx";
-import { Vector3 as E } from "three/src/math/Vector3.js";
-import { MotionStreamConnection as L } from "./MotionStreamConnection.js";
-const k = "Movement request rejected. Another client is currently executing a 'Jogging' motion!";
-class S {
-  constructor(t, e = {}) {
-    this.motionStream = t, this.options = e, this.ENDPOINT_JOGGING = "/execution/jogging", this.ENDPOINT_TRAJECTORY = "/execution/trajectory", this.DEFAULT_MODE = "off", this.DEFAULT_TCP = "Flange", this.NO_TCP = void 0, this.DEFAULT_INIT_TIMEOUT = 5e3, this.DEFAULT_ORIENTATION = "coordsys", this.mode = "off", this.joggingSocket = null, this.trajectorySocket = null, this.timeout = this.DEFAULT_INIT_TIMEOUT, this.tcp = (e == null ? void 0 : e.tcp) || t.motionGroup.tcp || this.getDefaultTcp(t), this.orientation = (e == null ? void 0 : e.orientation) || this.DEFAULT_ORIENTATION, this.timeout = (e == null ? void 0 : e.timeout) || this.DEFAULT_INIT_TIMEOUT, this.mode = (e == null ? void 0 : e.mode) || this.DEFAULT_MODE, this.onError = e == null ? void 0 : e.onError;
-  }
-  /**
-   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
-   *
-   * @param nova - The Nova client instance
-   * @param motionGroupId - The ID of the motion group to connect to
-   * @param options - Configuration options for the jogger connection
-   * @param options.mode - The jogging mode to initialize:
-   *   - "jogging": Continuous jogging mode with persistent websocket for real-time velocity commands
-   *   - "trajectory": Incremental jogging mode for fixed-distance motions via trajectory planning
-   *   - "off": No jogging enabled, all websockets closed (default)
-   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)
-   * @param options.tcp - TCP frame to use for motions (default: from motion group)
-   * //param options.coordinateSystem - Coordinate system for jogging commands (default: "world"). Please note: Currently not implemented
-   * @param options.orientation - If set to "tool", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: "coordsys")
-   * @param options.onError - Error handler for websocket errors
-   * @returns Promise resolving to initialized JoggerConnection instance
-   */
-  static async open(t, e, r = {}) {
-    const s = await L.open(t, e), i = new S(s, r);
-    return await i.setJoggingMode(i.mode), i;
-  }
-  getDefaultTcp(t) {
-    var r, s;
-    const e = (s = (r = t.description.dh_parameters) == null ? void 0 : r[0]) == null ? void 0 : s.type;
-    return t.joints.length < 6 && (e === T.RevoluteJoint || e === T.PrismaticJoint) ? this.NO_TCP : this.DEFAULT_TCP;
-  }
-  // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket
-  async setOptions(t) {
-    t.tcp && (this.tcp = t.tcp), t.orientation && (this.orientation = t.orientation), t.timeout && (this.timeout = t.timeout), t.mode && (this.mode = t.mode), t.onError && (this.onError = t.onError), this.setJoggingMode(this.mode, !1);
-  }
-  get motionGroupId() {
-    return this.motionStream.motionGroupId;
-  }
-  get nova() {
-    return this.motionStream.nova;
-  }
-  get numJoints() {
-    return this.motionStream.joints.length;
-  }
-  // get activeJoggingMode() {
-  //   return this.mode
-  // }
-  // get activeWebsocket() {
-  //   return this.mode === "jogging" ? this.joggingSocket : this.trajectorySocket;
-  // }
-  // Sends stop movement command to robot
-  async stop() {
-    if (this.joggingSocket) {
-      const t = new Array(this.numJoints).fill(0);
-      this.joggingSocket.sendJson({
-        message_type: "JointVelocityRequest",
-        velocity: t
-      });
-    }
-    this.trajectorySocket && this.trajectorySocket.sendJson({
-      message_type: "PauseMovementRequest"
-    });
-  }
-  // Dispose the jogger, closing all open websockets
-  async dispose() {
-    const t = [this.joggingSocket, this.trajectorySocket].filter(
-      (e) => e !== null
-    );
-    return t.forEach((e) => {
-      e.dispose();
-    }), this.joggingSocket = null, this.trajectorySocket = null, Promise.all(t.map((e) => e.closed()));
-  }
-  // Activate jogger in one of the supported modes
-  // Will iniitialize or close websockets as necessary
-  // If mode is unchanged, does nothing (unless skipReinitializeIfSameMode is false)
-  async setJoggingMode(t, e = !0) {
-    if (!(this.mode === t && e) && (this.dispose(), this.mode = t, this.mode === "jogging"))
-      return this.initializeJoggingWebsocket();
-  }
-  // Initializes continuous jogging websocket, called by setJoggingMode("jogging")
-  async initializeJoggingWebsocket() {
-    return new Promise((t, e) => {
-      const r = setTimeout(() => {
-        e(
-          new Error(
-            `Jogging initialization timeout after ${this.timeout} seconds`
-          )
-        );
-      }, this.timeout);
-      this.joggingSocket = this.nova.openReconnectingWebsocket(
-        this.ENDPOINT_JOGGING
-      ), this.joggingSocket.addEventListener("message", (s) => {
-        var c, h, a, l;
-        const i = w(s.data);
-        if (((c = i == null ? void 0 : i.result) == null ? void 0 : c.kind) === "INITIALIZE_RECEIVED") {
-          clearTimeout(r), t();
-          return;
-        }
-        if (((h = i == null ? void 0 : i.result) == null ? void 0 : h.kind) === "MOTION_ERROR")
-          if (clearTimeout(r), this.onBlocked && ((a = i == null ? void 0 : i.result) != null && a.message.includes(k))) {
-            (l = this.joggingSocket) == null || l.dispose(), this.onBlocked();
-            return;
-          } else this.onError ? this.onError(s.data) : e(new Error(s.data));
-      }), this.joggingSocket.sendJson({
-        message_type: "InitializeJoggingRequest",
-        motion_group: this.motionGroupId,
-        ...this.tcp ? { tcp: this.tcp } : {}
-      });
-    });
-  }
-  /**
-   * Jogging: Start rotation of a single robot joint at the specified velocity
-   */
-  async rotateJoints({
-    joint: t,
-    direction: e,
-    velocityValue: r,
-    velocityUnit: s
-  }) {
-    if (!this.joggingSocket || this.mode !== "jogging")
-      throw new Error(
-        "Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'"
-      );
-    const i = new Array(this.numJoints).fill(0);
-    i[t] = e === "-" ? -r : r, this.joggingSocket.sendJson({
-      message_type: "JointVelocityRequest",
-      velocity: i
-    });
-  }
-  /**
-   * Jogging: Start the TCP moving along a specified axis at a given velocity
-   */
-  async translateTCP({
-    axis: t,
-    direction: e,
-    velocityMmPerSec: r
-  }) {
-    if (!this.joggingSocket || this.mode !== "jogging")
-      throw new Error(
-        "Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'"
-      );
-    const s = [0, 0, 0], i = [0, 0, 0];
-    i[u[t]] = e === "-" ? -r : r, this.joggingSocket.sendJson({
-      message_type: "TcpVelocityRequest",
-      translation: i,
-      rotation: s,
-      use_tool_coordinate_system: this.orientation === "tool"
-    });
-  }
-  /**
-   * Jogging: Start the TCP rotating around a specified axis at a given velocity
-   */
-  async rotateTCP({
-    axis: t,
-    direction: e,
-    velocityRadsPerSec: r
-  }) {
-    if (!this.joggingSocket || this.mode !== "jogging")
-      throw new Error(
-        "Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'"
-      );
-    const s = [0, 0, 0], i = [0, 0, 0];
-    s[u[t]] = e === "-" ? -r : r, this.joggingSocket.sendJson({
-      message_type: "TcpVelocityRequest",
-      translation: i,
-      rotation: s
-    });
-  }
-  /**
-   * Trajectory jogging:
-   *
-   * Move the robot by a fixed distance in a single cartesian
-   * axis, either rotating or translating relative to the TCP.
-   * Promise resolves only after the motion has completed.
-   */
-  async runIncrementalCartesianMotion({
-    currentTcpPose: t,
-    currentJoints: e,
-    // coordSystemId,
-    velocityInRelevantUnits: r,
-    axis: s,
-    direction: i,
-    motion: c
-  }) {
-    const h = [];
-    if (this.mode !== "trajectory")
-      throw new Error(
-        "Set jogging mode to 'trajectory' to run incremental cartesian motions"
-      );
-    if (c.type === "translate") {
-      if (!t.position)
-        throw new Error(
-          "Current pose has no position, cannot perform translation"
-        );
-      const o = [...t.position];
-      o[u[s]] += c.distanceMm * (i === "-" ? -1 : 1), h.push({
-        limits_override: {
-          tcp_velocity_limit: r
-        },
-        path: {
-          path_definition_name: "PathLine",
-          target_pose: {
-            position: o,
-            orientation: t.orientation
-          }
-        }
-      });
-    } else if (c.type === "rotate") {
-      if (!t.orientation)
-        throw new Error(
-          "Current pose has no orientation, cannot perform rotation"
-        );
-      const o = new E(
-        t.orientation[0],
-        t.orientation[1],
-        t.orientation[2]
-      ), n = o.length(), m = o.clone().normalize(), g = c.distanceRads * (i === "-" ? -1 : 1), d = new E(0, 0, 0);
-      d[s] = 1;
-      const J = Math.cos(0.5 * g) * Math.cos(0.5 * n), j = Math.sin(0.5 * g) * Math.sin(0.5 * n), C = Math.sin(0.5 * g) * Math.cos(0.5 * n), D = Math.cos(0.5 * g) * Math.sin(0.5 * n), N = d.dot(
-        m
-      ), A = d.clone().cross(m), p = 2 * Math.acos(J - j * N), F = p / Math.sin(0.5 * p), v = new E().addScaledVector(A, j).addScaledVector(d, C).addScaledVector(m, D).multiplyScalar(F);
-      h.push({
-        limits_override: {
-          tcp_orientation_velocity_limit: r
-        },
-        path: {
-          path_definition_name: "PathLine",
-          target_pose: {
-            position: t.position,
-            orientation: [...v]
-          }
-        }
-      });
-    }
-    const a = this.motionStream.description;
-    if (a.cycle_time === void 0) {
-      console.warn(
-        "Current motion group has no cycle time, cannot plan jogging motion"
-      );
-      return;
-    }
-    const l = {
-      motion_group_model: a.motion_group_model,
-      cycle_time: a.cycle_time,
-      mounting: a.mounting,
-      // tcp_offset: description.tcp_offset, TODO: implement tcp_offset handling
-      // FIXME use proper mode's limits if set
-      global: a.operation_limits.auto_limits
-    }, _ = await this.nova.api.trajectoryPlanning.planTrajectory(
-      {
-        motion_group_setup: l,
-        start_joint_position: e,
-        motion_commands: h
-      }
-    ), f = _.response;
-    if (!f)
-      throw new Error(
-        `Failed to plan jogging increment motion ${JSON.stringify(_)}`
-      );
-    this.trajectorySocket && (console.warn("Trajectory jogging websocket already open; will close"), this.trajectorySocket.dispose()), this.trajectorySocket = this.nova.openReconnectingWebsocket(
-      this.ENDPOINT_TRAJECTORY
-    );
-    const R = (o) => {
-      var n;
-      if (!o || o.add_trajectory_error || o.message)
-        if (this.onError)
-          this.onError(o);
-        else
-          throw new Error(
-            ((n = o == null ? void 0 : o.add_trajectory_error) == null ? void 0 : n.message) || (o == null ? void 0 : o.message) || "Failed to execute trajectory, unknown error"
-          );
-      if (!this.trajectorySocket)
-        throw new Error(
-          "Failed to execute trajectory, websocket not available anymore"
-        );
-      this.trajectorySocket.sendJson({
-        message_type: "StartMovementRequest",
-        direction: "DIRECTION_FORWARD"
-      });
-    }, I = async () => {
-      var o;
-      await y(() => !this.motionStream.rapidlyChangingMotionState.standstill), await y(() => this.motionStream.rapidlyChangingMotionState.standstill), (o = this.trajectorySocket) == null || o.dispose(), this.trajectorySocket = null;
-    }, O = async () => {
-      var o;
-      await y(() => this.motionStream.rapidlyChangingMotionState.standstill), (o = this.trajectorySocket) == null || o.dispose(), this.trajectorySocket = null;
-    }, M = async (o) => {
-      if (o != null && o.message)
-        if (this.onError) {
-          this.onError(o);
-          return;
-        } else
-          throw new Error(
-            o.message || "Failed to execute trajectory, unknown error"
-          );
-      this.motionStream.rapidlyChangingMotionState.standstill ? await I() : await O();
-    };
-    this.trajectorySocket.addEventListener("message", (o) => {
-      var m, g;
-      const n = w(o.data);
-      if (!((m = n == null ? void 0 : n.result) != null && m.kind))
-        throw new Error(
-          `Failed to execute trajectory: Received invalid message ${o.data}`
-        );
-      if (this.onBlocked && ((g = n.result.message) != null && g.includes(k))) {
-        this.onBlocked();
-        return;
-      }
-      if (n.result.kind === "INITIALIZE_RECEIVED")
-        R(n.result);
-      else if (n.result.kind === "START_RECEIVED")
-        M(n);
-      else if (n.result.kind !== "PAUSE_RECEIVED") if (n.result.kind === "MOTION_ERROR" && n.result.message)
-        if (this.onError) {
-          this.onError(n);
-          return;
-        } else
-          throw new Error(n.result.message);
-      else
-        throw new Error(
-          `Failed to execute trajectory, cannot handle message type "${n.result.kind}"`
-        );
-    }), this.trajectorySocket.sendJson({
-      message_type: "InitializeMovementRequest",
-      trajectory: {
-        message_type: "TrajectoryData",
-        motion_group: this.motionGroupId,
-        data: f,
-        tcp: this.tcp
-      }
-    });
-  }
-}
-export {
-  S as JoggerConnection,
-  S as default
-};
-//# sourceMappingURL=JoggerConnection.js.map

