@wandelbots/wandelbots-js-react-components 5.5.4 → 5.5.5-pr.feat-RB-3582-limits-from-api.605.fd3b200

package/dist/chunks/{theming-U5DTlp9R.js → theming-DW-GUJAo.js}

@@ -1,90 +1,90 @@
 import { jsx as a, jsxs as S, 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";
+import { alpha as Mt, useTheme as F, styled as gt, createTheme as Bt } from "@mui/material/styles";
+import Kt from "@mui/material/AppBar";
+import Ft from "@mui/material/Backdrop";
 import T from "@mui/material/Box";
 import H from "@mui/material/IconButton";
-import Kt from "@mui/material/Menu";
+import te from "@mui/material/Menu";
 import q from "@mui/material/MenuItem";
-import te from "@mui/material/Toolbar";
-import E from "@mui/material/Typography";
-import { observer as J, useLocalObservable as Ft } from "mobx-react-lite";
-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 ee from "@mui/material/Toolbar";
+import _ from "@mui/material/Typography";
+import { observer as J, useLocalObservable as Lt } from "mobx-react-lite";
+import { useState as B, useRef as O, useCallback as j, useEffect as A, useMemo as rt, useId as oe } from "react";
+import { e as $, r as kt } from "./externalizeComponent-BLilFZni.js";
+import ne from "@mui/material/SvgIcon";
 import U from "@mui/material/Fade";
-import { Gauge as ne } from "@mui/x-charts/Gauge";
+import { Gauge as ie } from "@mui/x-charts/Gauge";
 import { useTranslation as V } from "react-i18next";
-import { f as Lt, e as pt, d as ie } from "./interpolation-D9WFd-j_.js";
-import re from "@mui/icons-material/Clear";
-import ae from "@mui/icons-material/FilterList";
+import { f as $t, e as pt, d as re } from "./interpolation-BDCy5Kcc.js";
+import ae from "@mui/icons-material/Clear";
+import se from "@mui/icons-material/FilterList";
 import It from "@mui/icons-material/Search";
 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 { useGridApiRef as le, DataGrid as ce, Toolbar as de, FilterPanelTrigger as ue, ToolbarButton as st, QuickFilter as ge, QuickFilterTrigger as pe, QuickFilterControl as me, QuickFilterClear as he } from "@mui/x-data-grid";
+import fe from "@mui/icons-material/OpenWith";
+import be from "@mui/icons-material/Share";
 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 { radiansToDegrees as Vt, tryParseJson as W, XYZ_TO_VECTOR as tt, degreesToRadians as Me } from "@wandelbots/nova-js";
+import zt from "@mui/material/Tab";
+import Vt from "@mui/material/Tabs";
+import { JointTypeEnum as W, OperationMode as xe, SafetyStateType as ye, NovaClient as Se, poseToWandelscriptString as ve } from "@wandelbots/nova-js/v2";
+import { lowerFirst as we, countBy as Ce, isString as Te } from "lodash-es";
+import { runInAction as L, makeAutoObservable as mt, when as lt, autorun as Me, makeObservable as ke, action as Rt, observable as Ie } from "mobx";
+import { radiansToDegrees as Nt, tryParseJson as G, XYZ_TO_VECTOR as tt, degreesToRadians as Re } 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 _e from "@mui/material/CircularProgress";
+import { capitalize as Ee } from "@mui/material/utils";
+import { m as je } from "./SafetyBar-C6Kcqza9.js";
+import Pe from "@mui/material/Alert";
+import De from "@mui/material/AlertTitle";
 import Z from "@mui/material/Button";
-import Rt from "@mui/material/ToggleButton";
-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";
-import ze from "@mui/material/Select";
+import _t from "@mui/material/ToggleButton";
+import { c as Oe, d as Ae, F as Je, a as Be, b as Fe, f as Le, e as $e } from "./robot-Cy9ST5-m.js";
+import ze from "lodash-es/isEqual.js";
+import Ve from "@mui/material/FormControl";
+import Ne from "@mui/material/InputLabel";
+import Ge from "@mui/material/Select";
 import nt from "lodash-es/keyBy.js";
-import Ve from "lodash-es/uniqueId.js";
-import Ne from "@mui/material/ToggleButtonGroup";
-import Nt from "@mui/material/Slider";
-import We from "lodash-es/isNumber.js";
-import Ge from "@mui/icons-material/ChevronLeft";
-import Ue from "@mui/icons-material/ChevronRight";
-import He from "lodash-es/throttle.js";
-import qe from "@mui/material/Tooltip";
-import Ye from "@mui/icons-material/ContentCopy";
-import Ze from "@mui/icons-material/DescriptionOutlined";
-import Qe from "@mui/icons-material/ExpandLess";
-import Xe from "@mui/icons-material/ExpandMore";
-import Ke from "@mui/material/Paper";
-import to from "@mui/material/Dialog";
-import eo from "@mui/material/DialogActions";
-import oo from "@mui/material/DialogContent";
-import no from "@mui/material/DialogTitle";
-import io from "@mui/icons-material/Error";
-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 We from "lodash-es/uniqueId.js";
+import Ue from "@mui/material/ToggleButtonGroup";
+import Gt from "@mui/material/Slider";
+import He from "lodash-es/isNumber.js";
+import qe from "@mui/icons-material/ChevronLeft";
+import Ye from "@mui/icons-material/ChevronRight";
+import Ze from "lodash-es/throttle.js";
+import Qe from "@mui/material/Tooltip";
+import Xe from "@mui/icons-material/ContentCopy";
+import Ke from "@mui/icons-material/DescriptionOutlined";
+import to from "@mui/icons-material/ExpandLess";
+import eo from "@mui/icons-material/ExpandMore";
+import oo from "@mui/material/Paper";
+import no from "@mui/material/Dialog";
+import io from "@mui/material/DialogActions";
+import ro from "@mui/material/DialogContent";
+import ao from "@mui/material/DialogTitle";
+import so from "@mui/icons-material/Error";
+import lo from "@mui/material/Chip";
+import co from "@mui/material/Fab";
+import uo from "@mui/material/Badge";
+import { Gauge as go } 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(
+const po = (e) => /* @__PURE__ */ a(ne, { ...e, viewBox: "0 0 10 8", children: /* @__PURE__ */ a(
   "path",
   {
     d: "M8.825 0.9125L5 4.72917L1.175 0.9125L0 2.0875L5 7.0875L10 2.0875L8.825 0.9125Z",
     fill: "currentColor",
     fillOpacity: "0.56"
   }
-) }), ci = $(
-  J((t) => {
+) }), gi = $(
+  J((e) => {
     const {
-      appIcon: e,
+      appIcon: t,
       appName: o,
       apps: r = [],
       onAppSelect: i,
       disabled: n = !1,
       sx: c
-    } = t, [s, l] = B(null), g = !!s, m = (p) => {
+    } = e, [s, l] = B(null), g = !!s, m = (p) => {
       l(p.currentTarget);
     }, d = () => {
       l(null);
@@ -93,7 +93,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     };
     return /* @__PURE__ */ S(et, { children: [
       /* @__PURE__ */ a(
-        Xt,
+        Kt,
         {
           position: "static",
           sx: {
@@ -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 }),
+          children: /* @__PURE__ */ S(ee, { sx: { minHeight: "62px !important" }, children: [
+            /* @__PURE__ */ a(T, { sx: { mr: 1, display: "flex", alignItems: "center" }, children: t }),
             /* @__PURE__ */ S(T, { sx: { display: "flex", alignItems: "center", flexGrow: 1 }, children: [
               /* @__PURE__ */ a(
-                E,
+                _,
                 {
                   component: "h1",
                   sx: {
@@ -145,7 +145,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                       height: "6px"
                     }
                   },
-                  children: /* @__PURE__ */ a(co, {})
+                  children: /* @__PURE__ */ a(po, {})
                 }
               )
             ] })
@@ -153,7 +153,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
         }
       ),
       /* @__PURE__ */ a(
-        Bt,
+        Ft,
         {
           open: g,
           onClick: d,
@@ -165,7 +165,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
         }
       ),
       /* @__PURE__ */ a(
-        Kt,
+        te,
         {
           id: "app-menu",
           anchorEl: s,
@@ -188,32 +188,32 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
           },
           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 })
+            /* @__PURE__ */ a(_, { variant: "body1", sx: { ml: 2 }, children: p.name })
           ] }, p.id))
         }
       )
     ] });
   })
-), uo = (t) => {
-  const e = Math.floor(t / 86400), o = Math.floor(t % 86400 / 3600), r = Math.floor(t % 3600 / 60), i = t % 60, n = [];
-  return e > 0 ? (n.push(e.toString()), n.push(o.toString().padStart(2, "0")), n.push(r.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0"))) : o > 0 ? (n.push(o.toString()), n.push(r.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0"))) : (n.push(r.toString()), n.push(i.toString().padStart(2, "0"))), n.join(":");
-}, N = (t, e) => {
-  const o = Math.floor(t / 86400), r = Math.floor(t % 86400 / 3600), i = Math.floor(t % 3600 / 60), n = t % 60;
+), mo = (e) => {
+  const t = Math.floor(e / 86400), o = Math.floor(e % 86400 / 3600), r = Math.floor(e % 3600 / 60), i = e % 60, n = [];
+  return t > 0 ? (n.push(t.toString()), n.push(o.toString().padStart(2, "0")), n.push(r.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0"))) : o > 0 ? (n.push(o.toString()), n.push(r.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0"))) : (n.push(r.toString()), n.push(i.toString().padStart(2, "0"))), n.join(":");
+}, N = (e, t) => {
+  const o = Math.floor(e / 86400), r = Math.floor(e % 86400 / 3600), i = Math.floor(e % 3600 / 60), n = e % 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);
+      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(t, { style: "narrow" }).format(s);
     } catch {
     }
   const c = [];
   return o > 0 && c.push(`${o}d`), r > 0 && c.push(`${r}h`), i > 0 && c.push(`${i}m`), (n > 0 || c.length === 0) && c.push(`${n}s`), c.join(" ");
-}, go = (t, e, o) => t === "countdown" && o !== null ? Math.min(100, e / o * 100) : t === "measuring" ? e / 60 % 1 * 100 : 0, po = ({
-  timerState: t,
-  animationState: e,
+}, ho = (e, t, o) => e === "countdown" && o !== null ? Math.min(100, t / o * 100) : e === "measuring" ? t / 60 % 1 * 100 : 0, fo = ({
+  timerState: e,
+  animationState: t,
   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: s, remainingTime: l, maxTime: g, currentProgress: m } = e, {
     showErrorAnimation: d,
     showPauseAnimation: u,
     showPulsatingText: p,
@@ -222,7 +222,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     showMainText: f,
     showIdlePulsating: h,
     idleDotsCount: v
-  } = e;
+  } = t;
   return /* @__PURE__ */ S(
     T,
     {
@@ -237,7 +237,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       },
       children: [
         /* @__PURE__ */ a(
-          ne,
+          ie,
           {
             width: 264,
             height: 264,
@@ -308,7 +308,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                       in: y && !o && s !== "idle" && s !== "success",
                       timeout: 300,
                       children: /* @__PURE__ */ a(
-                        E,
+                        _,
                         {
                           variant: "body2",
                           sx: {
@@ -350,7 +350,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                         in: f && s === "idle" && !o,
                         timeout: 200,
                         children: /* @__PURE__ */ S(
-                          E,
+                          _,
                           {
                             variant: "body2",
                             sx: {
@@ -400,7 +400,7 @@ 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,
+                      _,
                       {
                         variant: "h3",
                         sx: {
@@ -419,7 +419,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                         in: f && !o && s !== "idle" && s !== "success",
                         timeout: 300,
                         children: /* @__PURE__ */ a(
-                          E,
+                          _,
                           {
                             variant: "h1",
                             sx: {
@@ -437,7 +437,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                                   opacity: 1,
                                   transition: "opacity 2s ease-in-out"
                                 },
-                                children: uo(l)
+                                children: mo(l)
                               }
                             )
                           }
@@ -463,7 +463,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                       in: y && !o && s !== "idle" && s !== "success",
                       timeout: 300,
                       children: /* @__PURE__ */ a(
-                        E,
+                        _,
                         {
                           variant: "body2",
                           sx: {
@@ -495,21 +495,21 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       ]
     }
   );
-}, mo = ({
-  timerState: t,
-  animationState: e,
+}, bo = ({
+  timerState: e,
+  animationState: t,
   hasError: o,
   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(), s = F(), { currentState: l, remainingTime: g, maxTime: m } = e, {
     showErrorAnimation: d,
     showPauseAnimation: u,
     showPulsatingText: p,
     pulsatingFinished: x,
     showIdlePulsating: y,
     idleDotsCount: f
-  } = e;
+  } = t;
   return r && l === "idle" ? /* @__PURE__ */ a(
     T,
     {
@@ -520,7 +520,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
         m: 0
       },
       children: /* @__PURE__ */ a(
-        E,
+        _,
         {
           variant: "body2",
           sx: {
@@ -591,7 +591,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
                       strokeWidth: "2",
                       strokeLinecap: "round",
                       strokeDasharray: `${2 * Math.PI * 8}`,
-                      strokeDashoffset: `${2 * Math.PI * 8 * (1 - (l === "idle" ? 0 : t.currentProgress) / 100)}`,
+                      strokeDashoffset: `${2 * Math.PI * 8 * (1 - (l === "idle" ? 0 : e.currentProgress) / 100)}`,
                       style: {
                         opacity: l === "measured" && x ? p ? 1 : 0.6 : 1,
                         transition: "stroke-dashoffset 0.1s ease-out, stroke 0.8s ease-in-out, opacity 2s ease-in-out"
@@ -604,7 +604,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
           }
         ),
         /* @__PURE__ */ a(
-          E,
+          _,
           {
             variant: "body2",
             sx: {
@@ -634,8 +634,8 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
       ]
     }
   );
-}, ho = () => {
-  const [t, e] = B({
+}, xo = () => {
+  const [e, t] = B({
     showPauseAnimation: !1,
     showErrorAnimation: !1,
     showPulsatingText: !1,
@@ -644,92 +644,92 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     showMainText: !0,
     showIdlePulsating: !1,
     idleDotsCount: 0
-  }), o = D(
+  }), o = O(
     null
-  ), r = D(
+  ), r = O(
     null
-  ), i = D(
+  ), i = O(
     null
-  ), n = D(null), c = D(0), s = D(null), l = D(
+  ), n = O(null), c = O(0), s = O(null), l = O(
     null
-  ), g = _(() => {
-    e((b) => ({ ...b, showPauseAnimation: !0 })), o.current && clearTimeout(o.current), o.current = setTimeout(() => {
-      e((b) => ({ ...b, showPauseAnimation: !1 }));
+  ), g = j(() => {
+    t((b) => ({ ...b, showPauseAnimation: !0 })), o.current && clearTimeout(o.current), o.current = setTimeout(() => {
+      t((b) => ({ ...b, showPauseAnimation: !1 }));
     }, 800);
-  }, []), m = _(() => {
-    e((b) => ({ ...b, showErrorAnimation: !0 })), r.current && clearTimeout(r.current), r.current = setTimeout(() => {
-      e((b) => ({ ...b, showErrorAnimation: !1 }));
+  }, []), m = j(() => {
+    t((b) => ({ ...b, showErrorAnimation: !0 })), r.current && clearTimeout(r.current), r.current = setTimeout(() => {
+      t((b) => ({ ...b, showErrorAnimation: !1 }));
     }, 600);
-  }, []), d = _(() => {
-    e((b) => ({ ...b, showErrorAnimation: !1 })), r.current && clearTimeout(r.current);
-  }, []), u = _((b) => {
-    c.current = 0, e((w) => ({
-      ...w,
+  }, []), d = j(() => {
+    t((b) => ({ ...b, showErrorAnimation: !1 })), r.current && clearTimeout(r.current);
+  }, []), u = j((b) => {
+    c.current = 0, t((C) => ({
+      ...C,
       showPulsatingText: !0,
       pulsatingFinished: !1
     })), setTimeout(() => {
-      e((w) => ({
-        ...w,
+      t((C) => ({
+        ...C,
         pulsatingFinished: !0
         // This will keep the success color and start slow pulsating
       })), i.current = setInterval(() => {
-        e((w) => ({
-          ...w,
-          showPulsatingText: !w.showPulsatingText
+        t((C) => ({
+          ...C,
+          showPulsatingText: !C.showPulsatingText
         }));
       }, 2e3), b && b();
     }, 800);
-  }, []), p = _(() => {
-    i.current && (clearInterval(i.current), i.current = null), e((b) => ({
+  }, []), p = j(() => {
+    i.current && (clearInterval(i.current), i.current = null), t((b) => ({
       ...b,
       showPulsatingText: !1,
       pulsatingFinished: !1
     })), c.current = 0;
-  }, []), x = _(() => {
-    e((b) => ({
+  }, []), x = j(() => {
+    t((b) => ({
       ...b,
       showIdlePulsating: !0
     })), s.current = setInterval(() => {
-      e((b) => ({
+      t((b) => ({
         ...b,
         showIdlePulsating: !b.showIdlePulsating
       }));
     }, 2e3), l.current = setInterval(() => {
-      e((b) => ({
+      t((b) => ({
         ...b,
         idleDotsCount: (b.idleDotsCount + 1) % 4
         // Cycle through 0, 1, 2, 3
       }));
     }, 800);
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-      e((b) => ({
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-  }, []), h = _(() => {
-    e((b) => ({
+  }, []), h = j(() => {
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     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);
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     triggerErrorAnimation: m,
     clearErrorAnimation: d,
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     friction: 18,
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-    (C = 0) => {
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         maxTime: null,
-        remainingTime: C,
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+    (w, M = 0) => {
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-        ...I,
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         // Immediately set progress
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-    g((C) => ({
-      ...C,
+    [e, t, p]
+  ), h = j(() => {
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+      ...w,
       isRunning: !1,
       currentState: "measured"
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-      const k = u.current / 1e3, R = go(
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+        I,
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     }
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   ]), A(() => {
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           if (l.currentState === "countdown" && l.maxTime !== null) {
-            const R = Math.max(0, l.maxTime - k);
-            g((j) => ({
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+            g((E) => ({
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             }));
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-            if (p.setTarget([I]), R <= 0) {
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-              })), d.current = null, p.setTarget([100]), e && queueMicrotask(() => e());
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               return;
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           } else if (l.currentState === "measuring") {
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-              remainingTime: Math.floor(k)
+            g((k) => ({
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             }));
-            const R = k / 60 % 1 * 100;
+            const R = I / 60 % 1 * 100;
             p.setTarget([R]);
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       m.current && (cancelAnimationFrame(m.current), m.current = null);
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     p
   ]), A(() => {
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     };
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       resume: b,
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   };
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+}, pi = $(
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       className: c,
       hasError: s = !1
     }) => {
-      const l = D(void 0), {
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         triggerPauseAnimation: m,
         triggerErrorAnimation: d,
@@ -948,9 +948,9 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
