@wandelbots/wandelbots-js-react-components 5.5.5-pr.fix-select-tcp.609.ab2dd9b → 5.5.5-pr.fix-select-tcp.609.55e8821

package/dist/chunks/{theming-CKfhgn8I.js → theming-Cyw7_pwb.js}

@@ -15,82 +15,82 @@ import ie from "@mui/material/SvgIcon";
 import U from "@mui/material/Fade";
 import { Gauge as re } from "@mui/x-charts/Gauge";
 import { useTranslation as V } from "react-i18next";
-import { f as $t, e as pt, d as ae } from "./interpolation-D9WFd-j_.js";
-import se from "@mui/icons-material/Clear";
-import le from "@mui/icons-material/FilterList";
+import { f as $t, e as pt } from "./interpolation-D9WFd-j_.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 ce, DataGrid as de, Toolbar as ge, FilterPanelTrigger as ue, ToolbarButton as st, QuickFilter as pe, QuickFilterTrigger as me, QuickFilterControl as he, QuickFilterClear as fe } from "@mui/x-data-grid";
-import be from "@mui/icons-material/OpenWith";
-import xe from "@mui/icons-material/Share";
+import { useGridApiRef as le, DataGrid as ce, Toolbar as de, FilterPanelTrigger as ge, ToolbarButton as st, QuickFilter as ue, 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 _ from "@mui/material/Stack";
 import zt from "@mui/material/Tab";
 import Vt from "@mui/material/Tabs";
-import { JointTypeEnum as G, NovaClient as ye, poseToWandelscriptString as Se } from "@wandelbots/nova-js/v2";
-import { lowerFirst as ve, countBy as Ce, isString as we } from "lodash-es";
-import { runInAction as B, makeAutoObservable as mt, when as lt, autorun as kt, makeObservable as Te, action as Rt, observable as Me } from "mobx";
-import { radiansToDegrees as Nt, tryParseJson as W, XYZ_TO_VECTOR as tt, degreesToRadians as Ie } from "@wandelbots/nova-js";
+import { JointTypeEnum as G, NovaClient as xe, poseToWandelscriptString as ye } from "@wandelbots/nova-js/v2";
+import { lowerFirst as Se, countBy as ve, isString as Ce } from "lodash-es";
+import { runInAction as B, makeAutoObservable as mt, when as lt, autorun as kt, makeObservable as we, action as Rt, observable as Te } from "mobx";
+import { radiansToDegrees as Nt, tryParseJson as W, XYZ_TO_VECTOR as tt, degreesToRadians as Me } from "@wandelbots/nova-js";
 import { Vector3 as ct } from "three/src/math/Vector3.js";
 import Wt from "@mui/material/CircularProgress";
-import { capitalize as ke } from "@mui/material/utils";
-import { m as Re } from "./SafetyBar-C8whliAf.js";
-import je from "@mui/material/Alert";
-import Ee from "@mui/material/AlertTitle";
+import { capitalize as Ie } from "@mui/material/utils";
+import { m as ke } from "./SafetyBar-C8whliAf.js";
+import Re from "@mui/material/Alert";
+import je from "@mui/material/AlertTitle";
 import Z from "@mui/material/Button";
 import jt from "@mui/material/ToggleButton";
-import { c as Pe, d as _e, F as Oe, a as De, b as Ae, f as Je, e as Be } from "./robot-Cy9ST5-m.js";
-import Fe from "lodash-es/isEqual.js";
-import Le from "@mui/material/InputAdornment";
-import $e from "@mui/material/FormControl";
-import ze from "@mui/material/InputLabel";
-import Ve from "@mui/material/Select";
+import { c as Ee, d as Pe, F as _e, a as Oe, b as De, f as Ae, e as Je } from "./robot-Cy9ST5-m.js";
+import Be from "lodash-es/isEqual.js";
+import Fe from "@mui/material/InputAdornment";
+import Le from "@mui/material/FormControl";
+import $e from "@mui/material/InputLabel";
+import ze from "@mui/material/Select";
 import nt from "lodash-es/keyBy.js";
-import Ne from "lodash-es/uniqueId.js";
-import We from "@mui/material/ToggleButtonGroup";
+import Ve from "lodash-es/uniqueId.js";
+import Ne from "@mui/material/ToggleButtonGroup";
 import Gt from "@mui/material/Slider";
-import Ge from "lodash-es/isNumber.js";
-import Ue from "@mui/icons-material/ChevronLeft";
-import He from "@mui/icons-material/ChevronRight";
-import qe from "lodash-es/throttle.js";
-import Ye from "@mui/material/Tooltip";
-import Ze from "@mui/icons-material/ContentCopy";
-import Qe from "@mui/icons-material/DescriptionOutlined";
-import Xe from "@mui/icons-material/ExpandLess";
-import Ke from "@mui/icons-material/ExpandMore";
-import to from "@mui/material/Paper";
-import eo from "@mui/material/Dialog";
-import oo from "@mui/material/DialogActions";
-import no from "@mui/material/DialogContent";
-import io from "@mui/material/DialogTitle";
-import ro from "@mui/icons-material/Error";
-import ao from "@mui/material/Chip";
-import so from "@mui/material/Fab";
-import lo from "@mui/material/Badge";
-import { Gauge as co } from "@mui/x-charts";
+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 * as Et from "three";
 import { Vector3 as Pt } from "three";
-const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /* @__PURE__ */ a(
+const co = (e) => /* @__PURE__ */ a(ie, { ...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"
   }
-) }), gi = $(
-  J((t) => {
+) }), di = $(
+  J((e) => {
     const {
-      appIcon: e,
+      appIcon: t,
       appName: o,
-      apps: r = [],
-      onAppSelect: i,
+      apps: i = [],
+      onAppSelect: r,
       disabled: n = !1,
       sx: c
-    } = t, [s, l] = F(null), u = !!s, f = (p) => {
+    } = e, [s, l] = F(null), u = !!s, f = (p) => {
       l(p.currentTarget);
     }, g = () => {
       l(null);
     }, d = (p) => {
-      g(), p.onClick ? p.onClick() : p.href && (window.location.href = p.href), i == null || i(p);
+      g(), p.onClick ? p.onClick() : p.href && (window.location.href = p.href), r == null || r(p);
     };
     return /* @__PURE__ */ S(et, { children: [
       /* @__PURE__ */ a(
@@ -107,7 +107,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
             ...c
           },
           children: /* @__PURE__ */ S(oe, { sx: { minHeight: "62px !important" }, children: [
-            /* @__PURE__ */ a(T, { sx: { mr: 1, display: "flex", alignItems: "center" }, children: e }),
+            /* @__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(
                 j,
@@ -120,7 +120,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
                   children: o
                 }
               ),
-              r.length > 0 && /* @__PURE__ */ a(
+              i.length > 0 && /* @__PURE__ */ a(
                 H,
                 {
                   color: "inherit",
@@ -146,7 +146,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
                       height: "6px"
                     }
                   },
-                  children: /* @__PURE__ */ a(go, {})
+                  children: /* @__PURE__ */ a(co, {})
                 }
               )
             ] })
@@ -187,7 +187,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
               mt: 1
             }
           },
-          children: r.map((p) => /* @__PURE__ */ S(q, { onClick: () => d(p), children: [
+          children: i.map((p) => /* @__PURE__ */ S(q, { onClick: () => d(p), children: [
             /* @__PURE__ */ a(T, { sx: { display: "flex", alignItems: "center" }, children: p.icon }),
             /* @__PURE__ */ a(j, { variant: "body1", sx: { ml: 2 }, children: p.name })
           ] }, p.id))
@@ -195,26 +195,26 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
       )
     ] });
   })
-), 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;
+), go = (e) => {
+  const t = Math.floor(e / 86400), o = Math.floor(e % 86400 / 3600), i = Math.floor(e % 3600 / 60), r = e % 60, n = [];
+  return t > 0 ? (n.push(t.toString()), n.push(o.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0")), n.push(r.toString().padStart(2, "0"))) : o > 0 ? (n.push(o.toString()), n.push(i.toString().padStart(2, "0")), n.push(r.toString().padStart(2, "0"))) : (n.push(i.toString()), n.push(r.toString().padStart(2, "0"))), n.join(":");
+}, N = (e, t) => {
+  const o = Math.floor(e / 86400), i = Math.floor(e % 86400 / 3600), r = 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), i > 0 && (s.hours = i), r > 0 && (s.minutes = r), (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(`${n}s`), c.join(" ");
-}, po = (t, e, o) => t === "countdown" && o !== null ? Math.min(100, e / o * 100) : t === "measuring" ? e / 60 % 1 * 100 : 0, mo = ({
-  timerState: t,
-  animationState: e,
+  return o > 0 && c.push(`${o}d`), i > 0 && c.push(`${i}h`), r > 0 && c.push(`${r}m`), (n > 0 || c.length === 0) && c.push(`${n}s`), c.join(" ");
+}, uo = (e, t, o) => e === "countdown" && o !== null ? Math.min(100, t / o * 100) : e === "measuring" ? t / 60 % 1 * 100 : 0, po = ({
+  timerState: e,
+  animationState: t,
   hasError: o,
-  className: r
+  className: i
 }) => {
-  const { t: i, i18n: n } = V(), c = L(), { currentState: s, remainingTime: l, maxTime: u, currentProgress: f } = t, {
+  const { t: r, i18n: n } = V(), c = L(), { currentState: s, remainingTime: l, maxTime: u, currentProgress: f } = e, {
     showErrorAnimation: g,
     showPauseAnimation: d,
     showPulsatingText: p,
@@ -223,11 +223,11 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
     showMainText: h,
     showIdlePulsating: m,
     idleDotsCount: v
-  } = e;
+  } = t;
   return /* @__PURE__ */ S(
     T,
     {
-      className: r,
+      className: i,
       sx: {
         position: "relative",
         width: 264,
@@ -324,7 +324,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
                                 opacity: s === "measured" && x ? p ? 1 : 0.6 : 1,
                                 transition: "opacity 2s ease-in-out"
                               },
-                              children: s === "measuring" || s === "measured" ? i("CycleTimer.CycleTime.lb", "Cycle Time") : s === "countdown" ? i("CycleTimer.RemainingTime.lb", "Remaining Time") : ""
