@wandelbots/wandelbots-js-react-components 5.5.3 → 5.5.4-pr.fix-RB-3595-jogging-store-blocked.603.e3b085c

package/dist/chunks/{theming-naqCEdJP.js → theming-CBYyEs3Y.js}

@@ -1,4 +1,4 @@
-import { jsx as a, jsxs as S, Fragment as et } from "react/jsx-runtime";
+import { jsx as s, jsxs as v, Fragment as et } from "react/jsx-runtime";
 import { alpha as Mt, useTheme as F, styled as gt, createTheme as Jt } from "@mui/material/styles";
 import Xt from "@mui/material/AppBar";
 import Bt from "@mui/material/Backdrop";
@@ -7,9 +7,9 @@ import H from "@mui/material/IconButton";
 import Kt from "@mui/material/Menu";
 import q from "@mui/material/MenuItem";
 import te from "@mui/material/Toolbar";
-import E from "@mui/material/Typography";
+import j from "@mui/material/Typography";
 import { observer as J, useLocalObservable as Ft } from "mobx-react-lite";
-import { useState as B, useRef as D, useCallback as P, useEffect as A, useMemo as rt, useId as ee } from "react";
+import { useState as B, useRef as D, useCallback as _, useEffect as A, useMemo as rt, useId as ee } from "react";
 import { e as $ } from "./externalizeComponent-D6S3WLFc.js";
 import oe from "@mui/material/SvgIcon";
 import U from "@mui/material/Fade";
@@ -23,22 +23,22 @@ import Y from "@mui/material/Divider";
 import { useGridApiRef as se, DataGrid as le, Toolbar as ce, FilterPanelTrigger as de, ToolbarButton as st, QuickFilter as ue, QuickFilterTrigger as ge, QuickFilterControl as pe, QuickFilterClear as me } from "@mui/x-data-grid";
 import he from "@mui/icons-material/OpenWith";
 import fe from "@mui/icons-material/Share";
-import _ from "@mui/material/Stack";
+import P from "@mui/material/Stack";
 import $t from "@mui/material/Tab";
 import zt from "@mui/material/Tabs";
 import { JointTypeEnum as G, NovaClient as be, poseToWandelscriptString as xe } from "@wandelbots/nova-js/v2";
 import { lowerFirst as ye, countBy as Se, isString as ve } from "lodash-es";
-import { runInAction as L, makeAutoObservable as mt, when as lt, autorun as Ce, makeObservable as we, action as kt, observable as Te } from "mobx";
+import { runInAction as L, makeAutoObservable as mt, when as lt, autorun as we, makeObservable as Ce, action as kt, observable as Te } from "mobx";
 import { radiansToDegrees as Vt, tryParseJson as W, XYZ_TO_VECTOR as tt, degreesToRadians as Me } from "@wandelbots/nova-js";
 import { Vector3 as ct } from "three/src/math/Vector3.js";
 import Ie from "@mui/material/CircularProgress";
 import { capitalize as ke } from "@mui/material/utils";
 import { m as Re } from "./SafetyBar-C8whliAf.js";
-import Ee from "@mui/material/Alert";
-import je from "@mui/material/AlertTitle";
+import je from "@mui/material/Alert";
+import Ee from "@mui/material/AlertTitle";
 import Z from "@mui/material/Button";
 import Rt from "@mui/material/ToggleButton";
-import { c as Pe, d as _e, F as Oe, a as De, b as Ae, f as Je, e as Be } from "./robot-Cy9ST5-m.js";
+import { c as _e, d as Pe, F as Oe, a as De, b as Ae, f as Je, e as Be } from "./robot-Cy9ST5-m.js";
 import Fe from "lodash-es/isEqual.js";
 import Le from "@mui/material/FormControl";
 import $e from "@mui/material/InputLabel";
@@ -66,9 +66,9 @@ import ro from "@mui/material/Chip";
 import ao from "@mui/material/Fab";
 import so from "@mui/material/Badge";
 import { Gauge as lo } from "@mui/x-charts";
-import * as Et from "three";
-import { Vector3 as jt } from "three";
-const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /* @__PURE__ */ a(
+import * as jt from "three";
+import { Vector3 as Et } from "three";
+const co = (t) => /* @__PURE__ */ s(oe, { ...t, viewBox: "0 0 10 8", children: /* @__PURE__ */ s(
   "path",
   {
     d: "M8.825 0.9125L5 4.72917L1.175 0.9125L0 2.0875L5 7.0875L10 2.0875L8.825 0.9125Z",
@@ -84,15 +84,15 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       onAppSelect: i,
       disabled: n = !1,
       sx: c
-    } = t, [s, l] = B(null), g = !!s, m = (p) => {
-      l(p.currentTarget);
+    } = t, [a, l] = B(null), u = !!a, f = (g) => {
+      l(g.currentTarget);
     }, d = () => {
       l(null);
-    }, u = (p) => {
-      d(), p.onClick ? p.onClick() : p.href && (window.location.href = p.href), i == null || i(p);
+    }, p = (g) => {
+      d(), g.onClick ? g.onClick() : g.href && (window.location.href = g.href), i == null || i(g);
     };
-    return /* @__PURE__ */ S(et, { children: [
-      /* @__PURE__ */ a(
+    return /* @__PURE__ */ v(et, { children: [
+      /* @__PURE__ */ s(
         Xt,
         {
           position: "static",
@@ -105,11 +105,11 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
             },
             ...c
           },
-          children: /* @__PURE__ */ S(te, { sx: { minHeight: "62px !important" }, children: [
-            /* @__PURE__ */ a(T, { sx: { mr: 1, display: "flex", alignItems: "center" }, children: e }),
-            /* @__PURE__ */ S(T, { sx: { display: "flex", alignItems: "center", flexGrow: 1 }, children: [
-              /* @__PURE__ */ a(
-                E,
+          children: /* @__PURE__ */ v(te, { sx: { minHeight: "62px !important" }, children: [
+            /* @__PURE__ */ s(T, { sx: { mr: 1, display: "flex", alignItems: "center" }, children: e }),
+            /* @__PURE__ */ v(T, { sx: { display: "flex", alignItems: "center", flexGrow: 1 }, children: [
+              /* @__PURE__ */ s(
+                j,
                 {
                   component: "h1",
                   sx: {
@@ -119,14 +119,14 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                   children: o
                 }
               ),
-              r.length > 0 && /* @__PURE__ */ a(
+              r.length > 0 && /* @__PURE__ */ s(
                 H,
                 {
                   color: "inherit",
                   "aria-label": "switch app",
                   "aria-controls": "app-menu",
                   "aria-haspopup": "true",
-                  onClick: m,
+                  onClick: f,
                   disabled: n,
                   sx: {
                     ml: 1,
@@ -134,10 +134,10 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                     height: 28,
                     borderRadius: "6px",
                     padding: 0,
-                    backgroundColor: (p) => Mt(p.palette.common.white, 0.1),
+                    backgroundColor: (g) => Mt(g.palette.common.white, 0.1),
                     opacity: 1,
                     "&:hover": {
-                      backgroundColor: (p) => Mt(p.palette.common.white, 0.16)
+                      backgroundColor: (g) => Mt(g.palette.common.white, 0.16)
                     },
                     "& .MuiSvgIcon-root": {
                       fontSize: "8px",
@@ -145,31 +145,31 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                       height: "6px"
                     }
                   },
-                  children: /* @__PURE__ */ a(co, {})
+                  children: /* @__PURE__ */ s(co, {})
                 }
               )
             ] })
           ] })
         }
       ),
-      /* @__PURE__ */ a(
+      /* @__PURE__ */ s(
         Bt,
         {
-          open: g,
+          open: u,
           onClick: d,
           sx: {
             backdropFilter: "blur(4px)",
             backgroundColor: "rgba(0, 0, 0, 0.3)",
-            zIndex: (p) => p.zIndex.modal - 1
+            zIndex: (g) => g.zIndex.modal - 1
           }
         }
       ),
-      /* @__PURE__ */ a(
+      /* @__PURE__ */ s(
         Kt,
         {
           id: "app-menu",
-          anchorEl: s,
-          open: g,
+          anchorEl: a,
+          open: u,
           onClose: d,
           anchorOrigin: {
             vertical: "bottom",
@@ -180,16 +180,16 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
             horizontal: "left"
           },
           sx: {
-            zIndex: (p) => p.zIndex.modal,
+            zIndex: (g) => g.zIndex.modal,
             "& .MuiPaper-root": {
               minWidth: 200,
               mt: 1
             }
           },
-          children: r.map((p) => /* @__PURE__ */ S(q, { onClick: () => u(p), children: [
-            /* @__PURE__ */ a(T, { sx: { display: "flex", alignItems: "center" }, children: p.icon }),
-            /* @__PURE__ */ a(E, { variant: "body1", sx: { ml: 2 }, children: p.name })
-          ] }, p.id))
+          children: r.map((g) => /* @__PURE__ */ v(q, { onClick: () => p(g), children: [
+            /* @__PURE__ */ s(T, { sx: { display: "flex", alignItems: "center" }, children: g.icon }),
+            /* @__PURE__ */ s(j, { variant: "body1", sx: { ml: 2 }, children: g.name })
+          ] }, g.id))
         }
       )
     ] });
@@ -201,8 +201,8 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
   const o = Math.floor(t / 86400), r = Math.floor(t % 86400 / 3600), i = Math.floor(t % 3600 / 60), n = t % 60;
   if (typeof Intl < "u" && "DurationFormat" in Intl)
     try {
-      const s = {};
-      return o > 0 && (s.days = o), r > 0 && (s.hours = r), i > 0 && (s.minutes = i), (n > 0 || Object.keys(s).length === 0) && (s.seconds = n), new Intl.DurationFormat(e, { style: "narrow" }).format(s);
+      const a = {};
+      return o > 0 && (a.days = o), r > 0 && (a.hours = r), i > 0 && (a.minutes = i), (n > 0 || Object.keys(a).length === 0) && (a.seconds = n), new Intl.DurationFormat(e, { style: "narrow" }).format(a);
     } catch {
     }
   const c = [];
@@ -213,17 +213,17 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
   hasError: o,
   className: r
 }) => {
-  const { t: i, i18n: n } = V(), c = F(), { currentState: s, remainingTime: l, maxTime: g, currentProgress: m } = t, {
+  const { t: i, i18n: n } = V(), c = F(), { currentState: a, remainingTime: l, maxTime: u, currentProgress: f } = t, {
     showErrorAnimation: d,
-    showPauseAnimation: u,
-    showPulsatingText: p,
-    pulsatingFinished: x,
-    showLabels: y,
-    showMainText: f,
+    showPauseAnimation: p,
+    showPulsatingText: g,
+    pulsatingFinished: m,
+    showLabels: S,
+    showMainText: x,
     showIdlePulsating: h,
-    idleDotsCount: v
+    idleDotsCount: y
   } = e;
-  return /* @__PURE__ */ S(
+  return /* @__PURE__ */ v(
     T,
     {
       className: r,
@@ -236,12 +236,12 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
         justifyContent: "center"
       },
       children: [
-        /* @__PURE__ */ a(
+        /* @__PURE__ */ s(
           ne,
           {
             width: 264,
             height: 264,
-            value: s === "idle" ? 0 : m,
+            value: a === "idle" ? 0 : f,
             valueMin: 0,
             valueMax: 100,
             innerRadius: "85%",
@@ -250,7 +250,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
             skipAnimation: !0,
             text: () => "",
             sx: {
-              opacity: u || d ? 0.6 : 1,
+              opacity: p || d ? 0.6 : 1,
               transition: "opacity 0.5s ease-out",
               "& .MuiGauge-valueArc": {
                 fill: o ? c.palette.error.light : c.palette.success.main,
@@ -271,7 +271,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
             }
           }
         ),
-        /* @__PURE__ */ S(
+        /* @__PURE__ */ v(
           T,
           {
             sx: {
@@ -292,7 +292,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
               transition: "background-color 0.5s ease-out"
             },
             children: [
-              /* @__PURE__ */ a(
+              /* @__PURE__ */ s(
                 T,
                 {
                   sx: {
@@ -302,28 +302,28 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                     justifyContent: "center",
                     marginBottom: 1
                   },
-                  children: /* @__PURE__ */ a(
+                  children: /* @__PURE__ */ s(
                     U,
                     {
-                      in: y && !o && s !== "idle" && s !== "success",
+                      in: S && !o && a !== "idle" && a !== "success",
                       timeout: 300,
-                      children: /* @__PURE__ */ a(
-                        E,
+                      children: /* @__PURE__ */ s(
+                        j,
                         {
                           variant: "body2",
                           sx: {
                             fontSize: "12px",
-                            color: s === "measured" && (p || x) ? c.palette.success.main : c.palette.text.secondary,
+                            color: a === "measured" && (g || m) ? c.palette.success.main : c.palette.text.secondary,
                             transition: "color 0.8s ease-in-out"
                           },
-                          children: /* @__PURE__ */ a(
+                          children: /* @__PURE__ */ s(
                             "span",
                             {
                               style: {
-                                opacity: s === "measured" && x ? p ? 1 : 0.6 : 1,
+                                opacity: a === "measured" && m ? g ? 1 : 0.6 : 1,
                                 transition: "opacity 2s ease-in-out"
                               },
-                              children: s === "measuring" || s === "measured" ? i("CycleTimer.CycleTime.lb", "Cycle Time") : s === "countdown" ? i("CycleTimer.RemainingTime.lb", "Remaining Time") : ""
+                              children: a === "measuring" || a === "measured" ? i("CycleTimer.CycleTime.lb", "Cycle Time") : a === "countdown" ? i("CycleTimer.RemainingTime.lb", "Remaining Time") : ""
                             }
                           )
                         }
@@ -332,7 +332,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                   )
                 }
               ),
-              /* @__PURE__ */ S(
+              /* @__PURE__ */ v(
                 T,
                 {
                   sx: {
@@ -344,13 +344,13 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                     marginBottom: 0.5
                   },
                   children: [
-                    /* @__PURE__ */ a(
+                    /* @__PURE__ */ s(
                       U,
                       {
-                        in: f && s === "idle" && !o,
+                        in: x && a === "idle" && !o,
                         timeout: 200,
-                        children: /* @__PURE__ */ S(
-                          E,
+                        children: /* @__PURE__ */ v(
+                          j,
                           {
                             variant: "body2",
                             sx: {
@@ -368,7 +368,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                               justifyContent: "center"
                             },
                             children: [
-                              /* @__PURE__ */ a(
+                              /* @__PURE__ */ s(
                                 "span",