package/dist/lib/JoggerConnection.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"JoggerConnection.js","sources":["../../src/lib/JoggerConnection.ts"],"sourcesContent":["import {\n  type AutoReconnectingWebsocket,\n  tryParseJson,\n  XYZ_TO_VECTOR,\n} from \"@wandelbots/nova-js\"\nimport {\n  JointTypeEnum,\n  type InitializeMovementResponse,\n  type MotionCommand,\n  type NovaClient,\n  type Pose,\n  type StartMovementResponse,\n} from \"@wandelbots/nova-js/v2\"\nimport { when } from \"mobx\"\nimport { Vector3 } from \"three/src/math/Vector3.js\"\nimport { MotionStreamConnection } from \"./MotionStreamConnection\"\n\nexport type Vector3Simple = [number, number, number]\n\nconst API_ERROR_CONNECTION_BLOCKED = `Movement request rejected. Another client is currently executing a 'Jogging' motion!`\n\nexport type JoggerConnectionOptions = {\n  // The mode of the jogger connection - see type description of JoggerMode for details\n  mode?: JoggerMode\n\n  // Connection timeout in milliseconds to wait for jogging initialization to complete\n  timeout?: number\n\n  /**\n   * When an error message is received from the jogging websocket, it\n   * will be passed here. If this handler is not provided, the error will\n   * instead be thrown as an unhandled error.\n   */\n  onError?: (err: unknown) => void\n\n  // The TCP to use for jogging motions.\n  tcp?: string\n\n  // The coordinate system in which jogging takes place in\n  // coordinateSystem?: string,\n\n  // If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option\n  orientation?: JoggerOrientation\n}\n\n// Three modes are supported:\n// - \"jogging\": Continuous jogging mode, where joint velocities or TCP velocities can be commanded. Opens a single websocket connection to jogging endpoint\n// - \"trajectory\": Incremental jogging mode, where fixed distance motions are planned and executed. Opens a short lived websocket for each motion.\n// - \"off\": No jogging, all websockets are closed.\nexport type JoggerMode = \"jogging\" | \"trajectory\" | \"off\"\n\n// If set to \"tool\", will use `use_tool_coordinate_system` option in movement requests\nexport type JoggerOrientation = \"coordsys\" | \"tool\"\n\nexport class JoggerConnection {\n  ENDPOINT_JOGGING = \"/execution/jogging\"\n  ENDPOINT_TRAJECTORY = \"/execution/trajectory\"\n  DEFAULT_MODE = \"off\" as JoggerMode\n  DEFAULT_TCP: string | undefined = \"Flange\"\n  NO_TCP: string | undefined = undefined\n  // DEFAULT_COORDINATE_SYSTEM = \"world\"\n  DEFAULT_INIT_TIMEOUT = 5000\n  DEFAULT_ORIENTATION = \"coordsys\" as JoggerOrientation\n\n  mode: JoggerMode = \"off\"\n  joggingSocket: AutoReconnectingWebsocket | null = null\n  trajectorySocket: AutoReconnectingWebsocket | null = null\n  timeout: number = this.DEFAULT_INIT_TIMEOUT\n  tcp: string | undefined\n  // coordinateSystem?: string\n  orientation: JoggerOrientation\n  onError?: (err: unknown) => void\n  onBlocked?: () => void\n\n  /**\n   * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.\n   *\n   * @param nova - The Nova client instance\n   * @param motionGroupId - The ID of the motion group to connect to\n   * @param options - Configuration options for the jogger connection\n   * @param options.mode - The jogging mode to initialize:\n   *   - \"jogging\": Continuous jogging mode with persistent websocket for real-time velocity commands\n   *   - \"trajectory\": Incremental jogging mode for fixed-distance motions via trajectory planning\n   *   - \"off\": No jogging enabled, all websockets closed (default)\n   * @param options.timeout - Timeout in milliseconds for websocket initialization (default: 5000ms)\n   * @param options.tcp - TCP frame to use for motions (default: from motion group)\n   * //param options.coordinateSystem - Coordinate system for jogging commands (default: \"world\"). Please note: Currently not implemented\n   * @param options.orientation - If set to \"tool\", jogging TcpVelocityRequest will use `use_tool_coordinate_system` option (default: \"coordsys\")\n   * @param options.onError - Error handler for websocket errors\n   * @returns Promise resolving to initialized JoggerConnection instance\n   */\n  static async open(\n    nova: NovaClient,\n    motionGroupId: string,\n    options: JoggerConnectionOptions = {},\n  ) {\n    // Get matching motion stream\n    const motionStream = await MotionStreamConnection.open(nova, motionGroupId)\n\n    // Initialize jogger with options\n    const jogger = new JoggerConnection(motionStream, options)\n\n    // Initialize the jogging websocket, if necessary (mode is \"jogging\")\n    await jogger.setJoggingMode(jogger.mode)\n\n    // Return the initialized jogger\n    return jogger\n  }\n\n  constructor(\n    readonly motionStream: MotionStreamConnection,\n    readonly options: JoggerConnectionOptions | undefined = {},\n  ) {\n    this.tcp =\n      options?.tcp ||\n      motionStream.motionGroup.tcp ||\n      this.getDefaultTcp(motionStream)\n    // this.coordinateSystem = options?.coordinateSystem || this.DEFAULT_COORDINATE_SYSTEM\n    this.orientation = options?.orientation || this.DEFAULT_ORIENTATION\n    this.timeout = options?.timeout || this.DEFAULT_INIT_TIMEOUT\n    this.mode = options?.mode || this.DEFAULT_MODE\n    this.onError = options?.onError\n  }\n\n  getDefaultTcp(motionStream: MotionStreamConnection) {\n    const firstJointType = motionStream.description.dh_parameters?.[0]?.type\n    if (\n      motionStream.joints.length < 6 &&\n      (firstJointType === JointTypeEnum.RevoluteJoint ||\n        firstJointType === JointTypeEnum.PrismaticJoint)\n    ) {\n      return this.NO_TCP\n    }\n    return this.DEFAULT_TCP\n  }\n\n  // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket\n  async setOptions(options: Partial<JoggerConnectionOptions>) {\n    if (options.tcp) {\n      this.tcp = options.tcp\n    }\n\n    if (options.orientation) {\n      this.orientation = options.orientation\n    }\n\n    // if (options.coordinateSystem) {\n    //   this.coordinateSystem = options.coordinateSystem\n    // }\n\n    if (options.timeout) {\n      this.timeout = options.timeout\n    }\n\n    if (options.mode) {\n      this.mode = options.mode\n    }\n\n    if (options.onError) {\n      this.onError = options.onError\n    }\n\n    this.setJoggingMode(this.mode, false)\n  }\n\n  get motionGroupId() {\n    return this.motionStream.motionGroupId\n  }\n\n  get nova() {\n    return this.motionStream.nova\n  }\n\n  get numJoints() {\n    return this.motionStream.joints.length\n  }\n\n  // get activeJoggingMode() {\n  //   return this.mode\n  // }\n\n  // get activeWebsocket() {\n  //   return this.mode === \"jogging\" ? this.joggingSocket : this.trajectorySocket;\n  // }\n\n  // Sends stop movement command to robot\n  async stop() {\n    if (this.joggingSocket) {\n      const velocity = new Array(this.numJoints).fill(0)\n      this.joggingSocket.sendJson({\n        message_type: \"JointVelocityRequest\",\n        velocity,\n      })\n    }\n\n    if (this.trajectorySocket) {\n      this.trajectorySocket.sendJson({\n        message_type: \"PauseMovementRequest\",\n      })\n    }\n  }\n\n  // Dispose the jogger, closing all open websockets\n  async dispose() {\n    // Collect all initialized sockets\n    const sockets = [this.joggingSocket, this.trajectorySocket].filter(\n      (s) => s !