+                              children: s === "measuring" || s === "measured" ? r("CycleTimer.CycleTime.lb", "Cycle Time") : s === "countdown" ? r("CycleTimer.RemainingTime.lb", "Remaining Time") : ""
                             }
                           )
                         }
@@ -376,7 +376,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
                                     opacity: m ? 1 : 0.6,
                                     transition: "opacity 2s ease-in-out"
                                   },
-                                  children: i(
+                                  children: r(
                                     "CycleTimer.WaitingForCycle.lb",
                                     "Waiting for program cycle"
                                   )
@@ -411,7 +411,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
                           color: "#FFFFFF",
                           lineHeight: "116.7%"
                         },
-                        children: i("CycleTimer.Error.lb", "Error")
+                        children: r("CycleTimer.Error.lb", "Error")
                       }
                     ) }),
                     /* @__PURE__ */ a(
@@ -438,7 +438,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
                                   opacity: 1,
                                   transition: "opacity 2s ease-in-out"
                                 },
-                                children: uo(l)
+                                children: go(l)
                               }
                             )
                           }
@@ -479,7 +479,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
                                 opacity: s === "measured" && x ? p ? 1 : 0.6 : 1,
                                 transition: "opacity 2s ease-in-out"
                               },
-                              children: s === "measuring" ? i("CycleTimer.Measuring.lb", "measuring...") : s === "measured" ? i("CycleTimer.Determined.lb", "determined") : s === "countdown" && u !== null ? i("CycleTimer.OfTime.lb", {
+                              children: s === "measuring" ? r("CycleTimer.Measuring.lb", "measuring...") : s === "measured" ? r("CycleTimer.Determined.lb", "determined") : s === "countdown" && u !== null ? r("CycleTimer.OfTime.lb", {
                                 time: N(u, n.language)
                               }) : ""
                             }
@@ -496,25 +496,25 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
       ]
     }
   );
-}, ho = ({
-  timerState: t,
-  animationState: e,
+}, mo = ({
+  timerState: e,
+  animationState: t,
   hasError: o,
-  compact: r,
-  className: i
+  compact: i,
+  className: r
 }) => {
-  const { t: n, i18n: c } = V(), s = L(), { currentState: l, remainingTime: u, maxTime: f } = t, {
+  const { t: n, i18n: c } = V(), s = L(), { currentState: l, remainingTime: u, maxTime: f } = e, {
     showErrorAnimation: g,
     showPauseAnimation: d,
     showPulsatingText: p,
     pulsatingFinished: x,
     showIdlePulsating: y,
     idleDotsCount: h
-  } = e;
-  return r && l === "idle" ? /* @__PURE__ */ a(
+  } = t;
+  return i && l === "idle" ? /* @__PURE__ */ a(
     T,
     {
-      className: i,
+      className: r,
       sx: {
         display: "flex",
         alignItems: "center",
@@ -536,7 +536,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
   ) : /* @__PURE__ */ S(
     T,
     {
-      className: i,
+      className: r,
       sx: {
         display: "flex",
         alignItems: "center",
@@ -544,7 +544,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
         gap: 1
       },
       children: [
-        !(l === "idle" && r) && /* @__PURE__ */ a(
+        !(l === "idle" && i) && /* @__PURE__ */ a(
           T,
           {
             sx: {
@@ -592,7 +592,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...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"
@@ -629,14 +629,14 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
                   children: ".".repeat(h)
                 }
               )
-            ] }) : l === "measuring" ? r ? N(u, c.language) : `${N(u, c.language)} / ${n("CycleTimer.Measuring.lb", "measuring...")}` : l === "measured" ? r ? N(u, c.language) : `${N(u, c.language)} / ${n("CycleTimer.Determined.lb", "determined")}` : l === "countdown" && f !== null ? r ? N(u, c.language) : `${N(u, c.language)} / ${n("CycleTimer.Time.lb", { time: N(f, c.language) })}` : N(u, c.language)
+            ] }) : l === "measuring" ? i ? N(u, c.language) : `${N(u, c.language)} / ${n("CycleTimer.Measuring.lb", "measuring...")}` : l === "measured" ? i ? N(u, c.language) : `${N(u, c.language)} / ${n("CycleTimer.Determined.lb", "determined")}` : l === "countdown" && f !== null ? i ? N(u, c.language) : `${N(u, c.language)} / ${n("CycleTimer.Time.lb", { time: N(f, c.language) })}` : N(u, c.language)
           }
         )
       ]
     }
   );
-}, fo = () => {
-  const [t, e] = F({
+}, ho = () => {
+  const [e, t] = F({
     showPauseAnimation: !1,
     showErrorAnimation: !1,
     showPulsatingText: !1,
@@ -647,90 +647,90 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
     idleDotsCount: 0
   }), o = D(
     null
-  ), r = D(
-    null
   ), i = D(
     null
+  ), r = D(
+    null
   ), n = D(null), c = D(0), s = D(null), l = D(
     null
   ), u = P(() => {
-    e((b) => ({ ...b, showPauseAnimation: !0 })), o.current && clearTimeout(o.current), o.current = setTimeout(() => {
-      e((b) => ({ ...b, showPauseAnimation: !1 }));
+    t((b) => ({ ...b, showPauseAnimation: !0 })), o.current && clearTimeout(o.current), o.current = setTimeout(() => {
+      t((b) => ({ ...b, showPauseAnimation: !1 }));
     }, 800);
   }, []), f = P(() => {
-    e((b) => ({ ...b, showErrorAnimation: !0 })), r.current && clearTimeout(r.current), r.current = setTimeout(() => {
-      e((b) => ({ ...b, showErrorAnimation: !1 }));
+    t((b) => ({ ...b, showErrorAnimation: !0 })), i.current && clearTimeout(i.current), i.current = setTimeout(() => {
+      t((b) => ({ ...b, showErrorAnimation: !1 }));
     }, 600);
   }, []), g = P(() => {
-    e((b) => ({ ...b, showErrorAnimation: !1 })), r.current && clearTimeout(r.current);
+    t((b) => ({ ...b, showErrorAnimation: !1 })), i.current && clearTimeout(i.current);
   }, []), d = P((b) => {
-    c.current = 0, e((w) => ({
+    c.current = 0, t((w) => ({
       ...w,
       showPulsatingText: !0,
       pulsatingFinished: !1
     })), setTimeout(() => {
-      e((w) => ({
+      t((w) => ({
         ...w,
         pulsatingFinished: !0
         // This will keep the success color and start slow pulsating
-      })), i.current = setInterval(() => {
-        e((w) => ({
+      })), r.current = setInterval(() => {
+        t((w) => ({
           ...w,
           showPulsatingText: !w.showPulsatingText
         }));
       }, 2e3), b && b();
     }, 800);
   }, []), p = P(() => {
-    i.current && (clearInterval(i.current), i.current = null), e((b) => ({
+    r.current && (clearInterval(r.current), r.current = null), t((b) => ({
       ...b,
       showPulsatingText: !1,
       pulsatingFinished: !1
     })), c.current = 0;
   }, []), x = P(() => {
-    e((b) => ({
+    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);
   }, []), y = P(() => {
-    s.current && (clearInterval(s.current), s.current = null), l.current && (clearInterval(l.current), l.current = null), e((b) => ({
+    s.current && (clearInterval(s.current), s.current = null), l.current && (clearInterval(l.current), l.current = null), t((b) => ({
       ...b,
       showIdlePulsating: !1,
       idleDotsCount: 0
     }));
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     })), n.current && clearTimeout(n.current), n.current = setTimeout(() => {
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@@ -949,9 +949,9 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
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+), bo = $(
   J(
     ({
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-      columns: e,
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       A(() => {
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               includeOutliers: !0,
               includeHeaders: !0,
               expand: !0,
-              columns: e.map((E) => E.field)
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             });
           }, 100);
         });
         return I.observe(y.current), () => {
           I.disconnect();
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+      }, [g, e, r, h]), w = (I) => {
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                                 {
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@@ -1236,12 +1236,12 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
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                                             }
                                           ),
-                                          /* @__PURE__ */ a(he, { placeholder: l })
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                                                   }
                                                 },
-                                                children: /* @__PURE__ */ a(st, { "aria-label": "Clear", children: /* @__PURE__ */ a(se, { fontSize: "small" }) })
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@@ -1327,11 +1327,11 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
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               disableRowSelectionOnClick: !0,
@@ -1365,7 +1365,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
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-                columns: ((R = u == null ? void 0 : u.autosizeOptions) == null ? void 0 : R.columns) || e.map((I) => I.field)