         triggerFadeTransition: h,
         setInitialAnimationState: v,
         cleanup: b
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               includeHeaders: !0,
               expand: !0,
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             });
           }, 100);
         });
-        return I.observe(y.current), () => {
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       const b = rt(() => {
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         if (f !== null)
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-        if (d && t.length > 0) {
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-          return h(I), I;
+        if (d && e.length > 0) {
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         return null;
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-      }, C = rt(() => !b || !n ? null : n(b), [b, n]);
+      }, [d, e, i, f]), C = (k) => {
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+        E && (i === void 0 && h(E), r && r(E, k));
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@@ -1131,7 +1131,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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                                     transition: "all 0.3s ease-in-out",
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@@ -1146,7 +1146,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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-                                            paddingRight: j.expanded && j.value !== "" ? "40px" : "12px",
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@@ -1287,7 +1287,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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         ) });
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-      const k = m || M;
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       return /* @__PURE__ */ a(
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@@ -1341,7 +1341,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
               hideFooter: !1,
               showToolbar: !0,
               slots: {
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+                toolbar: I
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@@ -1364,7 +1364,7 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
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                       "&::before": {
                         content: '""',
@@ -1513,12 +1513,12 @@ const co = (t) => /* @__PURE__ */ a(oe, { ...t, viewBox: "0 0 10 8", children: /
     }
   )
 );
-bo.displayName = "WandelbotsDataGrid";
-const _t = $(
+So.displayName = "WandelbotsDataGrid";
+const Pt = $(
   J(
     ({
-      colors: t,
-      label: e,
+      colors: e,
+      label: t,
       getDisplayedValue: o,
       startJogging: r,
       stopJogging: i,
@@ -1526,17 +1526,17 @@ const _t = $(
       activeJoggingDirection: c,
       ...s
     }) => {
-      var b, w, C, M, k, R, I;
+      var b, C, w, M, I, R, k;
       pt(() => {
-        const j = o(), z = u.current;
-        z && (z.textContent = j);
+        const E = o(), z = u.current;
+        z && (z.textContent = E);
       });
       const l = F(), [g, m] = B(null);
       A(() => {
         n && v();
       }, [n]);
-      const d = c || g, u = D(null);
-      t || (t = {
+      const d = c || g, u = O(null);
+      e || (e = {
         color: "#fff",
         backgroundColor: "#000",
         borderColor: "#000",
@@ -1548,10 +1548,10 @@ const _t = $(
         },
         labelColor: "#000"
       });
-      const p = d ? (b = t.buttonBackgroundColor) == null ? void 0 : b.pressed : t.borderColor, x = {
+      const p = d ? (b = e.buttonBackgroundColor) == null ? void 0 : b.pressed : e.borderColor, x = {
         width: "55px",
-        color: t.color,
-        path: { fill: t.color },
+        color: e.color,
+        path: { fill: e.color },
         alignContent: "center",
         fontSize: "37px",
         svg: {
@@ -1559,31 +1559,31 @@ const _t = $(
         }
       }, y = {
         ...x,
-        backgroundColor: (w = t.buttonBackgroundColor) == null ? void 0 : w.default,
+        backgroundColor: (C = e.buttonBackgroundColor) == null ? void 0 : C.default,
         ":hover": {
-          backgroundColor: (C = t.buttonBackgroundColor) == null ? void 0 : C.hovered
+          backgroundColor: (w = e.buttonBackgroundColor) == null ? void 0 : w.hovered
         },
         ":active": {
-          backgroundColor: (M = t.buttonBackgroundColor) == null ? void 0 : M.pressed,
-          color: t.backgroundColor,
-          path: { fill: t.backgroundColor }
+          backgroundColor: (M = e.buttonBackgroundColor) == null ? void 0 : M.pressed,
+          color: e.backgroundColor,
+          path: { fill: e.backgroundColor }
         },
         ":disabled": {
-          backgroundColor: (k = t.buttonBackgroundColor) == null ? void 0 : k.disabled,
+          backgroundColor: (I = e.buttonBackgroundColor) == null ? void 0 : I.disabled,
           "svg path": { fill: l.palette.action.disabled }
         }
       }, f = {
         ...x,
-        backgroundColor: (R = t.buttonBackgroundColor) == null ? void 0 : R.pressed,
-        color: t.backgroundColor,
-        path: { fill: t.backgroundColor },
+        backgroundColor: (R = e.buttonBackgroundColor) == null ? void 0 : R.pressed,
+        color: e.backgroundColor,
+        path: { fill: e.backgroundColor },
         ":disabled": {
-          backgroundColor: (I = t.buttonBackgroundColor) == null ? void 0 : I.pressed,
+          backgroundColor: (k = e.buttonBackgroundColor) == null ? void 0 : k.pressed,
           "svg path": { fill: l.palette.action.disabled }
         }
       };
-      function h(j, z) {
-        n || j.button === 0 && (m(z), r(z));
+      function h(E, z) {
+        n || E.button === 0 && (m(z), r(z));
       }
       function v() {
         m(null), i();
@@ -1594,7 +1594,7 @@ const _t = $(
           {
             disabled: n,
             disableRipple: !0,
-            onPointerDown: (j) => h(j, "-"),
+            onPointerDown: (E) => h(E, "-"),
             onPointerUp: v,
             onPointerOut: v,
             size: "large",
@@ -1605,7 +1605,7 @@ const _t = $(
               borderBottom: `2px solid ${p ?? "#fff"}`,
               borderTop: `2px solid ${p ?? "#fff"}`
             },
-            children: /* @__PURE__ */ a(_e, {})
+            children: /* @__PURE__ */ a(Oe, {})
           }
         ),
         /* @__PURE__ */ S(
@@ -1614,7 +1614,7 @@ const _t = $(
             spacing: "6px",
             sx: {
               width: "150px",
-              backgroundColor: t.backgroundColor,
+              backgroundColor: e.backgroundColor,
               alignItems: "center",
               justifyContent: "center",
               opacity: "0.9",
@@ -1632,23 +1632,23 @@ const _t = $(
                   spacing: 1,
                   sx: {
                     userSelect: "none",
-                    color: t.color,
+                    color: e.color,
                     ".MuiTypography-root": {
                       fontWeight: 700,
                       ...n ? { color: l.palette.action.disabled } : {}
                     },
                     ...n ? { "svg path": { fill: l.palette.action.disabled } } : {}
                   },
-                  children: e
+                  children: t
                 }
               ),
               /* @__PURE__ */ a(
-                E,
+                _,
                 {
                   height: "22px",
                   sx: {
                     fontSize: "15px",
-                    color: n ? l.palette.action.disabled : t.color,
+                    color: n ? l.palette.action.disabled : e.color,
                     fontWeight: 700,
                     fontVariantNumeric: "tabular-nums",
                     minWidth: "80px",
@@ -1666,7 +1666,7 @@ const _t = $(
           {
             disableRipple: !0,
             disabled: n,
-            onPointerDown: (j) => h(j, "+"),
+            onPointerDown: (E) => h(E, "+"),
             onPointerUp: v,
             onPointerOut: v,
             size: "large",
@@ -1677,17 +1677,17 @@ const _t = $(
               borderBottom: `2px solid ${p ?? "#fff"}`,
               borderTop: `2px solid ${p ?? "#fff"}`
             },
-            children: /* @__PURE__ */ a(Pe, {})
+            children: /* @__PURE__ */ a(Ae, {})
           }
         )
       ] });
     }
   )
-), xo = $(
+), vo = $(
   J(
     ({
-      startJogging: t,
-      stopJogging: e,
+      startJogging: e,
+      stopJogging: t,
       lowerLimit: o,
       upperLimit: r,
       useDegree: i,
@@ -1695,52 +1695,52 @@ const _t = $(
       disabled: c,
       ...s
     }) => {
-      var M, k, R, I, j, z, Q, ot, xt, yt, St, vt, Ct, wt, Tt;
+      var M, I, R, k, E, z, Q, ot, xt, yt, St, vt, wt, Ct, Tt;
       const { t: l } = V(), [g, m] = B(), d = F(), u = {
         background: (M = d.palette.backgroundPaperElevation) == null ? void 0 : M[4],
-        color: (k = d.palette.backgroundPaperElevation) == null ? void 0 : k[11]
-      }, p = Ft(() => ({
+        color: (I = d.palette.backgroundPaperElevation) == null ? void 0 : I[11]
+      }, p = Lt(() => ({
         activeJoggingDir: null,
-        startJogging(O) {
-          this.activeJoggingDir = O, t(O);
+        startJogging(D) {
+          this.activeJoggingDir = D, e(D);
         },
         stopJogging() {
-          this.activeJoggingDir = null, e();
+          this.activeJoggingDir = null, t();
         }
-      })), x = He(() => {
-        const O = i ? y(n()) : n();
-        (O === void 0 || g === void 0 || Math.abs(g - O) > 1e-9) && m(O);
+      })), x = Ze(() => {
+        const D = i ? y(n()) : n();
+        (D === void 0 || g === void 0 || Math.abs(g - D) > 1e-9) && m(D);
       }, 50);
       pt(x);
-      function y(O) {
-        if (O !== void 0)
-          return Vt(O);
+      function y(D) {
+        if (D !== void 0)
+          return Nt(D);
       }
-      function f(O) {
-        O.button === 0 && p.startJogging("-");
+      function f(D) {
+        D.button === 0 && p.startJogging("-");
       }
-      function h(O) {
-        O.button === 0 && p.startJogging("+");
+      function h(D) {
+        D.button === 0 && p.startJogging("+");
       }
-      function v(O) {
+      function v(D) {
         p.stopJogging();
       }
-      function b(O) {
+      function b(D) {
         p.stopJogging();
       }
-      function w(O, X = 1) {
-        if (O === void 0 || Number.isNaN(O)) return "";
+      function C(D, X = 1) {
+        if (D === void 0 || Number.isNaN(D)) return "";
         const K = l("General.degree.variable", {
-          amount: O.toFixed(X)
+          amount: D.toFixed(X)
         });
-        return O > 0 && X === 0 ? `+${K}` : K;
+        return D > 0 && X === 0 ? `+${K}` : K;
       }
-      function C(O, X = 1) {
-        if (O === void 0 || Number.isNaN(O)) return "";
+      function w(D, X = 1) {
+        if (D === void 0 || Number.isNaN(D)) return "";
         const K = l("General.mm.variable", {
-          amount: O.toFixed(X)
+          amount: D.toFixed(X)
         });
-        return O > 0 && X === 0 ? `+${K}` : K;
+        return D > 0 && X === 0 ? `+${K}` : K;
       }
       return /* @__PURE__ */ S(
         P,
@@ -1761,12 +1761,12 @@ const _t = $(
                 height: "42px"
               },
               "&.Mui-disabled": {
-                backgroundColor: (I = d.palette.backgroundPaperElevation) == null ? void 0 : I[11],
+                backgroundColor: (k = d.palette.backgroundPaperElevation) == null ? void 0 : k[11],
                 color: d.palette.action.disabled,
                 opacity: 1
               },
               "&:hover": {
-                backgroundColor: (j = d.palette.backgroundPaperElevation) == null ? void 0 : j[9]
+                backgroundColor: (E = d.palette.backgroundPaperElevation) == null ? void 0 : E[9]
               },
               "&:active": {
                 ...u
@@ -1787,7 +1787,7 @@ const _t = $(
                   ...p.activeJoggingDir === "-" ? u : {}
                 },
                 children: /* @__PURE__ */ a(
-                  Ge,
+                  qe,
                   {
                     sx: {
                       pointerEvents: "none",
@@ -1815,7 +1815,7 @@ const _t = $(
                 },
                 children: [
                   /* @__PURE__ */ a(
-                    E,
+                    _,
                     {
                       sx: {
                         fontSize: "15px",
@@ -1827,11 +1827,11 @@ const _t = $(
                         textAlign: "center",
                         color: c ? d.palette.action.disabled : d.palette.text.primary
                       },
-                      children: i ? w(g) : C(g)
+                      children: i ? C(g) : w(g)
                     }
                   ),
                   /* @__PURE__ */ a(
-                    Nt,
+                    Gt,
                     {
                       disabled: !0,
                       "aria-label": "Joint position",
@@ -1862,11 +1862,11 @@ const _t = $(
                       marks: o !== void 0 && r !== void 0 && [
                         {
                           value: i ? y(o) : o,
-                          label: i ? w(y(o), 0) : C(o)
+                          label: i ? C(y(o), 0) : w(o)
                         },
                         {
                           value: i ? y(r) : r,
-                          label: i ? w(y(r), 0) : C(r)
+                          label: i ? C(y(r), 0) : w(r)
                         }
                       ]
                     }
@@ -1887,11 +1887,11 @@ const _t = $(
                   ...p.activeJoggingDir === "+" ? u : {}
                 },
                 children: /* @__PURE__ */ a(
-                  Ue,
+                  Ye,
                   {
                     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
                     }
                   }
                 )
@@ -1903,53 +1903,53 @@ const _t = $(
     }
   )
 );
-function Wt(t, e, o) {
-  if (e.length !== t.length)
+function Wt(e, t, o) {
+  if (t.length !== e.length)
     return !0;
-  for (let r = 0; r < e.length; r++)
+  for (let r = 0; r < t.length; r++)
     if (
       // biome-ignore lint/style/noNonNullAssertion: legacy code
-      Math.abs(e[r] - t[r]) > o
+      Math.abs(t[r] - e[r]) > o
     )
       return !1;
   return !0;
 }
-function yo(t, e, o) {
-  if (t === void 0 && e || t && e === void 0 || (t == null ? void 0 : t.orientation) === void 0 || (e == null ? void 0 : e.orientation) === void 0 || (t == null ? void 0 : t.position) === void 0 || (e == null ? void 0 : e.position) === void 0)
+function wo(e, t, o) {
+  if (e === void 0 && t || e && t === void 0 || (e == null ? void 0 : e.orientation) === void 0 || (t == null ? void 0 : t.orientation) === void 0 || (e == null ? void 0 : e.position) === void 0 || (t == null ? void 0 : t.position) === void 0)
     return !1;
-  if (t === void 0 || e === void 0)
+  if (e === void 0 || t === void 0)
     return !0;
   let r = 0;
-  return r += Math.abs(t.orientation[0] - e.orientation[0]), r += Math.abs(t.orientation[1] - e.orientation[1]), r += Math.abs(t.orientation[2] - e.orientation[2]), r += Math.abs(t.position[0] - e.position[0]), r += Math.abs(t.position[1] - e.position[1]), r += Math.abs(t.position[2] - e.position[2]), r <= o;
+  return r += Math.abs(e.orientation[0] - t.orientation[0]), r += Math.abs(e.orientation[1] - t.orientation[1]), r += Math.abs(e.orientation[2] - t.orientation[2]), r += Math.abs(e.position[0] - t.position[0]), r += Math.abs(e.position[1] - t.position[1]), r += Math.abs(e.position[2] - t.position[2]), r <= o;
 }
-function Gt(t, e, o) {
-  return t.coordinate_system === e.coordinate_system && t.tcp === e.tcp && yo(
-    t.tcp_pose,
+function Ut(e, t, o) {
+  return e.coordinate_system === t.coordinate_system && e.tcp === t.tcp && wo(
     e.tcp_pose,
+    t.tcp_pose,
     o
   );
 }
-function So(t, e) {
+function Co(e, t) {
   const o = new jt(
-    e[0],
-    e[1],
-    e[2]
-  ), r = new jt(
     t[0],
     t[1],
     t[2]
+  ), r = new jt(
+    e[0],
+    e[1],
+    e[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 l = c - i;
   return l -= 2 * Math.PI * Math.floor((l + Math.PI) / (2 * Math.PI)), c = i + l, [...s.multiplyScalar(c)];
 }
-const Pt = 1e-4;
+const Dt = 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) => {
+  constructor(t, o, r, i, n, c) {
+    this.nova = t, 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;
+      const l = (g = G(s.data)) == null ? void 0 : g.result;
       if (!l)
         throw new Error(
           `Failed to get motion state for ${this.motionGroupId}: ${s.data}`
@@ -1957,18 +1957,18 @@ class ht {
       Wt(
         this.rapidlyChangingMotionState.joint_position,
         l.joint_position,
-        Pt
+        Dt
       ) || L(() => {
         this.rapidlyChangingMotionState.joint_position = l.joint_position;
-      }), Gt(
+      }), Ut(
         this.rapidlyChangingMotionState,
         l,
-        Pt
+        Dt
       ) || 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 = {
           position: l.tcp_pose.position,
-          orientation: So(
+          orientation: Co(
             l.tcp_pose.orientation,
             this.rapidlyChangingMotionState.tcp_pose.orientation
           )
@@ -1981,18 +1981,18 @@ class ht {
       });
     }), mt(this);
   }
-  static async open(e, o) {
+  static async open(t, o) {
     var d;
-    const [r, i] = o.split("@"), n = await e.api.controller.getCurrentRobotControllerState(i), c = n == null ? void 0 : n.motion_groups.find(
+    const [r, i] = o.split("@"), n = await t.api.controller.getCurrentRobotControllerState(i), c = n == null ? void 0 : n.motion_groups.find(
       (u) => u.motion_group === o
     );
     if (!n || !c)
       throw new Error(
         `Controller ${i} or motion group ${o} not found`
       );
-    const s = e.openReconnectingWebsocket(
+    const s = t.openReconnectingWebsocket(
       `/controllers/${i}/motion-groups/${o}/state-stream`
-    ), l = await s.firstMessage(), g = (d = W(l.data)) == null ? void 0 : d.result;
+    ), l = await s.firstMessage(), g = (d = G(l.data)) == null ? void 0 : d.result;
     if (!g)
       throw new Error(
         `Unable to parse initial motion state message ${l.data}`
@@ -2002,12 +2002,12 @@ class ht {
   `,
       g
     );
-    const m = await e.api.motionGroup.getMotionGroupDescription(
+    const m = await t.api.motionGroup.getMotionGroupDescription(
       i,
       c.motion_group
     );
     return new ht(
-      e,
+      t,
       n,
       c,
       m,
@@ -2022,7 +2022,7 @@ class ht {
     return this.controller.controller;
   }
   get joints() {
-    return this.initialMotionState.joint_position.map((e, o) => ({
+    return this.initialMotionState.joint_position.map((t, o) => ({
       index: o
     }));
   }
@@ -2032,8 +2032,8 @@ class ht {
 }
 const Ot = "Movement request rejected. Another client is currently executing a 'Jogging' motion!";
 class ft {
-  constructor(e, o = {}) {
-    this.motionStream = e, this.options = o, this.DEFAULT_MODE = "off", this.DEFAULT_TCP = "Flange", this.NO_TCP = void 0, this.DEFAULT_INIT_TIMEOUT = 5e3, this.DEFAULT_ORIENTATION = "coordsys", this.mode = "off", this.joggingSocket = null, this.trajectorySocket = null, this.timeout = this.DEFAULT_INIT_TIMEOUT, this.tcp = (o == null ? void 0 : o.tcp) || e.motionGroup.tcp || this.getDefaultTcp(e), this.orientation = (o == null ? void 0 : o.orientation) || this.DEFAULT_ORIENTATION, this.timeout = (o == null ? void 0 : o.timeout) || this.DEFAULT_INIT_TIMEOUT, this.mode = (o == null ? void 0 : o.mode) || this.DEFAULT_MODE, this.onError = o == null ? void 0 : o.onError;
+  constructor(t, o = {}) {
+    this.motionStream = t, this.options = o, this.DEFAULT_MODE = "off", this.DEFAULT_TCP = "Flange", this.NO_TCP = void 0, this.DEFAULT_INIT_TIMEOUT = 5e3, this.DEFAULT_ORIENTATION = "coordsys", this.mode = "off", this.joggingSocket = null, this.trajectorySocket = null, this.timeout = this.DEFAULT_INIT_TIMEOUT, this.tcp = (o == null ? void 0 : o.tcp) || t.motionGroup.tcp || this.getDefaultTcp(t), this.orientation = (o == null ? void 0 : o.orientation) || this.DEFAULT_ORIENTATION, this.timeout = (o == null ? void 0 : o.timeout) || this.DEFAULT_INIT_TIMEOUT, this.mode = (o == null ? void 0 : o.mode) || this.DEFAULT_MODE, this.onError = o == null ? void 0 : o.onError;
   }
   /**
    * Initialize the jogging connection using jogging endpoint or trajectory endpoint depending on the selected mode.