== null,\n    ) as AutoReconnectingWebsocket[]\n\n    // Call them to dispose\n    sockets.forEach((s) => {\n      s.dispose()\n    })\n\n    // Remove references\n    this.joggingSocket = null\n    this.trajectorySocket = null\n\n    // Return promise that resolves when all sockets are closed\n    return Promise.all(sockets.map((s) => s.closed()))\n  }\n\n  // Activate jogger in one of the supported modes\n  // Will iniitialize or close websockets as necessary\n  // If mode is unchanged, does nothing (unless skipReinitializeIfSameMode is false)\n  async setJoggingMode(mode: JoggerMode, skipReinitializeIfSameMode = true) {\n    // If not changing mode, do nothing\n    if (this.mode === mode && skipReinitializeIfSameMode) {\n      return\n    }\n\n    // Close any previous websocket connection\n    this.dispose()\n\n    // Set the new mode\n    this.mode = mode\n\n    // Mode is \"jogging\" - open jogging websocket\n    if (this.mode === \"jogging\") {\n      return this.initializeJoggingWebsocket()\n    }\n\n    // Mode is \"trajectory\" or \"off\" - nothing more to do\n    return\n  }\n\n  // Initializes continuous jogging websocket, called by setJoggingMode(\"jogging\")\n  async initializeJoggingWebsocket() {\n    // Wait for initialization with timeout\n    return new Promise<void>((resolve, reject) => {\n      const connectionFailedTimeout = setTimeout(() => {\n        reject(\n          new Error(\n            `Jogging initialization timeout after ${this.timeout} seconds`,\n          ),\n        )\n      }, this.timeout)\n\n      this.joggingSocket = this.nova.openReconnectingWebsocket(\n        this.ENDPOINT_JOGGING,\n      )\n      this.joggingSocket.addEventListener(\"message\", (ev: MessageEvent) => {\n        const data = tryParseJson(ev.data)\n\n        if (data?.result?.kind === \"INITIALIZE_RECEIVED\") {\n          clearTimeout(connectionFailedTimeout)\n          resolve()\n          return\n        }\n\n        if (data?.result?.kind === \"MOTION_ERROR\") {\n          clearTimeout(connectionFailedTimeout)\n          if (\n            this.onBlocked &&\n            data?.result?.message.includes(API_ERROR_CONNECTION_BLOCKED)\n          ) {\n            this.joggingSocket?.dispose()\n            this.onBlocked()\n            return\n          } else if (this.onError) {\n            this.onError(ev.data)\n          } else {\n            reject(new Error(ev.data))\n          }\n        }\n      })\n\n      this.joggingSocket.sendJson({\n        message_type: \"InitializeJoggingRequest\",\n        motion_group: this.motionGroupId,\n        ...(this.tcp ? { tcp: this.tcp } : {}),\n      })\n    })\n  }\n\n  /**\n   * Jogging: Start rotation of a single robot joint at the specified velocity\n   */\n  async rotateJoints({\n    joint,\n    direction,\n    velocityValue,\n    velocityUnit,\n  }: {\n    /** Index of the joint to rotate */\n    joint: number\n    /** Direction of rotation (\"+\" or \"-\") */\n    direction: \"+\" | \"-\"\n    /** Speed of the rotation, unit is currently unused, but i wanted it there to raise awareness that not everything here is rad/s*/\n    velocityValue: number\n    velocityUnit: \"mm/s\" | \"rad/s\"\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n\n    const velocity = new Array(this.numJoints).fill(0)\n\n    velocity[joint] = direction === \"-\" ? -velocityValue : velocityValue\n\n    this.joggingSocket.sendJson({\n      message_type: \"JointVelocityRequest\",\n      velocity,\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP moving along a specified axis at a given velocity\n   */\n  async translateTCP({\n    axis,\n    direction,\n    velocityMmPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityMmPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    translation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityMmPerSec : velocityMmPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n      use_tool_coordinate_system: this.orientation === \"tool\",\n    })\n  }\n\n  /**\n   * Jogging: Start the TCP rotating around a specified axis at a given velocity\n   */\n  async rotateTCP({\n    axis,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityRadsPerSec: number\n  }) {\n    if (!this.joggingSocket || this.mode !== \"jogging\") {\n      throw new Error(\n        \"Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'\",\n      )\n    }\n    const rotation = [0, 0, 0]\n    const translation = [0, 0, 0]\n    rotation[XYZ_TO_VECTOR[axis]] =\n      direction === \"-\" ? -velocityRadsPerSec : velocityRadsPerSec\n\n    this.joggingSocket.sendJson({\n      message_type: \"TcpVelocityRequest\",\n      translation,\n      rotation,\n    })\n  }\n\n  /**\n   * Trajectory jogging:\n   *\n   * Move the robot by a fixed distance in a single cartesian\n   * axis, either rotating or translating relative to the TCP.\n   * Promise resolves only after the motion has completed.\n   */\n  async runIncrementalCartesianMotion({\n    currentTcpPose,\n    currentJoints,\n    // coordSystemId,\n    velocityInRelevantUnits,\n    axis,\n    direction,\n    motion,\n  }: {\n    currentTcpPose: Pose\n    currentJoints: Vector3Simple\n    coordSystemId: string\n    velocityInRelevantUnits: number\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    motion:\n      | {\n          type: \"rotate\"\n          distanceRads: number\n        }\n      | {\n          type: \"translate\"\n          distanceMm: number\n        }\n  }) {\n    const commands: MotionCommand[] = []\n\n    if (this.mode !== \"trajectory\") {\n      throw new Error(\n        \"Set jogging mode to 'trajectory' to run incremental cartesian motions\",\n      )\n    }\n\n    if (motion.type === \"translate\") {\n      if (!currentTcpPose.position) {\n        throw new Error(\n          \"Current pose has no position, cannot perform translation\",\n        )\n      }\n\n      const targetTcpPosition = [...currentTcpPose.position]\n      targetTcpPosition[XYZ_TO_VECTOR[axis]] +=\n        motion.distanceMm * (direction === \"-\" ? -1 : 1)\n\n      commands.push({\n        limits_override: {\n          tcp_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: targetTcpPosition,\n            orientation: currentTcpPose.orientation,\n          },\n        },\n      })\n    } else if (motion.type === \"rotate\") {\n      // Concatenate rotations expressed by rotation vectors\n      // Equations taken from https://physics.stackexchange.com/a/287819\n\n      if (!currentTcpPose.orientation) {\n        throw new Error(\n          \"Current pose has no orientation, cannot perform rotation\",\n        )\n      }\n\n      // Compute axis and angle of current rotation vector\n      const currentRotationVector = new Vector3(\n        currentTcpPose.orientation[0],\n        currentTcpPose.orientation[1],\n        currentTcpPose.orientation[2],\n      )\n\n      const currentRotationRad = currentRotationVector.length()\n      const currentRotationDirection = currentRotationVector.clone().normalize()\n\n      // Compute axis and angle of difference rotation vector\n      const differenceRotationRad =\n        motion.distanceRads * (direction === \"-\" ? -1 : 1)\n\n      const differenceRotationDirection = new Vector3(0.0, 0.0, 0.0)\n      differenceRotationDirection[axis] = 1.0\n\n      // Some abbreviations to make the following equations more readable\n      const f1 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f2 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n      const f3 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f4 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n\n      const dotProduct = differenceRotationDirection.dot(\n        currentRotationDirection,\n      )\n\n      const crossProduct = differenceRotationDirection\n        .clone()\n        .cross(currentRotationDirection)\n\n      // Compute angle of concatenated rotation\n      const