+                columns: ((R = u == null ? void 0 : u.autosizeOptions) == null ? void 0 : R.columns) || t.map((I) => I.field)
               },
               sx: {
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@@ -1389,7 +1389,7 @@ const go = (t) => /* @__PURE__ */ a(ie, { ...t, viewBox: "0 0 10 8", children: /
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                 },
                 "& .MuiDataGrid-row": {
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+                  cursor: i ? "pointer" : "default",
                   border: "none",
                   margin: "1px 0",
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   )
 );
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 const _t = $(
   J(
     ({
-      colors: t,
-      label: e,
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+      label: t,
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-      stopJogging: i,
+      startJogging: i,
+      stopJogging: r,
       disabled: n,
       activeJoggingDirection: c,
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@@ -1537,7 +1537,7 @@ const _t = $(
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       }, [n]);
       const g = c || u, d = D(null);
-      t || (t = {
+      e || (e = {
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         },
         labelColor: "#000"
       });
-      const p = g ? (b = t.buttonBackgroundColor) == null ? void 0 : b.pressed : t.borderColor, x = {
+      const p = g ? (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: {
@@ -1560,34 +1560,34 @@ const _t = $(
         }
       }, y = {
         ...x,
-        backgroundColor: (w = t.buttonBackgroundColor) == null ? void 0 : w.default,
+        backgroundColor: (w = e.buttonBackgroundColor) == null ? void 0 : w.default,
         ":hover": {
-          backgroundColor: (C = t.buttonBackgroundColor) == null ? void 0 : C.hovered
+          backgroundColor: (C = e.buttonBackgroundColor) == null ? void 0 : C.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": {
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           "svg path": { fill: l.palette.action.disabled }
         }
       }, h = {
         ...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: (I = e.buttonBackgroundColor) == null ? void 0 : I.pressed,
           "svg path": { fill: l.palette.action.disabled }
         }
       };
       function m(E, z) {
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+        n || E.button === 0 && (f(z), i(z));
       }
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         /* @__PURE__ */ S(
@@ -1615,7 +1615,7 @@ const _t = $(
             spacing: "6px",
             sx: {
               width: "150px",
-              backgroundColor: t.backgroundColor,
+              backgroundColor: e.backgroundColor,
               alignItems: "center",
               justifyContent: "center",
               opacity: "0.9",
@@ -1633,14 +1633,14 @@ 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
                 }
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               /* @__PURE__ */ a(
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                   sx: {
                     fontSize: "15px",
-                    color: n ? l.palette.action.disabled : t.color,
+                    color: n ? l.palette.action.disabled : e.color,
                     fontWeight: 700,
                     fontVariantNumeric: "tabular-nums",
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@@ -1678,20 +1678,20 @@ const _t = $(
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               borderTop: `2px solid ${p ?? "#fff"}`
             },
-            children: /* @__PURE__ */ a(_e, {})
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         )
       ] });
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   )
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+), xo = $(
   J(
     ({
-      startJogging: t,
-      stopJogging: e,
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       lowerLimit: o,
-      upperLimit: r,
-      useDegree: i,
+      upperLimit: i,
+      useDegree: r,
       getValue: n,
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         activeJoggingDir: null,
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+          this.activeJoggingDir = O, e(O);
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+          this.activeJoggingDir = null, t();
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+      })), x = He(() => {
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         (O === void 0 || u === void 0 || Math.abs(u - O) > 1e-9) && f(O);
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                         color: c ? g.palette.action.disabled : g.palette.text.primary
                       },
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@@ -1860,14 +1860,14 @@ const _t = $(
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                         }
                       },
-                      marks: o !== void 0 && r !== void 0 && [
+                      marks: o !== void 0 && i !== void 0 && [
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-                          value: i ? y(o) : o,
-                          label: i ? w(y(o), 0) : C(o)
+                          value: r ? y(o) : o,
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                         },
                         {
-                          value: i ? y(r) : r,
-                          label: i ? w(y(r), 0) : C(r)
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+function Ut(e, t, o) {
+  if (t.length !== e.length)
     return !0;
-  for (let r = 0; r < e.length; r++)
+  for (let i = 0; i < t.length; i++)
     if (
       // biome-ignore lint/style/noNonNullAssertion: legacy code
-      Math.abs(e[r] - t[r]) > o
+      Math.abs(t[i] - e[i]) > o
     )
       return !1;
   return !0;
 }
-function So(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 yo(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;
+  let i = 0;
+  return i += Math.abs(e.orientation[0] - t.orientation[0]), i += Math.abs(e.orientation[1] - t.orientation[1]), i += Math.abs(e.orientation[2] - t.orientation[2]), i += Math.abs(e.position[0] - t.position[0]), i += Math.abs(e.position[1] - t.position[1]), i += Math.abs(e.position[2] - t.position[2]), i <= o;
 }
-function Ht(t, e, o) {
-  return t.coordinate_system === e.coordinate_system && t.tcp === e.tcp && So(
-    t.tcp_pose,
+function Ht(e, t, o) {
+  return e.coordinate_system === t.coordinate_system && e.tcp === t.tcp && yo(
     e.tcp_pose,
+    t.tcp_pose,
     o
   );
 }
-function vo(t, e) {
+function So(e, t) {
   const o = new Pt(
-    e[0],
-    e[1],
-    e[2]
-  ), r = new Pt(
     t[0],
     t[1],
     t[2]
-  ), i = o.length(), n = o.normalize();
-  let c = r.length(), s = r.normalize();
+  ), i = new Pt(
+    e[0],
+    e[1],
+    e[2]
+  ), r = o.length(), n = o.normalize();
+  let c = i.length(), s = i.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)];
+  let l = c - r;
+  return l -= 2 * Math.PI * Math.floor((l + Math.PI) / (2 * Math.PI)), c = r + l, [...s.multiplyScalar(c)];
 }
 const Ot = 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, i, r, n, c) {
+    this.nova = t, this.controller = o, this.motionGroup = i, this.description = r, this.initialMotionState = n, this.motionStateSocket = c, this.rapidlyChangingMotionState = n, c.addEventListener("message", (s) => {
       var u;
       const l = (u = W(s.data)) == null ? void 0 : u.result;
       if (!l)
@@ -1969,7 +1969,7 @@ class ht {
         var f, g, d;
         this.rapidlyChangingMotionState.tcp_pose == null ? this.rapidlyChangingMotionState.tcp_pose = l.tcp_pose : (f = l.tcp_pose) != null && f.orientation && ((g = l.tcp_pose) != null && g.position) && ((d = this.rapidlyChangingMotionState.tcp_pose) != null && d.orientation) ? this.rapidlyChangingMotionState.tcp_pose = {
           position: l.tcp_pose.position,
-          orientation: vo(
+          orientation: So(
             l.tcp_pose.orientation,
             this.rapidlyChangingMotionState.tcp_pose.orientation
           )
@@ -1984,17 +1984,17 @@ class ht {
       });
     }), mt(this);
   }
-  static async open(e, o) {
+  static async open(t, o) {
     var g;
-    const [r, i] = o.split("@"), n = await e.api.controller.getCurrentRobotControllerState(i), c = n == null ? void 0 : n.motion_groups.find(
+    const [i, r] = o.split("@"), n = await t.api.controller.getCurrentRobotControllerState(r), c = n == null ? void 0 : n.motion_groups.find(
       (d) => d.motion_group === o
     );
     if (!n || !c)
       throw new Error(
-        `Controller ${i} or motion group ${o} not found`
+        `Controller ${r} or motion group ${o} not found`
       );
-    const s = e.openReconnectingWebsocket(
-      `/controllers/${i}/motion-groups/${o}/state-stream`
+    const s = t.openReconnectingWebsocket(
+      `/controllers/${r}/motion-groups/${o}/state-stream`
     ), l = await s.firstMessage(), u = (g = W(l.data)) == null ? void 0 : g.result;
     if (!u)
       throw new Error(
@@ -2005,12 +2005,12 @@ class ht {
   `,
       u
     );
-    const f = await e.api.motionGroup.getMotionGroupDescription(
-      i,
+    const f = await t.api.motionGroup.getMotionGroupDescription(
+      r,
       c.motion_group
     );
     return new ht(
-      e,
+      t,
       n,
       c,
       f,
@@ -2025,7 +2025,7 @@ 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
     }));
   }
@@ -2035,8 +2035,8 @@ class ht {
 }
 const Dt = "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.