@@ -2052,18 +2052,18 @@ class ft {
    * @param options.onError - Error handler for websocket errors
    * @returns Promise resolving to initialized JoggerConnection instance
    */
-  static async open(e, o, r = {}) {
-    const i = await ht.open(e, o), n = new ft(i, r);
+  static async open(t, o, r = {}) {
+    const i = await ht.open(t, o), n = new ft(i, r);
     return await n.setJoggingMode(n.mode), n;
   }
-  getDefaultTcp(e) {
+  getDefaultTcp(t) {
     var r, i;
-    const o = (i = (r = e.description.dh_parameters) == null ? void 0 : r[0]) == null ? void 0 : i.type;
-    return e.joints.length < 6 && (o === G.RevoluteJoint || o === G.PrismaticJoint) ? this.NO_TCP : this.DEFAULT_TCP;
+    const o = (i = (r = t.description.dh_parameters) == null ? void 0 : r[0]) == null ? void 0 : i.type;
+    return t.joints.length < 6 && (o === W.RevoluteJoint || o === W.PrismaticJoint) ? this.NO_TCP : this.DEFAULT_TCP;
   }
   // Set a new tcp or other options. If current mode is jogging, will reinitialize the jogging websocket
-  async setOptions(e) {
-    e.tcp && (this.tcp = e.tcp), e.orientation && (this.orientation = e.orientation), e.timeout && (this.timeout = e.timeout), e.mode && (this.mode = e.mode), e.onError && (this.onError = e.onError), this.setJoggingMode(this.mode, !1);
+  async setOptions(t) {
+    t.tcp && (this.tcp = t.tcp), t.orientation && (this.orientation = t.orientation), t.timeout && (this.timeout = t.timeout), t.mode && (this.mode = t.mode), t.onError && (this.onError = t.onError), this.setJoggingMode(this.mode, !1);
   }
   get motionGroupId() {
     return this.motionStream.motionGroupId;
@@ -2083,10 +2083,10 @@ class ft {
   // Sends stop movement command to robot
   async stop() {
     if (this.joggingSocket) {
-      const e = new Array(this.numJoints).fill(0);
+      const t = new Array(this.numJoints).fill(0);
       this.joggingSocket.sendJson({
         message_type: "JointVelocityRequest",
-        velocity: e
+        velocity: t
       });
     }
     this.trajectorySocket && this.trajectorySocket.sendJson({
@@ -2095,23 +2095,23 @@ class ft {
   }
   // Dispose the jogger, closing all open websockets
   async dispose() {
-    const e = [this.joggingSocket, this.trajectorySocket].filter(
+    const t = [this.joggingSocket, this.trajectorySocket].filter(
       (o) => o !== null
     );
-    return e.forEach((o) => {
+    return t.forEach((o) => {
       o.dispose();
-    }), this.joggingSocket = null, this.trajectorySocket = null, Promise.all(e.map((o) => o.closed()));
+    }), this.joggingSocket = null, this.trajectorySocket = null, Promise.all(t.map((o) => o.closed()));
   }
   // Activate jogger in one of the supported modes
   // Will iniitialize or close websockets as necessary
   // If mode is unchanged, does nothing (unless skipReinitializeIfSameMode is false)
-  async setJoggingMode(e, o = !0) {
-    if (!(this.mode === e && o) && (this.dispose(), this.mode = e, this.mode === "jogging"))
+  async setJoggingMode(t, o = !0) {
+    if (!(this.mode === t && o) && (this.dispose(), this.mode = t, this.mode === "jogging"))
       return this.initializeJoggingWebsocket();
   }
   // Initializes continuous jogging websocket, called by setJoggingMode("jogging")
   async initializeJoggingWebsocket() {
-    return new Promise((e, o) => {
+    return new Promise((t, o) => {
       const r = setTimeout(() => {
         o(
           new Error(
@@ -2123,9 +2123,9 @@ class ft {
         `/controllers/${this.motionStream.controllerId}/execution/jogging`
       ), this.joggingSocket.addEventListener("message", (i) => {
         var c, s, l, g;
-        const n = W(i.data);
+        const n = G(i.data);
         if (((c = n == null ? void 0 : n.result) == null ? void 0 : c.kind) === "INITIALIZE_RECEIVED") {
-          clearTimeout(r), e();
+          clearTimeout(r), t();
           return;
         }
         if (((s = n == null ? void 0 : n.result) == null ? void 0 : s.kind) === "MOTION_ERROR")
@@ -2144,7 +2144,7 @@ class ft {
    * Jogging: Start rotation of a single robot joint at the specified velocity
    */
   async rotateJoints({
-    joint: e,
+    joint: t,
     direction: o,
     velocityValue: r,
     velocityUnit: i
@@ -2154,7 +2154,7 @@ class ft {
         "Joint jogging websocket not connected; create one by setting jogging mode to 'jogging'"
       );
     const n = new Array(this.numJoints).fill(0);
-    n[e] = o === "-" ? -r : r, this.joggingSocket.sendJson({
+    n[t] = o === "-" ? -r : r, this.joggingSocket.sendJson({
       message_type: "JointVelocityRequest",
       velocity: n
     });
@@ -2163,7 +2163,7 @@ class ft {
    * Jogging: Start the TCP moving along a specified axis at a given velocity
    */
   async translateTCP({
-    axis: e,
+    axis: t,
     direction: o,
     velocityMmPerSec: r
   }) {
@@ -2172,7 +2172,7 @@ class ft {
         "Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'"
       );
     const i = [0, 0, 0], n = [0, 0, 0];
-    n[tt[e]] = o === "-" ? -r : r, this.joggingSocket.sendJson({
+    n[tt[t]] = o === "-" ? -r : r, this.joggingSocket.sendJson({
       message_type: "TcpVelocityRequest",
       translation: n,
       rotation: i,
@@ -2183,7 +2183,7 @@ class ft {
    * Jogging: Start the TCP rotating around a specified axis at a given velocity
    */
   async rotateTCP({
-    axis: e,
+    axis: t,
     direction: o,
     velocityRadsPerSec: r
   }) {
@@ -2192,7 +2192,7 @@ class ft {
         "Continuous jogging websocket not connected; create one by setting jogging mode to 'jogging'"
       );
     const i = [0, 0, 0], n = [0, 0, 0];
-    i[tt[e]] = o === "-" ? -r : r, this.joggingSocket.sendJson({
+    i[tt[t]] = o === "-" ? -r : r, this.joggingSocket.sendJson({
       message_type: "TcpVelocityRequest",
       translation: n,
       rotation: i,
@@ -2207,7 +2207,7 @@ class ft {
    * Promise resolves only after the motion has completed.
    */
   async runIncrementalCartesianMotion({
-    currentTcpPose: e,
+    currentTcpPose: t,
     currentJoints: o,
     // coordSystemId,
     velocityInRelevantUnits: r,
@@ -2221,11 +2221,11 @@ class ft {
         "Set jogging mode to 'trajectory' to run incremental cartesian motions"
       );
     if (c.type === "translate") {
-      if (!e.position)
+      if (!t.position)
         throw new Error(
           "Current pose has no position, cannot perform translation"
         );
-      const f = [...e.position];
+      const f = [...t.position];
       f[tt[i]] += c.distanceMm * (n === "-" ? -1 : 1), s.push({
         limits_override: {
           tcp_velocity_limit: r
@@ -2234,24 +2234,24 @@ class ft {
           path_definition_name: "PathLine",
           target_pose: {
             position: f,
-            orientation: e.orientation
+            orientation: t.orientation
           }
         }
       });
     } else if (c.type === "rotate") {
-      if (!e.orientation)
+      if (!t.orientation)
         throw new Error(
           "Current pose has no orientation, cannot perform rotation"
         );
       const f = 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(
+        t.orientation[0],
+        t.orientation[1],
+        t.orientation[2]
+      ), h = f.length(), v = f.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), I = Math.sin(0.5 * b) * Math.cos(0.5 * h), R = Math.cos(0.5 * b) * Math.sin(0.5 * h), k = C.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);
+      ), E = C.clone().cross(v), z = 2 * Math.acos(w - M * k), Q = z / Math.sin(0.5 * z), ot = new ct().addScaledVector(E, M).addScaledVector(C, I).addScaledVector(v, R).multiplyScalar(Q);
       s.push({
         limits_override: {
           tcp_orientation_velocity_limit: r
@@ -2259,7 +2259,7 @@ class ft {
         path: {
           path_definition_name: "PathLine",
           target_pose: {
-            position: e.position,
+            position: t.position,
             orientation: [...ot]
           }
         }
@@ -2329,7 +2329,7 @@ class ft {
     };
     this.trajectorySocket.addEventListener("message", (f) => {
       var v, b;
-      const h = W(f.data);
+      const h = G(f.data);
       if (!((v = h == null ? void 0 : h.result) != null && v.kind))
         throw new Error(
           `Failed to execute trajectory: Received invalid message ${f.data}`
@@ -2363,12 +2363,12 @@ class ft {
     });
   }
 }
-const vo = (t) => {
-  const e = t.softTimeout || 3e3, [o, r] = B(!1), i = F();
+const To = (e) => {
+  const t = e.softTimeout || 3e3, [o, r] = B(!1), i = F();
   return A(() => {
     const n = setTimeout(() => {
       r(!0);
-    }, e);
+    }, t);
     return () => clearTimeout(n);
   }), /* @__PURE__ */ a(
     P,
@@ -2378,15 +2378,15 @@ const vo = (t) => {
       alignItems: "center",
       justifyContent: "center",
       sx: { color: i.palette.text.primary },
-      children: t.error ? /* @__PURE__ */ a(
-        Co,
+      children: e.error ? /* @__PURE__ */ a(
+        Mo,
         {
-          loadingMessage: t.message,
-          error: t.error
+          loadingMessage: e.message,
+          error: e.error
         }
       ) : /* @__PURE__ */ S(et, { children: [
-        /* @__PURE__ */ a(Ie, { sx: { marginBottom: "24px" } }),
-        !!t.message && /* @__PURE__ */ a("div", { children: t.message }),
+        /* @__PURE__ */ a(_e, { sx: { marginBottom: "24px" } }),
+        !!e.message && /* @__PURE__ */ a("div", { children: e.message }),
         /* @__PURE__ */ a(
           P,
           {
@@ -2401,8 +2401,8 @@ const vo = (t) => {
       ] })
     }
   );
-}, Co = (t) => {
-  const e = Re(t.error), o = t.error instanceof Error ? t.error.stack : null, r = F();
+}, Mo = (e) => {
+  const t = je(e.error), o = e.error instanceof Error ? e.error.stack : null, r = F();
   return /* @__PURE__ */ S(
     P,
     {
@@ -2419,16 +2419,16 @@ const vo = (t) => {
         }
       },
       children: [
-        (t.loadingMessage ? `Error while ${ye(ke(t.loadingMessage))} - ` : "") + e,
+        (e.loadingMessage ? `Error while ${we(Ee(e.loadingMessage))} - ` : "") + t,
         /* @__PURE__ */ a("br", {}),
         o && /* @__PURE__ */ a("pre", { children: o })
       ]
     }
   );
-}, wo = J(({ store: t }) => {
-  const { t: e } = V();
+}, ko = J(({ store: e }) => {
+  const { t } = V();
   return /* @__PURE__ */ a(
-    Bt,
+    Ft,
     {
       "data-testid": "jogging-blocked",
       "aria-label": "jogging-blocked",
@@ -2442,36 +2442,36 @@ const vo = (t) => {
         alignItems: "flex-start"
       },
       children: /* @__PURE__ */ S(P, { sx: { m: 2, width: "100%" }, children: [
-        /* @__PURE__ */ S(Ee, { severity: "error", sx: { mb: 2 }, children: [
-          /* @__PURE__ */ a(je, { children: e("Jogging.Blocked.ti") }),
-          e("Jogging.Blocked.lb")
+        /* @__PURE__ */ S(Pe, { severity: "error", sx: { mb: 2 }, children: [
+          /* @__PURE__ */ a(De, { children: t("Jogging.Blocked.ti") }),
+          t("Jogging.Blocked.lb")
         ] }),
         /* @__PURE__ */ a(
           Z,
           {
             variant: "contained",
             color: "secondary",
-            onClick: () => t.unblock(),
-            children: e("Jogging.Blocked.Reenable.bt")
+            onClick: () => e.unblock(),
+            children: t("Jogging.Blocked.Reenable.bt")
           }
         )
       ] })
     }
   );
-}), Ut = J(
-  ({ store: t }) => {
-    const { t: e } = V(), [o, r] = B(
-      t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached
-    ), i = D(o);
+}), Ht = J(
+  ({ store: e }) => {
+    const { t } = V(), [o, r] = B(
+      e.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached
+    ), i = O(o);
     pt(() => {
-      const c = t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached;
-      Fe(i.current, c) || (i.current = c, r(c));
+      const c = e.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached;
+      ze(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,
+      _,
       {
         "data-testid": "jogging-joint-limit-detector",
         "aria-label": "jogging-joint-limit-detector",
@@ -2482,13 +2482,13 @@ const vo = (t) => {
           minHeight: "1.5rem",
           visibility: n.length ? "visible" : "hidden"
         },
-        children: e("Jogging.JointLimitsReached.lb", {
+        children: t("Jogging.JointLimitsReached.lb", {
           jointNumbers: n.map((c) => c + 1).join(", ")
         })
       }
     );
   }
-), To = gt(Le)(({ theme: t }) => ({
+), Io = gt(Ve)(({ theme: e }) => ({
   "&.MuiFormControl-root": {
     ".MuiSelect-select": {
       paddingTop: "20px",
@@ -2500,18 +2500,18 @@ const vo = (t) => {
     },
     ".MuiInputLabel-root": {
       "&.Mui-focused": {
-        color: t.palette.text.primary
+        color: e.palette.text.primary
       }
     }
   }
 }));
 function it({
-  labelValue: t,
-  ...e
+  labelValue: e,
+  ...t
 }) {
-  return /* @__PURE__ */ S(To, { fullWidth: !0, variant: "filled", children: [
-    /* @__PURE__ */ a($e, { id: e.labelId, children: t }),
-    /* @__PURE__ */ a(ze, { ...e })
+  return /* @__PURE__ */ S(Io, { fullWidth: !0, variant: "filled", children: [
+    /* @__PURE__ */ a(Ne, { id: t.labelId, children: e }),
+    /* @__PURE__ */ a(Ge, { ...t })
   ] });
 }
 const dt = [
@@ -2519,38 +2519,38 @@ const dt = [
   { id: "1", mm: 1, degrees: 0.5 },
   { id: "5", mm: 5, degrees: 2.5 },
   { id: "10", mm: 10, degrees: 5 }
-], Mo = [
+], Ro = [
   { id: "continuous" },
   ...dt
-], Io = ["coordsys", "tool"];
+], _o = ["coordsys", "tool"];
 class bt {
-  constructor(e, o, r, i, n) {
+  constructor(t, o, r, i, n) {
     var c, s, l, g;
-    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;
+    this.jogger = t, 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.minRotationVelocityDegPerSec = 1, 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 = W.RevoluteJoint, this.operationMode = null, this.safetyState = null;
     for (const m of o)
       if (m.coordinate_system === "") {
         m.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.operationMode = t.motionStream.controller.operation_mode, this.safetyState = t.motionStream.controller.safety_state, 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) ?? W.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(Me(() => this.saveToLocalStorage())), window.joggingStore = this;
   }
   /**
    * Load a jogging store with the relevant data it needs
    * from the backend
    */
-  static async loadFor(e) {
-    const { nova: o } = e, [r, i] = await Promise.all([
+  static async loadFor(t) {
+    const { nova: o } = t, [r, i] = await Promise.all([
       // Fetch coord systems so user can select between them
       o.api.controller.listCoordinateSystems(
-        e.motionStream.controllerId,
+        t.motionStream.controllerId,
         "ROTATION_VECTOR"
       ),
       // Same for TCPs and other info from description
       o.api.motionGroup.getMotionGroupDescription(
-        e.motionStream.controllerId,
-        e.motionGroupId
+        t.motionStream.controllerId,
+        t.motionGroupId
       )
     ]), n = await o.api.motionGroupModels.getMotionGroupKinematicModel(
       i.motion_group_model
@@ -2561,7 +2561,7 @@ class bt {
       orientation: l.pose.orientation
     }));
     return new bt(
-      e,
+      t,
       r || [],
       i,
       c,
@@ -2569,16 +2569,15 @@ class bt {
     );
   }
   dispose() {
-    for (const e of this.disposers)
-      e();
+    for (const t of this.disposers)
+      t();
     this.jogger.dispose();
   }
   get coordSystemCountByName() {
-    return Se(this.coordSystems, (e) => e.name);
+    return Ce(this.coordSystems, (t) => t.name);
   }
   async deactivate() {
-    if (this.jogger.mode === "jogging")
-      return this.jogger.stop();
+    this.jogger.mode === "jogging" && await this.jogger.setJoggingMode("off");
   }
   /** Activate the jogger with current settings */
   async activate() {
@@ -2588,8 +2587,8 @@ class bt {
     }), this.activeDiscreteIncrement ? this.jogger.setJoggingMode("trajectory") : this.jogger.setJoggingMode("jogging")) : this.jogger.setJoggingMode("jogging"), this.jogger;
   }
   loadFromLocalStorage() {
-    const e = W(localStorage.getItem("joggingToolStore"));
-    e && (this.tabsById[e.selectedTabId] && (this.selectedTabId = e.selectedTabId), this.coordSystemsById[e.selectedCoordSystemId] && (this.selectedCoordSystemId = e.selectedCoordSystemId), this.tcpsById[e.selectedTcpId] && (this.selectedTcpId = e.selectedTcpId), this.incrementOptionsById[e.selectedIncrementId] && (this.selectedIncrementId = e.selectedIncrementId), ["translate", "rotate"].includes(e.selectedCartesianMotionType) && (this.selectedCartesianMotionType = e.selectedCartesianMotionType), ["coordsys", "tool"].includes(e.selectedOrientation) && (this.selectedOrientation = e.selectedOrientation));
+    const t = G(localStorage.getItem("joggingToolStore"));
+    t && (this.tabsById[t.selectedTabId] && (this.selectedTabId = t.selectedTabId), this.coordSystemsById[t.selectedCoordSystemId] && (this.selectedCoordSystemId = t.selectedCoordSystemId), this.tcpsById[t.selectedTcpId] && (this.selectedTcpId = t.selectedTcpId), this.incrementOptionsById[t.selectedIncrementId] && (this.selectedIncrementId = t.selectedIncrementId), ["translate", "rotate"].includes(t.selectedCartesianMotionType) && (this.selectedCartesianMotionType = t.selectedCartesianMotionType), ["coordsys", "tool"].includes(t.selectedOrientation) && (this.selectedOrientation = t.selectedOrientation));
   }
   saveToLocalStorage() {
     localStorage.setItem(
@@ -2611,28 +2610,28 @@ class bt {
     };
   }
   get tabs() {
-    const e = [
+    const t = [
       {
         id: "joint",
         label: "Joints"
       }
     ];
-    return this.inverseSolver !== null && e.unshift({
+    return this.inverseSolver !== null && t.unshift({
       id: "cartesian",
       label: "Cartesian"
-    }), e;
+    }), t;
   }
   get incrementOptions() {
-    return Mo;
+    return Ro;
   }
   get discreteIncrementOptions() {
     return dt;
   }
   get incrementOptionsById() {
-    return nt(this.incrementOptions, (e) => e.id);
+    return nt(this.incrementOptions, (t) => t.id);
   }
   get tabsById() {
-    return nt(this.tabs, (e) => e.id);
+    return nt(this.tabs, (t) => t.id);
   }
   get currentTab() {
     return this.tabsById[this.selectedTabId] || this.tabs[0];
@@ -2641,7 +2640,7 @@ class bt {
     return this.tabs.indexOf(this.currentTab);
   }
   get coordSystemsById() {
-    return nt(this.coordSystems, (e) => e.coordinate_system);
+    return nt(this.coordSystems, (t) => t.coordinate_system);
   }
   /**
    * The id of the coordinate system to use for jogging.