                                 {
                                   style: {
@@ -381,7 +381,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                                   )
                                 }
                               ),
-                              /* @__PURE__ */ a(
+                              /* @__PURE__ */ s(
                                 "span",
                                 {
                                   style: {
@@ -391,7 +391,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                                     opacity: h ? 1 : 0.6,
                                     transition: "opacity 2s ease-in-out"
                                   },
-                                  children: ".".repeat(v)
+                                  children: ".".repeat(y)
                                 }
                               )
                             ]
@@ -399,8 +399,8 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                         )
                       }
                     ),
-                    /* @__PURE__ */ a(U, { in: f && o, timeout: 200, children: /* @__PURE__ */ a(
-                      E,
+                    /* @__PURE__ */ s(U, { in: x && o, timeout: 200, children: /* @__PURE__ */ s(
+                      j,
                       {
                         variant: "h3",
                         sx: {
@@ -413,13 +413,13 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                         children: i("CycleTimer.Error.lb", "Error")
                       }
                     ) }),
-                    /* @__PURE__ */ a(
+                    /* @__PURE__ */ s(
                       U,
                       {
-                        in: f && !o && s !== "idle" && s !== "success",
+                        in: x && !o && a !== "idle" && a !== "success",
                         timeout: 300,
-                        children: /* @__PURE__ */ a(
-                          E,
+                        children: /* @__PURE__ */ s(
+                          j,
                           {
                             variant: "h1",
                             sx: {
@@ -430,7 +430,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                               lineHeight: 1,
                               transition: "color 0.8s ease-in-out"
                             },
-                            children: /* @__PURE__ */ a(
+                            children: /* @__PURE__ */ s(
                               "span",
                               {
                                 style: {
@@ -447,7 +447,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                   ]
                 }
               ),
-              /* @__PURE__ */ a(
+              /* @__PURE__ */ s(
                 T,
                 {
                   sx: {
@@ -457,29 +457,29 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                     alignItems: "center",
                     justifyContent: "center"
                   },
-                  children: /* @__PURE__ */ a(
+                  children: /* @__PURE__ */ s(
                     U,
                     {
-                      in: y && !o && s !== "idle" && s !== "success",
+                      in: S && !o && a !== "idle" && a !== "success",
                       timeout: 300,
-                      children: /* @__PURE__ */ a(
-                        E,
+                      children: /* @__PURE__ */ s(
+                        j,
                         {
                           variant: "body2",
                           sx: {
                             fontSize: "12px",
-                            color: s === "measured" && (p || x) ? c.palette.success.main : c.palette.text.secondary,
+                            color: a === "measured" && (g || m) ? c.palette.success.main : c.palette.text.secondary,
                             transition: "color 0.8s ease-in-out"
                           },
-                          children: /* @__PURE__ */ a(
+                          children: /* @__PURE__ */ s(
                             "span",
                             {
                               style: {
-                                opacity: s === "measured" && x ? p ? 1 : 0.6 : 1,
+                                opacity: a === "measured" && m ? g ? 1 : 0.6 : 1,
                                 transition: "opacity 2s ease-in-out"
                               },
-                              children: s === "measuring" ? i("CycleTimer.Measuring.lb", "measuring...") : s === "measured" ? i("CycleTimer.Determined.lb", "determined") : s === "countdown" && g !== null ? i("CycleTimer.OfTime.lb", {
-                                time: N(g, n.language)
+                              children: a === "measuring" ? i("CycleTimer.Measuring.lb", "measuring...") : a === "measured" ? i("CycleTimer.Determined.lb", "determined") : a === "countdown" && u !== null ? i("CycleTimer.OfTime.lb", {
+                                time: N(u, n.language)
                               }) : ""
                             }
                           )
@@ -502,15 +502,15 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
   compact: r,
   className: i
 }) => {
-  const { t: n, i18n: c } = V(), s = F(), { currentState: l, remainingTime: g, maxTime: m } = t, {
+  const { t: n, i18n: c } = V(), a = F(), { currentState: l, remainingTime: u, maxTime: f } = t, {
     showErrorAnimation: d,
-    showPauseAnimation: u,
-    showPulsatingText: p,
-    pulsatingFinished: x,
-    showIdlePulsating: y,
-    idleDotsCount: f
+    showPauseAnimation: p,
+    showPulsatingText: g,
+    pulsatingFinished: m,
+    showIdlePulsating: S,
+    idleDotsCount: x
   } = e;
-  return r && l === "idle" ? /* @__PURE__ */ a(
+  return r && l === "idle" ? /* @__PURE__ */ s(
     T,
     {
       className: i,
@@ -519,20 +519,20 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
         alignItems: "center",
         m: 0
       },
-      children: /* @__PURE__ */ a(
-        E,
+      children: /* @__PURE__ */ s(
+        j,
         {
           variant: "body2",
           sx: {
-            color: o ? s.palette.error.light : s.palette.text.primary,
+            color: o ? a.palette.error.light : a.palette.text.primary,
             fontSize: "14px",
             transition: "color 0.5s ease-out"
           },
-          children: o ? n("CycleTimer.Error.lb", "Error") : l === "idle" ? "0s" : N(g, c.language)
+          children: o ? n("CycleTimer.Error.lb", "Error") : l === "idle" ? "0s" : N(u, c.language)
         }
       )
     }
-  ) : /* @__PURE__ */ S(
+  ) : /* @__PURE__ */ v(
     T,
     {
       className: i,
@@ -543,7 +543,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
         gap: 1
       },
       children: [
-        !(l === "idle" && r) && /* @__PURE__ */ a(
+        !(l === "idle" && r) && /* @__PURE__ */ s(
           T,
           {
             sx: {
@@ -552,10 +552,10 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
               display: "flex",
               alignItems: "center",
               justifyContent: "center",
-              opacity: u || d ? 0.6 : 1,
+              opacity: p || d ? 0.6 : 1,
               transition: "opacity 0.5s ease-out"
             },
-            children: /* @__PURE__ */ S(
+            children: /* @__PURE__ */ v(
               "svg",
               {
                 width: "20",
@@ -565,35 +565,35 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                 role: "img",
                 "aria-label": "Timer progress",
                 children: [
-                  /* @__PURE__ */ a(
+                  /* @__PURE__ */ s(
                     "circle",
                     {
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                       fill: "none",
-                      stroke: o ? s.palette.error.light : l === "measured" ? p || x ? s.palette.success.main : s.palette.text.secondary : s.palette.success.main,
+                      stroke: o ? a.palette.error.light : l === "measured" ? g || m ? a.palette.success.main : a.palette.text.secondary : a.palette.success.main,
                       strokeWidth: "2",
-                      opacity: l === "measured" && x ? p ? 1 : 0.6 : 0.3,
+                      opacity: l === "measured" && m ? g ? 1 : 0.6 : 0.3,
                       style: {
                         transition: "stroke 0.8s ease-in-out, opacity 2s ease-in-out"
                       }
                     }
                   ),
-                  /* @__PURE__ */ a(
+                  /* @__PURE__ */ s(
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                     {
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                       cy: "10",
                       r: "8",
                       fill: "none",
-                      stroke: o ? s.palette.error.light : l === "measured" ? p || x ? s.palette.success.main : s.palette.text.secondary : s.palette.success.main,
+                      stroke: o ? a.palette.error.light : l === "measured" ? g || m ? a.palette.success.main : a.palette.text.secondary : a.palette.success.main,
                       strokeWidth: "2",
                       strokeLinecap: "round",
                       strokeDasharray: `${2 * Math.PI * 8}`,
                       strokeDashoffset: `${2 * Math.PI * 8 * (1 - (l === "idle" ? 0 : t.currentProgress) / 100)}`,
                       style: {
-                        opacity: l === "measured" && x ? p ? 1 : 0.6 : 1,
+                        opacity: l === "measured" && m ? g ? 1 : 0.6 : 1,
                         transition: "stroke-dashoffset 0.1s ease-out, stroke 0.8s ease-in-out, opacity 2s ease-in-out"
                       }
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@@ -603,21 +603,21 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
             )
           }
         ),
-        /* @__PURE__ */ a(
-          E,
+        /* @__PURE__ */ s(
+          j,
           {
             variant: "body2",
             sx: {
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+              color: o ? a.palette.error.light : l === "idle" ? "rgba(255, 255, 255, 0.7)" : l === "measured" ? g || m ? a.palette.success.main : a.palette.text.secondary : a.palette.text.primary,
               fontSize: "14px",
               lineHeight: "normal",
               letterSpacing: "normal",
-              opacity: l === "idle" ? y ? 1 : 0.6 : l === "measured" && x ? p ? 1 : 0.6 : 1,
+              opacity: l === "idle" ? S ? 1 : 0.6 : l === "measured" && m ? g ? 1 : 0.6 : 1,
               transition: "color 0.8s ease-in-out, font-size 0.3s ease-out, opacity 2s ease-in-out"
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-              /* @__PURE__ */ a("span", { children: n("CycleTimer.WaitingForCycle.lb", "Waiting for program cycle") }),
-              /* @__PURE__ */ a(
+            children: o ? n("CycleTimer.Error.lb", "Error") : l === "idle" ? /* @__PURE__ */ v(et, { children: [
+              /* @__PURE__ */ s("span", { children: n("CycleTimer.WaitingForCycle.lb", "Waiting for program cycle") }),
+              /* @__PURE__ */ s(
                 "span",
                 {
                   style: {
@@ -625,10 +625,10 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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                     textAlign: "left"
                   },
-                  children: ".".repeat(f)
+                  children: ".".repeat(x)
                 }
               )
-            ] }) : l === "measuring" ? r ? N(g, c.language) : `${N(g, c.language)} / ${n("CycleTimer.Measuring.lb", "measuring...")}` : l === "measured" ? r ? N(g, c.language) : `${N(g, c.language)} / ${n("CycleTimer.Determined.lb", "determined")}` : l === "countdown" && m !== null ? r ? N(g, c.language) : `${N(g, c.language)} / ${n("CycleTimer.Time.lb", { time: N(m, c.language) })}` : N(g, c.language)
+            ] }) : l === "measuring" ? r ? N(u, c.language) : `${N(u, c.language)} / ${n("CycleTimer.Measuring.lb", "measuring...")}` : l === "measured" ? r ? N(u, c.language) : `${N(u, c.language)} / ${n("CycleTimer.Determined.lb", "determined")}` : l === "countdown" && f !== null ? r ? N(u, c.language) : `${N(u, c.language)} / ${n("CycleTimer.Time.lb", { time: N(f, c.language) })}` : N(u, c.language)
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@@ -650,46 +650,46 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     null
   ), i = D(
     null
-  ), n = D(null), c = D(0), s = D(null), l = D(
+  ), n = D(null), c = D(0), a = D(null), l = D(
     null
-  ), g = P(() => {
+  ), u = _(() => {
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       e((b) => ({ ...b, showPauseAnimation: !1 }));
     }, 800);
-  }, []), m = P(() => {
+  }, []), f = _(() => {
     e((b) => ({ ...b, showErrorAnimation: !0 })), r.current && clearTimeout(r.current), r.current = setTimeout(() => {
       e((b) => ({ ...b, showErrorAnimation: !1 }));
     }, 600);
-  }, []), d = P(() => {
+  }, []), d = _(() => {
     e((b) => ({ ...b, showErrorAnimation: !1 })), r.current && clearTimeout(r.current);
-  }, []), u = P((b) => {
-    c.current = 0, e((w) => ({
-      ...w,
+  }, []), p = _((b) => {
+    c.current = 0, e((C) => ({
+      ...C,
       showPulsatingText: !0,
       pulsatingFinished: !1
     })), setTimeout(() => {
-      e((w) => ({
-        ...w,
+      e((C) => ({
+        ...C,
         pulsatingFinished: !0
         // This will keep the success color and start slow pulsating
       })), i.current = setInterval(() => {
-        e((w) => ({
-          ...w,
-          showPulsatingText: !w.showPulsatingText
+        e((C) => ({
+          ...C,
+          showPulsatingText: !C.showPulsatingText
         }));
       }, 2e3), b && b();
     }, 800);
-  }, []), p = P(() => {
+  }, []), g = _(() => {
     i.current && (clearInterval(i.current), i.current = null), e((b) => ({
       ...b,
       showPulsatingText: !1,
       pulsatingFinished: !1
     })), c.current = 0;
-  }, []), x = P(() => {
+  }, []), m = _(() => {
     e((b) => ({
       ...b,
       showIdlePulsating: !0
-    })), s.current = setInterval(() => {
+    })), a.current = setInterval(() => {
       e((b) => ({
         ...b,
         showIdlePulsating: !b.showIdlePulsating
@@ -701,13 +701,13 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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       }));
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-  }, []), y = P(() => {
-    s.current && (clearInterval(s.current), s.current = null), l.current && (clearInterval(l.current), l.current = null), e((b) => ({
+  }, []), S = _(() => {
+    a.current && (clearInterval(a.current), a.current = null), l.current && (clearInterval(l.current), l.current = null), e((b) => ({
       ...b,
       showIdlePulsating: !1,
       idleDotsCount: 0
     }));
-  }, []), f = P(() => {