@@ -2055,18 +2055,18 @@ 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, i = {}) {
+    const r = await ht.open(t, o), n = new ft(r, i);
     return await n.setJoggingMode(n.mode), n;
   }
-  getDefaultTcp(e) {
-    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;
+  getDefaultTcp(t) {
+    var i, r;
+    const o = (r = (i = t.description.dh_parameters) == null ? void 0 : i[0]) == null ? void 0 : r.type;
+    return t.joints.length < 6 && (o === G.RevoluteJoint || o === G.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;
@@ -2086,10 +2086,10 @@ 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({
@@ -2098,24 +2098,24 @@ 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) => {
-      const r = setTimeout(() => {
+    return new Promise((t, o) => {
+      const i = setTimeout(() => {
         o(
           new Error(
             `Jogging initialization timeout after ${this.timeout} seconds`
@@ -2124,18 +2124,18 @@ class ft {
       }, this.timeout);
       this.joggingSocket = this.nova.openReconnectingWebsocket(
         `/controllers/${this.motionStream.controllerId}/execution/jogging`
-      ), this.joggingSocket.addEventListener("message", (i) => {
+      ), this.joggingSocket.addEventListener("message", (r) => {
         var c, s, l, u;
-        const n = W(i.data);
+        const n = W(r.data);
         if (((c = n == null ? void 0 : n.result) == null ? void 0 : c.kind) === "INITIALIZE_RECEIVED") {
-          clearTimeout(r), e();
+          clearTimeout(i), t();
           return;
         }
         if (((s = n == null ? void 0 : n.result) == null ? void 0 : s.kind) === "MOTION_ERROR")
-          if (clearTimeout(r), this.onBlocked && ((l = n == null ? void 0 : n.result) != null && l.message.includes(Dt))) {
+          if (clearTimeout(i), this.onBlocked && ((l = n == null ? void 0 : n.result) != null && l.message.includes(Dt))) {
             (u = this.joggingSocket) == null || u.dispose(), this.onBlocked();
             return;
-          } else this.onError ? this.onError(i.data) : o(new Error(i.data));
+          } else this.onError ? this.onError(r.data) : o(new Error(r.data));
       }), this.joggingSocket.sendJson({
         message_type: "InitializeJoggingRequest",
         motion_group: this.motionGroupId,
@@ -2147,17 +2147,17 @@ 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
+    velocityValue: i,
+    velocityUnit: r
   }) {
     if (!this.joggingSocket || this.mode !== "jogging")
       throw new Error(
         "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 === "-" ? -i : i, this.joggingSocket.sendJson({
       message_type: "JointVelocityRequest",
       velocity: n
     });
@@ -2166,19 +2166,19 @@ 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
+    velocityMmPerSec: i
   }) {
     if (!this.joggingSocket || this.mode !== "jogging")
       throw new Error(
         "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({
+    const r = [0, 0, 0], n = [0, 0, 0];
+    n[tt[t]] = o === "-" ? -i : i, this.joggingSocket.sendJson({
       message_type: "TcpVelocityRequest",
       translation: n,
-      rotation: i,
+      rotation: r,
       use_tool_coordinate_system: this.orientation === "tool"
     });
   }
@@ -2186,19 +2186,19 @@ 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
+    velocityRadsPerSec: i
   }) {
     if (!this.joggingSocket || this.mode !== "jogging")
       throw new Error(
         "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({
+    const r = [0, 0, 0], n = [0, 0, 0];
+    r[tt[t]] = o === "-" ? -i : i, this.joggingSocket.sendJson({
       message_type: "TcpVelocityRequest",
       translation: n,
-      rotation: i,
+      rotation: r,
       use_tool_coordinate_system: this.orientation === "tool"
     });
   }
@@ -2210,11 +2210,11 @@ class ft {
    * Promise resolves only after the motion has completed.
    */
   async runIncrementalCartesianMotion({
-    currentTcpPose: e,
+    currentTcpPose: t,
     currentJoints: o,
     // coordSystemId,
-    velocityInRelevantUnits: r,
-    axis: i,
+    velocityInRelevantUnits: i,
+    axis: r,
     direction: n,
     motion: c
   }) {
@@ -2224,45 +2224,45 @@ 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 h = [...e.position];
-      h[tt[i]] += c.distanceMm * (n === "-" ? -1 : 1), s.push({
+      const h = [...t.position];
+      h[tt[r]] += c.distanceMm * (n === "-" ? -1 : 1), s.push({
         limits_override: {
-          tcp_velocity_limit: r
+          tcp_velocity_limit: i
         },
         path: {
           path_definition_name: "PathLine",
           target_pose: {
             position: h,
-            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 h = new ct(
-        e.orientation[0],
-        e.orientation[1],
-        e.orientation[2]
+        t.orientation[0],
+        t.orientation[1],
+        t.orientation[2]
       ), m = h.length(), v = h.clone().normalize(), b = c.distanceRads * (n === "-" ? -1 : 1), w = new ct(0, 0, 0);
-      w[i] = 1;
+      w[r] = 1;
       const C = Math.cos(0.5 * b) * Math.cos(0.5 * m), M = Math.sin(0.5 * b) * Math.sin(0.5 * m), k = Math.sin(0.5 * b) * Math.cos(0.5 * m), R = Math.cos(0.5 * b) * Math.sin(0.5 * m), I = w.dot(
         v
       ), E = w.clone().cross(v), z = 2 * Math.acos(C - M * I), Q = z / Math.sin(0.5 * z), ot = new ct().addScaledVector(E, M).addScaledVector(w, k).addScaledVector(v, R).multiplyScalar(Q);
       s.push({
         limits_override: {
-          tcp_orientation_velocity_limit: r
+          tcp_orientation_velocity_limit: i
         },
         path: {
           path_definition_name: "PathLine",
           target_pose: {
-            position: e.position,
+            position: t.position,
             orientation: [...ot]
           }
         }
@@ -2366,12 +2366,12 @@ class ft {
     });
   }
 }
-const Co = (t) => {
-  const e = t.softTimeout || 3e3, [o, r] = F(!1), i = L();
+const vo = (e) => {
+  const t = e.softTimeout || 3e3, [o, i] = F(!1), r = L();
   return A(() => {
     const n = setTimeout(() => {
-      r(!0);
-    }, e);
+      i(!0);
+    }, t);
     return () => clearTimeout(n);
   }), /* @__PURE__ */ a(
     _,
@@ -2380,23 +2380,23 @@ const Co = (t) => {
       height: "100%",
       alignItems: "center",
       justifyContent: "center",
-      sx: { color: i.palette.text.primary },
-      children: t.error ? /* @__PURE__ */ a(
-        wo,
+      sx: { color: r.palette.text.primary },
+      children: e.error ? /* @__PURE__ */ a(
+        Co,
         {
-          loadingMessage: t.message,
-          error: t.error
+          loadingMessage: e.message,
+          error: e.error
         }
       ) : /* @__PURE__ */ S(et, { children: [
         /* @__PURE__ */ a(Wt, { sx: { marginBottom: "24px" } }),
-        !!t.message && /* @__PURE__ */ a("div", { children: t.message }),
+        !!e.message && /* @__PURE__ */ a("div", { children: e.message }),
         /* @__PURE__ */ a(
           _,
           {
             sx: {
               visibility: o ? "visible" : "hidden",
               marginTop: "1rem",
-              color: i.palette.text.secondary
+              color: r.palette.text.secondary
             },
             children: "This is taking longer than expected..."
           }
@@ -2404,8 +2404,8 @@ const Co = (t) => {
       ] })
     }
   );
-}, wo = (t) => {
-  const e = Re(t.error), o = t.error instanceof Error ? t.error.stack : null, r = L();
+}, Co = (e) => {
+  const t = ke(e.error), o = e.error instanceof Error ? e.error.stack : null, i = L();
   return /* @__PURE__ */ S(
     _,
     {
@@ -2414,7 +2414,7 @@ const Co = (t) => {
         maxWidth: "min(100%, 800px)",
         padding: 2,
         overflow: "auto",
-        color: r.palette.error.main,
+        color: i.palette.error.main,
         "& pre": {
           whiteSpace: "pre-wrap",
           wordBreak: "break-word",
@@ -2422,14 +2422,14 @@ const Co = (t) => {
         }
       },
       children: [
-        (t.loadingMessage ? `Error while ${ve(ke(t.loadingMessage))} - ` : "") + e,
+        (e.loadingMessage ? `Error while ${Se(Ie(e.loadingMessage))} - ` : "") + t,
         /* @__PURE__ */ a("br", {}),
         o && /* @__PURE__ */ a("pre", { children: o })
       ]
     }
   );
-}, To = J(({ store: t }) => {
-  const { t: e } = V();