@@ -2652,57 +2651,113 @@ class bt {
     return this.selectedOrientation === "tool" ? "tool" : this.selectedCoordSystemId;
   }
   get tcpsById() {
-    return nt(this.tcps, (e) => e.id);
+    return nt(this.tcps, (t) => t.id);
   }
   get activeDiscreteIncrement() {
-    return this.selectedOrientation === "tool" ? void 0 : dt.find((e) => e.id === this.selectedIncrementId);
+    return this.selectedOrientation === "tool" ? void 0 : dt.find((t) => t.id === this.selectedIncrementId);
   }
   /** The selected rotation velocity converted to radians per second */
   get rotationVelocityRadsPerSec() {
     return this.rotationVelocityDegPerSec * Math.PI / 180;
   }
   /** Selected velocity in mm/sec or deg/sec */
-  velocityInDisplayUnits(e) {
-    return e ? this.rotationVelocityDegPerSec : this.translationVelocityMmPerSec;
+  velocityInDisplayUnits(t) {
+    return t ? this.rotationVelocityDegPerSec : this.translationVelocityMmPerSec;
+  }
+  get isAutoMode() {
+    return this.operationMode === xe.OperationModeAuto;
+  }
+  get isSafetyStateNormal() {
+    return this.safetyState === ye.SafetyStateNormal;
+  }
+  /** Maximum rotation velocity user can choose on the velocity slider in °/s */
+  get maxRotationVelocityDegPerSec() {
+    var o, r, i, n;
+    if (this.operationMode && this.safetyState && this.motionGroupDescription) {
+      const c = this.isAutoMode ? (r = (o = this.motionGroupDescription.operation_limits.auto_limits) == null ? void 0 : o.tcp) == null ? void 0 : r.orientation_velocity : (n = (i = this.motionGroupDescription.operation_limits[this.isSafetyStateNormal ? "manual_t1_limits" : "manual_t2_limits"]) == null ? void 0 : i.tcp) == null ? void 0 : n.orientation_velocity;
+      return c ? kt(c) : 60;
+    }
+    return 60;
+  }
+  /** Maximum translation velocity user can choose on the velocity slider in mm/s */
+  get maxTranslationVelocityMmPerSec() {
+    var o, r, i, n;
+    return this.operationMode && this.safetyState && this.motionGroupDescription ? (this.isAutoMode ? (r = (o = this.motionGroupDescription.operation_limits.auto_limits) == null ? void 0 : o.tcp) == null ? void 0 : r.velocity : (n = (i = this.motionGroupDescription.operation_limits[this.isSafetyStateNormal ? "manual_t1_limits" : "manual_t2_limits"]) == null ? void 0 : i.tcp) == null ? void 0 : n.velocity) ?? 250 : 250;
   }
-  /** Minimum selectable velocity in mm/sec or deg/sec */
-  minVelocityInDisplayUnits(e) {
-    return e ? this.minRotationVelocityDegPerSec : this.minTranslationVelocityMmPerSec;
+  /**
+   * Returns joint velocity in °/s
+   * @param joint JointLimits
+   * @param fallback number
+   * @private
+   */
+  getJointVelocity(t, o) {
+    return t.velocity ? kt(t.velocity) : o;
+  }
+  /**
+   * Maximum joint rotation velocity user can choose on the velocity slider in °/s
+   */
+  get maxJointVelocityInDisplayUnits() {
+    var o, r, i, n;
+    if (this.operationMode && this.safetyState && this.motionGroupDescription) {
+      const c = ((r = (o = this.motionGroupDescription.operation_limits.auto_limits) == null ? void 0 : o.joints) == null ? void 0 : r.map(
+        (l) => this.getJointVelocity(l, 60)
+      )) ?? [], s = ((n = (i = this.motionGroupDescription.operation_limits[this.isSafetyStateNormal ? "manual_t1_limits" : "manual_t2_limits"]) == null ? void 0 : i.joints) == null ? void 0 : n.map((l) => this.getJointVelocity(l, 60))) ?? [];
+      return Math.floor(
+        this.isAutoMode ? Math.max(...c) : Math.max(...s)
+      );
+    }
+    return 60;
   }
-  /** Maximum selectable velocity in mm/sec or deg/sec */
-  maxVelocityInDisplayUnits(e) {
-    return e ? this.maxRotationVelocityDegPerSec : this.maxTranslationVelocityMmPerSec;
+  /**  Minimum selectable velocity in mm/sec or deg/sec */
+  minVelocityInDisplayUnits(t) {
+    return t ? this.minRotationVelocityDegPerSec : this.minTranslationVelocityMmPerSec;
   }
-  onTabChange(e, o) {
+  /**
+   * Maximum selectable velocity in mm/sec or deg/sec
+   *
+   * If data provided by the api is already present - read out the limits from the motionGroupDescription
+   *
+   * Automatic mode -> auto_limits
+   * Manual mode t1 -> manual_t1_limits
+   * Manual mode t2 -> manual_t2_limits
+   *
+   * In other case - return the fallbacks
+   */
+  maxVelocityInDisplayUnits(t) {
+    return Math.floor(
+      t ? this.maxRotationVelocityDegPerSec : this.maxTranslationVelocityMmPerSec
+    );
+  }
+  onTabChange(t, o) {
     const r = this.tabs[o] || this.tabs[0];
     this.selectedTabId = r.id;
   }
-  setSelectedCoordSystemId(e) {
-    this.selectedCoordSystemId = e;
+  setSelectedCoordSystemId(t) {
+    this.selectedCoordSystemId = t;
   }
-  setSelectedTcpId(e) {
-    this.selectedTcpId = e;
+  setSelectedTcpId(t) {
+    this.selectedTcpId = t;
   }
-  setSelectedOrientation(e) {
-    this.selectedOrientation = e;
+  setSelectedOrientation(t) {
+    this.selectedOrientation = t;
   }
-  setSelectedIncrementId(e) {
-    this.selectedIncrementId = e;
+  setSelectedIncrementId(t) {
+    this.selectedIncrementId = t;
   }
-  setCurrentIncrementJog(e) {
-    this.incrementJogInProgress = e;
+  setCurrentIncrementJog(t) {
+    this.incrementJogInProgress = t;
   }
-  setVelocityFromSlider(e, o) {
-    o ? this.rotationVelocityDegPerSec = e : this.translationVelocityMmPerSec = e;
+  setVelocityFromSlider(t, o) {
+    o ? this.rotationVelocityDegPerSec = t : this.translationVelocityMmPerSec = t;
   }
-  setSelectedCartesianMotionType(e) {
-    this.selectedCartesianMotionType = e;
+  setSelectedCartesianMotionType(t) {
+    this.selectedCartesianMotionType = t;
   }
-  lock(e) {
-    this.locks.add(e);
+  lock(t) {
+    this.locks.add(t);
   }
-  unlock(e) {
-    this.locks.delete(e);
+  unlock(t) {
+    this.locks.delete(t);
   }
   block() {
     this.blocked = !0;
@@ -2711,20 +2766,20 @@ class bt {
     this.blocked = !1, this.jogger.mode === "jogging" && this.jogger.initializeJoggingWebsocket();
   }
   /** Lock the UI until the given async callback resolves */
-  async withMotionLock(e) {
-    const o = Ve();
+  async withMotionLock(t) {
+    const o = We();
     this.lock(o);
     try {
-      return await e();
+      return await t();
     } finally {
       this.unlock(o);
     }
   }
 }
-const ko = J(
-  ({ store: t, useDegree: e }) => {
+const Eo = J(
+  ({ store: e, useDegree: t }) => {
     var c;
-    const { t: o } = V(), r = ee(), i = [];
+    const { t: o } = V(), r = oe(), i = [];
     function n(s) {
       switch (s) {
         case "coordsys":
@@ -2735,51 +2790,51 @@ const ko = J(
           return s;
       }
     }
-    return t.showCoordSystemSelect && i.push(
+    return e.showCoordSystemSelect && i.push(
       /* @__PURE__ */ a(
         it,
         {
           labelId: `jogging-coord-select-${r}`,
           labelValue: o("Jogging.CoordinateSystem.hlb"),
-          value: t.selectedCoordSystemId,
+          value: e.selectedCoordSystemId,
           size: "small",
           variant: "filled",
           displayEmpty: !0,
-          onChange: (s) => t.setSelectedCoordSystemId(s.target.value),
-          disabled: t.isLocked,
-          children: t.coordSystems.map((s) => /* @__PURE__ */ a(q, { value: s.coordinate_system, children: s.name && t.coordSystemCountByName[s.name] > 1 ? `${s.name} / ${s.coordinate_system}` : s.name || s.coordinate_system }, s.coordinate_system))
+          onChange: (s) => e.setSelectedCoordSystemId(s.target.value),
+          disabled: e.isLocked,
+          children: e.coordSystems.map((s) => /* @__PURE__ */ a(q, { value: s.coordinate_system, children: s.name && e.coordSystemCountByName[s.name] > 1 ? `${s.name} / ${s.coordinate_system}` : s.name || s.coordinate_system }, s.coordinate_system))
         },
         "coord"
       )
-    ), t.showTcpSelect && i.push(
+    ), e.showTcpSelect && i.push(
       /* @__PURE__ */ a(
         it,
         {
           labelId: `jogging-tcp-select-${r}`,
           labelValue: "TCP",
-          value: t.selectedTcpId,
+          value: e.selectedTcpId,
           size: "small",
           variant: "filled",
-          onChange: (s) => t.setSelectedTcpId(s.target.value),
-          disabled: t.isLocked,
-          children: t.tcps.map((s) => /* @__PURE__ */ a(q, { value: s.id, children: s.id }, s.id))
+          onChange: (s) => e.setSelectedTcpId(s.target.value),
+          disabled: e.isLocked,
+          children: e.tcps.map((s) => /* @__PURE__ */ a(q, { value: s.id, children: s.id }, s.id))
         },
         "tcp"
       )
-    ), t.showOrientationSelect && i.push(
+    ), e.showOrientationSelect && i.push(
       /* @__PURE__ */ a(
         it,
         {
           labelValue: o("Jogging.Cartesian.Orientation.lb"),
           labelId: `orientation-select-${r}`,
-          value: t.selectedOrientation,
-          onChange: (s) => t.setSelectedOrientation(s.target.value),
-          disabled: t.isLocked,
-          children: Io.map((s) => /* @__PURE__ */ a(q, { value: s, children: n(s) }, s))
+          value: e.selectedOrientation,
+          onChange: (s) => e.setSelectedOrientation(s.target.value),
+          disabled: e.isLocked,
+          children: _o.map((s) => /* @__PURE__ */ a(q, { value: s, children: n(s) }, s))
         },
         "orientation"
       )
-    ), t.showIncrementSelect && i.push(
+    ), e.showIncrementSelect && i.push(
       /* @__PURE__ */ S(
         it,
         {
@@ -2787,14 +2842,14 @@ const ko = J(
           labelId: `jogging-increment-select-${r}`,
           size: "small",
           variant: "filled",
-          value: ((c = t.activeDiscreteIncrement) == null ? void 0 : c.id) || "continuous",
-          onChange: (s) => t.setSelectedIncrementId(
+          value: ((c = e.activeDiscreteIncrement) == null ? void 0 : c.id) || "continuous",
+          onChange: (s) => e.setSelectedIncrementId(
             s.target.value
           ),
-          disabled: t.isLocked,
+          disabled: e.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))
+            e.selectedOrientation === "tool" ? null : e.discreteIncrementOptions.map((s) => /* @__PURE__ */ a(q, { value: s.id, children: t ? `${s.degrees}°` : `${s.mm}mm` }, s.id))
           ]
         },
         "increment"
@@ -2825,11 +2880,11 @@ const ko = J(
       }
     );
   }
-), Ro = gt(Ne)(({ theme: t }) => {
-  var e;
+), jo = gt(Ue)(({ theme: e }) => {
+  var t;
   return {
     "&.MuiToggleButtonGroup-root": {
-      background: (e = t.palette.backgroundPaperElevation) == null ? void 0 : e[8],
+      background: (t = e.palette.backgroundPaperElevation) == null ? void 0 : t[8],
       borderRadius: "8px",
       padding: "4px",
       gap: "4px",
@@ -2847,11 +2902,11 @@ const ko = J(
       }
     }
   };
-}), Eo = J((t) => {
+}), Po = J((e) => {
   var n, c, s;
-  const e = F(), { store: o } = t, { t: r } = V();
+  const t = F(), { store: o } = e, { t: r } = V();
   function i(l, g) {
-    g === t.velocity || !We(g) || t.onVelocityChange(g, t.useDegree);
+    g === e.velocity || !He(g) || e.onVelocityChange(g, e.useDegree);
   }
   return /* @__PURE__ */ S(
     P,
@@ -2863,25 +2918,25 @@ const ko = J(
       "aria-label": "velocity-slider",
       children: [
         o.showVelocityLegend && /* @__PURE__ */ a(
-          E,
+          _,
           {
             sx: {
-              color: (s = (c = (n = e.componentsExt) == null ? void 0 : n.JoggingPanel) == null ? void 0 : c.VelocitySlider) == null ? void 0 : s.sliderLegendColor,
+              color: (s = (c = (n = t.componentsExt) == null ? void 0 : n.JoggingPanel) == null ? void 0 : c.VelocitySlider) == null ? void 0 : s.sliderLegendColor,
               fontSize: "14px"
             },
             children: r("Jogging.Velocity.bt")
           }
         ),
         /* @__PURE__ */ a(
-          Nt,
+          Gt,
           {
-            value: t.velocity,
+            value: e.velocity,
             color: "secondary",
             onChange: i,
-            min: t.min,
-            max: t.max,
+            min: e.min,
+            max: e.max,
             "aria-labelledby": "input-slider",
-            disabled: t.disabled,
+            disabled: e.disabled,
             sx: {
               "& .MuiSlider-valueLabelOpen": {
                 zIndex: 100,
@@ -2891,12 +2946,12 @@ const ko = J(
             }
           }
         ),
-        o.showVelocitySliderLabel && (t.renderValue ? t.renderValue(t.velocity) : /* @__PURE__ */ a(Ht, { value: t.velocity.toString() }))
+        o.showVelocitySliderLabel && (e.renderValue ? e.renderValue(e.velocity) : /* @__PURE__ */ a(qt, { value: e.velocity.toString() }))
       ]
     }
   );
 });
-function Ht({ value: t, sx: e }) {
+function qt({ value: e, sx: t }) {
   var r;
   const o = F();
   return /* @__PURE__ */ a(
@@ -2911,10 +2966,10 @@ function Ht({ value: t, sx: e }) {
         background: (r = o.palette.backgroundPaperElevation) == null ? void 0 : r[8],
         borderRadius: "10px",
         minWidth: "111px",
-        ...e
+        ...t
       },
       children: /* @__PURE__ */ a(
-        E,
+        _,
         {
           component: "span",
           sx: {
@@ -2924,32 +2979,36 @@ function Ht({ value: t, sx: e }) {
             color: o.palette.text.primary,
             whiteSpace: "nowrap"
           },
-          children: t
+          children: e
         }
       )
     }
   );
 }
-const qt = J(
-  ({ store: t, useDegree: e }) => {
-    const { t: o } = V();
-    function r(i, n) {
-      return n ? `ω = ${o("Jogging.Cartesian.Rotation.velocityDegPerSec.lb", { amount: i })}` : `v = ${o("Jogging.Cartesian.Translation.velocityMmPerSec.lb", { amount: i })}`;
+const Yt = J(
+  ({
+    store: e,
+    useDegree: t,
+    isJointVelocitySlider: o
+  }) => {
+    const { t: r } = V();
+    function i(n, c) {
+      return c ? `ω = ${r("Jogging.Cartesian.Rotation.velocityDegPerSec.lb", { amount: n })}` : `v = ${r("Jogging.Cartesian.Translation.velocityMmPerSec.lb", { amount: n })}`;
     }
     return /* @__PURE__ */ a(
-      Eo,
+      Po,
       {
-        store: t,
-        velocity: t.velocityInDisplayUnits(e),
-        min: t.minVelocityInDisplayUnits(e),
-        max: t.maxVelocityInDisplayUnits(e),
-        onVelocityChange: t.setVelocityFromSlider,
-        useDegree: e,
-        disabled: t.isLocked,
-        renderValue: (i) => /* @__PURE__ */ a(
-          Ht,
+        store: e,
+        velocity: e.velocityInDisplayUnits(t),
+        min: e.minVelocityInDisplayUnits(t),
+        max: o ? e.maxJointVelocityInDisplayUnits : e.maxVelocityInDisplayUnits(t),
+        onVelocityChange: e.setVelocityFromSlider,
+        useDegree: t,
+        disabled: e.isLocked,
+        renderValue: (n) => /* @__PURE__ */ a(
+          qt,
           {
-            value: r(i, e),
+            value: i(n, t),
             sx: {
               minWidth: "111px",
               span: {
@@ -2961,21 +3020,21 @@ const qt = J(
       }
     );
   }
-), jo = J(
+), Do = J(
   ({
-    store: t,
-    children: e
+    store: e,
+    children: t
   }) => {
     const { t: o } = V(), r = F();
     function i(u, p) {
-      (p === "translate" || p === "rotate") && t.setSelectedCartesianMotionType(p);
+      (p === "translate" || p === "rotate") && e.setSelectedCartesianMotionType(p);
     }
-    ie(
-      () => [t.selectedCoordSystemId, t.selectedTcpId],
+    re(
+      () => [e.selectedCoordSystemId, e.selectedTcpId],
       () => {
-        t.jogger.motionStream.motionStateSocket.changeUrl(
-          t.jogger.nova.makeWebsocketURL(
-            `/controllers/${t.jogger.motionStream.controllerId}/motion-groups/${t.jogger.motionGroupId}/state-stream?tcp=${t.selectedTcpId}`
+        e.jogger.motionStream.motionStateSocket.changeUrl(
+          e.jogger.nova.makeWebsocketURL(
+            `/controllers/${e.jogger.motionStream.controllerId}/motion-groups/${e.jogger.motionGroupId}/state-stream?tcp=${e.selectedTcpId}`
           )
         );
       },
@@ -2983,49 +3042,49 @@ const qt = J(
       { 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 () => {