+  }, []), x = _(() => {
     e((b) => ({
       ...b,
       showLabels: !1,
@@ -719,27 +719,27 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
         showMainText: !0
       }));
     }, 200);
-  }, []), h = P(() => {
+  }, []), h = _(() => {
     e((b) => ({
       ...b,
       showLabels: !0,
       showMainText: !0
     }));
-  }, []), v = P(() => {
-    o.current && clearTimeout(o.current), r.current && clearTimeout(r.current), n.current && clearTimeout(n.current), i.current && clearInterval(i.current), s.current && clearInterval(s.current), l.current && clearInterval(l.current);
+  }, []), y = _(() => {
+    o.current && clearTimeout(o.current), r.current && clearTimeout(r.current), n.current && clearTimeout(n.current), i.current && clearInterval(i.current), a.current && clearInterval(a.current), l.current && clearInterval(l.current);
   }, []);
   return {
     animationState: t,
-    triggerPauseAnimation: g,
-    triggerErrorAnimation: m,
+    triggerPauseAnimation: u,
+    triggerErrorAnimation: f,
     clearErrorAnimation: d,
-    startPulsatingAnimation: u,
-    stopPulsatingAnimation: p,
-    startIdleAnimations: x,
-    stopIdleAnimations: y,
-    triggerFadeTransition: f,
+    startPulsatingAnimation: p,
+    stopPulsatingAnimation: g,
+    startIdleAnimations: m,
+    stopIdleAnimations: S,
+    triggerFadeTransition: x,
     setInitialAnimationState: h,
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+    cleanup: y
   };
 }, fo = ({
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@@ -749,9 +749,9 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
   onPauseAnimation: i,
   onErrorAnimation: n,
   onClearErrorAnimation: c,
-  onStartPulsating: s
+  onStartPulsating: a
 }) => {
-  const [l, g] = B({
+  const [l, u] = B({
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@@ -759,15 +759,15 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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     currentProgress: 0,
     wasRunningBeforeError: !1
-  }), m = D(null), d = D(null), u = D(0), [p] = Lt([0], {
+  }), f = D(null), d = D(null), p = D(0), [g] = Lt([0], {
     tension: 80,
     friction: 18,
-    onChange: ([C]) => {
-      g((M) => ({ ...M, currentProgress: C }));
+    onChange: ([w]) => {
+      u((M) => ({ ...M, currentProgress: w }));
     }
-  }), x = P(() => {
-    g((C) => ({
-      ...C,
+  }), m = _(() => {
+    u((w) => ({
+      ...w,
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       maxTime: null,
       // Don't reset remainingTime - keep the last value
@@ -775,61 +775,61 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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-  }, [p]), y = P(
-    (C = 0) => {
-      const M = C / 60 % 1 * 100;
-      g((k) => ({
+    })), p.current = 0, d.current = null, g.setImmediate([0]);
+  }, [g]), S = _(
+    (w = 0) => {
+      const M = w / 60 % 1 * 100;
+      u((k) => ({
         ...k,
         currentState: "measuring",
         maxTime: null,
-        remainingTime: C,
+        remainingTime: w,
         isPausedState: !1,
         currentProgress: M
         // Immediately set progress
-      })), u.current = 0, p.setImmediate([M]), t ? (d.current = Date.now() - C * 1e3, g((k) => ({ ...k, isRunning: !0 }))) : d.current = null;
+      })), p.current = 0, g.setImmediate([M]), t ? (d.current = Date.now() - w * 1e3, u((k) => ({ ...k, isRunning: !0 }))) : d.current = null;
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-    [t, p]
-  ), f = P(
-    (C, M = 0) => {
-      g((I) => ({ ...I, isRunning: !1 })), d.current = null, g((I) => ({
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+  ), x = _(
+    (w, M = 0) => {
+      u((I) => ({ ...I, isRunning: !1 })), d.current = null, u((I) => ({
         ...I,
         currentState: "countdown",
-        maxTime: C,
+        maxTime: w,
         isPausedState: !1
-      })), u.current = 0;
-      const k = Math.max(0, C - M), R = M > 0 ? M / C * 100 : 0;
-      g((I) => ({
+      })), p.current = 0;
+      const k = Math.max(0, w - M), R = M > 0 ? M / w * 100 : 0;
+      u((I) => ({
         ...I,
         remainingTime: k,
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         // Immediately set progress
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-        d.current = Date.now() - M * 1e3, g((I) => ({ ...I, isRunning: !0 }));
+      })), g.setImmediate([R]), k === 0 ? (u((I) => ({ ...I, isRunning: !1 })), d.current = null, e && queueMicrotask(() => e())) : t ? setTimeout(() => {
+        d.current = Date.now() - M * 1e3, u((I) => ({ ...I, isRunning: !0 }));
       }, 0) : d.current = null;
     },
-    [t, e, p]
-  ), h = P(() => {
-    g((C) => ({
-      ...C,
+    [t, e, g]
+  ), h = _(() => {
+    u((w) => ({
+      ...w,
       isRunning: !1,
       currentState: "measured"
-    })), d.current = null, s(() => {
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     });
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+      const k = p.current / 1e3, R = go(
         l.currentState,
         k,
         l.maxTime
       );
-      p.setTarget([R]);
+      g.setTarget([R]);
     }
-    g((C) => ({
-      ...C,
+    u((w) => ({
+      ...w,
       isRunning: !1,
       isPausedState: !0
     })), i();
@@ -837,11 +837,11 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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     l.currentState,
     l.maxTime,
-    p,
+    g,
     i
-  ]), b = P(() => {
-    l.isPausedState && (l.remainingTime > 0 || l.currentState !== "countdown") && (d.current = Date.now(), g((C) => ({
-      ...C,
+  ]), b = _(() => {
+    l.isPausedState && (l.remainingTime > 0 || l.currentState !== "countdown") && (d.current = Date.now(), u((w) => ({
+      ...w,
       isRunning: !0,
       isPausedState: !1
     })));
@@ -849,79 +849,79 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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-  ]), w = P(() => l.isPausedState, [l.isPausedState]);
+  ]), C = _(() => l.isPausedState, [l.isPausedState]);
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+    r ? (l.isRunning && !l.isPausedState && (u((w) => ({ ...w, wasRunningBeforeError: !0 })), y()), n()) : (l.wasRunningBeforeError && l.isPausedState && (u((w) => ({ ...w, wasRunningBeforeError: !1 })), b()), c());
   }, [
     r,
     l.isRunning,
     l.isPausedState,
     l.wasRunningBeforeError,
-    v,
+    y,
     b,
     n,
     c
   ]), A(() => {
     if (l.isRunning) {
-      const C = () => {
+      const w = () => {
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+          const k = (Date.now() - d.current + p.current) / 1e3;
           if (l.currentState === "countdown" && l.maxTime !== null) {
             const R = Math.max(0, l.maxTime - k);
-            g((j) => ({
-              ...j,
+            u((E) => ({
+              ...E,
               remainingTime: Math.ceil(R)
             }));
             const I = Math.min(100, k / l.maxTime * 100);
-            if (p.setTarget([I]), R <= 0) {
-              g((j) => ({
-                ...j,
+            if (g.setTarget([I]), R <= 0) {
+              u((E) => ({
+                ...E,
                 isRunning: !1,
                 remainingTime: 0
-              })), d.current = null, p.setTarget([100]), e && queueMicrotask(() => e());
+              })), d.current = null, g.setTarget([100]), e && queueMicrotask(() => e());
               return;
             }
           } else if (l.currentState === "measuring") {
-            g((I) => ({
+            u((I) => ({
               ...I,
               remainingTime: Math.floor(k)
             }));
             const R = k / 60 % 1 * 100;
-            p.setTarget([R]);
+            g.setTarget([R]);
           }
-          l.isRunning && (m.current = requestAnimationFrame(C));
+          l.isRunning && (f.current = requestAnimationFrame(w));
         }
       };
-      m.current = requestAnimationFrame(C);
+      f.current = requestAnimationFrame(w);
     } else
-      m.current && (cancelAnimationFrame(m.current), m.current = null);
+      f.current && (cancelAnimationFrame(f.current), f.current = null);
     return () => {
-      m.current && cancelAnimationFrame(m.current);
+      f.current && cancelAnimationFrame(f.current);
     };
   }, [
     l.isRunning,
     e,
     l.currentState,
     l.maxTime,
-    p
+    g
   ]), A(() => {
-    let C = null;
+    let w = null;
     const M = () => {
-      p.update(1 / 60), C = requestAnimationFrame(M);
+      g.update(1 / 60), w = requestAnimationFrame(M);
     };
-    return C = requestAnimationFrame(M), () => {
-      C && cancelAnimationFrame(C);
+    return w = requestAnimationFrame(M), () => {
+      w && cancelAnimationFrame(w);
     };
-  }, [p]), {
+  }, [g]), {
     timerState: l,
     controls: {
-      startNewCycle: f,
-      startMeasuring: y,
-      setIdle: x,
+      startNewCycle: x,
+      startMeasuring: S,
+      setIdle: m,
       completeMeasuring: h,
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+      pause: y,
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+      isPaused: C
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   };
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@@ -934,63 +934,63 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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       compact: n = !1,
       className: c,
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+      hasError: a = !1
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       const l = D(void 0), {
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-        triggerPauseAnimation: m,
+        animationState: u,
+        triggerPauseAnimation: f,
         triggerErrorAnimation: d,
-        clearErrorAnimation: u,
-        startPulsatingAnimation: p,
-        stopPulsatingAnimation: x,
-        startIdleAnimations: y,
-        stopIdleAnimations: f,
+        clearErrorAnimation: p,
+        startPulsatingAnimation: g,
+        stopPulsatingAnimation: m,
+        startIdleAnimations: S,
+        stopIdleAnimations: x,
         triggerFadeTransition: h,
-        setInitialAnimationState: v,
+        setInitialAnimationState: y,
         cleanup: b
-      } = ho(), { timerState: w, controls: C } = fo({
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         onCycleEnd: e,
         onMeasuringComplete: o,
-        hasError: s,
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         return () => {
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-          animationState: g,
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           className: c
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-          animationState: g,
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@@ -1006,54 +1006,54 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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       getItemId: n,
       title: c,
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           expand: !0,
           columns: e.map((I) => I.field)
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         labelColor: "#000"
       });
-      const p = d ? (b = t.buttonBackgroundColor) == null ? void 0 : b.pressed : t.borderColor, x = {
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         color: t.color,
         path: { fill: t.color },
@@ -1557,11 +1557,11 @@ const Pt = $(
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         ":hover": {
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+          backgroundColor: (w = t.buttonBackgroundColor) == null ? void 0 : w.hovered
         },
         ":active": {
           backgroundColor: (M = t.buttonBackgroundColor) == null ? void 0 : M.pressed,
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         backgroundColor: (R = t.buttonBackgroundColor) == null ? void 0 : R.pressed,
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       };
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-              borderBottom: `2px solid ${p ?? "#fff"}`,
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               opacity: "0.9",
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-              borderTop: `2px solid ${p ?? "#fff"}`
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-                          label: i ? w(y(o), 0) : C(o)
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                 onPointerDown: h,
-                onPointerUp: v,
+                onPointerUp: y,
                 onPointerOut: b,
                 disabled: c,
                 disableRipple: !0,
                 sx: {
                   borderRadius: "0px 16px 16px 0px",
-                  ...p.activeJoggingDir === "+" ? u : {}
+                  ...g.activeJoggingDir === "+" ? p : {}
                 },
-                children: /* @__PURE__ */ a(
+                children: /* @__PURE__ */ s(
                   Ue,
                   {
                     sx: {
                       pointerEvents: "none",
-                      color: (Tt = (wt = (Ct = (vt = d.componentsExt) == null ? void 0 : vt.JoggingPanel) == null ? void 0 : Ct.JoggingJoint) == null ? void 0 : wt.Joint) == null ? void 0 : Tt.arrowColor
+                      color: (Tt = (Ct = (wt = (vt = d.componentsExt) == null ? void 0 : vt.JoggingPanel) == null ? void 0 : wt.JoggingJoint) == null ? void 0 : Ct.Joint) == null ? void 0 : Tt.arrowColor
                     }
                   }
                 )
@@ -1930,43 +1930,43 @@ function Gt(t, e, o) {
   );
 }
 function So(t, e) {
-  const o = new jt(
+  const o = new Et(
     e[0],
     e[1],
     e[2]
-  ), r = new jt(
+  ), r = new Et(
     t[0],
     t[1],
     t[2]
   ), i = o.length(), n = o.normalize();
-  let c = r.length(), s = r.normalize();
-  s.dot(n) < 0 && (c = -c, s = s.multiplyScalar(-1));
+  let c = r.length(), a = r.normalize();
+  a.dot(n) < 0 && (c = -c, a = a.multiplyScalar(-1));
   let l = c - i;
-  return l -= 2 * Math.PI * Math.floor((l + Math.PI) / (2 * Math.PI)), c = i + l, [...s.multiplyScalar(c)];
+  return l -= 2 * Math.PI * Math.floor((l + Math.PI) / (2 * Math.PI)), c = i + l, [...a.multiplyScalar(c)];
 }
-const _t = 1e-4;
+const Pt = 1e-4;
 class ht {
   constructor(e, o, r, i, n, c) {
-    this.nova = e, this.controller = o, this.motionGroup = r, this.description = i, this.initialMotionState = n, this.motionStateSocket = c, this.rapidlyChangingMotionState = n, c.addEventListener("message", (s) => {
-      var g;
-      const l = (g = W(s.data)) == null ? void 0 : g.result;
+    this.nova = e, this.controller = o, this.motionGroup = r, this.description = i, this.initialMotionState = n, this.motionStateSocket = c, this.rapidlyChangingMotionState = n, c.addEventListener("message", (a) => {
+      var u;
+      const l = (u = W(a.data)) == null ? void 0 : u.result;
       if (!l)
         throw new Error(
-          `Failed to get motion state for ${this.motionGroupId}: ${s.data}`
+          `Failed to get motion state for ${this.motionGroupId}: ${a.data}`