newRotationRad = 2.0 * Math.acos(f1 - f2 * dotProduct)\n\n      // Compute rotation vector of concatenated rotation\n      const f5 = newRotationRad / Math.sin(0.5 * newRotationRad)\n\n      const targetTcpOrientation = new Vector3()\n        .addScaledVector(crossProduct, f2)\n        .addScaledVector(differenceRotationDirection, f3)\n        .addScaledVector(currentRotationDirection, f4)\n        .multiplyScalar(f5)\n\n      commands.push({\n        limits_override: {\n          tcp_orientation_velocity_limit: velocityInRelevantUnits,\n        },\n        path: {\n          path_definition_name: \"PathLine\",\n          target_pose: {\n            position: currentTcpPose.position,\n            orientation: [...targetTcpOrientation],\n          },\n        },\n      })\n    }\n\n    // Plan the motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/planTrajectory\n    const description = this.motionStream.description\n    if (description.cycle_time === undefined) {\n      console.warn(\n        \"Current motion group has no cycle time, cannot plan jogging motion\",\n      )\n      return\n    }\n\n    const motion_group_setup = {\n      motion_group_model: description.motion_group_model,\n      cycle_time: description.cycle_time,\n      mounting: description.mounting,\n\n      // tcp_offset: description.tcp_offset, TODO: implement tcp_offset handling\n      // FIXME use proper mode's limits if set\n      global: description.operation_limits.auto_limits,\n    }\n\n    const motionPlanRes = await this.nova.api.trajectoryPlanning.planTrajectory(\n      {\n        motion_group_setup,\n        start_joint_position: currentJoints,\n        motion_commands: commands,\n      },\n    )\n\n    const trajectoryData = motionPlanRes.response\n    if (!trajectoryData) {\n      throw new Error(\n        `Failed to plan jogging increment motion ${JSON.stringify(motionPlanRes)}`,\n      )\n    }\n\n    if (this.trajectorySocket) {\n      console.warn(\"Trajectory jogging websocket already open; will close\")\n      this.trajectorySocket.dispose()\n    }\n\n    // Execute the planned motion https://portal.wandelbots.io/docs/api/v2/ui/#/operations/executeTrajectory\n    this.trajectorySocket = this.nova.openReconnectingWebsocket(\n      this.ENDPOINT_TRAJECTORY,\n    )\n\n    const messageInitializeMovementResponse = (\n      result: InitializeMovementResponse | undefined,\n    ) => {\n      // Handle errorous response\n      if (!result || result.add_trajectory_error || result.message) {\n        if (this.onError) {\n          this.onError(result)\n        } else {\n          throw new Error(\n            result?.add_trajectory_error?.message ||\n              result?.message ||\n              \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Handle socket gone\n      if (!this.trajectorySocket) {\n        throw new Error(\n          `Failed to execute trajectory, websocket not available anymore`,\n        )\n      }\n\n      // Trajectory locked, now start movement\n      this.trajectorySocket.sendJson({\n        message_type: \"StartMovementRequest\",\n        direction: \"DIRECTION_FORWARD\",\n      })\n    }\n\n    const waitForMovementToStartAndFinish = async () => {\n      // Wait for robot to start moving (standstill becomes false)\n      await when(() => !this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Then wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const waitForMovementToFinish = async () => {\n      // Wait for robot to stop moving (standstill becomes true)\n      await when(() => this.motionStream.rapidlyChangingMotionState.standstill)\n\n      // Close connection and free robot\n      this.trajectorySocket?.dispose()\n      this.trajectorySocket = null\n    }\n\n    const messageStartMovementResponse = async (\n      data: StartMovementResponse,\n    ) => {\n      if (data?.message) {\n        if (this.onError) {\n          this.onError(data)\n          return\n        } else {\n          throw new Error(\n            data.message || \"Failed to execute trajectory, unknown error\",\n          )\n        }\n      }\n\n      // Movement started we now wait to verify the robot is moving\n      // by observing changes to motion state\n      if (this.motionStream.rapidlyChangingMotionState.standstill) {\n        await waitForMovementToStartAndFinish()\n      } else {\n        await waitForMovementToFinish()\n      }\n    }\n\n    this.trajectorySocket.addEventListener(\"message\", (ev: MessageEvent) => {\n      const data = tryParseJson(ev.data)\n\n      if (!data?.result?.kind) {\n        throw new Error(\n          `Failed to execute trajectory: Received invalid message ${ev.data}`,\n        )\n      }\n\n      if (\n        this.onBlocked &&\n        data.result.message?.includes(API_ERROR_CONNECTION_BLOCKED)\n      ) {\n        this.onBlocked()\n        return\n      }\n\n      if (data.result.kind === \"INITIALIZE_RECEIVED\") {\n        messageInitializeMovementResponse(data.result)\n      } else if (data.result.kind === \"START_RECEIVED\") {\n        messageStartMovementResponse(data)\n      } else if (data.result.kind === \"PAUSE_RECEIVED\") {\n        // do nothing\n      } else if (data.result.kind === \"MOTION_ERROR\" && data.result.message) {\n        if (this.onError) {\n          this.onError(data)\n          return\n        } else {\n          throw new Error(data.result.message)\n        }\n      } else {\n        throw new Error(\n          `Failed to execute trajectory, cannot handle message type \"${data.result.kind}\"`,\n        )\n      }\n    })\n\n    // Send initialization/movement request\n    this.trajectorySocket.sendJson({\n      message_type: \"InitializeMovementRequest\",\n      trajectory: {\n        message_type: \"TrajectoryData\",\n        motion_group: this.motionGroupId,\n        data: trajectoryData,\n        tcp: this.tcp,\n      },\n    })\n  }\n}\n\nexport default JoggerConnection\n"],"names":["API_ERROR_CONNECTION_BLOCKED","JoggerConnection","motionStream","options","nova","motionGroupId","MotionStreamConnection","jogger","firstJointType","_b","_a","JointTypeEnum","velocity","sockets","s","mode","skipReinitializeIfSameMode","resolve","reject","connectionFailedTimeout","ev","data","tryParseJson","_c","_d","joint","direction","velocityValue","velocityUnit","axis","velocityMmPerSec","rotation","translation","XYZ_TO_VECTOR","velocityRadsPerSec","currentTcpPose","currentJoints","velocityInRelevantUnits","motion","commands","targetTcpPosition","currentRotationVector","Vector3","currentRotationRad","currentRotationDirection","differenceRotationRad","differenceRotationDirection","f1","f2","f3","f4","dotProduct","crossProduct","newRotationRad","f5","targetTcpOrientation","description","motion_group_setup","motionPlanRes","trajectoryData","messageInitializeMovementResponse","result","waitForMovementToStartAndFinish","when","waitForMovementToFinish","messageStartMovementResponse"],"mappings":";;;;;AAmBA,MAAMA,IAA+B;AAmC9B,MAAMC,EAAiB;AAAA,EAuD5B,YACWC,GACAC,IAA+C,IACxD;AAFS,SAAA,eAAAD,GACA,KAAA,UAAAC,GAxDX,KAAA,mBAAmB,sBACnB,KAAA,sBAAsB,yBACtB,KAAA,eAAe,OACf,KAAA,cAAkC,UAClC,KAAA,SAA6B,QAE7B,KAAA,uBAAuB,KACvB,KAAA,sBAAsB,YAEtB,KAAA,OAAmB,OACnB,KAAA,gBAAkD,MAClD,KAAA,mBAAqD,MACrD,KAAA,UAAkB,KAAK,sBA8CrB,KAAK,OACHA,KAAA,gBAAAA,EAAS,QACTD,EAAa,YAAY,OACzB,KAAK,cAAcA,CAAY,GAEjC,KAAK,eAAcC,KAAA,gBAAAA,EAAS,gBAAe,KAAK,qBAChD,KAAK,WAAUA,KAAA,gBAAAA,EAAS,YAAW,KAAK,sBACxC,KAAK,QAAOA,KAAA,gBAAAA,EAAS,SAAQ,KAAK,cAClC,KAAK,UAAUA,KAAA,gBAAAA,EAAS;AAAA,EAC1B;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EA/BA,aAAa,KACXC,GACAC,GACAF,IAAmC,CAAA,GACnC;AAEA,UAAMD,IAAe,MAAMI,EAAuB,KAAKF,GAAMC,CAAa,GAGpEE,IAAS,IAAIN,EAAiBC,GAAcC,CAAO;AAGzD,iBAAMI,EAAO,eAAeA,EAAO,IAAI,GAGhCA;AAAA,EACT;AAAA,EAiBA,cAAcL,GAAsC;;AAClD,UAAMM,KAAiBC,KAAAC,IAAAR,EAAa,YAAY,kBAAzB,gBAAAQ,EAAyC,OAAzC,gBAAAD,EAA6C;AACpE,WACEP,EAAa,OAAO,SAAS,MAC5BM,MAAmBG,EAAc,iBAChCH,MAAmBG,EAAc,kBAE5B,KAAK,SAEP,KAAK;AAAA,EACd;AAAA;AAAA,EAGA,MAAM,WAAWR,GAA2C;AAC1D,IAAIA,EAAQ,QACV,KAAK,MAAMA,EAAQ,MAGjBA,EAAQ,gBACV,KAAK,cAAcA,EAAQ,cAOzBA,EAAQ,YACV,KAAK,UAAUA,EAAQ,UAGrBA,EAAQ,SACV,KAAK,OAAOA,EAAQ,OAGlBA,EAAQ,YACV,KAAK,UAAUA,EAAQ,UAGzB,KAAK,eAAe,KAAK,MAAM,EAAK;AAAA,EACtC;AAAA,EAEA,IAAI,gBAAgB;AAClB,WAAO,KAAK,aAAa;AAAA,EAC3B;AAAA,EAEA,IAAI,OAAO;AACT,WAAO,KAAK,aAAa;AAAA,EAC3B;AAAA,EAEA,IAAI,YAAY;AACd,WAAO,KAAK,aAAa,OAAO;AAAA,EAClC;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EAWA,MAAM,OAAO;AACX,QAAI,KAAK,eAAe;AACtB,YAAMS,IAAW,IAAI,MAAM,KAAK,SAAS,EAAE,KAAK,CAAC;AACjD,WAAK,cAAc,SAAS;AAAA,QAC1B,cAAc;AAAA,QACd,UAAAA;AAAA,MAAA,CACD;AAAA,IACH;AAEA,IAAI,KAAK,oBACP,KAAK,iBAAiB,SAAS;AAAA,MAC7B,cAAc;AAAA,IAAA,CACf;AAAA,EAEL;AAAA;AAAA,EAGA,MAAM,UAAU;AAEd,UAAMC,IAAU,CAAC,KAAK,eAAe,KAAK,gBAAgB,EAAE;AAAA,MAC1D,CAACC,MAAMA,MAAM;AAAA,IAAA;AAIf,WAAAD,EAAQ,QAAQ,CAACC,MAAM;AACrB,MAAAA,EAAE,QAAA;AAAA,IACJ,CAAC,GAGD,KAAK,gBAAgB,MACrB,KAAK,mBAAmB,MAGjB,QAAQ,IAAID,EAAQ,IAAI,CAACC,MAAMA,EAAE,OAAA,CAAQ,CAAC;AAAA,EACnD;AAAA;AAAA;AAAA;AAAA,EAKA,MAAM,eAAeC,GAAkBC,IAA6B,IAAM;AAExE,QAAI,OAAK,SAASD,KAAQC,OAK1B,KAAK,QAAA,GAGL,KAAK,OAAOD,GAGR,KAAK,SAAS;AAChB,aAAO,KAAK,2BAAA;AAAA,EAKhB;AAAA;AAAA,EAGA,MAAM,6BAA6B;AAEjC,WAAO,IAAI,QAAc,CAACE,GAASC,MAAW;AAC5C,YAAMC,IAA0B,WAAW,MAAM;AAC/C,QAAAD;AAAA,UACE,IAAI;AAAA,YACF,wCAAwC,KAAK,OAAO;AAAA,UAAA;AAAA,QACtD;AAAA,MAEJ,GAAG,KAAK,OAAO;AAEf,WAAK,gBAAgB,KAAK,KAAK;AAAA,QAC7B,KAAK;AAAA,MAAA,GAEP,KAAK,cAAc,iBAAiB,WAAW,CAACE,MAAqB;;AACnE,cAAMC,IAAOC,EAAaF,EAAG,IAAI;AAEjC,cAAIV,IAAAW,KAAA,gBAAAA,EAAM,WAAN,gBAAAX,EAAc,UAAS,uBAAuB;AAChD,uBAAaS,CAAuB,GACpCF,EAAA;AACA;AAAA,QACF;AAEA,cAAIR,IAAAY,KAAA,gBAAAA,EAAM,WAAN,gBAAAZ,EAAc,UAAS;AAEzB,cADA,aAAaU,CAAuB,GAElC,KAAK,eACLI,IAAAF,KAAA,gBAAAA,EAAM,WAAN,QAAAE,EAAc,QAAQ,SAASvB,KAC/B;AACA,aAAAwB,IAAA,KAAK,kBAAL,QAAAA,EAAoB,WACpB,KAAK,UAAA;AACL;AAAA,UACF,MAAA,CAAW,KAAK,UACd,KAAK,QAAQJ,EAAG,IAAI,IAEpBF,EAAO,IAAI,MAAME,EAAG,IAAI,CAAC;AAAA,MAG/B,CAAC,GAED,KAAK,cAAc,SAAS;AAAA,QAC1B,cAAc;AAAA,QACd,cAAc,KAAK;AAAA,QACnB,GAAI,KAAK,MAAM,EAAE,KAAK,KAAK,IAAA,IAAQ,CAAA;AAAA,MAAC,CACrC;AAAA,IACH,CAAC;AAAA,EACH;AAAA;AAAA;AAAA;AAAA,EAKA,MAAM,aAAa;AAAA,IACjB,OAAAK;AAAA,IACA,WAAAC;AAAA,IACA,eAAAC;AAAA,IACA,cAAAC;AAAA,EAAA,GASC;AACD,QAAI,CAAC,KAAK,iBAAiB,KAAK,SAAS;AACvC,YAAM,IAAI;AAAA,QACR;AAAA,MAAA;AAIJ,UAAMhB,IAAW,IAAI,MAAM,KAAK,SAAS,EAAE,KAAK,CAAC;AAEjD,IAAAA,EAASa,CAAK,IAAIC,MAAc,MAAM,CAACC,IAAgBA,GAEvD,KAAK,cAAc,SAAS;AAAA,MAC1B,cAAc;AAAA,MACd,UAAAf;AAAA,IAAA,CACD;AAAA,EACH;AAAA;AAAA;AAAA;AAAA,EAKA,MAAM,aAAa;AAAA,IACjB,MAAAiB;AAAA,IACA,WAAAH;AAAA,IACA,kBAAAI;AAAA,EAAA,GAKC;AACD,QAAI,CAAC,KAAK,iBAAiB,KAAK,SAAS;AACvC,YAAM,IAAI;AAAA,QACR;AAAA,MAAA;AAGJ,UAAMC,IAAW,CAAC,GAAG,GAAG,CAAC,GACnBC,IAAc,CAAC,GAAG,GAAG,CAAC;AAC5B,IAAAA,EAAYC,EAAcJ,CAAI,CAAC,IAC7BH,MAAc,MAAM,CAACI,IAAmBA,GAE1C,KAAK,cAAc,SAAS;AAAA,MAC1B,cAAc;AAAA,MACd,aAAAE;AAAA,MACA,UAAAD;AAAA,MACA,4BAA4B,KAAK,gBAAgB;AAAA,IAAA,CAClD;AAAA,EACH;AAAA;AAAA;AAAA;AAAA,EAKA,MAAM,UAAU;AAAA,IACd,MAAAF;AAAA,IACA,WAAAH;AAAA,IACA,oBAAAQ;AAAA,EAAA,GAKC;AACD,QAAI,CAAC,KAAK,iBAAiB,KAAK,SAAS;AACvC,YAAM,IAAI;AAAA,QACR;AAAA,MAAA;AAGJ,UAAMH,IAAW,CAAC,GAAG,GAAG,CAAC,GACnBC,IAAc,CAAC,GAAG,GAAG,CAAC;AAC5B,IAAAD,EAASE,EAAcJ,CAAI,CAAC,IAC1BH,MAAc,MAAM,CAACQ,IAAqBA,GAE5C,KAAK,cAAc,SAAS;AAAA,MAC1B,cAAc;AAAA,MACd,aAAAF;AAAA,MACA,UAAAD;AAAA,IAAA,CACD;AAAA,EACH;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA;AAAA,EASA,MAAM,8BAA8B;AAAA,IAClC,gBAAAI;AAAA,IACA,eAAAC;AAAA;AAAA,IAEA,yBAAAC;AAAA,IACA,MAAAR;AAAA,IACA,WAAAH;AAAA,IACA,QAAAY;AAAA,EAAA,GAiBC;AACD,UAAMC,IAA4B,CAAA;AAElC,QAAI,KAAK,SAAS;AAChB,YAAM,IAAI;AAAA,QACR;AAAA,MAAA;AAIJ,QAAID,EAAO,SAAS,aAAa;AAC/B,UAAI,CAACH,EAAe;AAClB,cAAM,IAAI;AAAA,UACR;AAAA,QAAA;AAIJ,YAAMK,IAAoB,CAAC,GAAGL,EAAe,QAAQ;AACrD,MAAAK,EAAkBP,EAAcJ,CAAI,CAAC,KACnCS,EAAO,cAAcZ,MAAc,MAAM,KAAK,IAEhDa,EAAS,KAAK;AAAA,QACZ,iBAAiB;AAAA,UACf,oBAAoBF;AAAA,QAAA;AAAA,QAEtB,MAAM;AAAA,UACJ,sBAAsB;AAAA,UACtB,aAAa;AAAA,YACX,UAAUG;AAAA,YACV,aAAaL,EAAe;AAAA,UAAA;AAAA,QAC9B;AAAA,MACF,CACD;AAAA,IACH,WAAWG,EAAO,SAAS,UAAU;AAInC,UAAI,CAACH,EAAe;AAClB,cAAM,IAAI;AAAA,UACR;AAAA,QAAA;AAKJ,YAAMM,IAAwB,IAAIC;AAAA,QAChCP,EAAe,YAAY,CAAC;AAAA,QAC5BA,EAAe,YAAY,CAAC;AAAA,QAC5BA,EAAe,YAAY,CAAC;AAAA,MAAA,GAGxBQ,IAAqBF,EAAsB,OAAA,GAC3CG,IAA2BH,EAAsB,MAAA,EAAQ,UAAA,GAGzDI,IACJP,EAAO,gBAAgBZ,MAAc,MAAM,KAAK,IAE5CoB,IAA8B,IAAIJ,EAAQ,GAAK,GAAK,CAAG;AAC7D,MAAAI,EAA4BjB,CAAI,IAAI;AAGpC,YAAMkB,IACJ,KAAK,IAAI,MAAMF,CAAqB,IACpC,KAAK,IAAI,MAAMF,CAAkB,GAC7BK,IACJ,KAAK,IAAI,MAAMH,CAAqB,IACpC,KAAK,IAAI,MAAMF,CAAkB,GAC7BM,IACJ,KAAK,IAAI,MAAMJ,CAAqB,IACpC,KAAK,IAAI,MAAMF,CAAkB,GAC7BO,IACJ,KAAK,IAAI,MAAML,CAAqB,IACpC,KAAK,IAAI,MAAMF,CAAkB,GAE7BQ,IAAaL,EAA4B;AAAA,QAC7CF;AAAA,MAAA,GAGIQ,IAAeN,EAClB,MAAA,EACA,MAAMF,CAAwB,GAG3BS,IAAiB,IAAM,KAAK,KAAKN,IAAKC,IAAKG,CAAU,GAGrDG,IAAKD,IAAiB,KAAK,IAAI,MAAMA,CAAc,GAEnDE,IAAuB,IAAIb,EAAA,EAC9B,gBAAgBU,GAAcJ,CAAE,EAChC,gBAAgBF,GAA6BG,CAAE,EAC/C,gBAAgBL,GAA0BM,CAAE,EAC5C,eAAeI,CAAE;AAEpB,MAAAf,EAAS,KAAK;AAAA,QACZ,iBAAiB;AAAA,UACf,gCAAgCF;AAAA,QAAA;AAAA,QAElC,MAAM;AAAA,UACJ,sBAAsB;AAAA,UACtB,aAAa;AAAA,YACX,UAAUF,EAAe;AAAA,YACzB,aAAa,CAAC,GAAGoB,CAAoB;AAAA,UAAA;AAAA,QACvC;AAAA,MACF,CACD;AAAA,IACH;AAGA,UAAMC,IAAc,KAAK,aAAa;AACtC,QAAIA,EAAY,eAAe,QAAW;AACxC,cAAQ;AAAA,QACN;AAAA,MAAA;AAEF;AAAA,IACF;AAEA,UAAMC,IAAqB;AAAA,MACzB,oBAAoBD,EAAY;AAAA,MAChC,YAAYA,EAAY;AAAA,MACxB,UAAUA,EAAY;AAAA;AAAA;AAAA,MAItB,QAAQA,EAAY,iBAAiB;AAAA,IAAA,GAGjCE,IAAgB,MAAM,KAAK,KAAK,IAAI,mBAAmB;AAAA,MAC3D;AAAA,QACE,oBAAAD;AAAA,QACA,sBAAsBrB;AAAA,QACtB,iBAAiBG;AAAA,MAAA;AAAA,IACnB,GAGIoB,IAAiBD,EAAc;AACrC,QAAI,CAACC;AACH,YAAM,IAAI;AAAA,QACR,2CAA2C,KAAK,UAAUD,CAAa,CAAC;AAAA,MAAA;AAI5E,IAAI,KAAK,qBACP,QAAQ,KAAK,uDAAuD,GACpE,KAAK,iBAAiB,QAAA,IAIxB,KAAK,mBAAmB,KAAK,KAAK;AAAA,MAChC,KAAK;AAAA,IAAA;AAGP,UAAME,IAAoC,CACxCC,MACG;;AAEH,UAAI,CAACA,KAAUA,EAAO,wBAAwBA,EAAO;AACnD,YAAI,KAAK;AACP,eAAK,QAAQA,CAAM;AAAA;AAEnB,gBAAM,IAAI;AAAA,cACRnD,IAAAmD,KAAA,gBAAAA,EAAQ,yBAAR,gBAAAnD,EAA8B,aAC5BmD,KAAA,gBAAAA,EAAQ,YACR;AAAA,UAAA;AAMR,UAAI,CAAC,KAAK;AACR,cAAM,IAAI;AAAA,UACR;AAAA,QAAA;AAKJ,WAAK,iBAAiB,SAAS;AAAA,QAC7B,cAAc;AAAA,QACd,WAAW;AAAA,MAAA,CACZ;AAAA,IACH,GAEMC,IAAkC,YAAY;;AAElD,YAAMC,EAAK,MAAM,CAAC,KAAK,aAAa,2BAA2B,UAAU,GAGzE,MAAMA,EAAK,MAAM,KAAK,aAAa,2BAA2B,UAAU,IAGxErD,IAAA,KAAK,qBAAL,QAAAA,EAAuB,WACvB,KAAK,mBAAmB;AAAA,IAC1B,GAEMsD,IAA0B,YAAY;;AAE1C,YAAMD,EAAK,MAAM,KAAK,aAAa,2BAA2B,UAAU,IAGxErD,IAAA,KAAK,qBAAL,QAAAA,EAAuB,WACvB,KAAK,mBAAmB;AAAA,IAC1B,GAEMuD,IAA+B,OACnC5C,MACG;AACH,UAAIA,KAAA,QAAAA,EAAM;AACR,YAAI,KAAK,SAAS;AAChB,eAAK,QAAQA,CAAI;AACjB;AAAA,QACF;AACE,gBAAM,IAAI;AAAA,YACRA,EAAK,WAAW;AAAA,UAAA;AAOtB,MAAI,KAAK,aAAa,2BAA2B,aAC/C,MAAMyC,EAAA,IAEN,MAAME,EAAA;AAAA,IAEV;AAEA,SAAK,iBAAiB,iBAAiB,WAAW,CAAC5C,MAAqB;;AACtE,YAAMC,IAAOC,EAAaF,EAAG,IAAI;AAEjC,UAAI,GAACV,IAAAW,KAAA,gBAAAA,EAAM,WAAN,QAAAX,EAAc;AACjB,cAAM,IAAI;AAAA,UACR,0DAA0DU,EAAG,IAAI;AAAA,QAAA;AAIrE,UACE,KAAK,eACLX,IAAAY,EAAK,OAAO,YAAZ,QAAAZ,EAAqB,SAAST,KAC9B;AACA,aAAK,UAAA;AACL;AAAA,MACF;AAEA,UAAIqB,EAAK,OAAO,SAAS;AACvB,QAAAuC,EAAkCvC,EAAK,MAAM;AAAA,eACpCA,EAAK,OAAO,SAAS;AAC9B,QAAA4C,EAA6B5C,CAAI;AAAA,eACxBA,EAAK,OAAO,SAAS,sBAErBA,EAAK,OAAO,SAAS,kBAAkBA,EAAK,OAAO;AAC5D,YAAI,KAAK,SAAS;AAChB,eAAK,QAAQA,CAAI;AACjB;AAAA,QACF;AACE,gBAAM,IAAI,MAAMA,EAAK,OAAO,OAAO;AAAA;AAGrC,cAAM,IAAI;AAAA,UACR,6DAA6DA,EAAK,OAAO,IAAI;AAAA,QAAA;AAAA,IAGnF,CAAC,GAGD,KAAK,iBAAiB,SAAS;AAAA,MAC7B,cAAc;AAAA,MACd,YAAY;AAAA,QACV,cAAc;AAAA,QACd,cAAc,KAAK;AAAA,QACnB,MAAMsC;AAAA,QACN,KAAK,KAAK;AAAA,MAAA;AAAA,IACZ,CACD;AAAA,EACH;AACF;"}