+      const x = await e.activate(), y = x.motionStream.rapidlyChangingMotionState.tcp_pose, f = x.motionStream.rapidlyChangingMotionState.joint_position;
+      y && await e.withMotionLock(async () => {
         try {
-          t.setCurrentIncrementJog({
+          e.setCurrentIncrementJog({
             axis: u.axis,
             direction: u.direction
-          }), await t.jogger.runIncrementalCartesianMotion({
+          }), await e.jogger.runIncrementalCartesianMotion({
             currentTcpPose: y,
             currentJoints: f,
-            coordSystemId: t.activeCoordSystemId,
-            velocityInRelevantUnits: t.selectedCartesianMotionType === "translate" ? t.translationVelocityMmPerSec : t.rotationVelocityRadsPerSec,
+            coordSystemId: e.activeCoordSystemId,
+            velocityInRelevantUnits: e.selectedCartesianMotionType === "translate" ? e.translationVelocityMmPerSec : e.rotationVelocityRadsPerSec,
             axis: u.axis,
             direction: u.direction,
-            motion: t.selectedCartesianMotionType === "translate" ? {
+            motion: e.selectedCartesianMotionType === "translate" ? {
               type: "translate",
               distanceMm: p.mm
             } : {
               type: "rotate",
-              distanceRads: Me(p.degrees)
+              distanceRads: Re(p.degrees)
             }
           });
         } finally {
-          t.setCurrentIncrementJog(null), await t.deactivate();
+          e.setCurrentIncrementJog(null), await e.deactivate();
         }
       });
     }
     async function c(u) {
-      if (!t.isLocked) {
-        if (await t.activate(), t.activeDiscreteIncrement)
-          return n(u, t.activeDiscreteIncrement);
-        u.motionType === "translate" ? await t.jogger.translateTCP({
+      if (!e.isLocked) {
+        if (await e.activate(), e.activeDiscreteIncrement)
+          return n(u, e.activeDiscreteIncrement);
+        u.motionType === "translate" ? await e.jogger.translateTCP({
           axis: u.axis,
           direction: u.direction,
-          velocityMmPerSec: t.translationVelocityMmPerSec
-        }) : await t.jogger.rotateTCP({
+          velocityMmPerSec: e.translationVelocityMmPerSec
+        }) : await e.jogger.rotateTCP({
           axis: u.axis,
           direction: u.direction,
-          velocityRadsPerSec: t.rotationVelocityRadsPerSec
+          velocityRadsPerSec: e.rotationVelocityRadsPerSec
         });
       }
     }
     async function s() {
-      t.isLocked || t.activeDiscreteIncrement || await t.deactivate();
+      e.isLocked || e.activeDiscreteIncrement || await e.deactivate();
     }
     function l(u, p, x) {
       var f, h, v;
@@ -3036,18 +3095,18 @@ const qt = J(
     const g = [
       {
         id: "x",
-        icon: /* @__PURE__ */ a(Oe, {}),
-        colors: l("X", t.selectedCartesianMotionType, r)
+        icon: /* @__PURE__ */ a(Je, {}),
+        colors: l("X", e.selectedCartesianMotionType, r)
       },
       {
         id: "y",
-        icon: /* @__PURE__ */ a(De, {}),
-        colors: l("Y", t.selectedCartesianMotionType, r)
+        icon: /* @__PURE__ */ a(Be, {}),
+        colors: l("Y", e.selectedCartesianMotionType, r)
       },
       {
         id: "z",
-        icon: /* @__PURE__ */ a(Ae, {}),
-        colors: l("Z", t.selectedCartesianMotionType, r)
+        icon: /* @__PURE__ */ a(Fe, {}),
+        colors: l("Z", e.selectedCartesianMotionType, r)
       }
     ];
     function m(u) {
@@ -3055,7 +3114,7 @@ const qt = J(
     }
     function d(u) {
       return o("General.degree.variable", {
-        amount: Vt(u).toFixed(1)
+        amount: Nt(u).toFixed(1)
       });
     }
     return /* @__PURE__ */ S(
@@ -3069,17 +3128,17 @@ const qt = J(
         children: [
           /* @__PURE__ */ S(P, { gap: 2, children: [
             /* @__PURE__ */ a(
-              ko,
+              Eo,
               {
-                store: t,
-                useDegree: t.selectedCartesianMotionType === "rotate"
+                store: e,
+                useDegree: e.selectedCartesianMotionType === "rotate"
               }
             ),
             /* @__PURE__ */ a(
-              qt,
+              Yt,
               {
-                store: t,
-                useDegree: t.selectedCartesianMotionType === "rotate"
+                store: e,
+                useDegree: e.selectedCartesianMotionType === "rotate"
               }
             ),
             /* @__PURE__ */ a(Y, {})
@@ -3101,33 +3160,33 @@ const qt = J(
                   sx: { flexGrow: 1 },
                   children: [
                     /* @__PURE__ */ S(
-                      Ro,
+                      jo,
                       {
-                        value: t.selectedCartesianMotionType,
+                        value: e.selectedCartesianMotionType,
                         onChange: i,
                         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__ */ a(_t, { value: "translate", children: o("Jogging.Cartesian.Translation.bt") }),
+                          /* @__PURE__ */ a(_t, { value: "rotate", children: o("Jogging.Cartesian.Rotation.bt") })
                         ]
                       }
                     ),
-                    t.selectedCartesianMotionType === "translate" && g.map((u) => {
+                    e.selectedCartesianMotionType === "translate" && g.map((u) => {
                       var p, x;
                       return /* @__PURE__ */ a(
-                        _t,
+                        Pt,
                         {
                           "data-testid": `jogging-cartesian-axis-control-${u.id}`,
                           "aria-label": `jogging-cartesian-axis-control-${u.id}`,
                           colors: u.colors,
-                          disabled: t.isLocked,
-                          activeJoggingDirection: ((p = t.incrementJogInProgress) == null ? void 0 : p.axis) === u.id ? t.incrementJogInProgress.direction : void 0,
+                          disabled: e.isLocked,
+                          activeJoggingDirection: ((p = e.incrementJogInProgress) == null ? void 0 : p.axis) === u.id ? e.incrementJogInProgress.direction : void 0,
                           label: /* @__PURE__ */ S(et, { children: [
                             u.icon,
                             /* @__PURE__ */ a(
-                              E,
+                              _,
                               {
                                 sx: {
                                   fontSize: "24px",
@@ -3140,7 +3199,7 @@ const qt = J(
                           getDisplayedValue: () => {
                             var y, f;
                             return m(
-                              ((f = (y = t.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : y.position) == null ? void 0 : f[tt[u.id]]) || 0
+                              ((f = (y = e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : y.position) == null ? void 0 : f[tt[u.id]]) || 0
                             );
                           },
                           startJogging: (y) => c({
@@ -3153,20 +3212,20 @@ const qt = J(
                         u.id
                       );
                     }),
-                    t.selectedCartesianMotionType === "rotate" && g.map((u) => {
+                    e.selectedCartesianMotionType === "rotate" && g.map((u) => {
                       var p, x;
                       return /* @__PURE__ */ a(
-                        _t,
+                        Pt,
                         {
                           "data-testid": `jogging-cartesian-axis-control-${u.id}`,
                           "aria-label": `jogging-cartesian-axis-control-${u.id}`,
                           colors: u.colors,
-                          disabled: t.isLocked,
-                          activeJoggingDirection: ((p = t.incrementJogInProgress) == null ? void 0 : p.axis) === u.id ? t.incrementJogInProgress.direction : void 0,
+                          disabled: e.isLocked,
+                          activeJoggingDirection: ((p = e.incrementJogInProgress) == null ? void 0 : p.axis) === u.id ? e.incrementJogInProgress.direction : void 0,
                           label: /* @__PURE__ */ S(et, { children: [
-                            /* @__PURE__ */ a(Je, {}),
+                            /* @__PURE__ */ a(Le, {}),
                             /* @__PURE__ */ a(
-                              E,
+                              _,
                               {
                                 sx: {
                                   fontSize: "24px",
@@ -3179,7 +3238,7 @@ const qt = J(
                           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
+                              ((f = (y = e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : y.orientation) == null ? void 0 : f[tt[u.id]]) || 0
                             );
                           },
                           startJogging: (y) => c({
@@ -3197,26 +3256,26 @@ const qt = J(
               )
             }
           ),
-          /* @__PURE__ */ a(Ut, { store: t }),
-          e && /* @__PURE__ */ a(Y, {}),
-          e
+          /* @__PURE__ */ a(Ht, { store: e }),
+          t && /* @__PURE__ */ a(Y, {}),
+          t
         ]
       }
     );
   }
-), _o = J(
-  ({ store: t, children: e }) => {
+), Oo = J(
+  ({ store: e, children: t }) => {
     const o = F();
     async function r(n) {
-      await t.activate(), await t.jogger.rotateJoints({
+      await e.activate(), await e.jogger.rotateJoints({
         joint: n.joint,
         direction: n.direction,
-        velocityUnit: t.jointType === G.PrismaticJoint ? "mm/s" : "rad/s",
-        velocityValue: t.jointType === G.PrismaticJoint ? t.translationVelocityMmPerSec : t.rotationVelocityRadsPerSec
+        velocityUnit: e.jointType === W.PrismaticJoint ? "mm/s" : "rad/s",
+        velocityValue: e.jointType === W.PrismaticJoint ? e.translationVelocityMmPerSec : e.rotationVelocityRadsPerSec
       });
     }
     async function i() {
-      await t.jogger.stop(), await t.deactivate();
+      await e.jogger.stop(), await e.deactivate();
     }
     return /* @__PURE__ */ S(
       P,
@@ -3228,10 +3287,11 @@ const qt = J(
         sx: { padding: "18px 24px" },
         children: [
           /* @__PURE__ */ a(
-            qt,
+            Yt,
             {
-              store: t,
-              useDegree: t.jointType === G.RevoluteJoint
+              store: e,
+              useDegree: e.jointType === W.RevoluteJoint,
+              isJointVelocitySlider: !0
             }
           ),
           /* @__PURE__ */ a(Y, {}),
@@ -3248,9 +3308,9 @@ const qt = J(
                   "aria-label": "jogging-joint-value-controls-wrapper",
                   alignItems: "center",
                   gap: "24px",
-                  children: t.jogger.motionStream.joints.map((n) => {
+                  children: e.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;
+                    const c = (g = (l = (s = e.motionGroupDescription.operation_limits.auto_limits) == null ? void 0 : s.joints) == null ? void 0 : l[n.index]) == null ? void 0 : g.position;
                     return /* @__PURE__ */ S(
                       P,
                       {
@@ -3262,22 +3322,22 @@ const qt = J(
                         spacing: 1.5,
                         width: "100%",
                         children: [
-                          t.showJointsLegend && /* @__PURE__ */ a(
-                            E,
+                          e.showJointsLegend && /* @__PURE__ */ a(
+                            _,
                             {
-                              color: t.isLocked ? o.palette.text.disabled : o.palette.text.secondary,
+                              color: e.isLocked ? o.palette.text.disabled : o.palette.text.secondary,
                               children: `G${n.index + 1}`
                             }
                           ),
                           /* @__PURE__ */ a(
-                            xo,
+                            vo,
                             {
-                              disabled: t.isLocked,
+                              disabled: e.isLocked,
                               lowerLimit: c == null ? void 0 : c.lower_limit,
                               upperLimit: c == null ? void 0 : c.upper_limit,
-                              useDegree: t.jointType === G.RevoluteJoint,
+                              useDegree: e.jointType === W.RevoluteJoint,
                               getValue: () => {
-                                const m = t.jogger.motionStream.rapidlyChangingMotionState.joint_position[n.index];
+                                const m = e.jogger.motionStream.rapidlyChangingMotionState.joint_position[n.index];
                                 return m !== void 0 ? m : void 0;
                               },
                               startJogging: (m) => r({
@@ -3296,16 +3356,16 @@ const qt = J(
               )
             }
           ),
-          /* @__PURE__ */ a(Ut, { store: t }),
-          e && /* @__PURE__ */ a(Y, {}),
-          e
+          /* @__PURE__ */ a(Ht, { store: e }),
+          t && /* @__PURE__ */ a(Y, {}),
+          t
         ]
       }
     );
   }
-), ui = $(
-  J((t) => {
-    const e = ve(t.nova) ? new be({ instanceUrl: t.nova }) : t.nova, o = Ft(() => ({
+), mi = $(
+  J((e) => {
+    const t = Te(e.nova) ? new Se({ instanceUrl: e.nova }) : e.nova, o = Lt(() => ({
       joggingStore: null,
       loadingError: null
     }));
@@ -3314,25 +3374,25 @@ const qt = J(
         o.loadingError = null, o.joggingStore = null;
       });
       try {
-        let i = t.store;
+        let i = e.store;
         if (!i) {
-          const n = await ft.open(e, t.motionGroupId);
+          const n = await ft.open(t, e.motionGroupId);
           i = await bt.loadFor(n);
         }
         L(() => {
           o.joggingStore = i;
-        }), t.onSetup && t.onSetup(i);
+        }), e.onSetup && e.onSetup(i);
       } catch (i) {
         o.loadingError = i;
       }
     }
-    return A(() => (r(), t.store ? () => null : () => {
+    return A(() => (r(), e.store ? () => null : () => {
       var i;
       (i = o.joggingStore) == null || i.dispose();
-    }), [t.store, t.nova, t.motionGroupId]), A(() => {
+    }), [e.store, e.nova, e.motionGroupId]), A(() => {
       const i = o.joggingStore;
-      i && (t.locked ? i.lock("external") : i.unlock("external"));
-    }, [o.joggingStore, t.locked]), /* @__PURE__ */ a(
+      i && (e.locked ? i.lock("external") : i.unlock("external"));
+    }, [o.joggingStore, e.locked]), /* @__PURE__ */ a(
       P,
       {
         "data-testid": "jogging-panel",
@@ -3341,41 +3401,41 @@ const qt = J(
           maxWidth: "460px",
           minWidth: "320px",
           position: "relative",
-          ...t.sx
+          ...e.sx
         },
-        children: o.joggingStore ? /* @__PURE__ */ a(Po, { store: o.joggingStore, children: t.children }) : /* @__PURE__ */ a(vo, { message: "Loading jogging", error: o.loadingError })
+        children: o.joggingStore ? /* @__PURE__ */ a(Ao, { store: o.joggingStore, children: e.children }) : /* @__PURE__ */ a(To, { message: "Loading jogging", error: o.loadingError })
       }
     );
   })
-), Po = J(
+), Ao = J(
   ({
-    store: t,
-    children: e
+    store: e,
+    children: t
   }) => {
     const { t: o } = V();
     function r() {
-      if (t.currentTab.id === "cartesian")
-        return /* @__PURE__ */ a(jo, { store: t, children: e });
-      if (t.currentTab.id === "joint")
-        return /* @__PURE__ */ a(_o, { store: t, children: e });
+      if (e.currentTab.id === "cartesian")
+        return /* @__PURE__ */ a(Do, { store: e, children: t });
+      if (e.currentTab.id === "joint")
+        return /* @__PURE__ */ a(Oo, { store: e, children: t });
     }
     return /* @__PURE__ */ S(P, { flexGrow: 1, sx: { overflow: "hidden" }, children: [
       /* @__PURE__ */ a(
-        zt,