         );
       Wt(
         this.rapidlyChangingMotionState.joint_position,
         l.joint_position,
-        _t
+        Pt
       ) || L(() => {
         this.rapidlyChangingMotionState.joint_position = l.joint_position;
       }), Gt(
         this.rapidlyChangingMotionState,
         l,
-        _t
+        Pt
       ) || L(() => {
-        var m, d, u;
-        this.rapidlyChangingMotionState.tcp_pose == null ? this.rapidlyChangingMotionState.tcp_pose = l.tcp_pose : (m = l.tcp_pose) != null && m.orientation && ((d = l.tcp_pose) != null && d.position) && ((u = this.rapidlyChangingMotionState.tcp_pose) != null && u.orientation) ? this.rapidlyChangingMotionState.tcp_pose = {
+        var f, d, p;
+        this.rapidlyChangingMotionState.tcp_pose == null ? this.rapidlyChangingMotionState.tcp_pose = l.tcp_pose : (f = l.tcp_pose) != null && f.orientation && ((d = l.tcp_pose) != null && d.position) && ((p = this.rapidlyChangingMotionState.tcp_pose) != null && p.orientation) ? this.rapidlyChangingMotionState.tcp_pose = {
           position: l.tcp_pose.position,
           orientation: So(
             l.tcp_pose.orientation,
@@ -1984,25 +1984,25 @@ class ht {
   static async open(e, o) {
     var d;
     const [r, i] = o.split("@"), n = await e.api.controller.getCurrentRobotControllerState(i), c = n == null ? void 0 : n.motion_groups.find(
-      (u) => u.motion_group === o
+      (p) => p.motion_group === o
     );
     if (!n || !c)
       throw new Error(
         `Controller ${i} or motion group ${o} not found`
       );
-    const s = e.openReconnectingWebsocket(
+    const a = e.openReconnectingWebsocket(
       `/controllers/${i}/motion-groups/${o}/state-stream`
-    ), l = await s.firstMessage(), g = (d = W(l.data)) == null ? void 0 : d.result;
-    if (!g)
+    ), l = await a.firstMessage(), u = (d = W(l.data)) == null ? void 0 : d.result;
+    if (!u)
       throw new Error(
         `Unable to parse initial motion state message ${l.data}`
       );
     console.log(
       `Connected motion state websocket to motion group ${c.motion_group}. Initial state:
   `,
-      g
+      u
     );
-    const m = await e.api.motionGroup.getMotionGroupDescription(
+    const f = await e.api.motionGroup.getMotionGroupDescription(
       i,
       c.motion_group
     );
@@ -2010,9 +2010,9 @@ class ht {
       e,
       n,
       c,
-      m,
-      g,
-      s
+      f,
+      u,
+      a
     );
   }
   get motionGroupId() {
@@ -2122,15 +2122,15 @@ class ft {
       this.joggingSocket = this.nova.openReconnectingWebsocket(
         `/controllers/${this.motionStream.controllerId}/execution/jogging`
       ), this.joggingSocket.addEventListener("message", (i) => {
-        var c, s, l, g;
+        var c, a, l, u;
         const n = W(i.data);
         if (((c = n == null ? void 0 : n.result) == null ? void 0 : c.kind) === "INITIALIZE_RECEIVED") {
           clearTimeout(r), e();
           return;
         }
-        if (((s = n == null ? void 0 : n.result) == null ? void 0 : s.kind) === "MOTION_ERROR")
+        if (((a = n == null ? void 0 : n.result) == null ? void 0 : a.kind) === "MOTION_ERROR")
           if (clearTimeout(r), this.onBlocked && ((l = n == null ? void 0 : n.result) != null && l.message.includes(Ot))) {
-            (g = this.joggingSocket) == null || g.dispose(), this.onBlocked();
+            (u = this.joggingSocket) == null || u.dispose(), this.onBlocked();
             return;
           } else this.onError ? this.onError(i.data) : o(new Error(i.data));
       }), this.joggingSocket.sendJson({
@@ -2195,7 +2195,8 @@ class ft {
     i[tt[e]] = o === "-" ? -r : r, this.joggingSocket.sendJson({
       message_type: "TcpVelocityRequest",
       translation: n,
-      rotation: i
+      rotation: i,
+      use_tool_coordinate_system: this.orientation === "tool"
     });
   }
   /**
@@ -2214,7 +2215,7 @@ class ft {
     direction: n,
     motion: c
   }) {
-    const s = [];
+    const a = [];
     if (this.mode !== "trajectory")
       throw new Error(
         "Set jogging mode to 'trajectory' to run incremental cartesian motions"
@@ -2224,15 +2225,15 @@ class ft {
         throw new Error(
           "Current pose has no position, cannot perform translation"
         );
-      const f = [...e.position];
-      f[tt[i]] += c.distanceMm * (n === "-" ? -1 : 1), s.push({
+      const x = [...e.position];
+      x[tt[i]] += c.distanceMm * (n === "-" ? -1 : 1), a.push({
         limits_override: {
           tcp_velocity_limit: r
         },
         path: {
           path_definition_name: "PathLine",
           target_pose: {
-            position: f,
+            position: x,
             orientation: e.orientation
           }
         }
@@ -2242,16 +2243,16 @@ class ft {
         throw new Error(
           "Current pose has no orientation, cannot perform rotation"
         );
-      const f = new ct(
+      const x = new ct(
         e.orientation[0],
         e.orientation[1],
         e.orientation[2]
-      ), h = f.length(), v = f.clone().normalize(), b = c.distanceRads * (n === "-" ? -1 : 1), w = new ct(0, 0, 0);
-      w[i] = 1;
-      const C = Math.cos(0.5 * b) * Math.cos(0.5 * h), M = Math.sin(0.5 * b) * Math.sin(0.5 * h), k = Math.sin(0.5 * b) * Math.cos(0.5 * h), R = Math.cos(0.5 * b) * Math.sin(0.5 * h), I = w.dot(
-        v
-      ), j = w.clone().cross(v), z = 2 * Math.acos(C - M * I), Q = z / Math.sin(0.5 * z), ot = new ct().addScaledVector(j, M).addScaledVector(w, k).addScaledVector(v, R).multiplyScalar(Q);
-      s.push({
+      ), h = x.length(), y = x.clone().normalize(), b = c.distanceRads * (n === "-" ? -1 : 1), C = new ct(0, 0, 0);
+      C[i] = 1;
+      const w = Math.cos(0.5 * b) * Math.cos(0.5 * h), M = Math.sin(0.5 * b) * Math.sin(0.5 * h), k = Math.sin(0.5 * b) * Math.cos(0.5 * h), R = Math.cos(0.5 * b) * Math.sin(0.5 * h), I = C.dot(
+        y
+      ), E = C.clone().cross(y), z = 2 * Math.acos(w - M * I), Q = z / Math.sin(0.5 * z), ot = new ct().addScaledVector(E, M).addScaledVector(C, k).addScaledVector(y, R).multiplyScalar(Q);
+      a.push({
         limits_override: {
           tcp_orientation_velocity_limit: r
         },
@@ -2271,35 +2272,35 @@ class ft {
       );
       return;
     }
-    const g = {
+    const u = {
       motion_group_model: l.motion_group_model,
       cycle_time: l.cycle_time,
       mounting: l.mounting,
       // tcp_offset: description.tcp_offset, TODO: implement tcp_offset handling
       // FIXME use proper mode's limits if set
       global: l.operation_limits.auto_limits
-    }, m = await this.nova.api.trajectoryPlanning.planTrajectory(
+    }, f = await this.nova.api.trajectoryPlanning.planTrajectory(
       {
-        motion_group_setup: g,
+        motion_group_setup: u,
         start_joint_position: o,
-        motion_commands: s
+        motion_commands: a
       }
-    ), d = m.response;
+    ), d = f.response;
     if (!d)
       throw new Error(
-        `Failed to plan jogging increment motion ${JSON.stringify(m)}`
+        `Failed to plan jogging increment motion ${JSON.stringify(f)}`
       );
     this.trajectorySocket && (console.warn("Trajectory jogging websocket already open; will close"), this.trajectorySocket.dispose()), this.trajectorySocket = this.nova.openReconnectingWebsocket(
       `/controllers/${this.motionStream.controllerId}/execution/trajectory`
     );
-    const u = (f) => {
+    const p = (x) => {
       var h;
-      if (!f || f.add_trajectory_error || f.message)
+      if (!x || x.add_trajectory_error || x.message)
         if (this.onError)
-          this.onError(f);
+          this.onError(x);
         else
           throw new Error(
-            ((h = f == null ? void 0 : f.add_trajectory_error) == null ? void 0 : h.message) || (f == null ? void 0 : f.message) || "Failed to execute trajectory, unknown error"
+            ((h = x == null ? void 0 : x.add_trajectory_error) == null ? void 0 : h.message) || (x == null ? void 0 : x.message) || "Failed to execute trajectory, unknown error"
           );
       if (!this.trajectorySocket)
         throw new Error(
@@ -2309,38 +2310,38 @@ class ft {
         message_type: "StartMovementRequest",
         direction: "DIRECTION_FORWARD"
       });
-    }, p = async () => {
-      var f;
-      await lt(() => !this.motionStream.rapidlyChangingMotionState.standstill), await lt(() => this.motionStream.rapidlyChangingMotionState.standstill), (f = this.trajectorySocket) == null || f.dispose(), this.trajectorySocket = null;
-    }, x = async () => {
-      var f;
-      await lt(() => this.motionStream.rapidlyChangingMotionState.standstill), (f = this.trajectorySocket) == null || f.dispose(), this.trajectorySocket = null;
-    }, y = async (f) => {
-      if (f != null && f.message)
+    }, g = async () => {
+      var x;
+      await lt(() => !this.motionStream.rapidlyChangingMotionState.standstill), await lt(() => this.motionStream.rapidlyChangingMotionState.standstill), (x = this.trajectorySocket) == null || x.dispose(), this.trajectorySocket = null;
+    }, m = async () => {
+      var x;
+      await lt(() => this.motionStream.rapidlyChangingMotionState.standstill), (x = this.trajectorySocket) == null || x.dispose(), this.trajectorySocket = null;
+    }, S = async (x) => {
+      if (x != null && x.message)
         if (this.onError) {
-          this.onError(f);
+          this.onError(x);
           return;
         } else
           throw new Error(
-            f.message || "Failed to execute trajectory, unknown error"
+            x.message || "Failed to execute trajectory, unknown error"
           );
-      this.motionStream.rapidlyChangingMotionState.standstill ? await p() : await x();
+      this.motionStream.rapidlyChangingMotionState.standstill ? await g() : await m();
     };
-    this.trajectorySocket.addEventListener("message", (f) => {
-      var v, b;
-      const h = W(f.data);
-      if (!((v = h == null ? void 0 : h.result) != null && v.kind))
+    this.trajectorySocket.addEventListener("message", (x) => {
+      var y, b;
+      const h = W(x.data);
+      if (!((y = h == null ? void 0 : h.result) != null && y.kind))
         throw new Error(
-          `Failed to execute trajectory: Received invalid message ${f.data}`
+          `Failed to execute trajectory: Received invalid message ${x.data}`
         );
       if (this.onBlocked && ((b = h.result.message) != null && b.includes(Ot))) {
         this.onBlocked();
         return;
       }
       if (h.result.kind === "INITIALIZE_RECEIVED")
-        u(h.result);
+        p(h.result);
       else if (h.result.kind === "START_RECEIVED")
-        y(h);
+        S(h);
       else if (h.result.kind !== "PAUSE_RECEIVED") if (h.result.kind === "MOTION_ERROR" && h.result.message)
         if (this.onError) {
           this.onError(h);
@@ -2369,25 +2370,25 @@ const vo = (t) => {
       r(!0);
     }, e);
     return () => clearTimeout(n);
-  }), /* @__PURE__ */ a(
-    _,
+  }), /* @__PURE__ */ s(
+    P,
     {
       width: "100%",
       height: "100%",
       alignItems: "center",
       justifyContent: "center",
       sx: { color: i.palette.text.primary },
-      children: t.error ? /* @__PURE__ */ a(
-        Co,
+      children: t.error ? /* @__PURE__ */ s(
+        wo,
         {
           loadingMessage: t.message,
           error: t.error
         }
-      ) : /* @__PURE__ */ S(et, { children: [
-        /* @__PURE__ */ a(Ie, { sx: { marginBottom: "24px" } }),
-        !!t.message && /* @__PURE__ */ a("div", { children: t.message }),
-        /* @__PURE__ */ a(
-          _,
+      ) : /* @__PURE__ */ v(et, { children: [
+        /* @__PURE__ */ s(Ie, { sx: { marginBottom: "24px" } }),
+        !!t.message && /* @__PURE__ */ s("div", { children: t.message }),
+        /* @__PURE__ */ s(
+          P,
           {
             sx: {
               visibility: o ? "visible" : "hidden",
@@ -2400,10 +2401,10 @@ const vo = (t) => {
       ] })
     }
   );
-}, Co = (t) => {
+}, wo = (t) => {
   const e = Re(t.error), o = t.error instanceof Error ? t.error.stack : null, r = F();
-  return /* @__PURE__ */ S(
-    _,
+  return /* @__PURE__ */ v(
+    P,
     {
       sx: {
         maxHeight: "100%",
@@ -2419,14 +2420,14 @@ const vo = (t) => {
       },
       children: [
         (t.loadingMessage ? `Error while ${ye(ke(t.loadingMessage))} - ` : "") + e,
-        /* @__PURE__ */ a("br", {}),
-        o && /* @__PURE__ */ a("pre", { children: o })
+        /* @__PURE__ */ s("br", {}),
+        o && /* @__PURE__ */ s("pre", { children: o })
       ]
     }
   );
-}, wo = J(({ store: t }) => {
+}, Co = J(({ store: t }) => {
   const { t: e } = V();
-  return /* @__PURE__ */ a(
+  return /* @__PURE__ */ s(
     Bt,
     {
       "data-testid": "jogging-blocked",
@@ -2440,12 +2441,12 @@ const vo = (t) => {
         justifyContent: "flex-start",
         alignItems: "flex-start"
       },
-      children: /* @__PURE__ */ S(_, { sx: { m: 2, width: "100%" }, children: [
-        /* @__PURE__ */ S(Ee, { severity: "error", sx: { mb: 2 }, children: [
-          /* @__PURE__ */ a(je, { children: e("Jogging.Blocked.ti") }),
+      children: /* @__PURE__ */ v(P, { sx: { m: 2, width: "100%" }, children: [
+        /* @__PURE__ */ v(je, { severity: "error", sx: { mb: 2 }, children: [
+          /* @__PURE__ */ s(Ee, { children: e("Jogging.Blocked.ti") }),
           e("Jogging.Blocked.lb")
         ] }),
-        /* @__PURE__ */ a(
+        /* @__PURE__ */ s(
           Z,
           {
             variant: "contained",
@@ -2467,10 +2468,10 @@ const vo = (t) => {
       Fe(i.current, c) || (i.current = c, r(c));
     });
     const n = [];
-    for (const [c, s] of o.entries())
-      s && n.push(c);
-    return /* @__PURE__ */ a(
-      E,
+    for (const [c, a] of o.entries())
+      a && n.push(c);
+    return /* @__PURE__ */ s(
+      j,
       {
         "data-testid": "jogging-joint-limit-detector",
         "aria-label": "jogging-joint-limit-detector",
@@ -2508,9 +2509,9 @@ function it({
   labelValue: t,
   ...e
 }) {
-  return /* @__PURE__ */ S(To, { fullWidth: !0, variant: "filled", children: [
-    /* @__PURE__ */ a($e, { id: e.labelId, children: t }),
-    /* @__PURE__ */ a(ze, { ...e })
+  return /* @__PURE__ */ v(To, { fullWidth: !0, variant: "filled", children: [
+    /* @__PURE__ */ s($e, { id: e.labelId, children: t }),
+    /* @__PURE__ */ s(ze, { ...e })
   ] });
 }
 const dt = [
@@ -2524,16 +2525,16 @@ const dt = [
 ], Io = ["coordsys", "tool"];
 class bt {
   constructor(e, o, r, i, n) {
-    var c, s, l, g;
+    var c, a, l, u;