+}, wo = J(({ store: e }) => {
+  const { t } = V();
   return /* @__PURE__ */ a(
     Ft,
     {
@@ -2445,30 +2445,30 @@ const Co = (t) => {
         alignItems: "flex-start"
       },
       children: /* @__PURE__ */ S(_, { sx: { m: 2, width: "100%" }, children: [
-        /* @__PURE__ */ S(je, { severity: "error", sx: { mb: 2 }, children: [
-          /* @__PURE__ */ a(Ee, { children: e("Jogging.Blocked.ti") }),
-          e("Jogging.Blocked.lb")
+        /* @__PURE__ */ S(Re, { severity: "error", sx: { mb: 2 }, children: [
+          /* @__PURE__ */ a(je, { 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")
           }
         )
       ] })
     }
   );
 }), qt = J(
-  ({ store: t }) => {
-    const { t: e } = V(), [o, r] = F(
-      t.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached
-    ), i = D(o);
+  ({ store: e }) => {
+    const { t } = V(), [o, i] = F(
+      e.jogger.motionStream.rapidlyChangingMotionState.joint_limit_reached.limit_reached
+    ), r = D(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;
+      Be(r.current, c) || (r.current = c, i(c));
     });
     const n = [];
     for (const [c, s] of o.entries())
@@ -2485,13 +2485,13 @@ const Co = (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(", ")
         })
       }
     );
   }
-), Mo = ut($e)(({ theme: t }) => ({
+), To = ut(Le)(({ theme: e }) => ({
   "&.MuiFormControl-root": {
     ".MuiSelect-select": {
       paddingTop: "20px",
@@ -2503,18 +2503,18 @@ const Co = (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(Mo, { fullWidth: !0, variant: "filled", children: [
-    /* @__PURE__ */ a(ze, { id: e.labelId, children: t }),
-    /* @__PURE__ */ a(Ve, { ...e })
+  return /* @__PURE__ */ S(To, { fullWidth: !0, variant: "filled", children: [
+    /* @__PURE__ */ a($e, { id: t.labelId, children: e }),
+    /* @__PURE__ */ a(ze, { ...t })
   ] });
 }
 const dt = [
@@ -2522,20 +2522,20 @@ const dt = [
   { id: "1", mm: 1, degrees: 0.5 },
   { id: "5", mm: 5, degrees: 2.5 },
   { id: "10", mm: 10, degrees: 5 }
-], Io = [
+], Mo = [
   { id: "continuous" },
   ...dt
-], ko = ["coordsys", "tool"];
+], Io = ["coordsys", "tool"];
 class bt {
-  constructor(e, o, r, i, n) {
+  constructor(t, o, i, r, n) {
     var c, s, l;
-    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.tcpChangeInProgress = !1, 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 = i, this.tcps = r, this.inverseSolverValue = n, this.selectedTabId = "cartesian", this.locks = /* @__PURE__ */ new Set(), this.blocked = !1, this.selectedCoordSystemId = "world", this.selectedTcpId = "", this.tcpChangeInProgress = !1, this.selectedOrientation = "coordsys", this.selectedIncrementId = "continuous", this.selectedCartesianMotionType = "translate", this.incrementJogInProgress = null, this.translationVelocityMmPerSec = 10, this.rotationVelocityDegPerSec = 1, this.minTranslationVelocityMmPerSec = 5, this.maxTranslationVelocityMmPerSec = 250, this.minRotationVelocityDegPerSec = 1, this.maxRotationVelocityDegPerSec = 60, this.showCoordSystemSelect = !1, this.showTcpSelect = !0, this.showOrientationSelect = !0, this.showIncrementSelect = !0, this.showTabIcons = !1, this.showVelocitySliderLabel = !0, this.showVelocityLegend = !1, this.showJointsLegend = !1, this.disposers = [], this.inverseSolver = void 0, this.jointType = G.RevoluteJoint;
     for (const u of o)
       if (u.coordinate_system === "") {
         u.coordinate_system = "world";
         break;
       }
-    this.selectedCoordSystemId = ((c = o[0]) == null ? void 0 : c.coordinate_system) || "world", this.selectedTcpId = e.motionStream.rapidlyChangingMotionState.tcp ?? "", this.inverseSolver = n, this.jointType = ((l = (s = r == null ? void 0 : r.dh_parameters) == null ? void 0 : s[0]) == null ? void 0 : l.type) ?? G.RevoluteJoint, mt(this, {}, { autoBind: !0 }), this.jogger.onBlocked = () => {
+    this.selectedCoordSystemId = ((c = o[0]) == null ? void 0 : c.coordinate_system) || "world", this.selectedTcpId = t.motionStream.rapidlyChangingMotionState.tcp ?? "", this.inverseSolver = n, this.jointType = ((l = (s = i == null ? void 0 : i.dh_parameters) == null ? void 0 : s[0]) == null ? void 0 : l.type) ?? G.RevoluteJoint, mt(this, {}, { autoBind: !0 }), this.jogger.onBlocked = () => {
       this.block();
     }, this.loadFromLocalStorage(), this.disposers.push(kt(() => this.saveToLocalStorage())), this.disposers.push(
       kt(() => {
@@ -2550,54 +2550,55 @@ class bt {
    * 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, [i, r] = 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
-    ), c = Object.entries(i.tcps || {}).map(([s, l]) => ({
+      r.motion_group_model
+    ), c = Object.entries(r.tcps || {}).map(([s, l]) => ({
       id: s,
       readable_name: l.name,
       position: l.pose.position,
       orientation: l.pose.orientation
     }));
     return new bt(
-      e,
-      r || [],
-      i,
+      t,
+      i || [],
+      r,
       c,
       n.inverse_solver
     );
   }
   dispose() {
-    for (const e of this.disposers)
-      e();
+    for (const t of this.disposers)
+      t();
     this.jogger.dispose();
   }
   get coordSystemCountByName() {
-    return Ce(this.coordSystems, (e) => e.name);
+    return ve(this.coordSystems, (t) => t.name);
   }
   async deactivate() {
     this.jogger.mode === "jogging" && await this.jogger.setJoggingMode("off");
   }
   /** Activate the jogger with current settings */
   async activate() {
-    return this.currentTab.id === "cartesian" ? (this.jogger.orientation !== this.selectedOrientation && this.jogger.setOptions({
+    return this.currentTab.id === "cartesian" ? ((this.jogger.tcp !== this.selectedTcpId || this.jogger.orientation !== this.selectedOrientation) && await this.jogger.setOptions({
+      tcp: this.selectedTcpId || void 0,
       orientation: this.selectedOrientation
     }), 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.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 = W(localStorage.getItem("joggingToolStore"));
+    t && (this.tabsById[t.selectedTabId] && (this.selectedTabId = t.selectedTabId), this.coordSystemsById[t.selectedCoordSystemId] && (this.selectedCoordSystemId = t.selectedCoordSystemId), 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(
@@ -2618,28 +2619,28 @@ 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 Io;
+    return Mo;
   }
   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];
@@ -2648,7 +2649,7 @@ 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.
@@ -2659,7 +2660,7 @@ 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);
   }
   /**
    * True when the server has not yet reported an active TCP.
@@ -2669,82 +2670,86 @@ class bt {
     return this.tcps.length > 0 && !this.selectedTcpId;
   }
   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;
   }
   /** Minimum selectable velocity in mm/sec or deg/sec */
-  minVelocityInDisplayUnits(e) {
-    return e ? this.minRotationVelocityDegPerSec : this.minTranslationVelocityMmPerSec;
+  minVelocityInDisplayUnits(t) {
+    return t ? this.minRotationVelocityDegPerSec : this.minTranslationVelocityMmPerSec;
   }
   /** Maximum selectable velocity in mm/sec or deg/sec */
-  maxVelocityInDisplayUnits(e) {
-    return e ? this.maxRotationVelocityDegPerSec : this.maxTranslationVelocityMmPerSec;
+  maxVelocityInDisplayUnits(t) {
+    return t ? this.maxRotationVelocityDegPerSec : this.maxTranslationVelocityMmPerSec;
   }
-  onTabChange(e, o) {
-    const r = this.tabs[o] || this.tabs[0];
-    this.selectedTabId = r.id;
+  onTabChange(t, o) {
+    const i = this.tabs[o] || this.tabs[0];
+    this.selectedTabId = i.id;
   }
-  setSelectedCoordSystemId(e) {
-    this.selectedCoordSystemId = e;
+  setSelectedCoordSystemId(t) {
+    this.selectedCoordSystemId = t;
   }
   /**
-   * Request a TCP change on the server. Sets tcpChangeInProgress while waiting
-   * for the server to confirm the change via the motion state stream.
+   * Request a TCP change on the server. Sends an InitializeJoggingRequest
+   * with the new TCP to the backend via the jogging websocket.
+   *
+   * If the jogger is actively jogging, the websocket is reinitialised with the new TCP.
+   * If the jogger is idle, a jogging websocket is briefly opened to communicate the
+   * TCP change, then closed again.