+        Vt,
         {
           "data-testid": "jogging-tabs",
           "aria-label": "jogging-tabs",
-          value: t.tabIndex,
-          onChange: t.onTabChange,
+          value: e.tabIndex,
+          onChange: e.onTabChange,
           variant: "fullWidth",
-          children: t.tabs.map((i) => {
-            const n = i.label === "Cartesian" ? o("Jogging.Cartesian.bt") : o("Jogging.Joints.bt"), c = i.label === "cartesian" ? /* @__PURE__ */ a(he, { fontSize: "small", sx: { mr: 1 } }) : /* @__PURE__ */ a(fe, { fontSize: "small", sx: { mr: 1 } });
+          children: e.tabs.map((i) => {
+            const n = i.label === "Cartesian" ? o("Jogging.Cartesian.bt") : o("Jogging.Joints.bt"), c = i.label === "cartesian" ? /* @__PURE__ */ a(fe, { fontSize: "small", sx: { mr: 1 } }) : /* @__PURE__ */ a(be, { fontSize: "small", sx: { mr: 1 } });
             return /* @__PURE__ */ a(
-              $t,
+              zt,
               {
                 "data-testid": `jogging-tab-${i.id}`,
                 "aria-label": `jogging-tab-${i.id}`,
-                label: t.showTabIcons ? /* @__PURE__ */ S(P, { direction: "row", alignItems: "center", children: [
+                label: e.showTabIcons ? /* @__PURE__ */ S(P, { direction: "row", alignItems: "center", children: [
                   c,
                   n
                 ] }) : n,
@@ -3396,17 +3456,17 @@ const qt = J(
           children: r()
         }
       ),
-      t.blocked && /* @__PURE__ */ a(wo, { store: t })
+      e.blocked && /* @__PURE__ */ a(ko, { store: e })
     ] });
   }
-), Yt = (t) => {
+), Zt = (e) => {
   var s;
-  const { value: e, ref: o } = t, r = F(), [i, n] = B(!1);
+  const { value: t, ref: o } = e, r = F(), [i, n] = B(!1);
   async function c() {
     if (!o || !("current" in o))
       return console.warn("No copy target found"), !1;
     try {
-      return await navigator.clipboard.writeText(e), console.log("Copied!"), n(!0), !0;
+      return await navigator.clipboard.writeText(t), console.log("Copied!"), n(!0), !0;
     } catch (l) {
       console.error(l);
       const g = window.getSelection();
@@ -3424,7 +3484,7 @@ const qt = J(
     return () => {
       l && clearTimeout(l);
     };
-  }, [i]), /* @__PURE__ */ a(qe, { open: i, title: "Copied!", children: /* @__PURE__ */ a(
+  }, [i]), /* @__PURE__ */ a(Qe, { open: i, title: "Copied!", children: /* @__PURE__ */ a(
     P,
     {
       justifyContent: "center",
@@ -3439,7 +3499,7 @@ const qt = J(
       },
       onClick: () => c(),
       children: /* @__PURE__ */ a(
-        E,
+        _,
         {
           ref: o,
           align: "center",
@@ -3453,14 +3513,14 @@ const qt = J(
             width: "100%",
             overflow: "hidden"
           },
-          children: e
+          children: t
         }
       )
     }
   ) });
-}, gi = $(
-  J(({ tcpPose: t, showCopyButton: e = !1 }) => {
-    const [o, r] = B(null), i = xe(t);
+}, hi = $(
+  J(({ tcpPose: e, showCopyButton: t = !1 }) => {
+    const [o, r] = B(null), i = ve(e);
     return /* @__PURE__ */ S(
       P,
       {
@@ -3470,8 +3530,8 @@ const qt = J(
         sx: { flexGrow: 1, minWidth: 0, overflow: "hidden" },
         "data-testid": "pose-cartesian-values",
         children: [
-          /* @__PURE__ */ a(Yt, { value: i }),
-          e && /* @__PURE__ */ a(
+          /* @__PURE__ */ a(Zt, { value: i }),
+          t && /* @__PURE__ */ a(
             Z,
             {
               variant: "contained",
@@ -3492,9 +3552,9 @@ const qt = J(
       }
     );
   })
-), pi = $(
-  J(({ joints: t, showCopyButton: e = !1 }) => {
-    const [o, r] = B(null), i = `[${t.map((c) => parseFloat(c.toFixed(4))).join(", ")}]`;
+), fi = $(
+  J(({ joints: e, showCopyButton: t = !1 }) => {
+    const [o, r] = B(null), i = `[${e.map((c) => parseFloat(c.toFixed(4))).join(", ")}]`;
     return /* @__PURE__ */ S(
       P,
       {
@@ -3504,8 +3564,8 @@ const qt = J(
         sx: { flexGrow: 1, minWidth: 0, overflow: "hidden" },
         "data-testid": "pose-joint-values",
         children: [
-          /* @__PURE__ */ a(Yt, { value: i }),
-          e && /* @__PURE__ */ a(
+          /* @__PURE__ */ a(Zt, { value: i }),
+          t && /* @__PURE__ */ a(
             Z,
             {
               variant: "contained",
@@ -3527,51 +3587,51 @@ const qt = J(
     );
   })
 );
-class Oo {
+class Jo {
   constructor() {
-    this.messages = [], this.addMessage = (e, o = "info") => {
+    this.messages = [], this.addMessage = (t, o = "info") => {
       const r = {
         id: Math.random().toString(36).substring(2, 11),
         timestamp: /* @__PURE__ */ new Date(),
-        message: e,
+        message: t,
         level: o
       };
       this.messages.push(r);
     }, this.clearMessages = () => {
       this.messages = [];
-    }, this.addInfo = (e) => {
-      this.addMessage(e, "info");
-    }, this.addWarning = (e) => {
-      this.addMessage(e, "warning");
-    }, this.addError = (e) => {
-      this.addMessage(e, "error");
-    }, this.addDebug = (e) => {
-      this.addMessage(e, "debug");
-    }, we(this, {
-      messages: Te,
-      addMessage: kt,
-      clearMessages: kt
+    }, this.addInfo = (t) => {
+      this.addMessage(t, "info");
+    }, this.addWarning = (t) => {
+      this.addMessage(t, "warning");
+    }, this.addError = (t) => {
+      this.addMessage(t, "error");
+    }, this.addDebug = (t) => {
+      this.addMessage(t, "debug");
+    }, ke(this, {
+      messages: Ie,
+      addMessage: Rt,
+      clearMessages: Rt
     });
   }
 }
-const at = (t, e, o) => ({
+const at = (e, t, o) => ({
   id: o || `${Date.now()}-${Math.random().toString(36).substring(2, 11)}`,
   timestamp: /* @__PURE__ */ new Date(),
-  message: t,
-  level: e
-}), mi = (t, e) => at(t, "debug", e), hi = (t, e) => at(t, "info", e), fi = (t, e) => at(t, "warning", e), bi = (t, e) => at(t, "error", e), Do = $(
-  J((t) => {
+  message: e,
+  level: t
+}), bi = (e, t) => at(e, "debug", t), xi = (e, t) => at(e, "info", t), yi = (e, t) => at(e, "warning", t), Si = (e, t) => at(e, "error", t), Bo = $(
+  J((e) => {
     var m;
-    const { messages: e = [], onClear: o, height: r = 400, sx: i } = t, n = F(), c = D(null);
+    const { messages: t = [], onClear: o, height: r = 400, sx: i } = e, n = F(), c = O(null);
     A(() => {
-      if (e.length === 0) return;
+      if (t.length === 0) return;
       const d = c.current;
       if (!d) return;
       const u = setTimeout(() => {
         d.scrollTop = d.scrollHeight;
       }, 10);
       return () => clearTimeout(u);
-    }, [e.length]);
+    }, [t.length]);
     const s = (d) => d.toLocaleTimeString("en-US", {
       hour12: !1,
       hour: "2-digit",
@@ -3594,10 +3654,10 @@ const at = (t, e, o) => ({
       const [u, p] = B(!1), [x, y] = B(!1), [f, h] = B(!1), v = d.message.length > 150, b = async () => {
         try {
           await navigator.clipboard.writeText(d.message), y(!0), setTimeout(() => y(!1), 2e3);
-        } catch (C) {
-          console.error("Failed to copy message:", C);
+        } catch (w) {
+          console.error("Failed to copy message:", w);
         }
-      }, w = v && !u ? `${d.message.substring(0, 150)}...` : d.message;
+      }, C = v && !u ? `${d.message.substring(0, 150)}...` : d.message;
       return /* @__PURE__ */ a(
         T,
         {
@@ -3617,7 +3677,7 @@ const at = (t, e, o) => ({
           },
           children: /* @__PURE__ */ S(T, { sx: { display: "flex", gap: 1 }, children: [
             /* @__PURE__ */ S(
-              E,
+              _,
               {
                 component: "span",
                 sx: {
@@ -3637,7 +3697,7 @@ const at = (t, e, o) => ({
               }
             ),
             /* @__PURE__ */ a(
-              E,
+              _,
               {
                 component: "span",
                 sx: {
@@ -3652,7 +3712,7 @@ const at = (t, e, o) => ({
                   flex: 1,
                   whiteSpace: "pre-wrap"
                 },
-                children: w
+                children: C
               }
             ),
             /* @__PURE__ */ S(
@@ -3680,7 +3740,7 @@ const at = (t, e, o) => ({
                         }
                       },
                       title: x ? "Copied!" : "Copy message",
-                      children: /* @__PURE__ */ a(Ye, { sx: { fontSize: 12 } })
+                      children: /* @__PURE__ */ a(Xe, { sx: { fontSize: 12 } })
                     }
                   ),
                   v && /* @__PURE__ */ a(
@@ -3696,7 +3756,7 @@ const at = (t, e, o) => ({
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                       },
                       title: u ? "Collapse" : "Expand",
-                      children: u ? /* @__PURE__ */ a(Qe, { sx: { fontSize: 12 } }) : /* @__PURE__ */ a(Xe, { sx: { fontSize: 12 } })
+                      children: u ? /* @__PURE__ */ a(to, { sx: { fontSize: 12 } }) : /* @__PURE__ */ a(eo, { sx: { fontSize: 12 } })
                     }
                   )
                 ]
@@ -3708,7 +3768,7 @@ const at = (t, e, o) => ({
       );
     };
     return /* @__PURE__ */ S(
-      Ke,
+      oo,
       {
         sx: {
           backgroundColor: ((m = n.palette.backgroundPaperElevation) == null ? void 0 : m[2]) || "#171927",
@@ -3733,7 +3793,7 @@ const at = (t, e, o) => ({
               children: [
                 /* @__PURE__ */ S(T, { sx: { display: "flex", alignItems: "center", gap: 1 }, children: [
                   /* @__PURE__ */ a(
-                    Ze,
+                    Ke,
                     {
                       sx: {
                         fontSize: 16,
@@ -3743,7 +3803,7 @@ const at = (t, e, o) => ({
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                   ),
                   /* @__PURE__ */ a(
-                    E,
+                    _,
                     {
                       sx: {
                         fontWeight: 500,
@@ -3809,8 +3869,8 @@ const at = (t, e, o) => ({
                   }
                 }
               },
-              children: e.length === 0 ? /* @__PURE__ */ a(
-                E,
+              children: t.length === 0 ? /* @__PURE__ */ a(
+                _,
                 {
                   sx: {
                     color: n.palette.text.disabled,
@@ -3821,28 +3881,28 @@ const at = (t, e, o) => ({
                   },
                   children: "No log messages"
                 }
-              ) : e.map((d) => /* @__PURE__ */ a(g, { message: d }, d.id))
+              ) : t.map((d) => /* @__PURE__ */ a(g, { message: d }, d.id))
             }
           )
         ]
       }
     );
   })
-), xi = $(
-  J((t) => {
-    const { store: e, onStoreReady: o, ...r } = t, i = D(o);
+), vi = $(
+  J((e) => {
+    const { store: t, onStoreReady: o, ...r } = e, i = O(o);
     A(() => {
       i.current = o;
     }, [o]);
     const n = rt(() => {
       var l;
-      const s = e || new Oo();
+      const s = t || new Jo();
       return (l = i.current) == null || l.call(i, s), s;
-    }, [e]), c = () => {
+    }, [t]), c = () => {
       n.clearMessages();
     };
     return /* @__PURE__ */ a(
-      Do,
+      Bo,
       {
         ...r,
         messages: n.messages,
@@ -3851,19 +3911,19 @@ const at = (t, e, o) => ({
     );
   })
 );
-function Ao() {
-  const t = window.location.href;
-  return t.substring(
+function Fo() {
+  const e = window.location.href;
+  return e.substring(
     0,
-    t.indexOf("/", t.indexOf("//") + 2)
+    e.indexOf("/", e.indexOf("//") + 2)
   );
 }
-function yi({
-  baseUrl: t = Ao(),
-  ...e
+function wi({
+  baseUrl: e = Fo(),
+  ...t
 }) {
   return /* @__PURE__ */ S(
-    to,
+    no,
     {
       "aria-labelledby": "no-motion-group-modal-title",
       open: !0,
@@ -3883,9 +3943,9 @@ function yi({
         }
       },
       children: [
-        /* @__PURE__ */ a(no, { id: "no-motion-group-modal-title", children: "No motion group found" }),
+        /* @__PURE__ */ a(ao, { id: "no-motion-group-modal-title", children: "No motion group found" }),
         /* @__PURE__ */ S(
-          oo,
+          ro,
           {
             sx: {
               marginTop: "3rem",
@@ -3893,16 +3953,16 @@ function yi({
               textAlign: "center"
             },
             children: [
-              /* @__PURE__ */ a(E, { color: "#fff", children: "Found no devices to connect to." }),
-              /* @__PURE__ */ a(E, { color: "#fff", children: "Please ensure a motion group has been created." })
+              /* @__PURE__ */ a(_, { color: "#fff", children: "Found no devices to connect to." }),
+              /* @__PURE__ */ a(_, { color: "#fff", children: "Please ensure a motion group has been created." })
             ]
           }
         ),
-        /* @__PURE__ */ a(eo, { children: /* @__PURE__ */ S(P, { width: "100%", maxWidth: "300px", margin: "auto", marginBottom: "2rem", children: [
+        /* @__PURE__ */ a(io, { children: /* @__PURE__ */ S(P, { width: "100%", maxWidth: "300px", margin: "auto", marginBottom: "2rem", children: [
           /* @__PURE__ */ a(
             Z,
             {
-              href: `${t}/settings`,
+              href: `${e}/settings`,
               variant: "contained",
               sx: {
                 borderRadius: "8px",
@@ -3914,7 +3974,7 @@ function yi({
           /* @__PURE__ */ a(
             Z,
             {
-              href: `${t}`,
+              href: `${e}`,
               variant: "text",
               sx: {
                 marginTop: "1rem",
@@ -3930,12 +3990,12 @@ function yi({
     }
   );
 }
-var Zt = /* @__PURE__ */ ((t) => (t.PRECONDITION_NOT_FULFILLED = "PRECONDITION_NOT_FULFILLED", t.ROBOT_DISCONNECTED = "ROBOT_DISCONNECTED", t.CELL_OPEN = "CELL_OPEN", t.E_STOP = "E_STOP", t.MANUAL_MODE = "MANUAL_MODE", t.READY = "READY", t))(Zt || {});
-const Jo = $(
-  J(({ setupState: t, className: e }) => {
+var Qt = /* @__PURE__ */ ((e) => (e.PRECONDITION_NOT_FULFILLED = "PRECONDITION_NOT_FULFILLED", e.ROBOT_DISCONNECTED = "ROBOT_DISCONNECTED", e.CELL_OPEN = "CELL_OPEN", e.E_STOP = "E_STOP", e.MANUAL_MODE = "MANUAL_MODE", e.READY = "READY", e))(Qt || {});
+const Lo = $(
+  J(({ setupState: e, className: t }) => {
     const o = F(), { t: r } = V(), i = () => {
       var g, m, d, u, p, x, y;
-      switch (t) {
+      switch (e) {
         case "READY":
           return {
             label: r("RobotSetupReadinessIndicator.Ready.lb"),
@@ -3983,9 +4043,9 @@ const Jo = $(
       }
     }, { label: n, indicatorColor: c, backgroundColor: s, textColor: l } = i();
     return /* @__PURE__ */ a(
-      ro,
+      lo,
       {
-        className: e,
+        className: t,
         label: /* @__PURE__ */ S(
           T,
           {
@@ -4008,7 +4068,7 @@ const Jo = $(
                 }
               ),
               /* @__PURE__ */ a(
-                E,
+                _,
                 {
                   variant: "body2",
                   sx: {
@@ -4037,17 +4097,17 @@ const Jo = $(
       }
     );
   })
-), Si = $(
+), Ci = $(
   J(
     ({
-      robotName: t,
-      robotType: e,
+      robotName: e,
+      robotType: t,
       setupState: o,
-      PreconditionComponent: r = Jo,
+      PreconditionComponent: r = Lo,
       className: i
     }) => {
       var l;
-      const n = F(), c = e || "Robot", s = o === Zt.READY;
+      const n = F(), c = t || "Robot", s = o === Qt.READY;
       return /* @__PURE__ */ S(
         T,
         {
@@ -4090,10 +4150,10 @@ const Jo = $(
                           fill: `${n.palette.primary.main} !important`
                         }
                       },
-                      children: /* @__PURE__ */ a(Be, {})
+                      children: /* @__PURE__ */ a($e, {})
                     }
                   ) : /* @__PURE__ */ a(
-                    io,
+                    so,
                     {
                       sx: {
                         color: n.palette.error.main,
@@ -4102,14 +4162,14 @@ const Jo = $(