package/dist/lib/JoggerConnection.test.d.ts

@@ -1,2 +0,0 @@
-export {};
-//# sourceMappingURL=JoggerConnection.test.d.ts.map

package/dist/lib/JoggerConnection.test.d.ts.map

@@ -1 +0,0 @@
-{"version":3,"file":"JoggerConnection.test.d.ts","sourceRoot":"","sources":["../../src/lib/JoggerConnection.test.ts"],"names":[],"mappings":""}

package/dist/lib/MotionStreamConnection.cjs

@@ -1,3 +0,0 @@
-"use strict";Object.defineProperties(exports,{__esModule:{value:!0},[Symbol.toStringTag]:{value:"Module"}});const m=require("@wandelbots/nova-js"),g=require("mobx"),d=require("./motionStateUpdate.cjs"),_=1e-4;class u{constructor(n,o,h,s,i,e){this.nova=n,this.controller=o,this.motionGroup=h,this.description=s,this.initialMotionState=i,this.motionStateSocket=e,this.rapidlyChangingMotionState=i,e.addEventListener("message",a=>{var r;const t=(r=m.tryParseJson(a.data))==null?void 0:r.result;if(!t)throw new Error(`Failed to get motion state for ${this.motionGroupId}: ${a.data}`);d.jointValuesEqual(this.rapidlyChangingMotionState.joint_position,t.joint_position,_)||g.runInAction(()=>{this.rapidlyChangingMotionState.joint_position=t.joint_position}),d.tcpMotionEqual(this.rapidlyChangingMotionState,t,_)||g.runInAction(()=>{var l,p,c;this.rapidlyChangingMotionState.tcp_pose==null?this.rapidlyChangingMotionState.tcp_pose=t.tcp_pose:(l=t.tcp_pose)!=null&&l.orientation&&((p=t.tcp_pose)!=null&&p.position)&&((c=this.rapidlyChangingMotionState.tcp_pose)!=null&&c.orientation)?this.rapidlyChangingMotionState.tcp_pose={position:t.tcp_pose.position,orientation:d.unwrapRotationVector(t.tcp_pose.orientation,this.rapidlyChangingMotionState.tcp_pose.orientation)}:console.warn("Received incomplete tcp_pose, ignoring",t.tcp_pose)}),this.rapidlyChangingMotionState.standstill!==t.standstill&&g.runInAction(()=>{this.rapidlyChangingMotionState.standstill=t.standstill})}),g.makeAutoObservable(this)}static async open(n,o){var p;const[h,s]=o.split("@"),i=await n.api.controller.getCurrentRobotControllerState(s),e=i==null?void 0:i.motion_groups.find(c=>c.motion_group===o);if(!i||!e)throw new Error(`Controller ${s} or motion group ${o} not found`);const a=n.openReconnectingWebsocket(`/controllers/${s}/motion-groups/${o}/state-stream`),t=await a.firstMessage(),r=(p=m.tryParseJson(t.data))==null?void 0:p.result;if(!r)throw new Error(`Unable to parse initial motion state message ${t.data}`);console.log(`Connected motion state websocket to motion group ${e.motion_group}. Initial state:
-  `,r);const l=await n.api.motionGroup.getMotionGroupDescription(s,e.motion_group);return new u(n,i,e,l,r,a)}get motionGroupId(){return this.motionGroup.motion_group}get controllerId(){return this.controller.controller}get joints(){return this.initialMotionState.joint_position.map((n,o)=>({index:o}))}dispose(){this.motionStateSocket.close()}}exports.MotionStreamConnection=u;exports.default=u;
-//# sourceMappingURL=MotionStreamConnection.cjs.map

package/dist/lib/MotionStreamConnection.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"MotionStreamConnection.cjs","sources":["../../src/lib/MotionStreamConnection.ts"],"sourcesContent":["import {\n  type AutoReconnectingWebsocket,\n  tryParseJson,\n} from \"@wandelbots/nova-js\"\nimport type {\n  MotionGroupDescription,\n  MotionGroupState,\n  NovaClient,\n  RobotControllerState,\n} from \"@wandelbots/nova-js/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport {\n  jointValuesEqual,\n  tcpMotionEqual,\n  unwrapRotationVector,\n} from \"./motionStateUpdate\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(nova: NovaClient, motionGroupId: string) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n\n    const controller =\n      await nova.api.controller.getCurrentRobotControllerState(controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg: MotionGroupState) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Get the motion group description for later usage in jogging\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      description,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly description: MotionGroupDescription,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const latestMotionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!latestMotionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle joint position changes\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position,\n          latestMotionState.joint_position,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.joint_position =\n            latestMotionState.joint_position\n        })\n      }\n\n      // handle tcp pose changes\n      if (\n        !tcpMotionEqual(\n          this.rapidlyChangingMotionState,\n          latestMotionState,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          if (this.rapidlyChangingMotionState.tcp_pose == null) {\n            this.rapidlyChangingMotionState.tcp_pose =\n              latestMotionState.tcp_pose\n          } else if (\n            latestMotionState.tcp_pose?.orientation &&\n            latestMotionState.tcp_pose?.position &&\n            this.rapidlyChangingMotionState.tcp_pose?.orientation\n          ) {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: latestMotionState.tcp_pose.position,\n              orientation: unwrapRotationVector(\n                latestMotionState.tcp_pose.orientation as Vector3Simple,\n                this.rapidlyChangingMotionState.tcp_pose\n                  .orientation as Vector3Simple,\n              ),\n            }\n          } else {\n            console.warn(\n              \"Received incomplete tcp_pose, ignoring\",\n              latestMotionState.tcp_pose,\n            )\n          }\n        })\n      }\n\n      // handle standstill changes\n      if (\n        this.rapidlyChangingMotionState.standstill !==\n        latestMotionState.standstill\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.standstill =\n            latestMotionState.standstill\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n  }\n}\n\nexport default MotionStreamConnection\n"],"names":["MOTION_DELTA_THRESHOLD","MotionStreamConnection","nova","controller","motionGroup","description","initialMotionState","motionStateSocket","event","latestMotionState","tryParseJson","jointValuesEqual","runInAction","tcpMotionEqual","_a","_b","_c","unwrapRotationVector","makeAutoObservable","motionGroupId","_motionGroupIndex","controllerId","mg","firstMessage","_","i"],"mappings":"0MAkBMA,EAAyB,KAKxB,MAAMC,CAAuB,CA0DlC,YACWC,EACAC,EACAC,EACAC,EACAC,EACAC,EACT,CANS,KAAA,KAAAL,EACA,KAAA,WAAAC,EACA,KAAA,YAAAC,EACA,KAAA,YAAAC,EACA,KAAA,mBAAAC,EACA,KAAA,kBAAAC,EAET,KAAK,2BAA6BD,EAElCC,EAAkB,iBAAiB,UAAYC,GAAU,OACvD,MAAMC,GAAoBC,EAAAA,EAAAA,aAAaF,EAAM,IAAI,IAAvBE,YAAAA,EAA0B,OAIpD,GAAI,CAACD,EACH,MAAM,IAAI,MACR,kCAAkC,KAAK,aAAa,KAAKD,EAAM,IAAI,EAAA,EAMpEG,EAAAA,iBACC,KAAK,2BAA2B,eAChCF,EAAkB,eAClBT,CAAA,GAGFY,EAAAA,YAAY,IAAM,CAChB,KAAK,2BAA2B,eAC9BH,EAAkB,cACtB,CAAC,EAKAI,EAAAA,eACC,KAAK,2BACLJ,EACAT,CAAA,GAGFY,EAAAA,YAAY,IAAM,WACZ,KAAK,2BAA2B,UAAY,KAC9C,KAAK,2BAA2B,SAC9BH,EAAkB,UAEpBK,EAAAL,EAAkB,WAAlB,MAAAK,EAA4B,eAC5BC,EAAAN,EAAkB,WAAlB,MAAAM,EAA4B,aAC5BC,EAAA,KAAK,2BAA2B,WAAhC,MAAAA,EAA0C,aAE1C,KAAK,2BAA2B,SAAW,CACzC,SAAUP,EAAkB,SAAS,SACrC,YAAaQ,EAAAA,qBACXR,EAAkB,SAAS,YAC3B,KAAK,2BAA2B,SAC7B,WAAA,CACL,EAGF,QAAQ,KACN,yCACAA,EAAkB,QAAA,CAGxB,CAAC,EAKD,KAAK,2BAA2B,aAChCA,EAAkB,YAElBG,EAAAA,YAAY,IAAM,CAChB,KAAK,2BAA2B,WAC9BH,EAAkB,UACtB,CAAC,CAEL,CAAC,EACDS,EAAAA,mBAAmB,IAAI,CACzB,CA1IA,aAAa,KAAKhB,EAAkBiB,EAAuB,OACzD,KAAM,CAACC,EAAmBC,CAAY,EAAIF,EAAc,MAAM,GAAG,EAK3DhB,EACJ,MAAMD,EAAK,IAAI,WAAW,+BAA+BmB,CAAY,EACjEjB,EAAcD,GAAA,YAAAA,EAAY,cAAc,KAC3CmB,GAAyBA,EAAG,eAAiBH,GAEhD,GAAI,CAAChB,GAAc,CAACC,EAClB,MAAM,IAAI,MACR,cAAciB,CAAY,oBAAoBF,CAAa,YAAA,EAI/D,MAAMZ,EAAoBL,EAAK,0BAC7B,gBAAgBmB,CAAY,kBAAkBF,CAAa,eAAA,EAIvDI,EAAe,MAAMhB,EAAkB,aAAA,EACvCD,GAAqBI,EAAAA,EAAAA,aAAaa,EAAa,IAAI,IAA9Bb,YAAAA,EACvB,OAEJ,GAAI,CAACJ,EACH,MAAM,IAAI,MACR,gDAAgDiB,EAAa,IAAI,EAAA,EAIrE,QAAQ,IACN,oDAAoDnB,EAAY,YAAY;AAAA,IAC5EE,CAAA,EAIF,MAAMD,EAAc,MAAMH,EAAK,IAAI,YAAY,0BAC7CmB,EACAjB,EAAY,YAAA,EAGd,OAAO,IAAIH,EACTC,EACAC,EACAC,EACAC,EACAC,EACAC,CAAA,CAEJ,CAyFA,IAAI,eAAgB,CAClB,OAAO,KAAK,YAAY,YAC1B,CAEA,IAAI,cAAe,CACjB,OAAO,KAAK,WAAW,UACzB,CAEA,IAAI,QAAS,CACX,OAAO,KAAK,mBAAmB,eAAe,IAAI,CAACiB,EAAGC,KAC7C,CACL,MAAOA,CAAA,EAEV,CACH,CAEA,SAAU,CACR,KAAK,kBAAkB,MAAA,CACzB,CACF"}