    */
-  async requestTcpChange(e) {
-    if (e !== this.selectedTcpId) {
-      this.tcpChangeInProgress = !0;
-      try {
-        await this.jogger.setOptions({ tcp: e });
-        const o = await this.waitForTcpConfirmation(e, 1e4);
-        B(() => {
-          o ? this.selectedTcpId = e : this.selectedTcpId = this.jogger.motionStream.rapidlyChangingMotionState.tcp ?? "";
-        });
-      } catch (o) {
-        throw B(() => {
-          this.selectedTcpId = this.jogger.motionStream.rapidlyChangingMotionState.tcp ?? "";
-        }), o;
-      } finally {
-        B(() => {
-          this.tcpChangeInProgress = !1;
-        });
-      }
+  async requestTcpChange(t) {
+    if (t === this.selectedTcpId) return;
+    this.tcpChangeInProgress = !0;
+    const o = this.jogger.mode !== "jogging";
+    try {
+      this.jogger.tcp = t, o ? (await this.jogger.setJoggingMode("jogging"), await this.jogger.setJoggingMode("off")) : await this.jogger.setJoggingMode("jogging", !1);
+      const i = await this.waitForTcpConfirmation(t, 1e4);
+      B(() => {
+        i ? this.selectedTcpId = t : this.selectedTcpId = this.jogger.motionStream.rapidlyChangingMotionState.tcp ?? "";
+      });
+    } catch (i) {
+      throw B(() => {
+        this.selectedTcpId = this.jogger.motionStream.rapidlyChangingMotionState.tcp ?? "";
+      }), i;
+    } finally {
+      B(() => {
+        this.tcpChangeInProgress = !1;
+      });
     }
   }
-  waitForTcpConfirmation(e, o) {
-    return new Promise((r) => {
-      const i = Date.now(), n = setInterval(() => {
-        this.jogger.motionStream.rapidlyChangingMotionState.tcp === e ? (clearInterval(n), r(!0)) : Date.now() - i >= o && (clearInterval(n), r(!1));
+  waitForTcpConfirmation(t, o) {
+    return new Promise((i) => {
+      const r = Date.now(), n = setInterval(() => {
+        this.jogger.motionStream.rapidlyChangingMotionState.tcp === t ? (clearInterval(n), i(!0)) : Date.now() - r >= o && (clearInterval(n), i(!1));
       }, 100);
     });
   }
-  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;
@@ -2753,20 +2758,20 @@ 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 = Ne();
+  async withMotionLock(t) {
+    const o = Ve();
     this.lock(o);
     try {
-      return await e();
+      return await t();
     } finally {
       this.unlock(o);
     }
   }
 }
-const Ro = J(
-  ({ store: t, useDegree: e }) => {
+const ko = J(
+  ({ store: e, useDegree: t }) => {
     var c;
-    const { t: o } = V(), r = ne(), i = [];
+    const { t: o } = V(), i = ne(), r = [];
     function n(s) {
       switch (s) {
         case "coordsys":
@@ -2777,72 +2782,72 @@ const Ro = J(
           return s;
       }
     }
-    if (t.showCoordSystemSelect && i.push(
+    if (e.showCoordSystemSelect && r.push(
       /* @__PURE__ */ a(
         it,
         {
-          labelId: `jogging-coord-select-${r}`,
+          labelId: `jogging-coord-select-${i}`,
           labelValue: o("Jogging.CoordinateSystem.hlb"),
-          value: t.selectedCoordSystemId,
+          value: e.selectedCoordSystemId,
           size: "small",
           variant: "filled",
           displayEmpty: !0,
-          onChange: (s) => t.setSelectedCoordSystemId(s.target.value),
-          disabled: t.isLocked,
-          children: t.coordSystems.map((s) => /* @__PURE__ */ a(q, { value: s.coordinate_system, children: s.name && t.coordSystemCountByName[s.name] > 1 ? `${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} / ${s.coordinate_system}` : s.name || s.coordinate_system }, s.coordinate_system))
         },
         "coord"
       )
-    ), t.showTcpSelect) {
-      const s = t.tcpChangeInProgress || t.isTcpUnresolved;
-      i.push(
+    ), e.showTcpSelect) {
+      const s = e.tcpChangeInProgress || e.isTcpUnresolved;
+      r.push(
         /* @__PURE__ */ a(
           it,
           {
-            labelId: `jogging-tcp-select-${r}`,
+            labelId: `jogging-tcp-select-${i}`,
             labelValue: "TCP",
-            value: t.selectedTcpId,
+            value: e.selectedTcpId,
             size: "small",
             variant: "filled",
             displayEmpty: s,
-            onChange: (l) => t.requestTcpChange(l.target.value),
-            disabled: t.isLocked || s,
-            endAdornment: s ? /* @__PURE__ */ a(Le, { position: "end", children: /* @__PURE__ */ a(Wt, { size: 16 }) }) : void 0,
-            children: t.tcps.map((l) => /* @__PURE__ */ a(q, { value: l.id, children: l.id }, l.id))
+            onChange: (l) => e.requestTcpChange(l.target.value),
+            disabled: e.isLocked || s,
+            endAdornment: s ? /* @__PURE__ */ a(Fe, { position: "end", children: /* @__PURE__ */ a(Wt, { size: 16 }) }) : void 0,
+            children: e.tcps.map((l) => /* @__PURE__ */ a(q, { value: l.id, children: l.id }, l.id))
           },
           "tcp"
         )
       );
     }
-    return t.showOrientationSelect && i.push(
+    return e.showOrientationSelect && r.push(
       /* @__PURE__ */ a(
         it,
         {
           labelValue: o("Jogging.Cartesian.Orientation.lb"),
-          labelId: `orientation-select-${r}`,
-          value: t.selectedOrientation,
-          onChange: (s) => t.setSelectedOrientation(s.target.value),
-          disabled: t.isLocked,
-          children: ko.map((s) => /* @__PURE__ */ a(q, { value: s, children: n(s) }, s))
+          labelId: `orientation-select-${i}`,
+          value: e.selectedOrientation,
+          onChange: (s) => e.setSelectedOrientation(s.target.value),
+          disabled: e.isLocked,
+          children: Io.map((s) => /* @__PURE__ */ a(q, { value: s, children: n(s) }, s))
         },
         "orientation"
       )
-    ), t.showIncrementSelect && i.push(
+    ), e.showIncrementSelect && r.push(
       /* @__PURE__ */ S(
         it,
         {
           labelValue: o("Jogging.Increment.hlb"),
-          labelId: `jogging-increment-select-${r}`,
+          labelId: `jogging-increment-select-${i}`,
           size: "small",
           variant: "filled",
-          value: ((c = t.activeDiscreteIncrement) == null ? void 0 : c.id) || "continuous",
-          onChange: (s) => t.setSelectedIncrementId(
+          value: ((c = e.activeDiscreteIncrement) == null ? void 0 : c.id) || "continuous",
+          onChange: (s) => e.setSelectedIncrementId(
             s.target.value
           ),
-          disabled: t.isLocked,
+          disabled: e.isLocked,
           children: [
             /* @__PURE__ */ a(q, { value: "continuous", children: o("Jogging.Increment.Continuous.dd") }, "continuous"),
-            t.selectedOrientation === "tool" ? null : t.discreteIncrementOptions.map((s) => /* @__PURE__ */ a(q, { value: s.id, children: e ? `${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"
@@ -2860,11 +2865,11 @@ const Ro = J(
           gridAutoRows: "min-content",
           "& label": { opacity: 0.7, fontSize: "12px", marginBottom: "4px" }
         },
-        children: i.map((s, l) => /* @__PURE__ */ a(
+        children: r.map((s, l) => /* @__PURE__ */ a(
           T,
           {
             sx: {
-              gridColumn: i.length % 2 === 1 && l === i.length - 1 ? "span 2" : "auto"
+              gridColumn: r.length % 2 === 1 && l === r.length - 1 ? "span 2" : "auto"
             },
             children: s
           },
@@ -2873,11 +2878,11 @@ const Ro = J(
       }
     );
   }
-), jo = ut(We)(({ theme: t }) => {
-  var e;
+), Ro = ut(Ne)(({ 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",
@@ -2895,11 +2900,11 @@ const Ro = J(
       }
     }
   };
-}), Eo = J((t) => {
+}), jo = J((e) => {
   var n, c, s;
-  const e = L(), { store: o } = t, { t: r } = V();
-  function i(l, u) {
-    u === t.velocity || !Ge(u) || t.onVelocityChange(u, t.useDegree);
+  const t = L(), { store: o } = e, { t: i } = V();
+  function r(l, u) {
+    u === e.velocity || !We(u) || e.onVelocityChange(u, e.useDegree);
   }
   return /* @__PURE__ */ S(
     _,
@@ -2914,22 +2919,22 @@ const Ro = J(
           j,
           {
             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")
+            children: i("Jogging.Velocity.bt")
           }
         ),
         /* @__PURE__ */ a(
           Gt,
           {
-            value: t.velocity,
+            value: e.velocity,
             color: "secondary",
-            onChange: i,
-            min: t.min,
-            max: t.max,
+            onChange: r,
+            min: e.min,
+            max: e.max,
             "aria-labelledby": "input-slider",
-            disabled: t.disabled,
+            disabled: e.disabled,
             sx: {
               "& .MuiSlider-valueLabelOpen": {
                 zIndex: 100,
@@ -2939,13 +2944,13 @@ const Ro = J(
             }
           }
         ),
-        o.showVelocitySliderLabel && (t.renderValue ? t.renderValue(t.velocity) : /* @__PURE__ */ a(Yt, { value: t.velocity.toString() }))
+        o.showVelocitySliderLabel && (e.renderValue ? e.renderValue(e.velocity) : /* @__PURE__ */ a(Yt, { value: e.velocity.toString() }))
       ]
     }
   );
 });
-function Yt({ value: t, sx: e }) {
-  var r;
+function Yt({ value: e, sx: t }) {
+  var i;
   const o = L();
   return /* @__PURE__ */ a(
     _,
@@ -2956,10 +2961,10 @@ function Yt({ value: t, sx: e }) {
       gap: "5px",
       sx: {
         padding: "6px 12px",
-        background: (r = o.palette.backgroundPaperElevation) == null ? void 0 : r[8],
+        background: (i = o.palette.backgroundPaperElevation) == null ? void 0 : i[8],
         borderRadius: "10px",
         minWidth: "111px",
-        ...e
+        ...t
       },
       children: /* @__PURE__ */ a(
         j,
@@ -2972,32 +2977,32 @@ function Yt({ value: t, sx: e }) {
             color: o.palette.text.primary,
             whiteSpace: "nowrap"
           },
-          children: t
+          children: e
         }
       )
     }
   );
 }
 const Zt = J(
-  ({ store: t, useDegree: e }) => {
+  ({ store: e, useDegree: t }) => {
     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 })}`;
+    function i(r, n) {
+      return n ? `ω = ${o("Jogging.Cartesian.Rotation.velocityDegPerSec.lb", { amount: r })}` : `v = ${o("Jogging.Cartesian.Translation.velocityMmPerSec.lb", { amount: r })}`;
     }
     return /* @__PURE__ */ a(
-      Eo,
+      jo,
       {