     this.jogger = e, this.coordSystems = o, this.motionGroupDescription = r, this.tcps = i, this.inverseSolverValue = n, this.selectedTabId = "cartesian", this.locks = /* @__PURE__ */ new Set(), this.blocked = !1, this.selectedCoordSystemId = "world", this.selectedTcpId = "", this.selectedOrientation = "coordsys", this.selectedIncrementId = "continuous", this.selectedCartesianMotionType = "translate", this.incrementJogInProgress = null, this.translationVelocityMmPerSec = 10, this.rotationVelocityDegPerSec = 1, this.minTranslationVelocityMmPerSec = 5, this.maxTranslationVelocityMmPerSec = 250, this.minRotationVelocityDegPerSec = 1, this.maxRotationVelocityDegPerSec = 60, this.showCoordSystemSelect = !1, this.showTcpSelect = !0, this.showOrientationSelect = !0, this.showIncrementSelect = !0, this.showTabIcons = !1, this.showVelocitySliderLabel = !0, this.showVelocityLegend = !1, this.showJointsLegend = !1, this.disposers = [], this.inverseSolver = void 0, this.jointType = G.RevoluteJoint;
-    for (const m of o)
-      if (m.coordinate_system === "") {
-        m.coordinate_system = "world";
+    for (const f of o)
+      if (f.coordinate_system === "") {
+        f.coordinate_system = "world";
         break;
       }
-    this.selectedCoordSystemId = ((c = o[0]) == null ? void 0 : c.coordinate_system) || "world", this.selectedTcpId = ((s = i[0]) == null ? void 0 : s.id) || "", this.inverseSolver = n, this.jointType = ((g = (l = r == null ? void 0 : r.dh_parameters) == null ? void 0 : l[0]) == null ? void 0 : g.type) ?? G.RevoluteJoint, mt(this, {}, { autoBind: !0 }), this.jogger.onBlocked = () => {
+    this.selectedCoordSystemId = ((c = o[0]) == null ? void 0 : c.coordinate_system) || "world", this.selectedTcpId = ((a = i[0]) == null ? void 0 : a.id) || "", this.inverseSolver = n, this.jointType = ((u = (l = r == null ? void 0 : r.dh_parameters) == null ? void 0 : l[0]) == null ? void 0 : u.type) ?? G.RevoluteJoint, mt(this, {}, { autoBind: !0 }), this.jogger.onBlocked = () => {
       this.block();
-    }, this.loadFromLocalStorage(), this.disposers.push(Ce(() => this.saveToLocalStorage())), window.joggingStore = this;
+    }, this.loadFromLocalStorage(), this.disposers.push(we(() => this.saveToLocalStorage())), window.joggingStore = this;
   }
   /**
    * Load a jogging store with the relevant data it needs
@@ -2553,8 +2554,8 @@ class bt {
       )
     ]), n = await o.api.motionGroupModels.getMotionGroupKinematicModel(
       i.motion_group_model
-    ), c = Object.entries(i.tcps || {}).map(([s, l]) => ({
-      id: s,
+    ), c = Object.entries(i.tcps || {}).map(([a, l]) => ({
+      id: a,
       readable_name: l.name,
       position: l.pose.position,
       orientation: l.pose.orientation
@@ -2724,18 +2725,18 @@ const ko = J(
   ({ store: t, useDegree: e }) => {
     var c;
     const { t: o } = V(), r = ee(), i = [];
-    function n(s) {
-      switch (s) {
+    function n(a) {
+      switch (a) {
         case "coordsys":
           return o("Jogging.Orientation.coordsys");
         case "tool":
           return o("Jogging.Orientation.tool");
         default:
-          return s;
+          return a;
       }
     }
     return t.showCoordSystemSelect && i.push(
-      /* @__PURE__ */ a(
+      /* @__PURE__ */ s(
         it,
         {
           labelId: `jogging-coord-select-${r}`,
@@ -2744,14 +2745,14 @@ const ko = J(
           size: "small",
           variant: "filled",
           displayEmpty: !0,
-          onChange: (s) => t.setSelectedCoordSystemId(s.target.value),
+          onChange: (a) => t.setSelectedCoordSystemId(a.target.value),
           disabled: t.isLocked,
-          children: t.coordSystems.map((s) => /* @__PURE__ */ a(q, { value: s.coordinate_system, children: s.name && t.coordSystemCountByName[s.name] > 1 ? `${s.name} / ${s.coordinate_system}` : s.name || s.coordinate_system }, s.coordinate_system))
+          children: t.coordSystems.map((a) => /* @__PURE__ */ s(q, { value: a.coordinate_system, children: a.name && t.coordSystemCountByName[a.name] > 1 ? `${a.name} / ${a.coordinate_system}` : a.name || a.coordinate_system }, a.coordinate_system))
         },
         "coord"
       )
     ), t.showTcpSelect && i.push(
-      /* @__PURE__ */ a(
+      /* @__PURE__ */ s(
         it,
         {
           labelId: `jogging-tcp-select-${r}`,
@@ -2759,27 +2760,27 @@ const ko = J(
           value: t.selectedTcpId,
           size: "small",
           variant: "filled",
-          onChange: (s) => t.setSelectedTcpId(s.target.value),
+          onChange: (a) => t.setSelectedTcpId(a.target.value),
           disabled: t.isLocked,
-          children: t.tcps.map((s) => /* @__PURE__ */ a(q, { value: s.id, children: s.id }, s.id))
+          children: t.tcps.map((a) => /* @__PURE__ */ s(q, { value: a.id, children: a.id }, a.id))
         },
         "tcp"
       )
     ), t.showOrientationSelect && i.push(
-      /* @__PURE__ */ a(
+      /* @__PURE__ */ s(
         it,
         {
           labelValue: o("Jogging.Cartesian.Orientation.lb"),
           labelId: `orientation-select-${r}`,
           value: t.selectedOrientation,
-          onChange: (s) => t.setSelectedOrientation(s.target.value),
+          onChange: (a) => t.setSelectedOrientation(a.target.value),
           disabled: t.isLocked,
-          children: Io.map((s) => /* @__PURE__ */ a(q, { value: s, children: n(s) }, s))
+          children: Io.map((a) => /* @__PURE__ */ s(q, { value: a, children: n(a) }, a))
         },
         "orientation"
       )
     ), t.showIncrementSelect && i.push(
-      /* @__PURE__ */ S(
+      /* @__PURE__ */ v(
         it,
         {
           labelValue: o("Jogging.Increment.hlb"),
@@ -2787,18 +2788,18 @@ const ko = J(
           size: "small",
           variant: "filled",
           value: ((c = t.activeDiscreteIncrement) == null ? void 0 : c.id) || "continuous",
-          onChange: (s) => t.setSelectedIncrementId(
-            s.target.value
+          onChange: (a) => t.setSelectedIncrementId(
+            a.target.value
           ),
           disabled: t.isLocked,
           children: [
-            /* @__PURE__ */ a(q, { value: "continuous", children: o("Jogging.Increment.Continuous.dd") }, "continuous"),
-            t.selectedOrientation === "tool" ? null : t.discreteIncrementOptions.map((s) => /* @__PURE__ */ a(q, { value: s.id, children: e ? `${s.degrees}°` : `${s.mm}mm` }, s.id))
+            /* @__PURE__ */ s(q, { value: "continuous", children: o("Jogging.Increment.Continuous.dd") }, "continuous"),
+            t.selectedOrientation === "tool" ? null : t.discreteIncrementOptions.map((a) => /* @__PURE__ */ s(q, { value: a.id, children: e ? `${a.degrees}°` : `${a.mm}mm` }, a.id))
           ]
         },
         "increment"
       )
-    ), /* @__PURE__ */ a(
+    ), /* @__PURE__ */ s(
       T,
       {
         component: "div",
@@ -2811,13 +2812,13 @@ const ko = J(
           gridAutoRows: "min-content",
           "& label": { opacity: 0.7, fontSize: "12px", marginBottom: "4px" }
         },
-        children: i.map((s, l) => /* @__PURE__ */ a(
+        children: i.map((a, l) => /* @__PURE__ */ s(
           T,
           {
             sx: {
               gridColumn: i.length % 2 === 1 && l === i.length - 1 ? "span 2" : "auto"
             },
-            children: s
+            children: a
           },
           l
         ))
@@ -2846,14 +2847,14 @@ const ko = J(
       }
     }
   };
-}), Eo = J((t) => {
-  var n, c, s;
+}), jo = J((t) => {
+  var n, c, a;
   const e = F(), { store: o } = t, { t: r } = V();
-  function i(l, g) {
-    g === t.velocity || !We(g) || t.onVelocityChange(g, t.useDegree);
+  function i(l, u) {
+    u === t.velocity || !We(u) || t.onVelocityChange(u, t.useDegree);
   }
-  return /* @__PURE__ */ S(
-    _,
+  return /* @__PURE__ */ v(
+    P,
     {
       direction: "row",
       gap: 2,
@@ -2861,17 +2862,17 @@ const ko = J(
       "data-testid": "velocity-slider",
       "aria-label": "velocity-slider",
       children: [
-        o.showVelocityLegend && /* @__PURE__ */ a(
-          E,
+        o.showVelocityLegend && /* @__PURE__ */ s(
+          j,
           {
             sx: {
-              color: (s = (c = (n = e.componentsExt) == null ? void 0 : n.JoggingPanel) == null ? void 0 : c.VelocitySlider) == null ? void 0 : s.sliderLegendColor,
+              color: (a = (c = (n = e.componentsExt) == null ? void 0 : n.JoggingPanel) == null ? void 0 : c.VelocitySlider) == null ? void 0 : a.sliderLegendColor,
               fontSize: "14px"
             },
             children: r("Jogging.Velocity.bt")
           }
         ),
-        /* @__PURE__ */ a(
+        /* @__PURE__ */ s(
           Nt,
           {
             value: t.velocity,
@@ -2890,7 +2891,7 @@ const ko = J(
             }
           }
         ),
-        o.showVelocitySliderLabel && (t.renderValue ? t.renderValue(t.velocity) : /* @__PURE__ */ a(Ht, { value: t.velocity.toString() }))
+        o.showVelocitySliderLabel && (t.renderValue ? t.renderValue(t.velocity) : /* @__PURE__ */ s(Ht, { value: t.velocity.toString() }))
       ]
     }
   );
@@ -2898,8 +2899,8 @@ const ko = J(
 function Ht({ value: t, sx: e }) {
   var r;
   const o = F();
-  return /* @__PURE__ */ a(
-    _,
+  return /* @__PURE__ */ s(
+    P,
     {
       direction: "row",
       justifyContent: "center",
@@ -2912,8 +2913,8 @@ function Ht({ value: t, sx: e }) {
         minWidth: "111px",
         ...e
       },
-      children: /* @__PURE__ */ a(
-        E,
+      children: /* @__PURE__ */ s(
+        j,
         {
           component: "span",
           sx: {
@@ -2935,8 +2936,8 @@ const qt = J(
     function r(i, n) {
       return n ? `ω = ${o("Jogging.Cartesian.Rotation.velocityDegPerSec.lb", { amount: i })}` : `v = ${o("Jogging.Cartesian.Translation.velocityMmPerSec.lb", { amount: i })}`;
     }
-    return /* @__PURE__ */ a(
-      Eo,
+    return /* @__PURE__ */ s(
+      jo,
       {
         store: t,
         velocity: t.velocityInDisplayUnits(e),
@@ -2945,7 +2946,7 @@ const qt = J(
         onVelocityChange: t.setVelocityFromSlider,
         useDegree: e,
         disabled: t.isLocked,
-        renderValue: (i) => /* @__PURE__ */ a(
+        renderValue: (i) => /* @__PURE__ */ s(
           Ht,
           {
             value: r(i, e),
@@ -2960,14 +2961,14 @@ const qt = J(
       }
     );
   }
-), jo = J(
+), Eo = J(
   ({
     store: t,
     children: e
   }) => {
-    const { t: o } = V(), r = F();
-    function i(u, p) {
-      (p === "translate" || p === "rotate") && t.setSelectedCartesianMotionType(p);
+    const { t: o } = V(), r = F(), [i, n] = B(t.jogger.mode);
+    function c(m, S) {
+      (S === "translate" || S === "rotate") && t.setSelectedCartesianMotionType(S);
     }
     ie(
       () => [t.selectedCoordSystemId, t.selectedTcpId],
@@ -2981,26 +2982,26 @@ const qt = J(
       // biome-ignore lint/suspicious/noExplicitAny: pre-biome code
       { fireImmediately: !0 }
     );
-    async function n(u, p) {
-      const x = await t.activate(), y = x.motionStream.rapidlyChangingMotionState.tcp_pose, f = x.motionStream.rapidlyChangingMotionState.joint_position;
-      y && await t.withMotionLock(async () => {
+    async function a(m, S) {
+      const x = await t.activate(), h = x.motionStream.rapidlyChangingMotionState.tcp_pose, y = x.motionStream.rapidlyChangingMotionState.joint_position;
+      h && await t.withMotionLock(async () => {
         try {
           t.setCurrentIncrementJog({
-            axis: u.axis,
-            direction: u.direction
+            axis: m.axis,
+            direction: m.direction
           }), await t.jogger.runIncrementalCartesianMotion({
-            currentTcpPose: y,
-            currentJoints: f,
+            currentTcpPose: h,
+            currentJoints: y,
             coordSystemId: t.activeCoordSystemId,
             velocityInRelevantUnits: t.selectedCartesianMotionType === "translate" ? t.translationVelocityMmPerSec : t.rotationVelocityRadsPerSec,
-            axis: u.axis,
-            direction: u.direction,
+            axis: m.axis,
+            direction: m.direction,
             motion: t.selectedCartesianMotionType === "translate" ? {
               type: "translate",
-              distanceMm: p.mm
+              distanceMm: S.mm
             } : {
               type: "rotate",
-              distanceRads: Me(p.degrees)
+              distanceRads: Me(S.degrees)
             }
           });
         } finally {
@@ -3008,57 +3009,57 @@ const qt = J(
         }
       });
     }
-    async function c(u) {
+    async function l(m) {
       if (!t.isLocked) {
-        if (await t.activate(), t.activeDiscreteIncrement)
-          return n(u, t.activeDiscreteIncrement);
-        u.motionType === "translate" ? await t.jogger.translateTCP({
-          axis: u.axis,
-          direction: u.direction,
+        if (await t.activate(), await t.jogger.setJoggingMode(i), t.activeDiscreteIncrement)
+          return a(m, t.activeDiscreteIncrement);
+        m.motionType === "translate" ? await t.jogger.translateTCP({
+          axis: m.axis,
+          direction: m.direction,
           velocityMmPerSec: t.translationVelocityMmPerSec
         }) : await t.jogger.rotateTCP({
-          axis: u.axis,
-          direction: u.direction,
+          axis: m.axis,
+          direction: m.direction,
           velocityRadsPerSec: t.rotationVelocityRadsPerSec
         });
       }
     }
-    async function s() {
-      t.isLocked || t.activeDiscreteIncrement || await t.deactivate();
+    async function u() {
+      t.isLocked || t.activeDiscreteIncrement || (n(t.jogger.mode), await t.jogger.setJoggingMode("off"), await t.deactivate());
     }
-    function l(u, p, x) {
-      var f, h, v;
-      const y = (v = (h = (f = x.componentsExt) == null ? void 0 : f.JoggingPanel) == null ? void 0 : h.JoggingCartesian) == null ? void 0 : v.Axis;
-      if (y)
-        return p === "translate" ? y[u] : y.CustomRotation ?? y[u];
+    function f(m, S, x) {
+      var y, b, C;
+      const h = (C = (b = (y = x.componentsExt) == null ? void 0 : y.JoggingPanel) == null ? void 0 : b.JoggingCartesian) == null ? void 0 : C.Axis;
+      if (h)
+        return S === "translate" ? h[m] : h.CustomRotation ?? h[m];
     }
-    const g = [
+    const d = [
       {
         id: "x",
-        icon: /* @__PURE__ */ a(Oe, {}),
-        colors: l("X", t.selectedCartesianMotionType, r)
+        icon: /* @__PURE__ */ s(Oe, {}),
+        colors: f("X", t.selectedCartesianMotionType, r)
       },
       {
         id: "y",
-        icon: /* @__PURE__ */ a(De, {}),
-        colors: l("Y", t.selectedCartesianMotionType, r)
+        icon: /* @__PURE__ */ s(De, {}),
+        colors: f("Y", t.selectedCartesianMotionType, r)
       },
       {
         id: "z",
-        icon: /* @__PURE__ */ a(Ae, {}),
-        colors: l("Z", t.selectedCartesianMotionType, r)
+        icon: /* @__PURE__ */ s(Ae, {}),
+        colors: f("Z", t.selectedCartesianMotionType, r)
       }
     ];
-    function m(u) {
-      return o("General.mm.variable", { amount: u.toFixed(1) });
+    function p(m) {
+      return o("General.mm.variable", { amount: m.toFixed(1) });
     }
-    function d(u) {
+    function g(m) {
       return o("General.degree.variable", {
-        amount: Vt(u).toFixed(1)
+        amount: Vt(m).toFixed(1)
       });
     }
-    return /* @__PURE__ */ S(
-      _,
+    return /* @__PURE__ */ v(