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

@@ -1 +0,0 @@
-{"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;AAED,eAAe,sBAAsB,CAAA"}

package/dist/lib/MotionStreamConnection.js

@@ -1,94 +0,0 @@
-import { tryParseJson as d } from "@wandelbots/nova-js";
-import { runInAction as g, makeAutoObservable as _ } from "mobx";
-import { jointValuesEqual as S, tcpMotionEqual as M, unwrapRotationVector as f } from "./motionStateUpdate.js";
-const u = 1e-4;
-class m {
-  constructor(n, o, h, s, i, e) {
-    this.nova = n, this.controller = o, this.motionGroup = h, this.description = s, this.initialMotionState = i, this.motionStateSocket = e, this.rapidlyChangingMotionState = i, e.addEventListener("message", (a) => {
-      var r;
-      const t = (r = d(a.data)) == null ? void 0 : r.result;
-      if (!t)
-        throw new Error(
-          `Failed to get motion state for ${this.motionGroupId}: ${a.data}`
-        );
-      S(
-        this.rapidlyChangingMotionState.joint_position,
-        t.joint_position,
-        u
-      ) || g(() => {
-        this.rapidlyChangingMotionState.joint_position = t.joint_position;
-      }), M(
-        this.rapidlyChangingMotionState,
-        t,
-        u
-      ) || g(() => {
-        var l, p, c;
-        this.rapidlyChangingMotionState.tcp_pose == null ? this.rapidlyChangingMotionState.tcp_pose = t.tcp_pose : (l = t.tcp_pose) != null && l.orientation && ((p = t.tcp_pose) != null && p.position) && ((c = this.rapidlyChangingMotionState.tcp_pose) != null && c.orientation) ? this.rapidlyChangingMotionState.tcp_pose = {
-          position: t.tcp_pose.position,
-          orientation: f(
-            t.tcp_pose.orientation,
-            this.rapidlyChangingMotionState.tcp_pose.orientation
-          )
-        } : console.warn(
-          "Received incomplete tcp_pose, ignoring",
-          t.tcp_pose
-        );
-      }), this.rapidlyChangingMotionState.standstill !== t.standstill && g(() => {
-        this.rapidlyChangingMotionState.standstill = t.standstill;
-      });
-    }), _(this);
-  }
-  static async open(n, o) {
-    var p;
-    const [h, s] = o.split("@"), i = await n.api.controller.getCurrentRobotControllerState(s), e = i == null ? void 0 : i.motion_groups.find(
-      (c) => c.motion_group === o
-    );
-    if (!i || !e)
-      throw new Error(
-        `Controller ${s} or motion group ${o} not found`
-      );
-    const a = n.openReconnectingWebsocket(
-      `/controllers/${s}/motion-groups/${o}/state-stream`
-    ), t = await a.firstMessage(), r = (p = d(t.data)) == null ? void 0 : p.result;
-    if (!r)
-      throw new Error(
-        `Unable to parse initial motion state message ${t.data}`
-      );
-    console.log(
-      `Connected motion state websocket to motion group ${e.motion_group}. Initial state:
-  `,
-      r
-    );
-    const l = await n.api.motionGroup.getMotionGroupDescription(
-      s,
-      e.motion_group
-    );
-    return new m(
-      n,
-      i,
-      e,
-      l,
-      r,
-      a
-    );
-  }
-  get motionGroupId() {
-    return this.motionGroup.motion_group;
-  }
-  get controllerId() {
-    return this.controller.controller;
-  }
-  get joints() {
-    return this.initialMotionState.joint_position.map((n, o) => ({
-      index: o
-    }));
-  }
-  dispose() {
-    this.motionStateSocket.close();
-  }
-}
-export {
-  m as MotionStreamConnection,
-  m as default
-};
-//# sourceMappingURL=MotionStreamConnection.js.map

package/dist/lib/MotionStreamConnection.js.map

@@ -1 +0,0 @@
-{"version":3,"file":"MotionStreamConnection.js","sources":["../../src/lib/MotionStreamConnection.ts"],"sourcesContent":["import {\n  type AutoReconnectingWebsocket,\n  tryParseJson,\n} from \"@wandelbots/nova-js\"\nimport type {\n  MotionGroupDescription,\n  MotionGroupState,\n  NovaClient,\n  RobotControllerState,\n} from \"@wandelbots/nova-js/v2\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport {\n  jointValuesEqual,\n  tcpMotionEqual,\n  unwrapRotationVector,\n} from \"./motionStateUpdate\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(nova: NovaClient, motionGroupId: string) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n\n    const controller =\n      await nova.api.controller.getCurrentRobotControllerState(controllerId)\n    const motionGroup = controller?.motion_groups.find(\n      (mg: MotionGroupState) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controllerId}/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupState\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Get the motion group description for later usage in jogging\n    const description = await nova.api.motionGroup.getMotionGroupDescription(\n      controllerId,\n      motionGroup.motion_group,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      description,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupState\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: RobotControllerState,\n    readonly motionGroup: MotionGroupState,\n    readonly description: MotionGroupDescription,\n    readonly initialMotionState: MotionGroupState,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const latestMotionState = tryParseJson(event.data)?.result as\n        | MotionGroupState\n        | undefined\n\n      if (!latestMotionState) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle joint position changes\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.joint_position,\n          latestMotionState.joint_position,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.joint_position =\n            latestMotionState.joint_position\n        })\n      }\n\n      // handle tcp pose changes\n      if (\n        !tcpMotionEqual(\n          this.rapidlyChangingMotionState,\n          latestMotionState,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          if (this.rapidlyChangingMotionState.tcp_pose == null) {\n            this.rapidlyChangingMotionState.tcp_pose =\n              latestMotionState.tcp_pose\n          } else if (\n            latestMotionState.tcp_pose?.orientation &&\n            latestMotionState.tcp_pose?.position &&\n            this.rapidlyChangingMotionState.tcp_pose?.orientation\n          ) {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: latestMotionState.tcp_pose.position,\n              orientation: unwrapRotationVector(\n                latestMotionState.tcp_pose.orientation as Vector3Simple,\n                this.rapidlyChangingMotionState.tcp_pose\n                  .orientation as Vector3Simple,\n              ),\n            }\n          } else {\n            console.warn(\n              \"Received incomplete tcp_pose, ignoring\",\n              latestMotionState.tcp_pose,\n            )\n          }\n        })\n      }\n\n      // handle standstill changes\n      if (\n        this.rapidlyChangingMotionState.standstill !==\n        latestMotionState.standstill\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.standstill =\n            latestMotionState.standstill\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get joints() {\n    return this.initialMotionState.joint_position.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n  }\n}\n\nexport default MotionStreamConnection\n"],"names":["MOTION_DELTA_THRESHOLD","MotionStreamConnection","nova","controller","motionGroup","description","initialMotionState","motionStateSocket","event","latestMotionState","_a","tryParseJson","jointValuesEqual","runInAction","tcpMotionEqual","_b","_c","unwrapRotationVector","makeAutoObservable","motionGroupId","_motionGroupIndex","controllerId","mg","firstMessage","_","i"],"mappings":";;;AAkBA,MAAMA,IAAyB;AAKxB,MAAMC,EAAuB;AAAA,EA0DlC,YACWC,GACAC,GACAC,GACAC,GACAC,GACAC,GACT;AANS,SAAA,OAAAL,GACA,KAAA,aAAAC,GACA,KAAA,cAAAC,GACA,KAAA,cAAAC,GACA,KAAA,qBAAAC,GACA,KAAA,oBAAAC,GAET,KAAK,6BAA6BD,GAElCC,EAAkB,iBAAiB,WAAW,CAACC,MAAU;;AACvD,YAAMC,KAAoBC,IAAAC,EAAaH,EAAM,IAAI,MAAvB,gBAAAE,EAA0B;AAIpD,UAAI,CAACD;AACH,cAAM,IAAI;AAAA,UACR,kCAAkC,KAAK,aAAa,KAAKD,EAAM,IAAI;AAAA,QAAA;AAKvE,MACGI;AAAA,QACC,KAAK,2BAA2B;AAAA,QAChCH,EAAkB;AAAA,QAClBT;AAAA,MAAA,KAGFa,EAAY,MAAM;AAChB,aAAK,2BAA2B,iBAC9BJ,EAAkB;AAAA,MACtB,CAAC,GAKAK;AAAA,QACC,KAAK;AAAA,QACLL;AAAA,QACAT;AAAA,MAAA,KAGFa,EAAY,MAAM;;AAChB,QAAI,KAAK,2BAA2B,YAAY,OAC9C,KAAK,2BAA2B,WAC9BJ,EAAkB,YAEpBC,IAAAD,EAAkB,aAAlB,QAAAC,EAA4B,iBAC5BK,IAAAN,EAAkB,aAAlB,QAAAM,EAA4B,eAC5BC,IAAA,KAAK,2BAA2B,aAAhC,QAAAA,EAA0C,eAE1C,KAAK,2BAA2B,WAAW;AAAA,UACzC,UAAUP,EAAkB,SAAS;AAAA,UACrC,aAAaQ;AAAA,YACXR,EAAkB,SAAS;AAAA,YAC3B,KAAK,2BAA2B,SAC7B;AAAA,UAAA;AAAA,QACL,IAGF,QAAQ;AAAA,UACN;AAAA,UACAA,EAAkB;AAAA,QAAA;AAAA,MAGxB,CAAC,GAKD,KAAK,2BAA2B,eAChCA,EAAkB,cAElBI,EAAY,MAAM;AAChB,aAAK,2BAA2B,aAC9BJ,EAAkB;AAAA,MACtB,CAAC;AAAA,IAEL,CAAC,GACDS,EAAmB,IAAI;AAAA,EACzB;AAAA,EA1IA,aAAa,KAAKhB,GAAkBiB,GAAuB;;AACzD,UAAM,CAACC,GAAmBC,CAAY,IAAIF,EAAc,MAAM,GAAG,GAK3DhB,IACJ,MAAMD,EAAK,IAAI,WAAW,+BAA+BmB,CAAY,GACjEjB,IAAcD,KAAA,gBAAAA,EAAY,cAAc;AAAA,MAC5C,CAACmB,MAAyBA,EAAG,iBAAiBH;AAAA;AAEhD,QAAI,CAAChB,KAAc,CAACC;AAClB,YAAM,IAAI;AAAA,QACR,cAAciB,CAAY,oBAAoBF,CAAa;AAAA,MAAA;AAI/D,UAAMZ,IAAoBL,EAAK;AAAA,MAC7B,gBAAgBmB,CAAY,kBAAkBF,CAAa;AAAA,IAAA,GAIvDI,IAAe,MAAMhB,EAAkB,aAAA,GACvCD,KAAqBI,IAAAC,EAAaY,EAAa,IAAI,MAA9B,gBAAAb,EACvB;AAEJ,QAAI,CAACJ;AACH,YAAM,IAAI;AAAA,QACR,gDAAgDiB,EAAa,IAAI;AAAA,MAAA;AAIrE,YAAQ;AAAA,MACN,oDAAoDnB,EAAY,YAAY;AAAA;AAAA,MAC5EE;AAAA,IAAA;AAIF,UAAMD,IAAc,MAAMH,EAAK,IAAI,YAAY;AAAA,MAC7CmB;AAAA,MACAjB,EAAY;AAAA,IAAA;AAGd,WAAO,IAAIH;AAAA,MACTC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,MACAC;AAAA,IAAA;AAAA,EAEJ;AAAA,EAyFA,IAAI,gBAAgB;AAClB,WAAO,KAAK,YAAY;AAAA,EAC1B;AAAA,EAEA,IAAI,eAAe;AACjB,WAAO,KAAK,WAAW;AAAA,EACzB;AAAA,EAEA,IAAI,SAAS;AACX,WAAO,KAAK,mBAAmB,eAAe,IAAI,CAACiB,GAAGC,OAC7C;AAAA,MACL,OAAOA;AAAA,IAAA,EAEV;AAAA,EACH;AAAA,EAEA,UAAU;AACR,SAAK,kBAAkB,MAAA;AAAA,EACzB;AACF;"}

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

@@ -1,2 +0,0 @@
-export {};
-//# sourceMappingURL=MotionStreamConnection.test.d.ts.map