-        store: t,
-        velocity: t.velocityInDisplayUnits(e),
-        min: t.minVelocityInDisplayUnits(e),
-        max: t.maxVelocityInDisplayUnits(e),
-        onVelocityChange: t.setVelocityFromSlider,
-        useDegree: e,
-        disabled: t.isLocked,
-        renderValue: (i) => /* @__PURE__ */ a(
+        store: e,
+        velocity: e.velocityInDisplayUnits(t),
+        min: e.minVelocityInDisplayUnits(t),
+        max: e.maxVelocityInDisplayUnits(t),
+        onVelocityChange: e.setVelocityFromSlider,
+        useDegree: t,
+        disabled: e.isLocked,
+        renderValue: (r) => /* @__PURE__ */ a(
           Yt,
           {
-            value: r(i, e),
+            value: i(r, t),
             sx: {
               minWidth: "111px",
               span: {
@@ -3009,71 +3014,59 @@ const Zt = J(
       }
     );
   }
-), Po = J(
+), Eo = J(
   ({
-    store: t,
-    children: e
+    store: e,
+    children: t
   }) => {
-    const { t: o } = V(), r = L();
-    function i(d, p) {
-      (p === "translate" || p === "rotate") && t.setSelectedCartesianMotionType(p);
+    const { t: o } = V(), i = L();
+    function r(d, p) {
+      (p === "translate" || p === "rotate") && e.setSelectedCartesianMotionType(p);
     }
-    ae(
-      () => [t.selectedCoordSystemId, t.selectedTcpId],
-      () => {
-        t.jogger.motionStream.motionStateSocket.changeUrl(
-          t.jogger.nova.makeWebsocketURL(
-            `/controllers/${t.jogger.motionStream.controllerId}/motion-groups/${t.jogger.motionGroupId}/state-stream?tcp=${t.selectedTcpId}`
-          )
-        );
-      },
-      // biome-ignore lint/suspicious/noExplicitAny: pre-biome code
-      { fireImmediately: !0 }
-    );
     async function n(d, p) {
-      const x = await t.activate(), y = x.motionStream.rapidlyChangingMotionState.tcp_pose, h = x.motionStream.rapidlyChangingMotionState.joint_position;
-      y && await t.withMotionLock(async () => {
+      const x = await e.activate(), y = x.motionStream.rapidlyChangingMotionState.tcp_pose, h = x.motionStream.rapidlyChangingMotionState.joint_position;
+      y && await e.withMotionLock(async () => {
         try {
-          t.setCurrentIncrementJog({
+          e.setCurrentIncrementJog({
             axis: d.axis,
             direction: d.direction
-          }), await t.jogger.runIncrementalCartesianMotion({
+          }), await e.jogger.runIncrementalCartesianMotion({
             currentTcpPose: y,
             currentJoints: h,
-            coordSystemId: t.activeCoordSystemId,
-            velocityInRelevantUnits: t.selectedCartesianMotionType === "translate" ? t.translationVelocityMmPerSec : t.rotationVelocityRadsPerSec,
+            coordSystemId: e.activeCoordSystemId,
+            velocityInRelevantUnits: e.selectedCartesianMotionType === "translate" ? e.translationVelocityMmPerSec : e.rotationVelocityRadsPerSec,
             axis: d.axis,
             direction: d.direction,
-            motion: t.selectedCartesianMotionType === "translate" ? {
+            motion: e.selectedCartesianMotionType === "translate" ? {
               type: "translate",
               distanceMm: p.mm
             } : {
               type: "rotate",
-              distanceRads: Ie(p.degrees)
+              distanceRads: Me(p.degrees)
             }
           });
         } finally {
-          t.setCurrentIncrementJog(null), await t.deactivate();
+          e.setCurrentIncrementJog(null), await e.deactivate();
         }
       });
     }
     async function c(d) {
-      if (!t.isLocked) {
-        if (await t.activate(), t.activeDiscreteIncrement)
-          return n(d, t.activeDiscreteIncrement);
-        d.motionType === "translate" ? await t.jogger.translateTCP({
+      if (!e.isLocked) {
+        if (await e.activate(), e.activeDiscreteIncrement)
+          return n(d, e.activeDiscreteIncrement);
+        d.motionType === "translate" ? await e.jogger.translateTCP({
           axis: d.axis,
           direction: d.direction,
-          velocityMmPerSec: t.translationVelocityMmPerSec
-        }) : await t.jogger.rotateTCP({
+          velocityMmPerSec: e.translationVelocityMmPerSec
+        }) : await e.jogger.rotateTCP({
           axis: d.axis,
           direction: d.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(d, p, x) {
       var h, m, v;
@@ -3084,18 +3077,18 @@ const Zt = J(
     const u = [
       {
         id: "x",
-        icon: /* @__PURE__ */ a(Oe, {}),
-        colors: l("X", t.selectedCartesianMotionType, r)
+        icon: /* @__PURE__ */ a(_e, {}),
+        colors: l("X", e.selectedCartesianMotionType, i)
       },
       {
         id: "y",
-        icon: /* @__PURE__ */ a(De, {}),
-        colors: l("Y", t.selectedCartesianMotionType, r)
+        icon: /* @__PURE__ */ a(Oe, {}),
+        colors: l("Y", e.selectedCartesianMotionType, i)
       },
       {
         id: "z",
-        icon: /* @__PURE__ */ a(Ae, {}),
-        colors: l("Z", t.selectedCartesianMotionType, r)
+        icon: /* @__PURE__ */ a(De, {}),
+        colors: l("Z", e.selectedCartesianMotionType, i)
       }
     ];
     function f(d) {
@@ -3117,17 +3110,17 @@ const Zt = J(
         children: [
           /* @__PURE__ */ S(_, { gap: 2, children: [
             /* @__PURE__ */ a(
-              Ro,
+              ko,
               {
-                store: t,
-                useDegree: t.selectedCartesianMotionType === "rotate"
+                store: e,
+                useDegree: e.selectedCartesianMotionType === "rotate"
               }
             ),
             /* @__PURE__ */ a(
               Zt,
               {
-                store: t,
-                useDegree: t.selectedCartesianMotionType === "rotate"
+                store: e,
+                useDegree: e.selectedCartesianMotionType === "rotate"
               }
             ),
             /* @__PURE__ */ a(Y, {})
@@ -3149,10 +3142,10 @@ const Zt = J(
                   sx: { flexGrow: 1 },
                   children: [
                     /* @__PURE__ */ S(
-                      jo,
+                      Ro,
                       {
-                        value: t.selectedCartesianMotionType,
-                        onChange: i,
+                        value: e.selectedCartesianMotionType,
+                        onChange: r,
                         exclusive: !0,
                         "aria-label": o("Jogging.Cartesian.MotionType.lb"),
                         sx: { justifyContent: "center" },
@@ -3162,7 +3155,7 @@ const Zt = J(
                         ]
                       }
                     ),
-                    t.selectedCartesianMotionType === "translate" && u.map((d) => {
+                    e.selectedCartesianMotionType === "translate" && u.map((d) => {
                       var p, x;
                       return /* @__PURE__ */ a(
                         _t,
@@ -3170,8 +3163,8 @@ const Zt = J(
                           "data-testid": `jogging-cartesian-axis-control-${d.id}`,
                           "aria-label": `jogging-cartesian-axis-control-${d.id}`,
                           colors: d.colors,
-                          disabled: t.isLocked,
-                          activeJoggingDirection: ((p = t.incrementJogInProgress) == null ? void 0 : p.axis) === d.id ? t.incrementJogInProgress.direction : void 0,
+                          disabled: e.isLocked,
+                          activeJoggingDirection: ((p = e.incrementJogInProgress) == null ? void 0 : p.axis) === d.id ? e.incrementJogInProgress.direction : void 0,
                           label: /* @__PURE__ */ S(et, { children: [
                             d.icon,
                             /* @__PURE__ */ a(
@@ -3179,7 +3172,7 @@ const Zt = J(
                               {
                                 sx: {
                                   fontSize: "24px",
-                                  color: ((x = d.colors) == null ? void 0 : x.labelColor) ?? r.palette.text.primary
+                                  color: ((x = d.colors) == null ? void 0 : x.labelColor) ?? i.palette.text.primary
                                 },
                                 children: d.id.toUpperCase()
                               }
@@ -3188,7 +3181,7 @@ const Zt = J(
                           getDisplayedValue: () => {
                             var y, h;
                             return f(
-                              ((h = (y = t.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : y.position) == null ? void 0 : h[tt[d.id]]) || 0
+                              ((h = (y = e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : y.position) == null ? void 0 : h[tt[d.id]]) || 0
                             );
                           },
                           startJogging: (y) => c({
@@ -3201,7 +3194,7 @@ const Zt = J(
                         d.id
                       );
                     }),
-                    t.selectedCartesianMotionType === "rotate" && u.map((d) => {
+                    e.selectedCartesianMotionType === "rotate" && u.map((d) => {
                       var p, x;
                       return /* @__PURE__ */ a(
                         _t,
@@ -3209,16 +3202,16 @@ const Zt = J(
                           "data-testid": `jogging-cartesian-axis-control-${d.id}`,
                           "aria-label": `jogging-cartesian-axis-control-${d.id}`,
                           colors: d.colors,
-                          disabled: t.isLocked,
-                          activeJoggingDirection: ((p = t.incrementJogInProgress) == null ? void 0 : p.axis) === d.id ? t.incrementJogInProgress.direction : void 0,
+                          disabled: e.isLocked,
+                          activeJoggingDirection: ((p = e.incrementJogInProgress) == null ? void 0 : p.axis) === d.id ? e.incrementJogInProgress.direction : void 0,
                           label: /* @__PURE__ */ S(et, { children: [
-                            /* @__PURE__ */ a(Je, {}),
+                            /* @__PURE__ */ a(Ae, {}),
                             /* @__PURE__ */ a(
                               j,
                               {
                                 sx: {
                                   fontSize: "24px",