                     }
                   ),
                   /* @__PURE__ */ a(
-                    E,
+                    _,
                     {
                       variant: "body1",
                       sx: {
                         fontWeight: 500,
                         color: n.palette.text.primary
                       },
-                      children: t
+                      children: e
                     }
                   ),
                   /* @__PURE__ */ a(
@@ -4125,7 +4185,7 @@ const Jo = $(
                     }
                   ),
                   /* @__PURE__ */ a(
-                    E,
+                    _,
                     {
                       variant: "body2",
                       sx: {
@@ -4143,21 +4203,21 @@ const Jo = $(
       );
     }
   )
-), Bo = gt(ao, {
-  shouldForwardProp: (t) => t !== "selected"
-})(({ theme: t }) => {
-  var e, o, r;
+), $o = gt(co, {
+  shouldForwardProp: (e) => e !== "selected"
+})(({ theme: e }) => {
+  var t, o, r;
   return {
     borderRadius: "20px",
     "&:hover": {
-      background: (e = t.palette.backgroundPaperElevation) == null ? void 0 : e[7]
+      background: (t = e.palette.backgroundPaperElevation) == null ? void 0 : t[7]
     },
     variants: [
       {
         props: ({ selected: i }) => !i,
         style: {
-          background: (o = t.palette.backgroundPaperElevation) == null ? void 0 : o[0],
-          color: t.palette.action.disabled,
+          background: (o = e.palette.backgroundPaperElevation) == null ? void 0 : o[0],
+          color: e.palette.action.disabled,
           "> img": {
             opacity: 0.4
           }
@@ -4166,28 +4226,28 @@ const Jo = $(
       {
         props: ({ selected: i }) => i,
         style: {
-          background: (r = t.palette.backgroundPaperElevation) == null ? void 0 : r[11],
-          border: `1px solid ${t.palette.divider}`,
-          color: t.palette.primary.contrastText
+          background: (r = e.palette.backgroundPaperElevation) == null ? void 0 : r[11],
+          border: `1px solid ${e.palette.divider}`,
+          color: e.palette.primary.contrastText
         }
       }
     ]
   };
-}), vi = (t) => {
-  const { ref: e, ...o } = t;
+}), Ti = (e) => {
+  const { ref: t, ...o } = e;
   return /* @__PURE__ */ a(
-    Bo,
+    $o,
     {
-      ref: e,
-      selected: t.selected,
+      ref: t,
+      selected: e.selected,
       ...o,
       color: "secondary",
       variant: "circular"
     }
   );
 };
-function Fo(t) {
-  const { children: e, value: o, index: r, ...i } = t;
+function zo(e) {
+  const { children: t, value: o, index: r, ...i } = e;
   return /* @__PURE__ */ a(
     "div",
     {
@@ -4196,11 +4256,11 @@ function Fo(t) {
       id: `tabpanel-${r}`,
       "aria-labelledby": `tab-${r}`,
       ...i,
-      children: o === r && /* @__PURE__ */ a(T, { children: e })
+      children: o === r && /* @__PURE__ */ a(T, { children: t })
     }
   );
 }
-function Lo({ children: t, ...e }) {
+function Vo({ children: e, ...t }) {
   const {
     fullWidth: o,
     indicator: r,
@@ -4212,22 +4272,22 @@ function Lo({ children: t, ...e }) {
     value: g,
     variant: m,
     ...d
-  } = e;
-  return /* @__PURE__ */ a(T, { ...d, children: t });
+  } = t;
+  return /* @__PURE__ */ a(T, { ...d, children: e });
 }
-const Ci = $(
-  J((t) => {
+const Mi = $(
+  J((e) => {
     const {
-      items: e,
+      items: t,
       activeTab: o,
       defaultActiveTab: r = 0,
       onTabChange: i,
       sx: n,
       ref: c
-    } = t, s = o !== void 0, [l, g] = B(r), m = s ? o : l;
+    } = e, s = o !== void 0, [l, g] = B(r), m = s ? o : l;
     A(() => {
-      s || e.length !== 0 && (l < 0 || l > e.length - 1) && g(0);
-    }, [e.length, s, l]);
+      s || t.length !== 0 && (l < 0 || l > t.length - 1) && g(0);
+    }, [t.length, s, l]);
     const d = (u, p) => {
       s || g(p), i == null || i(p);
     };
@@ -4254,7 +4314,7 @@ const Ci = $(
                 // 20px
               },
               children: /* @__PURE__ */ a(
-                zt,
+                Vt,
                 {
                   value: m,
                   onChange: d,
@@ -4279,20 +4339,20 @@ const Ci = $(
                       overflow: "visible"
                     }
                   },
-                  children: e.map((u, p) => {
-                    var w, C, M;
+                  children: t.map((u, p) => {
+                    var C, w, M;
                     const x = () => {
                       if (!u.badge) return;
-                      const k = u.badge.content, R = u.badge.max;
-                      return typeof k == "number" && R && k > R ? `${R}+` : k;
+                      const I = u.badge.content, R = u.badge.max;
+                      return typeof I == "number" && R && I > R ? `${R}+` : I;
                     }, y = () => {
                       if (!u.badge) return !1;
-                      const k = u.badge.content, R = u.badge.showZero;
-                      return !(k === 0 && !R);
+                      const I = u.badge.content, R = u.badge.showZero;
+                      return !(I === 0 && !R);
                     }, f = x(), h = y(), v = () => {
                       s || g(p), i == null || i(p);
                     }, b = /* @__PURE__ */ a(
-                      $t,
+                      zt,
                       {
                         label: u.label,
                         icon: u.icon,
@@ -4304,9 +4364,9 @@ const Ci = $(
                           height: "32px",
                           padding: "0px 10px",
                           borderRadius: "12px",
-                          backgroundColor: (k) => {
+                          backgroundColor: (I) => {
                             var R;
-                            return ((R = k.palette.backgroundPaperElevation) == null ? void 0 : R[11]) || "#32344B";
+                            return ((R = I.palette.backgroundPaperElevation) == null ? void 0 : R[11]) || "#32344B";
                           },
                           color: "text.primary",
                           opacity: m === p ? 1 : 0.38,
@@ -4319,9 +4379,9 @@ const Ci = $(
                           },
                           "&.Mui-selected": {
                             opacity: 1,
-                            backgroundColor: (k) => {
+                            backgroundColor: (I) => {
                               var R;
-                              return ((R = k.palette.backgroundPaperElevation) == null ? void 0 : R[11]) || "#32344B";
+                              return ((R = I.palette.backgroundPaperElevation) == null ? void 0 : R[11]) || "#32344B";
                             },
                             color: "text.primary"
                           },
@@ -4336,16 +4396,16 @@ const Ci = $(
                       u.id
                     );
                     return h ? /* @__PURE__ */ a(
-                      Lo,
+                      Vo,
                       {
                         component: "span",
                         sx: { display: "inline-flex" },
                         children: /* @__PURE__ */ a(
-                          so,
+                          uo,
                           {
                             badgeContent: f,
-                            color: ((w = u.badge) == null ? void 0 : w.color) || "error",
-                            max: (C = u.badge) == null ? void 0 : C.max,
+                            color: ((C = u.badge) == null ? void 0 : C.color) || "error",
+                            max: (w = u.badge) == null ? void 0 : w.max,
                             showZero: (M = u.badge) == null ? void 0 : M.showZero,
                             anchorOrigin: {
                               vertical: "top",
@@ -4379,31 +4439,31 @@ const Ci = $(
               }
             }
           ),
-          /* @__PURE__ */ a(T, { sx: { flex: 1, overflow: "auto" }, children: e.map((u, p) => /* @__PURE__ */ a(Fo, { value: m, index: p, children: u.content }, u.id)) })
+          /* @__PURE__ */ a(T, { sx: { flex: 1, overflow: "auto" }, children: t.map((u, p) => /* @__PURE__ */ a(zo, { value: m, index: p, children: u.content }, u.id)) })
         ]
       }
     );
   })
-), $o = (t) => {
-  const e = Math.floor(t / 86400), o = Math.floor(t % 86400 / 3600), r = Math.floor(t % 3600 / 60), i = t % 60, n = [];
-  return e > 0 ? (n.push(e.toString()), n.push(o.toString().padStart(2, "0")), n.push(r.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0"))) : o > 0 ? (n.push(o.toString()), n.push(r.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0"))) : (n.push(r.toString()), n.push(i.toString().padStart(2, "0"))), n.join(":");
-}, Dt = (t, e) => {
-  const o = Math.floor(t / 86400), r = Math.floor(t % 86400 / 3600), i = Math.floor(t % 3600 / 60), n = t % 60;
+), No = (e) => {
+  const t = Math.floor(e / 86400), o = Math.floor(e % 86400 / 3600), r = Math.floor(e % 3600 / 60), i = e % 60, n = [];
+  return t > 0 ? (n.push(t.toString()), n.push(o.toString().padStart(2, "0")), n.push(r.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0"))) : o > 0 ? (n.push(o.toString()), n.push(r.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0"))) : (n.push(r.toString()), n.push(i.toString().padStart(2, "0"))), n.join(":");
+}, At = (e, t) => {
+  const o = Math.floor(e / 86400), r = Math.floor(e % 86400 / 3600), i = Math.floor(e % 3600 / 60), n = e % 60;
   if (typeof Intl < "u" && "DurationFormat" in Intl)
     try {
       const s = {};
-      return o > 0 && (s.days = o), r > 0 && (s.hours = r), i > 0 && (s.minutes = i), (n > 0 || Object.keys(s).length === 0) && (s.seconds = n), new Intl.DurationFormat(e, { style: "narrow" }).format(s);
+      return o > 0 && (s.days = o), r > 0 && (s.hours = r), i > 0 && (s.minutes = i), (n > 0 || Object.keys(s).length === 0) && (s.seconds = n), new Intl.DurationFormat(t, { style: "narrow" }).format(s);
     } catch {
     }
   const c = [];
   return o > 0 && c.push(`${o}d`), r > 0 && c.push(`${r}h`), i > 0 && c.push(`${i}m`), (n > 0 || c.length === 0) && c.push(`${n}s`), c.join(" ");
-}, zo = ({
-  timerState: t,
-  animationState: e,
+}, Go = ({
+  timerState: e,
+  animationState: t,
   hasError: o,
   className: r
 }) => {
-  const { t: i } = V(), n = F(), { elapsedTime: c, currentProgress: s } = t, { showErrorAnimation: l, showPauseAnimation: g, showMainText: m } = e;
+  const { t: i } = V(), n = F(), { elapsedTime: c, currentProgress: s } = e, { showErrorAnimation: l, showPauseAnimation: g, showMainText: m } = t;
   return /* @__PURE__ */ S(
     T,
     {
@@ -4418,7 +4478,7 @@ const Ci = $(
       },
       children: [
         /* @__PURE__ */ a(
-          lo,
+          go,
           {
             width: 264,
             height: 264,
@@ -4485,7 +4545,7 @@ const Ci = $(
                 },
                 children: [
                   /* @__PURE__ */ a(U, { in: m && o, timeout: 200, children: /* @__PURE__ */ a(
-                    E,
+                    _,
                     {
                       variant: "h6",
                       sx: {
@@ -4498,7 +4558,7 @@ const Ci = $(
                     }
                   ) }),
                   /* @__PURE__ */ a(U, { in: m && !o, timeout: 300, children: /* @__PURE__ */ a(
-                    E,
+                    _,
                     {
                       variant: "h1",
                       sx: {
@@ -4509,7 +4569,7 @@ const Ci = $(
                         lineHeight: 1,
                         letterSpacing: "-0.5px"
                       },
-                      children: $o(c)
+                      children: No(c)
                     }
                   ) })
                 ]
@@ -4520,14 +4580,14 @@ const Ci = $(
       ]
     }
   );
-}, Vo = ({
-  timerState: t,
-  animationState: e,
+}, Wo = ({
+  timerState: e,
+  animationState: t,
   hasError: o,
   compact: r,
   className: i
 }) => {
-  const { t: n, i18n: c } = V(), s = F(), { elapsedTime: l, currentProgress: g } = t, { showErrorAnimation: m, showPauseAnimation: d } = e;
+  const { t: n, i18n: c } = V(), s = F(), { elapsedTime: l, currentProgress: g } = e, { showErrorAnimation: m, showPauseAnimation: d } = t;
   return r ? /* @__PURE__ */ a(
     T,
     {
@@ -4538,7 +4598,7 @@ const Ci = $(
         m: 0
       },
       children: /* @__PURE__ */ a(
-        E,
+        _,
         {
           variant: "body2",
           sx: {
@@ -4546,7 +4606,7 @@ const Ci = $(
             fontSize: "14px",
             transition: "color 0.5s ease-out"
           },
-          children: o ? n("timer.error") : Dt(l, c.language)
+          children: o ? n("timer.error") : At(l, c.language)
         }
       )
     }
@@ -4621,7 +4681,7 @@ const Ci = $(
           }
         ),
         /* @__PURE__ */ a(
-          E,
+          _,
           {
             variant: "body2",
             sx: {
@@ -4631,51 +4691,51 @@ const Ci = $(
               letterSpacing: "normal",
               transition: "color 0.8s ease-in-out, font-size 0.3s ease-out, opacity 2s ease-in-out"
             },
-            children: o ? n("timer.error") : Dt(l, c.language)
+            children: o ? n("timer.error") : At(l, c.language)
           }
         )
       ]
     }
   );
-}, No = () => {
-  const [t, e] = B({
+}, Uo = () => {
+  const [e, t] = B({
     showPauseAnimation: !1,
     showErrorAnimation: !1,
     showMainText: !0
-  }), o = D(
+  }), o = O(
     null
-  ), r = D(
+  ), r = O(
     null
-  ), i = D(null), n = _(() => {
-    e((d) => ({ ...d, showPauseAnimation: !0 })), o.current && clearTimeout(o.current), o.current = setTimeout(() => {
-      e((d) => ({ ...d, showPauseAnimation: !1 }));
+  ), i = O(null), n = j(() => {
+    t((d) => ({ ...d, showPauseAnimation: !0 })), o.current && clearTimeout(o.current), o.current = setTimeout(() => {
+      t((d) => ({ ...d, showPauseAnimation: !1 }));
     }, 800);
-  }, []), c = _(() => {
-    e((d) => ({ ...d, showErrorAnimation: !0 })), r.current && clearTimeout(r.current), r.current = setTimeout(() => {
-      e((d) => ({ ...d, showErrorAnimation: !1 }));
+  }, []), c = j(() => {
+    t((d) => ({ ...d, showErrorAnimation: !0 })), r.current && clearTimeout(r.current), r.current = setTimeout(() => {
+      t((d) => ({ ...d, showErrorAnimation: !1 }));
     }, 600);
-  }, []), s = _(() => {
-    e((d) => ({ ...d, showErrorAnimation: !1 })), r.current && clearTimeout(r.current);
-  }, []), l = _(() => {
-    e((d) => ({
+  }, []), s = j(() => {
+    t((d) => ({ ...d, showErrorAnimation: !1 })), r.current && clearTimeout(r.current);
+  }, []), l = j(() => {
+    t((d) => ({
       ...d,
       showMainText: !1
     })), i.current && clearTimeout(i.current), i.current = setTimeout(() => {
-      e((d) => ({
+      t((d) => ({
         ...d,
         showMainText: !0
       }));
     }, 200);
-  }, []), g = _(() => {
-    e((d) => ({
+  }, []), g = j(() => {
+    t((d) => ({
       ...d,
       showMainText: !0
     }));
-  }, []), m = _(() => {
+  }, []), m = j(() => {
     o.current && clearTimeout(o.current), r.current && clearTimeout(r.current), i.current && clearTimeout(i.current);
   }, []);
   return {
-    animationState: t,
+    animationState: e,
     triggerPauseAnimation: n,
     triggerErrorAnimation: c,
     clearErrorAnimation: s,
@@ -4683,9 +4743,9 @@ const Ci = $(
     setInitialAnimationState: g,
     cleanup: m
   };
-}, Wo = ({
-  autoStart: t,
-  hasError: e,
+}, Ho = ({
+  autoStart: e,
+  hasError: t,
   onPauseAnimation: o,
   onErrorAnimation: r,
   onClearErrorAnimation: i
@@ -4696,13 +4756,13 @@ const Ci = $(
     isPausedState: !1,
     currentProgress: 0,
     wasRunningBeforeError: !1
-  }), s = D(null), l = D(null), g = D(0), m = D(0), [d] = Lt([0], {
+  }), s = O(null), l = O(null), g = O(0), m = O(0), [d] = $t([0], {
     tension: 80,
     friction: 18,
     onChange: ([h]) => {
       c((v) => ({ ...v, currentProgress: h }));
     }
-  }), u = _(
+  }), u = j(
     (h = 0) => {