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

@@ -1 +0,0 @@
-{"version":3,"file":"MotionStreamConnection.test.d.ts","sourceRoot":"","sources":["../../src/lib/MotionStreamConnection.test.ts"],"names":[],"mappings":""}

package/dist/lib/motionStateUpdate.cjs

@@ -1,2 +0,0 @@
-"use strict";Object.defineProperty(exports,Symbol.toStringTag,{value:"Module"});const u=require("three");function l(i,t,a){if(t.length!==i.length)return!0;for(let r=0;r<t.length;r++)if(Math.abs(t[r]-i[r])>a)return!1;return!0}function f(i,t,a){if(i===void 0&&t||i&&t===void 0||(i==null?void 0:i.orientation)===void 0||(t==null?void 0:t.orientation)===void 0||(i==null?void 0:i.position)===void 0||(t==null?void 0:t.position)===void 0)return!1;if(i===void 0||t===void 0)return!0;let r=0;return r+=Math.abs(i.orientation[0]-t.orientation[0]),r+=Math.abs(i.orientation[1]-t.orientation[1]),r+=Math.abs(i.orientation[2]-t.orientation[2]),r+=Math.abs(i.position[0]-t.position[0]),r+=Math.abs(i.position[1]-t.position[1]),r+=Math.abs(i.position[2]-t.position[2]),r<=a}function g(i,t,a){return i.coordinate_system===t.coordinate_system&&i.tcp===t.tcp&&f(i.tcp_pose,t.tcp_pose,a)}function M(i,t){const a=new u.Vector3(t[0],t[1],t[2]),r=new u.Vector3(i[0],i[1],i[2]),s=a.length(),h=a.normalize();let n=r.length(),o=r.normalize();o.dot(h)<0&&(n=-n,o=o.multiplyScalar(-1));let e=n-s;return e-=2*Math.PI*Math.floor((e+Math.PI)/(2*Math.PI)),n=s+e,[...o.multiplyScalar(n)]}exports.jointValuesEqual=l;exports.poseEqual=f;exports.tcpMotionEqual=g;exports.unwrapRotationVector=M;
-//# sourceMappingURL=motionStateUpdate.cjs.map

package/dist/lib/motionStateUpdate.cjs.map

@@ -1 +0,0 @@
-{"version":3,"file":"motionStateUpdate.cjs","sources":["../../src/lib/motionStateUpdate.ts"],"sourcesContent":["import type { MotionGroupState, Pose } from \"@wandelbots/nova-js/v2\"\nimport type { Vector3Simple } from \"./JoggerConnection\"\nimport { Vector3 } from \"three\"\n\nexport function jointValuesEqual(\n  oldJointValues: number[],\n  newJointValues: number[],\n  changeDeltaThreshold: number,\n): boolean {\n  if (newJointValues.length !== oldJointValues.length) {\n    return true\n  }\n\n  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {\n    if (\n      // biome-ignore lint/style/noNonNullAssertion: legacy code\n      Math.abs(newJointValues[jointIndex]! - oldJointValues[jointIndex]!) >\n      changeDeltaThreshold\n    ) {\n      return false\n    }\n  }\n\n  return true\n}\n\nexport function poseEqual(\n  oldTcp: Pose | undefined,\n  newTcp: Pose | undefined,\n  changeDeltaThreshold: number,\n): boolean {\n  // undefined -> defined (+reverse) transition\n  if ((oldTcp === undefined && newTcp) || (oldTcp && newTcp === undefined)) {\n    return false\n  }\n\n  // Poses might be incomplete (missing orientation or position)\n  if (\n    oldTcp?.orientation === undefined ||\n    newTcp?.orientation === undefined ||\n    oldTcp?.position === undefined ||\n    newTcp?.position === undefined\n  ) {\n    return false\n  }\n\n  // the typechecker cannot resolve states to \"!= undefined\" if \"&&\" is used\n  if (oldTcp === undefined || newTcp === undefined) {\n    return true\n  }\n\n  let changedDelta = 0\n  changedDelta += Math.abs(oldTcp.orientation[0] - newTcp.orientation[0])\n  changedDelta += Math.abs(oldTcp.orientation[1] - newTcp.orientation[1])\n  changedDelta += Math.abs(oldTcp.orientation[2] - newTcp.orientation[2])\n  changedDelta += Math.abs(oldTcp.position[0] - newTcp.position[0])\n  changedDelta += Math.abs(oldTcp.position[1] - newTcp.position[1])\n  changedDelta += Math.abs(oldTcp.position[2] - newTcp.position[2])\n\n  return changedDelta <= changeDeltaThreshold\n}\n\n// Runs poseEqual check + coordinate system/tcp name equality\nexport function tcpMotionEqual(\n  oldMotionState: MotionGroupState,\n  newMotionState: MotionGroupState,\n  changeDeltaThreshold: number,\n): boolean {\n  return (\n    oldMotionState.coordinate_system === newMotionState.coordinate_system &&\n    oldMotionState.tcp === newMotionState.tcp &&\n    poseEqual(\n      oldMotionState.tcp_pose,\n      newMotionState.tcp_pose,\n      changeDeltaThreshold,\n    )\n  )\n}\n\nexport function unwrapRotationVector(\n  newRotationVectorApi: Vector3Simple,\n  currentRotationVectorApi: Vector3Simple,\n): Vector3Simple {\n  const currentRotationVector = new Vector3(\n    currentRotationVectorApi[0],\n    currentRotationVectorApi[1],\n    currentRotationVectorApi[2],\n  )\n\n  const newRotationVector = new Vector3(\n    newRotationVectorApi[0],\n    newRotationVectorApi[1],\n    newRotationVectorApi[2],\n  )\n\n  const currentAngle = currentRotationVector.length()\n  const currentAxis = currentRotationVector.normalize()\n\n  let newAngle = newRotationVector.length()\n  let newAxis = newRotationVector.normalize()\n\n  // Align rotation axes\n  if (newAxis.dot(currentAxis) < 0) {\n    newAngle = -newAngle\n    newAxis = newAxis.multiplyScalar(-1.0)\n  }\n\n  // Shift rotation angle close to previous one to extend domain of rotation angles beyond [0, pi]\n  // - this simplifies interpolation and prevents abruptly changing signs of the rotation angles\n  let angleDifference = newAngle - currentAngle\n  angleDifference -=\n    2.0 * Math.PI * Math.floor((angleDifference + Math.PI) / (2.0 * Math.PI))\n\n  newAngle = currentAngle + angleDifference\n\n  return [...newAxis.multiplyScalar(newAngle)] as Vector3Simple\n}\n"],"names":["jointValuesEqual","oldJointValues","newJointValues","changeDeltaThreshold","jointIndex","poseEqual","oldTcp","newTcp","changedDelta","tcpMotionEqual","oldMotionState","newMotionState","unwrapRotationVector","newRotationVectorApi","currentRotationVectorApi","currentRotationVector","Vector3","newRotationVector","currentAngle","currentAxis","newAngle","newAxis","angleDifference"],"mappings":"yGAIO,SAASA,EACdC,EACAC,EACAC,EACS,CACT,GAAID,EAAe,SAAWD,EAAe,OAC3C,MAAO,GAGT,QAASG,EAAa,EAAGA,EAAaF,EAAe,OAAQE,IAC3D,GAEE,KAAK,IAAIF,EAAeE,CAAU,EAAKH,EAAeG,CAAU,CAAE,EAClED,EAEA,MAAO,GAIX,MAAO,EACT,CAEO,SAASE,EACdC,EACAC,EACAJ,EACS,CAOT,GALKG,IAAW,QAAaC,GAAYD,GAAUC,IAAW,SAM5DD,GAAA,YAAAA,EAAQ,eAAgB,SACxBC,GAAA,YAAAA,EAAQ,eAAgB,SACxBD,GAAA,YAAAA,EAAQ,YAAa,SACrBC,GAAA,YAAAA,EAAQ,YAAa,OAErB,MAAO,GAIT,GAAID,IAAW,QAAaC,IAAW,OACrC,MAAO,GAGT,IAAIC,EAAe,EACnB,OAAAA,GAAgB,KAAK,IAAIF,EAAO,YAAY,CAAC,EAAIC,EAAO,YAAY,CAAC,CAAC,EACtEC,GAAgB,KAAK,IAAIF,EAAO,YAAY,CAAC,EAAIC,EAAO,YAAY,CAAC,CAAC,EACtEC,GAAgB,KAAK,IAAIF,EAAO,YAAY,CAAC,EAAIC,EAAO,YAAY,CAAC,CAAC,EACtEC,GAAgB,KAAK,IAAIF,EAAO,SAAS,CAAC,EAAIC,EAAO,SAAS,CAAC,CAAC,EAChEC,GAAgB,KAAK,IAAIF,EAAO,SAAS,CAAC,EAAIC,EAAO,SAAS,CAAC,CAAC,EAChEC,GAAgB,KAAK,IAAIF,EAAO,SAAS,CAAC,EAAIC,EAAO,SAAS,CAAC,CAAC,EAEzDC,GAAgBL,CACzB,CAGO,SAASM,EACdC,EACAC,EACAR,EACS,CACT,OACEO,EAAe,oBAAsBC,EAAe,mBACpDD,EAAe,MAAQC,EAAe,KACtCN,EACEK,EAAe,SACfC,EAAe,SACfR,CAAA,CAGN,CAEO,SAASS,EACdC,EACAC,EACe,CACf,MAAMC,EAAwB,IAAIC,EAAAA,QAChCF,EAAyB,CAAC,EAC1BA,EAAyB,CAAC,EAC1BA,EAAyB,CAAC,CAAA,EAGtBG,EAAoB,IAAID,EAAAA,QAC5BH,EAAqB,CAAC,EACtBA,EAAqB,CAAC,EACtBA,EAAqB,CAAC,CAAA,EAGlBK,EAAeH,EAAsB,OAAA,EACrCI,EAAcJ,EAAsB,UAAA,EAE1C,IAAIK,EAAWH,EAAkB,OAAA,EAC7BI,EAAUJ,EAAkB,UAAA,EAG5BI,EAAQ,IAAIF,CAAW,EAAI,IAC7BC,EAAW,CAACA,EACZC,EAAUA,EAAQ,eAAe,EAAI,GAKvC,IAAIC,EAAkBF,EAAWF,EACjC,OAAAI,GACE,EAAM,KAAK,GAAK,KAAK,OAAOA,EAAkB,KAAK,KAAO,EAAM,KAAK,GAAG,EAE1EF,EAAWF,EAAeI,EAEnB,CAAC,GAAGD,EAAQ,eAAeD,CAAQ,CAAC,CAC7C"}

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

@@ -1 +0,0 @@
-{"version":3,"file":"motionStateUpdate.d.ts","sourceRoot":"","sources":["../../src/lib/motionStateUpdate.ts"],"names":[],"mappings":"AAAA,OAAO,KAAK,EAAE,gBAAgB,EAAE,IAAI,EAAE,MAAM,wBAAwB,CAAA;AACpE,OAAO,KAAK,EAAE,aAAa,EAAE,MAAM,oBAAoB,CAAA;AAGvD,wBAAgB,gBAAgB,CAC9B,cAAc,EAAE,MAAM,EAAE,EACxB,cAAc,EAAE,MAAM,EAAE,EACxB,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CAgBT;AAED,wBAAgB,SAAS,CACvB,MAAM,EAAE,IAAI,GAAG,SAAS,EACxB,MAAM,EAAE,IAAI,GAAG,SAAS,EACxB,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CA8BT;AAGD,wBAAgB,cAAc,CAC5B,cAAc,EAAE,gBAAgB,EAChC,cAAc,EAAE,gBAAgB,EAChC,oBAAoB,EAAE,MAAM,GAC3B,OAAO,CAUT;AAED,wBAAgB,oBAAoB,CAClC,oBAAoB,EAAE,aAAa,EACnC,wBAAwB,EAAE,aAAa,GACtC,aAAa,CAkCf"}