+      P,
       {
         "data-testid": "jogging-cartesian-tab",
         "aria-label": "jogging-cartesian-tab",
@@ -3066,129 +3067,129 @@ const qt = J(
         gap: 2,
         sx: { padding: "18px 24px" },
         children: [
-          /* @__PURE__ */ S(_, { gap: 2, children: [
-            /* @__PURE__ */ a(
+          /* @__PURE__ */ v(P, { gap: 2, children: [
+            /* @__PURE__ */ s(
               ko,
               {
                 store: t,
                 useDegree: t.selectedCartesianMotionType === "rotate"
               }
             ),
-            /* @__PURE__ */ a(
+            /* @__PURE__ */ s(
               qt,
               {
                 store: t,
                 useDegree: t.selectedCartesianMotionType === "rotate"
               }
             ),
-            /* @__PURE__ */ a(Y, {})
+            /* @__PURE__ */ s(Y, {})
           ] }),
-          /* @__PURE__ */ a(
-            _,
+          /* @__PURE__ */ s(
+            P,
             {
               marginLeft: "auto",
               marginRight: "auto",
               gap: "24px",
               justifyContent: "center",
               sx: { flexGrow: "1" },
-              children: /* @__PURE__ */ S(
-                _,
+              children: /* @__PURE__ */ v(
+                P,
                 {
                   alignItems: "center",
                   justifyContent: "center",
                   gap: "24px",
                   sx: { flexGrow: 1 },
                   children: [
-                    /* @__PURE__ */ S(
+                    /* @__PURE__ */ v(
                       Ro,
                       {
                         value: t.selectedCartesianMotionType,
-                        onChange: i,
+                        onChange: c,
                         exclusive: !0,
                         "aria-label": o("Jogging.Cartesian.MotionType.lb"),
                         sx: { justifyContent: "center" },
                         children: [
-                          /* @__PURE__ */ a(Rt, { value: "translate", children: o("Jogging.Cartesian.Translation.bt") }),
-                          /* @__PURE__ */ a(Rt, { value: "rotate", children: o("Jogging.Cartesian.Rotation.bt") })
+                          /* @__PURE__ */ s(Rt, { value: "translate", children: o("Jogging.Cartesian.Translation.bt") }),
+                          /* @__PURE__ */ s(Rt, { value: "rotate", children: o("Jogging.Cartesian.Rotation.bt") })
                         ]
                       }
                     ),
-                    t.selectedCartesianMotionType === "translate" && g.map((u) => {
-                      var p, x;
-                      return /* @__PURE__ */ a(
-                        Pt,
+                    t.selectedCartesianMotionType === "translate" && d.map((m) => {
+                      var S, x;
+                      return /* @__PURE__ */ s(
+                        _t,
                         {
-                          "data-testid": `jogging-cartesian-axis-control-${u.id}`,
-                          "aria-label": `jogging-cartesian-axis-control-${u.id}`,
-                          colors: u.colors,
+                          "data-testid": `jogging-cartesian-axis-control-${m.id}`,
+                          "aria-label": `jogging-cartesian-axis-control-${m.id}`,
+                          colors: m.colors,
                           disabled: t.isLocked,
-                          activeJoggingDirection: ((p = t.incrementJogInProgress) == null ? void 0 : p.axis) === u.id ? t.incrementJogInProgress.direction : void 0,
-                          label: /* @__PURE__ */ S(et, { children: [
-                            u.icon,
-                            /* @__PURE__ */ a(
-                              E,
+                          activeJoggingDirection: ((S = t.incrementJogInProgress) == null ? void 0 : S.axis) === m.id ? t.incrementJogInProgress.direction : void 0,
+                          label: /* @__PURE__ */ v(et, { children: [
+                            m.icon,
+                            /* @__PURE__ */ s(
+                              j,
                               {
                                 sx: {
                                   fontSize: "24px",
-                                  color: ((x = u.colors) == null ? void 0 : x.labelColor) ?? r.palette.text.primary
+                                  color: ((x = m.colors) == null ? void 0 : x.labelColor) ?? r.palette.text.primary
                                 },
-                                children: u.id.toUpperCase()
+                                children: m.id.toUpperCase()
                               }
                             )
                           ] }),
                           getDisplayedValue: () => {
-                            var y, f;
-                            return m(
-                              ((f = (y = t.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : y.position) == null ? void 0 : f[tt[u.id]]) || 0
+                            var h, y;
+                            return p(
+                              ((y = (h = t.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : h.position) == null ? void 0 : y[tt[m.id]]) || 0
                             );
                           },
-                          startJogging: (y) => c({
-                            axis: u.id,
+                          startJogging: (h) => l({
+                            axis: m.id,
                             motionType: "translate",
-                            direction: y
+                            direction: h
                           }),
-                          stopJogging: s
+                          stopJogging: u
                         },
-                        u.id
+                        m.id
                       );
                     }),
-                    t.selectedCartesianMotionType === "rotate" && g.map((u) => {
-                      var p, x;
-                      return /* @__PURE__ */ a(
-                        Pt,
+                    t.selectedCartesianMotionType === "rotate" && d.map((m) => {
+                      var S, x;
+                      return /* @__PURE__ */ s(
+                        _t,
                         {
-                          "data-testid": `jogging-cartesian-axis-control-${u.id}`,
-                          "aria-label": `jogging-cartesian-axis-control-${u.id}`,
-                          colors: u.colors,
+                          "data-testid": `jogging-cartesian-axis-control-${m.id}`,
+                          "aria-label": `jogging-cartesian-axis-control-${m.id}`,
+                          colors: m.colors,
                           disabled: t.isLocked,
-                          activeJoggingDirection: ((p = t.incrementJogInProgress) == null ? void 0 : p.axis) === u.id ? t.incrementJogInProgress.direction : void 0,
-                          label: /* @__PURE__ */ S(et, { children: [
-                            /* @__PURE__ */ a(Je, {}),
-                            /* @__PURE__ */ a(
-                              E,
+                          activeJoggingDirection: ((S = t.incrementJogInProgress) == null ? void 0 : S.axis) === m.id ? t.incrementJogInProgress.direction : void 0,
+                          label: /* @__PURE__ */ v(et, { children: [
+                            /* @__PURE__ */ s(Je, {}),
+                            /* @__PURE__ */ s(
+                              j,
                               {
                                 sx: {
                                   fontSize: "24px",
-                                  color: ((x = u.colors) == null ? void 0 : x.labelColor) ?? r.palette.text.primary
+                                  color: ((x = m.colors) == null ? void 0 : x.labelColor) ?? r.palette.text.primary
                                 },
-                                children: u.id.toUpperCase()
+                                children: m.id.toUpperCase()
                               }
                             )
                           ] }),
                           getDisplayedValue: () => {
-                            var y, f;
-                            return d(
-                              ((f = (y = t.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : y.orientation) == null ? void 0 : f[tt[u.id]]) || 0
+                            var h, y;
+                            return g(
+                              ((y = (h = t.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : h.orientation) == null ? void 0 : y[tt[m.id]]) || 0
                             );
                           },
-                          startJogging: (y) => c({
-                            axis: u.id,
+                          startJogging: (h) => l({
+                            axis: m.id,
                             motionType: "rotate",
-                            direction: y
+                            direction: h
                           }),
-                          stopJogging: s
+                          stopJogging: u
                         },
-                        u.id
+                        m.id
                       );
                     })
                   ]
@@ -3196,29 +3197,29 @@ const qt = J(
               )
             }
           ),
-          /* @__PURE__ */ a(Ut, { store: t }),
-          e && /* @__PURE__ */ a(Y, {}),
+          /* @__PURE__ */ s(Ut, { store: t }),
+          e && /* @__PURE__ */ s(Y, {}),
           e
         ]
       }
     );
   }
-), Po = J(
+), _o = J(
   ({ store: t, children: e }) => {
-    const o = F();
-    async function r(n) {
-      await t.activate(), await t.jogger.rotateJoints({
-        joint: n.joint,
-        direction: n.direction,
+    const o = F(), [r, i] = B(t.jogger.mode);
+    async function n(a) {
+      await t.activate(), await t.jogger.setJoggingMode(r), await t.jogger.rotateJoints({
+        joint: a.joint,
+        direction: a.direction,
         velocityUnit: t.jointType === G.PrismaticJoint ? "mm/s" : "rad/s",
         velocityValue: t.jointType === G.PrismaticJoint ? t.translationVelocityMmPerSec : t.rotationVelocityRadsPerSec
       });
     }
-    async function i() {
-      await t.jogger.stop(), await t.deactivate();
+    async function c() {
+      i(t.jogger.mode), await t.jogger.setJoggingMode("off"), await t.jogger.stop(), await t.deactivate();
     }
-    return /* @__PURE__ */ S(
-      _,
+    return /* @__PURE__ */ v(
+      P,
       {
         "data-testid": "jogging-joint-tab",
         "aria-label": "jogging-joint-tab",
@@ -3226,77 +3227,77 @@ const qt = J(
         gap: 2,
         sx: { padding: "18px 24px" },
         children: [
-          /* @__PURE__ */ a(
+          /* @__PURE__ */ s(
             qt,
             {
               store: t,
               useDegree: t.jointType === G.RevoluteJoint
             }
           ),
-          /* @__PURE__ */ a(Y, {}),
-          /* @__PURE__ */ a(
-            _,
+          /* @__PURE__ */ s(Y, {}),
+          /* @__PURE__ */ s(
+            P,
             {
               justifyContent: "center",
               alignItems: "stretch",
               sx: { flexGrow: "1" },
-              children: /* @__PURE__ */ a(
-                _,
+              children: /* @__PURE__ */ s(
+                P,
                 {
                   "data-testid": "jogging-joint-value-controls-wrapper",
                   "aria-label": "jogging-joint-value-controls-wrapper",
                   alignItems: "center",
                   gap: "24px",
-                  children: t.jogger.motionStream.joints.map((n) => {
-                    var s, l, g;
-                    const c = (g = (l = (s = t.motionGroupDescription.operation_limits.auto_limits) == null ? void 0 : s.joints) == null ? void 0 : l[n.index]) == null ? void 0 : g.position;
-                    return /* @__PURE__ */ S(
-                      _,
+                  children: t.jogger.motionStream.joints.map((a) => {
+                    var u, f, d;
+                    const l = (d = (f = (u = t.motionGroupDescription.operation_limits.auto_limits) == null ? void 0 : u.joints) == null ? void 0 : f[a.index]) == null ? void 0 : d.position;
+                    return /* @__PURE__ */ v(
+                      P,
                       {
-                        "data-testid": `jogging-joint-value-control-${n.index}`,
-                        "aria-label": `jogging-joint-value-control-${n.index}`,
+                        "data-testid": `jogging-joint-value-control-${a.index}`,
+                        "aria-label": `jogging-joint-value-control-${a.index}`,
                         direction: "row",
                         alignItems: "center",
                         justifyContent: "center",
                         spacing: 1.5,
                         width: "100%",
                         children: [
-                          t.showJointsLegend && /* @__PURE__ */ a(
-                            E,
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+                              children: `G${a.index + 1}`
                             }
                           ),
-                          /* @__PURE__ */ a(
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-                              upperLimit: c == null ? void 0 : c.upper_limit,
+                              lowerLimit: l == null ? void 0 : l.lower_limit,
+                              upperLimit: l == null ? void 0 : l.upper_limit,
                               useDegree: t.jointType === G.RevoluteJoint,
                               getValue: () => {
-                                const m = t.jogger.motionStream.rapidlyChangingMotionState.joint_position[n.index];
-                                return m !== void 0 ? m : void 0;
+                                const p = t.jogger.motionStream.rapidlyChangingMotionState.joint_position[a.index];
+                                return p !== void 0 ? p : void 0;
                               },
-                              startJogging: (m) => r({
-                                joint: n.index,
-                                direction: m
+                              startJogging: (p) => n({
+                                joint: a.index,
+                                direction: p
                               }),
-                              stopJogging: i
+                              stopJogging: c
                             }
                           )
                         ]
                       },
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+                      `joint-${a.index}`
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                   })
                 }
               )
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           ),
-          /* @__PURE__ */ a(Ut, { store: t }),
-          e && /* @__PURE__ */ a(Y, {}),