       const v = h / 60 % 1 * 100;
       c((b) => ({
@@ -4710,14 +4770,14 @@ const Ci = $(
         elapsedTime: h,
         isPausedState: !1,
         currentProgress: v
-      })), g.current = 0, m.current = v, d.setImmediate([v]), t ? (l.current = Date.now() - h * 1e3, c((b) => ({ ...b, isRunning: !0 }))) : l.current = null;
+      })), g.current = 0, m.current = v, d.setImmediate([v]), e ? (l.current = Date.now() - h * 1e3, c((b) => ({ ...b, isRunning: !0 }))) : l.current = null;
     },
-    [t, d]
-  ), p = _(() => {
+    [e, d]
+  ), p = j(() => {
     if (l.current && n.isRunning) {
       const v = (Date.now() - l.current) / 1e3 + g.current, b = v / 60 % 1 * 100;
-      d.setTarget([b]), c((w) => ({
-        ...w,
+      d.setTarget([b]), c((C) => ({
+        ...C,
         elapsedTime: Math.floor(v)
       }));
     }
@@ -4726,13 +4786,13 @@ const Ci = $(
       isRunning: !1,
       isPausedState: !0
     })), o();
-  }, [n.isRunning, d, o]), x = _(() => {
+  }, [n.isRunning, d, o]), x = j(() => {
     n.isPausedState && (g.current = n.elapsedTime, l.current = Date.now(), c((h) => ({
       ...h,
       isRunning: !0,
       isPausedState: !1
     })));
-  }, [n.isPausedState, n.elapsedTime]), y = _(() => {
+  }, [n.isPausedState, n.elapsedTime]), y = j(() => {
     c((h) => ({
       ...h,
       elapsedTime: 0,
@@ -4740,11 +4800,11 @@ const Ci = $(
       isPausedState: !1,
       currentProgress: 0
     })), g.current = 0, l.current = null, m.current = 0, d.setImmediate([0]);
-  }, [d]), f = _(() => n.isPausedState, [n.isPausedState]);
+  }, [d]), f = j(() => n.isPausedState, [n.isPausedState]);
   return A(() => {
-    e ? (n.isRunning && (c((h) => ({ ...h, wasRunningBeforeError: !0 })), p()), r()) : (n.wasRunningBeforeError && !n.isRunning && (c((h) => ({ ...h, wasRunningBeforeError: !1 })), x()), i());
+    t ? (n.isRunning && (c((h) => ({ ...h, wasRunningBeforeError: !0 })), p()), r()) : (n.wasRunningBeforeError && !n.isRunning && (c((h) => ({ ...h, wasRunningBeforeError: !1 })), x()), i());
   }, [
-    e,
+    t,
     n.isRunning,
     n.wasRunningBeforeError,
     p,
@@ -4755,13 +4815,13 @@ const Ci = $(
     if (n.isRunning) {
       const h = () => {
         if (l.current) {
-          const b = (Date.now() - l.current) / 1e3 + g.current, w = b / 60 % 1 * 100;
+          const b = (Date.now() - l.current) / 1e3 + g.current, C = b / 60 % 1 * 100;
           c((M) => ({
             ...M,
             elapsedTime: Math.floor(b)
           })), Math.abs(
-            w - m.current
-          ) > 0.1 && (d.setTarget([w]), m.current = w);
+            C - m.current
+          ) > 0.1 && (d.setTarget([C]), m.current = C);
         }
         s.current = requestAnimationFrame(h);
       };
@@ -4789,11 +4849,11 @@ const Ci = $(
       isPaused: f
     }
   };
-}, wi = $(
+}, ki = $(
   J(
     ({
-      onTimerReady: t,
-      autoStart: e = !0,
+      onTimerReady: e,
+      autoStart: t = !0,
       variant: o = "default",
       compact: r = !1,
       className: i,
@@ -4806,8 +4866,8 @@ const Ci = $(
         clearErrorAnimation: g,
         setInitialAnimationState: m,
         cleanup: d
-      } = No(), { timerState: u, controls: p } = Wo({
-        autoStart: e,
+      } = Uo(), { timerState: u, controls: p } = Ho({
+        autoStart: t,
         hasError: n,
         onPauseAnimation: s,
         onErrorAnimation: l,
@@ -4818,13 +4878,13 @@ const Ci = $(
       }, [m]), A(() => {
         let x = !0;
         const y = setTimeout(() => {
-          x && t(p);
+          x && e(p);
         }, 0);
         return () => {
           x = !1, clearTimeout(y);
         };
-      }, [t, p]), A(() => d, [d]), o === "small" ? /* @__PURE__ */ a(
-        Vo,
+      }, [e, p]), A(() => d, [d]), o === "small" ? /* @__PURE__ */ a(
+        Wo,
         {
           timerState: u,
           animationState: c,
@@ -4833,7 +4893,7 @@ const Ci = $(
           className: i
         }
       ) : /* @__PURE__ */ a(
-        zo,
+        Go,
         {
           timerState: u,
           animationState: c,
@@ -4843,7 +4903,7 @@ const Ci = $(
       );
     }
   )
-), At = 1e-4, Go = {
+), Jt = 1e-4, qo = {
   a: 0,
   d: 0,
   alpha: 0,
@@ -4851,16 +4911,16 @@ 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) => {
+  constructor(t, o, r, i, n, c, s, l, g, m) {
+    this.nova = t, 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;
+      const u = (p = G(d.data)) == null ? void 0 : p.result;
       u && L(() => {
         this.controllerState = u;
       });
     }), n.addEventListener("message", (d) => {
       var p;
-      const u = (p = W(d.data)) == null ? void 0 : p.result;
+      const u = (p = G(d.data)) == null ? void 0 : p.result;
       if (!u)
         throw new Error(
           `Failed to get motion state for ${this.motionGroupId}: ${d.data}`
@@ -4868,13 +4928,13 @@ class ut {
       Wt(
         this.rapidlyChangingMotionState.joint_position,
         u.joint_position,
-        At
+        Jt
       ) || L(() => {
         this.rapidlyChangingMotionState.joint_position = u.joint_position;
-      }), Gt(
+      }), Ut(
         this.rapidlyChangingMotionState,
         u,
-        At
+        Jt
       ) || L(() => {
         this.rapidlyChangingMotionState.tcp_pose = u.tcp_pose;
       }), this.rapidlyChangingMotionState.standstill !== u.standstill && L(() => {
@@ -4882,25 +4942,25 @@ class ut {
       });
     }), mt(this);
   }
-  static async connectMultiple(e, o) {
+  static async connectMultiple(t, o) {
     return Promise.all(
       o.map(
-        (r) => ut.connect(e, r)
+        (r) => ut.connect(t, r)
       )
     );
   }
-  static async connect(e, o) {
+  static async connect(t, o) {
     var h, v;
-    const [r, i] = o.split("@"), n = await e.api.controller.getCurrentRobotControllerState(i), c = n == null ? void 0 : n.motion_groups.find(
+    const [r, i] = o.split("@"), n = await t.api.controller.getCurrentRobotControllerState(i), c = n == null ? void 0 : n.motion_groups.find(
       (b) => b.motion_group === o
     );
     if (!n || !c)
       throw new Error(
         `Controller ${i} or motion group ${o} not found`
       );
-    const s = e.openReconnectingWebsocket(
+    const s = t.openReconnectingWebsocket(
       `/controllers/${i}/motion-groups/${o}/state-stream`
-    ), l = await s.firstMessage(), g = (h = W(l.data)) == null ? void 0 : h.result;
+    ), l = await s.firstMessage(), g = (h = G(l.data)) == null ? void 0 : h.result;
     if (!g)
       throw new Error(
         `Unable to parse initial motion state message ${l.data}`
@@ -4910,21 +4970,21 @@ class ut {
   `,
       g
     );
-    const d = (await e.api.controller.getRobotController(
+    const d = (await t.api.controller.getRobotController(
       n.controller
-    )).configuration.kind === "VirtualController", u = await e.api.motionGroup.getMotionGroupDescription(
+    )).configuration.kind === "VirtualController", u = await t.api.motionGroup.getMotionGroupDescription(
       i,
       c.motion_group
     ), p = Object.entries(u.tcps || {}).map(
-      ([b, w]) => ({
+      ([b, C]) => ({
         id: b,
-        readable_name: w.name,
-        position: w.pose.position,
-        orientation: w.pose.orientation
+        readable_name: C.name,
+        position: C.pose.position,
+        orientation: C.pose.orientation
       })
-    ), x = e.openReconnectingWebsocket(
+    ), x = t.openReconnectingWebsocket(
       `/controllers/${n.controller}/state-stream?response_rate=1000`
-    ), y = await x.firstMessage(), f = (v = W(y.data)) == null ? void 0 : v.result;
+    ), y = await x.firstMessage(), f = (v = G(y.data)) == null ? void 0 : v.result;
     if (!f)
       throw new Error(
         `Unable to parse initial controller state message ${y.data}`
@@ -4934,7 +4994,7 @@ class ut {
   `,
       f
     ), new ut(
-      e,
+      t,
       n,
       c,
       g,
@@ -4960,16 +5020,16 @@ class ut {
     return this.joggingVelocity * Math.PI / 180;
   }
   get joints() {
-    return this.initialMotionState.joint_position.map((e, o) => ({
+    return this.initialMotionState.joint_position.map((t, o) => ({
       index: o
     }));
   }
   // Please note that API v2 omits 0 values
   get dhParameters() {
     if (this.description.dh_parameters !== void 0)
-      return this.description.dh_parameters.map((e) => ({
-        ...Go,
-        ...e
+      return this.description.dh_parameters.map((t) => ({
+        ...qo,
+        ...t
       }));
   }
   get safetyZones() {
@@ -4977,9 +5037,9 @@ class ut {
   }
   /** Gets the robot mounting position offset in 3D viz coordinates */
   get mountingPosition() {
-    var e, o, r;
+    var t, o, r;
     return this.description.mounting ? [
-      (((e = this.description.mounting.position) == null ? void 0 : e[0]) || 0) / 1e3,
+      (((t = this.description.mounting.position) == null ? void 0 : t[0]) || 0) / 1e3,
       (((o = this.description.mounting.position) == null ? void 0 : o[1]) || 0) / 1e3,
       (((r = this.description.mounting.position) == null ? void 0 : r[2]) || 0) / 1e3
     ] : [0, 0, 0];
@@ -4987,11 +5047,11 @@ 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(
+    const t = new Et.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
-    ), o = e.length(), r = e.normalize();
+    ), o = t.length(), r = t.normalize();
     return new Et.Quaternion().setFromAxisAngle(r, o);
   }
   /**
@@ -5047,10 +5107,10 @@ class ut {
       ), L(() => {
         this.activationState = "inactive";
       });
-    } catch (e) {
+    } catch (t) {
       throw L(() => {
         this.activationState = "active";
-      }), e;
+      }), t;
     }
   }
   async activate() {
@@ -5068,10 +5128,10 @@ class ut {
       ), L(() => {
         this.activationState = "active";
       });
-    } catch (e) {
+    } catch (t) {
       throw L(() => {
         this.activationState = "inactive";
-      }), e;
+      }), t;
     }
   }
   toggleActivation() {
@@ -5080,13 +5140,13 @@ class ut {
   dispose() {
     this.motionStateSocket.close(), this.connectedJoggingSocket && this.connectedJoggingSocket.close();
   }
-  setJoggingVelocity(e) {
-    this.joggingVelocity = e;
+  setJoggingVelocity(t) {
+    this.joggingVelocity = t;
   }
 }
-function Qt() {
-  var e, o, r, i, n, c;
-  const t = Jt({
+function Xt() {
+  var t, o, r, i, n, c;
+  const e = Bt({
     palette: {
       mode: "dark",
       text: {
@@ -5180,7 +5240,7 @@ function Qt() {
     }
   });
   return {
-    ...t,
+    ...e,
     components: {
       MuiCssBaseline: {
         styleOverrides: {
@@ -5190,7 +5250,7 @@ function Qt() {
           },
           "html:hover, body:hover, *:hover": {
             scrollbarWidth: "thin",
-            scrollbarColor: `${t.palette.divider} transparent`
+            scrollbarColor: `${e.palette.divider} transparent`
           },
           // Global styles for DataGrid filter popup
           ".MuiDataGrid-panelContent": {
@@ -5278,14 +5338,14 @@ function Qt() {
           {
             props: { color: "secondary", variant: "contained" },
             style: {
-              border: `1px solid ${t.palette.divider}`,
-              background: (r = (o = (e = t.paletteExt) == null ? void 0 : e.secondary) == null ? void 0 : o.tonal) == null ? void 0 : r.toString()
+              border: `1px solid ${e.palette.divider}`,
+              background: (r = (o = (t = e.paletteExt) == null ? void 0 : t.secondary) == null ? void 0 : o.tonal) == null ? void 0 : r.toString()
             }
           },
           {
             props: { color: "secondary", variant: "outlined" },
             style: {
-              border: `1px solid ${t.palette.divider}`
+              border: `1px solid ${e.palette.divider}`
             }
           }
         ]
@@ -5294,9 +5354,9 @@ function Qt() {
         styleOverrides: {
           root: {
             textTransform: "none",
-            color: t.palette.text.secondary,
+            color: e.palette.text.secondary,
             "&.Mui-selected": {
-              color: t.palette.text.primary
+              color: e.palette.text.primary
             }
           }
         }
@@ -5304,7 +5364,7 @@ function Qt() {
       MuiTabs: {
         styleOverrides: {
           root: {
-            background: (i = t.palette.backgroundPaperElevation) == null ? void 0 : i[1]
+            background: (i = e.palette.backgroundPaperElevation) == null ? void 0 : i[1]
           }
         }
       },
@@ -5356,14 +5416,14 @@ function Qt() {
       MuiFab: {
         styleOverrides: {
           root: {
-            background: (c = (n = t.paletteExt) == null ? void 0 : n.secondary) == null ? void 0 : c.tonal
+            background: (c = (n = e.paletteExt) == null ? void 0 : n.secondary) == null ? void 0 : c.tonal
           }
         },
         variants: [
           {
             props: { color: "primary" },
             style: {
-              background: t.palette.primary.main
+              background: e.palette.primary.main
             }
           }
         ]
@@ -5383,7 +5443,7 @@ function Qt() {
                 disabled: "rgba(241, 77, 66, 1)"
               },
               color: "rgba(255, 198, 198, 1)",
-              labelColor: t.palette.text.primary
+              labelColor: e.palette.text.primary
             },
             Y: {
               backgroundColor: "rgba(20, 151, 108, 1)",
@@ -5395,7 +5455,7 @@ function Qt() {
                 hovered: "rgba(28, 188, 135, 1)"
               },
               color: "rgba(215, 255, 242, 1)",
-              labelColor: t.palette.text.primary
+              labelColor: e.palette.text.primary
             },
             Z: {
               backgroundColor: "rgba(1, 87, 155, 1)",
@@ -5407,68 +5467,68 @@ function Qt() {
                 hovered: "rgba(2, 136, 209, 1)"
               },
               color: "rgba(210, 239, 255, 1)",
-              labelColor: t.palette.text.primary
+              labelColor: e.palette.text.primary
             }
           }
         },
         JoggingJoint: {
           Joint: {
-            arrowColor: t.palette.text.primary
+            arrowColor: e.palette.text.primary
           }
         },
         VelocitySlider: {
-          sliderLegendColor: t.palette.text.primary
+          sliderLegendColor: e.palette.text.primary
         }
       }
     }
   };
 }
-function Uo() {
-  const t = Qt();
-  return t.palette.mode = "light", t;
+function Yo() {
+  const e = Xt();
+  return e.palette.mode = "light", e;
 }
-function Ti(t) {
+function Ii(e) {
   var r, i, n, c;
-  let e = !0;
-  ((r = t.palette) == null ? void 0 : r.mode) === "light" ? e = !1 : ((i = t.palette) == null ? void 0 : i.mode) !== "dark" && (e = !(typeof window < "u" && ((c = (n = window.matchMedia) == null ? void 0 : n.call(window, "(prefers-color-scheme: light)")) == null ? void 0 : c.matches)));
-  const o = e ? Qt() : Uo();
-  return Jt(o, t);
+  let t = !0;
+  ((r = e.palette) == null ? void 0 : r.mode) === "light" ? t = !1 : ((i = e.palette) == null ? void 0 : i.mode) !== "dark" && (t = !(typeof window < "u" && ((c = (n = window.matchMedia) == null ? void 0 : n.call(window, "(prefers-color-scheme: light)")) == null ? void 0 : c.matches)));
+  const o = t ? Xt() : Yo();
+  return Bt(o, e);
 }
 export {
-  ci as A,
-  di as C,
+  gi as A,
+  pi as C,
   bt as J,
-  Oo as L,
+  Jo as L,
   ht as M,
-  yi as N,
-  gi as P,
-  Si as R,
-  vi as S,
-  Ci as T,
-  Eo as V,
-  bo as W,
-  _t as a,
-  xo as b,
-  Ti as c,
-  ui as d,
-  pi as e,
-  vo as f,
-  Co as g,
-  xi as h,
+  wi as N,
+  hi as P,
+  Ci as R,
+  Ti as S,
+  Mi as T,
+  Po as V,
+  So as W,
+  Pt as a,
+  vo as b,
+  Ii as c,
+  mi as d,
+  fi as e,
+  To as f,
+  Mo as g,
+  vi as h,
   at as i,
-  mi as j,
-  hi as k,
-  fi as l,
-  bi as m,
-  Do as n,
-  Zt as o,
-  Jo as p,
-  wi as q,
-  Ht as r,
+  bi as j,
+  xi as k,
+  yi as l,
+  Si as m,
+  Bo as n,
+  Qt as o,
+  Lo as p,
+  ki as q,
+  qt as r,
   ut as s,
   ft as t,
   Wt as u,
-  yo as v,
-  Gt as w,
-  So as x
+  wo as v,
+  Ut as w,
+  Co as x
 };