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     function r() {
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-        return /* @__PURE__ */ a(jo, { store: t, children: e });
+        return /* @__PURE__ */ s(Eo, { store: t, children: e });
       if (t.currentTab.id === "joint")
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     const [o, r] = B(null), i = xe(t);
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-          /* @__PURE__ */ a(Yt, { value: i }),
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-                E,
+              /* @__PURE__ */ s(
+                j,
                 {
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@@ -4024,8 +4025,8 @@ const Jo = $(
         ),
         variant: "filled",
         sx: {
-          backgroundColor: s,
-          color: o.palette.getContrastText(s),
+          backgroundColor: a,
+          color: o.palette.getContrastText(a),
           fontWeight: 500,
           height: "auto",
           "& .MuiChip-label": {
@@ -4046,8 +4047,8 @@ const Jo = $(
       className: i
     }) => {
       var l;
-      const n = F(), c = e || "Robot", s = o === Zt.READY;
-      return /* @__PURE__ */ S(
+      const n = F(), c = e || "Robot", a = o === Zt.READY;
+      return /* @__PURE__ */ v(
         T,
         {
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           },
           children: [
-            /* @__PURE__ */ S(
+            /* @__PURE__ */ v(
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@@ -4072,7 +4073,7 @@ const Jo = $(
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-                  s ? /* @__PURE__ */ a(
+                  a ? /* @__PURE__ */ s(
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                       },
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-                  /* @__PURE__ */ a(
-                    E,
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@@ -4111,7 +4112,7 @@ const Jo = $(
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@@ -4174,7 +4175,7 @@ const Jo = $(
   };
 }), vi = (t) => {
   const { ref: e, ...o } = t;
-  return /* @__PURE__ */ a(
+  return /* @__PURE__ */ s(
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@@ -4187,7 +4188,7 @@ const Jo = $(
 };
 function Fo(t) {
   const { children: e, value: o, index: r, ...i } = t;
-  return /* @__PURE__ */ a(
+  return /* @__PURE__ */ s(
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     {
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@@ -4195,7 +4196,7 @@ function Fo(t) {
       id: `tabpanel-${r}`,
       "aria-labelledby": `tab-${r}`,
       ...i,
-      children: o === r && /* @__PURE__ */ a(T, { children: e })
+      children: o === r && /* @__PURE__ */ s(T, { children: e })
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 }
@@ -4206,15 +4207,15 @@ function Lo({ children: t, ...e }) {
     onChange: i,
     orientation: n,
     scrollButtons: c,
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+    selectionFollowsFocus: a,
     textColor: l,
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     ...d
   } = e;
-  return /* @__PURE__ */ a(T, { ...d, children: t });
+  return /* @__PURE__ */ s(T, { ...d, children: t });
 }
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+const wi = $(
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@@ -4223,20 +4224,20 @@ const Ci = $(
       onTabChange: i,
       sx: n,
       ref: c
-    } = t, s = o !== void 0, [l, g] = B(r), m = s ? o : l;
+    } = t, a = o !== void 0, [l, u] = B(r), f = a ? o : l;
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-    const d = (u, p) => {
-      s || g(p), i == null || i(p);
+      a || e.length !== 0 && (l < 0 || l > e.length - 1) && u(0);
+    }, [e.length, a, l]);
+    const d = (p, g) => {
+      a || u(g), i == null || i(g);
     };
-    return /* @__PURE__ */ S(
+    return /* @__PURE__ */ v(
       T,
       {
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         sx: { height: "100%", display: "flex", flexDirection: "column", ...n },
         children: [
-          /* @__PURE__ */ a(
+          /* @__PURE__ */ s(
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                 // Top: accommodates badge positioned at top: -6px with 20px height
                 // Right: accommodates badge positioned at right: -8px with 20px width
-                paddingTop: (u) => u.spacing(2),
+                paddingTop: (p) => p.spacing(2),
                 // 16px
-                paddingRight: (u) => u.spacing(2.5)
+                paddingRight: (p) => p.spacing(2.5)
                 // 20px
               },
-              children: /* @__PURE__ */ a(
+              children: /* @__PURE__ */ s(
                 zt,
                 {
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+                  value: f,
                   onChange: d,
                   sx: {
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@@ -4278,26 +4279,26 @@ const Ci = $(
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-                    var w, C, M;
-                    const x = () => {
-                      if (!u.badge) return;
-                      const k = u.badge.content, R = u.badge.max;
+                  children: e.map((p, g) => {
+                    var C, w, M;
+                    const m = () => {
+                      if (!p.badge) return;
+                      const k = p.badge.content, R = p.badge.max;
                       return typeof k == "number" && R && k > R ? `${R}+` : k;
-                    }, y = () => {
-                      if (!u.badge) return !1;
-                      const k = u.badge.content, R = u.badge.showZero;
+                    }, S = () => {
+                      if (!p.badge) return !1;
+                      const k = p.badge.content, R = p.badge.showZero;
                       return !(k === 0 && !R);
-                    }, f = x(), h = y(), v = () => {
-                      s || g(p), i == null || i(p);
-                    }, b = /* @__PURE__ */ a(
+                    }, x = m(), h = S(), y = () => {
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+                    }, b = /* @__PURE__ */ s(
                       $t,
                       {
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-                        icon: u.icon,
+                        label: p.label,
+                        icon: p.icon,
                         iconPosition: "start",
                         disableRipple: !0,
-                        onClick: v,
+                        onClick: y,
                         sx: {
                           minHeight: "32px",
                           height: "32px",
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                           },
                           color: "text.primary",
-                          opacity: m === p ? 1 : 0.38,
+                          opacity: f === g ? 1 : 0.38,
                           fontSize: "13px",
                           transition: "all 0.2s ease-in-out",
                           position: "relative",
                           overflow: "visible",
                           "&:hover": {
-                            opacity: m === p ? 1 : 0.6
+                            opacity: f === g ? 1 : 0.6
                           },
                           "&.Mui-selected": {
                             opacity: 1,
@@ -4332,20 +4333,20 @@ const Ci = $(
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                         }
                       },
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+                      p.id
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-                    return h ? /* @__PURE__ */ a(
+                    return h ? /* @__PURE__ */ s(
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                           so,
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-                            max: (C = u.badge) == null ? void 0 : C.max,
-                            showZero: (M = u.badge) == null ? void 0 : M.showZero,
+                            badgeContent: x,
+                            color: ((C = p.badge) == null ? void 0 : C.color) || "error",
+                            max: (w = p.badge) == null ? void 0 : w.max,
+                            showZero: (M = p.badge) == null ? void 0 : M.showZero,
                             anchorOrigin: {
                               vertical: "top",
                               horizontal: "right"
@@ -4361,24 +4362,24 @@ const Ci = $(
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                         )
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+                      p.id
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                 }
               )
             }
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-          /* @__PURE__ */ a(
+          /* @__PURE__ */ s(
             T,
             {
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+          /* @__PURE__ */ s(T, { sx: { flex: 1, overflow: "auto" }, children: e.map((p, g) => /* @__PURE__ */ s(Fo, { value: f, index: g, children: p.content }, p.id)) })
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   if (typeof Intl < "u" && "DurationFormat" in Intl)
     try {
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+      const a = {};
+      return o > 0 && (a.days = o), r > 0 && (a.hours = r), i > 0 && (a.minutes = i), (n > 0 || Object.keys(a).length === 0) && (a.seconds = n), new Intl.DurationFormat(e, { style: "narrow" }).format(a);
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   const c = [];
@@ -4402,8 +4403,8 @@ const Ci = $(
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   className: r
 }) => {
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-  return /* @__PURE__ */ S(
+  const { t: i } = V(), n = F(), { elapsedTime: c, currentProgress: a } = t, { showErrorAnimation: l, showPauseAnimation: u, showMainText: f } = e;
+  return /* @__PURE__ */ v(
     T,
     {
       className: r,
@@ -4416,12 +4417,12 @@ const Ci = $(
         justifyContent: "center"
       },
       children: [
-        /* @__PURE__ */ a(
+        /* @__PURE__ */ s(
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             height: 264,
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+            value: a,
             valueMin: 0,
             valueMax: 100,
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@@ -4430,7 +4431,7 @@ const Ci = $(
             skipAnimation: !0,
             text: () => "",
             sx: {
-              opacity: g || l ? 0.6 : 1,
+              opacity: u || l ? 0.6 : 1,
               transition: "opacity 0.5s ease-out",
               "& .MuiGauge-valueArc": {
                 fill: o ? n.palette.error.light : n.palette.success.main,
@@ -4451,7 +4452,7 @@ const Ci = $(
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           }
         ),
-        /* @__PURE__ */ a(
+        /* @__PURE__ */ s(
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           {
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@@ -4471,7 +4472,7 @@ const Ci = $(
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               transition: "background-color 0.5s ease-out"
             },
-            children: /* @__PURE__ */ S(
+            children: /* @__PURE__ */ v(
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@@ -4483,8 +4484,8 @@ const Ci = $(
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                 children: [
-                  /* @__PURE__ */ a(U, { in: m && o, timeout: 200, children: /* @__PURE__ */ a(
-                    E,
+                  /* @__PURE__ */ s(U, { in: f && o, timeout: 200, children: /* @__PURE__ */ s(
+                    j,
                     {
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                       sx: {
@@ -4496,8 +4497,8 @@ const Ci = $(
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                     }
                   ) }),
-                  /* @__PURE__ */ a(U, { in: m && !o, timeout: 300, children: /* @__PURE__ */ a(
-                    E,
+                  /* @__PURE__ */ s(U, { in: f && !o, timeout: 300, children: /* @__PURE__ */ s(
+                    j,
                     {
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                       sx: {
@@ -4526,8 +4527,8 @@ const Ci = $(
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   className: i
 }) => {
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-  return r ? /* @__PURE__ */ a(
+  const { t: n, i18n: c } = V(), a = F(), { elapsedTime: l, currentProgress: u } = t, { showErrorAnimation: f, showPauseAnimation: d } = e;
+  return r ? /* @__PURE__ */ s(
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     {
       className: i,
@@ -4536,12 +4537,12 @@ const Ci = $(
         alignItems: "center",
         m: 0
       },
-      children: /* @__PURE__ */ a(
-        E,
+      children: /* @__PURE__ */ s(
+        j,
         {
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           sx: {
-            color: o ? s.palette.error.light : s.palette.text.primary,
+            color: o ? a.palette.error.light : a.palette.text.primary,
             fontSize: "14px",
             transition: "color 0.5s ease-out"
           },
@@ -4549,7 +4550,7 @@ const Ci = $(
         }
       )
     }
-  ) : /* @__PURE__ */ S(
+  ) : /* @__PURE__ */ v(
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     {
       className: i,
@@ -4560,7 +4561,7 @@ const Ci = $(
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       children: [
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+        /* @__PURE__ */ s(
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@@ -4569,10 +4570,10 @@ const Ci = $(
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               alignItems: "center",
               justifyContent: "center",
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+              opacity: d || f ? 0.6 : 1,
               transition: "opacity 0.5s ease-out"
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-            children: /* @__PURE__ */ S(
+            children: /* @__PURE__ */ v(
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@@ -4582,14 +4583,14 @@ const Ci = $(
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                 "aria-label": "Timer progress",
                 children: [
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+                  /* @__PURE__ */ s(
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                     {
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                       cy: "10",
                       r: "8",
                       fill: "none",
-                      stroke: o ? s.palette.error.light : s.palette.success.main,
+                      stroke: o ? a.palette.error.light : a.palette.success.main,
                       strokeWidth: "2",
                       opacity: 0.3,
                       style: {
@@ -4597,18 +4598,18 @@ const Ci = $(
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                     {
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                       cy: "10",
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                       fill: "none",
-                      stroke: o ? s.palette.error.light : s.palette.success.main,
+                      stroke: o ? a.palette.error.light : a.palette.success.main,
                       strokeWidth: "2",
                       strokeLinecap: "round",
                       strokeDasharray: `${2 * Math.PI * 8}`,
-                      strokeDashoffset: `${2 * Math.PI * 8 * (1 - g / 100)}`,
+                      strokeDashoffset: `${2 * Math.PI * 8 * (1 - u / 100)}`,
                       style: {
                         transition: "stroke-dashoffset 0.1s ease-out, stroke 0.8s ease-in-out, opacity 2s ease-in-out"
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@@ -4619,12 +4620,12 @@ const Ci = $(
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           }
         ),
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+        /* @__PURE__ */ s(
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           {
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             sx: {
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+              color: o ? a.palette.error.light : a.palette.text.primary,
               fontSize: "14px",
               lineHeight: "normal",
               letterSpacing: "normal",
@@ -4645,17 +4646,17 @@ const Ci = $(
     null
   ), r = D(
     null
-  ), i = D(null), n = P(() => {
+  ), i = D(null), n = _(() => {
     e((d) => ({ ...d, showPauseAnimation: !0 })), o.current && clearTimeout(o.current), o.current = setTimeout(() => {
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-  }, []), c = P(() => {
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     e((d) => ({ ...d, showErrorAnimation: !0 })), r.current && clearTimeout(r.current), r.current = setTimeout(() => {
       e((d) => ({ ...d, showErrorAnimation: !1 }));
     }, 600);
-  }, []), s = P(() => {
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-  }, []), l = P(() => {
+  }, []), l = _(() => {
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@@ -4665,22 +4666,22 @@ const Ci = $(
         showMainText: !0
       }));
     }, 200);
-  }, []), g = P(() => {
+  }, []), u = _(() => {
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       showMainText: !0
     }));
-  }, []), m = P(() => {
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     o.current && clearTimeout(o.current), r.current && clearTimeout(r.current), i.current && clearTimeout(i.current);
   }, []);
   return {
     animationState: t,
     triggerPauseAnimation: n,
     triggerErrorAnimation: c,
-    clearErrorAnimation: s,
+    clearErrorAnimation: a,
     triggerFadeTransition: l,
-    setInitialAnimationState: g,
-    cleanup: m
+    setInitialAnimationState: u,
+    cleanup: f
   };
 }, Wo = ({
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     currentProgress: 0,
     wasRunningBeforeError: !1
-  }), s = D(null), l = D(null), g = D(0), m = D(0), [d] = Lt([0], {
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     tension: 80,
     friction: 18,
     onChange: ([h]) => {
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+      c((y) => ({ ...y, currentProgress: h }));
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+  }), p = _(
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+      const y = h / 60 % 1 * 100;
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+        currentProgress: y
+      })), u.current = 0, f.current = y, d.setImmediate([y]), t ? (l.current = Date.now() - h * 1e3, c((b) => ({ ...b, isRunning: !0 }))) : l.current = null;
     },
     [t, d]
-  ), p = P(() => {
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     if (l.current && n.isRunning) {
-      const v = (Date.now() - l.current) / 1e3 + g.current, b = v / 60 % 1 * 100;
-      d.setTarget([b]), c((w) => ({
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-        elapsedTime: Math.floor(v)
+      const y = (Date.now() - l.current) / 1e3 + u.current, b = y / 60 % 1 * 100;
+      d.setTarget([b]), c((C) => ({
+        ...C,
+        elapsedTime: Math.floor(y)
       }));
     }
     c((h) => ({
@@ -4725,70 +4726,70 @@ const Ci = $(
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       isPausedState: !0
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-  }, [n.isRunning, d, o]), x = P(() => {
-    n.isPausedState && (g.current = n.elapsedTime, l.current = Date.now(), c((h) => ({
+  }, [n.isRunning, d, o]), m = _(() => {
+    n.isPausedState && (u.current = n.elapsedTime, l.current = Date.now(), c((h) => ({
       ...h,
       isRunning: !0,
       isPausedState: !1
     })));
-  }, [n.isPausedState, n.elapsedTime]), y = P(() => {
+  }, [n.isPausedState, n.elapsedTime]), S = _(() => {
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       isRunning: !1,
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-    })), g.current = 0, l.current = null, m.current = 0, d.setImmediate([0]);
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+    })), u.current = 0, l.current = null, f.current = 0, d.setImmediate([0]);
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+    e ? (n.isRunning && (c((h) => ({ ...h, wasRunningBeforeError: !0 })), g()), r()) : (n.wasRunningBeforeError && !n.isRunning && (c((h) => ({ ...h, wasRunningBeforeError: !1 })), m()), i());
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+          const b = (Date.now() - l.current) / 1e3 + u.current, C = b / 60 % 1 * 100;
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+        a.current = requestAnimationFrame(h);
       };
-      s.current = requestAnimationFrame(h);
+      a.current = requestAnimationFrame(h);
     } else
-      s.current && (cancelAnimationFrame(s.current), s.current = null);
+      a.current && (cancelAnimationFrame(a.current), a.current = null);
     return () => {
-      s.current && (cancelAnimationFrame(s.current), s.current = null);
+      a.current && (cancelAnimationFrame(a.current), a.current = null);
     };
   }, [n.isRunning, d]), A(() => {
     let h = null;
-    const v = () => {
-      d.update(), h = requestAnimationFrame(v);
+    const y = () => {
+      d.update(), h = requestAnimationFrame(y);
     };
-    return h = requestAnimationFrame(v), () => {
+    return h = requestAnimationFrame(y), () => {
       h && cancelAnimationFrame(h);
     };
   }, [d]), {
     timerState: n,
     controls: {
-      start: u,
-      pause: p,
-      resume: x,
-      reset: y,
-      isPaused: f
+      start: p,
+      pause: g,
+      resume: m,
+      reset: S,
+      isPaused: x
     }
   };
-}, wi = $(
+}, Ci = $(
   J(
     ({
       onTimerReady: t,
@@ -4800,41 +4801,41 @@ const Ci = $(
     }) => {
       const {
         animationState: c,
-        triggerPauseAnimation: s,
+        triggerPauseAnimation: a,
         triggerErrorAnimation: l,
-        clearErrorAnimation: g,
-        setInitialAnimationState: m,
+        clearErrorAnimation: u,
+        setInitialAnimationState: f,
         cleanup: d
-      } = No(), { timerState: u, controls: p } = Wo({
+      } = No(), { timerState: p, controls: g } = Wo({
         autoStart: e,
         hasError: n,
-        onPauseAnimation: s,
+        onPauseAnimation: a,
         onErrorAnimation: l,
-        onClearErrorAnimation: g
+        onClearErrorAnimation: u
       });
       return A(() => {
-        m();
-      }, [m]), A(() => {
-        let x = !0;
-        const y = setTimeout(() => {
-          x && t(p);
+        f();
+      }, [f]), A(() => {
+        let m = !0;
+        const S = setTimeout(() => {
+          m && t(g);
         }, 0);
         return () => {
-          x = !1, clearTimeout(y);
+          m = !1, clearTimeout(S);
         };
-      }, [t, p]), A(() => d, [d]), o === "small" ? /* @__PURE__ */ a(
+      }, [t, g]), A(() => d, [d]), o === "small" ? /* @__PURE__ */ s(
         Vo,
         {
-          timerState: u,
+          timerState: p,
           animationState: c,
           hasError: n,
           compact: r,
           className: i
         }
-      ) : /* @__PURE__ */ a(
+      ) : /* @__PURE__ */ s(
         zo,
         {
-          timerState: u,
+          timerState: p,
           animationState: c,
           hasError: n,
           className: i
@@ -4850,34 +4851,34 @@ const Ci = $(
   reverse_rotation_direction: !1
 };
 class ut {
-  constructor(e, o, r, i, n, c, s, l, g, m) {
-    this.nova = e, this.controller = o, this.motionGroup = r, this.initialMotionState = i, this.motionStateSocket = n, this.isVirtual = c, this.tcps = s, this.description = l, this.initialControllerState = g, this.controllerStateSocket = m, this.connectedJoggingSocket = null, this.joggingVelocity = 10, this.activationState = "inactive", this.rapidlyChangingMotionState = i, this.controllerState = g, m.addEventListener("message", (d) => {
-      var p;
-      const u = (p = W(d.data)) == null ? void 0 : p.result;
-      u && L(() => {
-        this.controllerState = u;
+  constructor(e, o, r, i, n, c, a, l, u, f) {
+    this.nova = e, this.controller = o, this.motionGroup = r, this.initialMotionState = i, this.motionStateSocket = n, this.isVirtual = c, this.tcps = a, this.description = l, this.initialControllerState = u, this.controllerStateSocket = f, this.connectedJoggingSocket = null, this.joggingVelocity = 10, this.activationState = "inactive", this.rapidlyChangingMotionState = i, this.controllerState = u, f.addEventListener("message", (d) => {
+      var g;
+      const p = (g = W(d.data)) == null ? void 0 : g.result;
+      p && L(() => {
+        this.controllerState = p;
       });
     }), n.addEventListener("message", (d) => {
-      var p;
-      const u = (p = W(d.data)) == null ? void 0 : p.result;
-      if (!u)
+      var g;
+      const p = (g = W(d.data)) == null ? void 0 : g.result;
+      if (!p)
         throw new Error(
           `Failed to get motion state for ${this.motionGroupId}: ${d.data}`
         );
       Wt(
         this.rapidlyChangingMotionState.joint_position,
-        u.joint_position,
+        p.joint_position,
         At
       ) || L(() => {
-        this.rapidlyChangingMotionState.joint_position = u.joint_position;
+        this.rapidlyChangingMotionState.joint_position = p.joint_position;
       }), Gt(
         this.rapidlyChangingMotionState,
-        u,
+        p,
         At
       ) || L(() => {
-        this.rapidlyChangingMotionState.tcp_pose = u.tcp_pose;
-      }), this.rapidlyChangingMotionState.standstill !== u.standstill && L(() => {
-        this.rapidlyChangingMotionState.standstill = u.standstill;
+        this.rapidlyChangingMotionState.tcp_pose = p.tcp_pose;
+      }), this.rapidlyChangingMotionState.standstill !== p.standstill && L(() => {
+        this.rapidlyChangingMotionState.standstill = p.standstill;
       });
     }), mt(this);
   }
@@ -4889,7 +4890,7 @@ class ut {
     );
   }
   static async connect(e, o) {
-    var h, v;
+    var h, y;
     const [r, i] = o.split("@"), n = await e.api.controller.getCurrentRobotControllerState(i), c = n == null ? void 0 : n.motion_groups.find(
       (b) => b.motion_group === o
     );
@@ -4897,52 +4898,52 @@ class ut {
       throw new Error(
         `Controller ${i} or motion group ${o} not found`
       );
-    const s = e.openReconnectingWebsocket(
+    const a = e.openReconnectingWebsocket(
       `/controllers/${i}/motion-groups/${o}/state-stream`
-    ), l = await s.firstMessage(), g = (h = W(l.data)) == null ? void 0 : h.result;
-    if (!g)
+    ), l = await a.firstMessage(), u = (h = W(l.data)) == null ? void 0 : h.result;
+    if (!u)
       throw new Error(
         `Unable to parse initial motion state message ${l.data}`
       );
     console.log(
       `Connected motion state websocket to motion group ${c.motion_group}. Initial state:
   `,
-      g
+      u
     );
     const d = (await e.api.controller.getRobotController(
       n.controller
-    )).configuration.kind === "VirtualController", u = await e.api.motionGroup.getMotionGroupDescription(
+    )).configuration.kind === "VirtualController", p = await e.api.motionGroup.getMotionGroupDescription(
       i,
       c.motion_group
-    ), p = Object.entries(u.tcps || {}).map(
-      ([b, w]) => ({
+    ), g = Object.entries(p.tcps || {}).map(
+      ([b, C]) => ({
         id: b,
-        readable_name: w.name,
-        position: w.pose.position,
-        orientation: w.pose.orientation
+        readable_name: C.name,
+        position: C.pose.position,
+        orientation: C.pose.orientation
       })
-    ), x = e.openReconnectingWebsocket(
+    ), m = e.openReconnectingWebsocket(
       `/controllers/${n.controller}/state-stream?response_rate=1000`
-    ), y = await x.firstMessage(), f = (v = W(y.data)) == null ? void 0 : v.result;
-    if (!f)
+    ), S = await m.firstMessage(), x = (y = W(S.data)) == null ? void 0 : y.result;
+    if (!x)
       throw new Error(
-        `Unable to parse initial controller state message ${y.data}`
+        `Unable to parse initial controller state message ${S.data}`
       );
     return console.log(
       `Connected controller state websocket to controller ${n.controller}. Initial state:
   `,
-      f
+      x
     ), new ut(
       e,
       n,
       c,
-      g,
-      s,
+      u,
+      a,
       d,
+      g,
       p,
-      u,
-      f,
-      x
+      x,
+      m
     );
   }
   get motionGroupId() {
@@ -4985,13 +4986,13 @@ class ut {
   }
   /** Gets the robot mounting position rotation in 3D viz coordinates */
   get mountingQuaternion() {
-    var i, n, c, s, l, g;
-    const e = new Et.Vector3(
+    var i, n, c, a, l, u;
+    const e = new jt.Vector3(
       ((n = (i = this.description.mounting) == null ? void 0 : i.orientation) == null ? void 0 : n[0]) || 0,
-      ((s = (c = this.description.mounting) == null ? void 0 : c.orientation) == null ? void 0 : s[1]) || 0,
-      ((g = (l = this.description.mounting) == null ? void 0 : l.orientation) == null ? void 0 : g[2]) || 0
+      ((a = (c = this.description.mounting) == null ? void 0 : c.orientation) == null ? void 0 : a[1]) || 0,
+      ((u = (l = this.description.mounting) == null ? void 0 : l.orientation) == null ? void 0 : u[2]) || 0
     ), o = e.length(), r = e.normalize();
-    return new Et.Quaternion().setFromAxisAngle(r, o);
+    return new jt.Quaternion().setFromAxisAngle(r, o);
   }
   /**
    * Whether the controller is currently in a safety state
@@ -5443,16 +5444,16 @@ export {
   gi as P,
   Si as R,
   vi as S,
-  Ci as T,
-  Eo as V,
+  wi as T,
+  jo as V,
   bo as W,
-  Pt as a,
+  _t as a,
   xo as b,
   Ti as c,
   ui as d,
   pi as e,
   vo as f,
-  Co as g,
+  wo as g,
   xi as h,
   at as i,
   mi as j,
@@ -5462,7 +5463,7 @@ export {
   Do as n,
   Zt as o,
   Jo as p,
-  wi as q,
+  Ci as q,
   Ht as r,
   ut as s,
   ft as t,