-                                  color: ((x = d.colors) == null ? void 0 : x.labelColor) ?? r.palette.text.primary
+                                  color: ((x = d.colors) == null ? void 0 : x.labelColor) ?? i.palette.text.primary
                                 },
                                 children: d.id.toUpperCase()
                               }
@@ -3227,7 +3220,7 @@ const Zt = J(
                           getDisplayedValue: () => {
                             var y, h;
                             return g(
-                              ((h = (y = t.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : y.orientation) == null ? void 0 : h[tt[d.id]]) || 0
+                              ((h = (y = e.jogger.motionStream.rapidlyChangingMotionState.tcp_pose) == null ? void 0 : y.orientation) == null ? void 0 : h[tt[d.id]]) || 0
                             );
                           },
                           startJogging: (y) => c({
@@ -3245,26 +3238,26 @@ const Zt = J(
               )
             }
           ),
-          /* @__PURE__ */ a(qt, { store: t }),
-          e && /* @__PURE__ */ a(Y, {}),
-          e
+          /* @__PURE__ */ a(qt, { store: e }),
+          t && /* @__PURE__ */ a(Y, {}),
+          t
         ]
       }
     );
   }
-), _o = J(
-  ({ store: t, children: e }) => {
+), Po = J(
+  ({ store: e, children: t }) => {
     const o = L();
-    async function r(n) {
-      await t.activate(), await t.jogger.rotateJoints({
+    async function i(n) {
+      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 === G.PrismaticJoint ? "mm/s" : "rad/s",
+        velocityValue: e.jointType === G.PrismaticJoint ? e.translationVelocityMmPerSec : e.rotationVelocityRadsPerSec
       });
     }
-    async function i() {
-      await t.jogger.stop(), await t.deactivate();
+    async function r() {
+      await e.jogger.stop(), await e.deactivate();
     }
     return /* @__PURE__ */ S(
       _,
@@ -3278,8 +3271,8 @@ const Zt = J(
           /* @__PURE__ */ a(
             Zt,
             {
-              store: t,
-              useDegree: t.jointType === G.RevoluteJoint
+              store: e,
+              useDegree: e.jointType === G.RevoluteJoint
             }
           ),
           /* @__PURE__ */ a(Y, {}),
@@ -3296,9 +3289,9 @@ const Zt = 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, u;
-                    const c = (u = (l = (s = t.motionGroupDescription.operation_limits.auto_limits) == null ? void 0 : s.joints) == null ? void 0 : l[n.index]) == null ? void 0 : u.position;
+                    const c = (u = (l = (s = e.motionGroupDescription.operation_limits.auto_limits) == null ? void 0 : s.joints) == null ? void 0 : l[n.index]) == null ? void 0 : u.position;
                     return /* @__PURE__ */ S(
                       _,
                       {
@@ -3310,29 +3303,29 @@ const Zt = J(
                         spacing: 1.5,
                         width: "100%",
                         children: [
-                          t.showJointsLegend && /* @__PURE__ */ a(
+                          e.showJointsLegend && /* @__PURE__ */ a(
                             j,
                             {
-                              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(
-                            yo,
+                            xo,
                             {
-                              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 === G.RevoluteJoint,
                               getValue: () => {
-                                const f = t.jogger.motionStream.rapidlyChangingMotionState.joint_position[n.index];
+                                const f = e.jogger.motionStream.rapidlyChangingMotionState.joint_position[n.index];
                                 return f !== void 0 ? f : void 0;
                               },
-                              startJogging: (f) => r({
+                              startJogging: (f) => i({
                                 joint: n.index,
                                 direction: f
                               }),
-                              stopJogging: i
+                              stopJogging: r
                             }
                           )
                         ]
@@ -3344,43 +3337,43 @@ const Zt = J(
               )
             }
           ),
-          /* @__PURE__ */ a(qt, { store: t }),
-          e && /* @__PURE__ */ a(Y, {}),
-          e
+          /* @__PURE__ */ a(qt, { store: e }),
+          t && /* @__PURE__ */ a(Y, {}),
+          t
         ]
       }
     );
   }
-), pi = $(
-  J((t) => {
-    const e = we(t.nova) ? new ye({ instanceUrl: t.nova }) : t.nova, o = Lt(() => ({
+), ui = $(
+  J((e) => {
+    const t = Ce(e.nova) ? new xe({ instanceUrl: e.nova }) : e.nova, o = Lt(() => ({
       joggingStore: null,
       loadingError: null
     }));
-    async function r() {
+    async function i() {
       B(() => {
         o.loadingError = null, o.joggingStore = null;
       });
       try {
-        let i = t.store;
-        if (!i) {
-          const n = await ft.open(e, t.motionGroupId);
-          i = await bt.loadFor(n);
+        let r = e.store;
+        if (!r) {
+          const n = await ft.open(t, e.motionGroupId);
+          r = await bt.loadFor(n);
         }
         B(() => {
-          o.joggingStore = i;
-        }), t.onSetup && t.onSetup(i);
-      } catch (i) {
-        o.loadingError = i;
+          o.joggingStore = r;
+        }), e.onSetup && e.onSetup(r);
+      } catch (r) {
+        o.loadingError = r;
       }
     }
-    return A(() => (r(), t.store ? () => null : () => {
-      var i;
-      (i = o.joggingStore) == null || i.dispose();
-    }), [t.store, t.nova, t.motionGroupId]), A(() => {
-      const i = o.joggingStore;
-      i && (t.locked ? i.lock("external") : i.unlock("external"));
-    }, [o.joggingStore, t.locked]), /* @__PURE__ */ a(
+    return A(() => (i(), e.store ? () => null : () => {
+      var r;
+      (r = o.joggingStore) == null || r.dispose();
+    }), [e.store, e.nova, e.motionGroupId]), A(() => {
+      const r = o.joggingStore;
+      r && (e.locked ? r.lock("external") : r.unlock("external"));
+    }, [o.joggingStore, e.locked]), /* @__PURE__ */ a(
       _,
       {
         "data-testid": "jogging-panel",
@@ -3389,23 +3382,23 @@ const Zt = J(
           maxWidth: "460px",
           minWidth: "320px",
           position: "relative",
-          ...t.sx
+          ...e.sx
         },
-        children: o.joggingStore ? /* @__PURE__ */ a(Oo, { store: o.joggingStore, children: t.children }) : /* @__PURE__ */ a(Co, { message: "Loading jogging", error: o.loadingError })
+        children: o.joggingStore ? /* @__PURE__ */ a(_o, { store: o.joggingStore, children: e.children }) : /* @__PURE__ */ a(vo, { message: "Loading jogging", error: o.loadingError })
       }
     );
   })
-), Oo = J(
+), _o = J(
   ({
-    store: t,
-    children: e
+    store: e,
+    children: t
   }) => {
     const { t: o } = V();
-    function r() {
-      if (t.currentTab.id === "cartesian")
-        return /* @__PURE__ */ a(Po, { store: t, children: e });
-      if (t.currentTab.id === "joint")
-        return /* @__PURE__ */ a(_o, { store: t, children: e });
+    function i() {
+      if (e.currentTab.id === "cartesian")
+        return /* @__PURE__ */ a(Eo, { store: e, children: t });
+      if (e.currentTab.id === "joint")
+        return /* @__PURE__ */ a(Po, { store: e, children: t });
     }
     return /* @__PURE__ */ S(_, { flexGrow: 1, sx: { overflow: "hidden" }, children: [
       /* @__PURE__ */ a(
@@ -3413,24 +3406,24 @@ const Zt = J(
         {
           "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(be, { fontSize: "small", sx: { mr: 1 } }) : /* @__PURE__ */ a(xe, { fontSize: "small", sx: { mr: 1 } });
+          children: e.tabs.map((r) => {
+            const n = r.label === "Cartesian" ? o("Jogging.Cartesian.bt") : o("Jogging.Joints.bt"), c = r.label === "cartesian" ? /* @__PURE__ */ a(fe, { fontSize: "small", sx: { mr: 1 } }) : /* @__PURE__ */ a(be, { fontSize: "small", sx: { mr: 1 } });
             return /* @__PURE__ */ a(
               zt,
               {
-                "data-testid": `jogging-tab-${i.id}`,
-                "aria-label": `jogging-tab-${i.id}`,
-                label: t.showTabIcons ? /* @__PURE__ */ S(_, { direction: "row", alignItems: "center", children: [
+                "data-testid": `jogging-tab-${r.id}`,
+                "aria-label": `jogging-tab-${r.id}`,
+                label: e.showTabIcons ? /* @__PURE__ */ S(_, { direction: "row", alignItems: "center", children: [
                   c,
                   n
                 ] }) : n,
-                id: `jogging-tab-${i.id}`,
-                "aria-controls": `jogging-tab-${i.id}`
+                id: `jogging-tab-${r.id}`,
+                "aria-controls": `jogging-tab-${r.id}`
               },
-              i.id
+              r.id
             );
           })
         }
@@ -3441,20 +3434,20 @@ const Zt = J(
           flexGrow: 1,
           position: "relative",
           sx: { overflowY: "auto", overflowX: "hidden" },
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       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;
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       const u = window.getSelection();
@@ -3466,13 +3459,13 @@ const Zt = J(
     return !1;
   }
   return A(() => {
-    if (!i)
+    if (!r)
       return;
     const l = setTimeout(() => n(!1), 3e3);
     return () => {
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@@ -3480,7 +3473,7 @@ const Zt = J(
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         boxSizing: "border-box",
         padding: "6px 12px",
-        background: (s = r.palette.backgroundPaperElevation) == null ? void 0 : s[8],
+        background: (s = i.palette.backgroundPaperElevation) == null ? void 0 : s[8],
         borderRadius: "10px",
         minWidth: "0",
         cursor: "pointer"
@@ -3494,21 +3487,21 @@ const Zt = J(
           sx: {
             pointerEvents: "none",
             fontSize: "12px",
-            color: r.palette.text.primary,
+            color: i.palette.text.primary,
             whiteSpace: "nowrap",
             minWidth: 0,
             textOverflow: "ellipsis",
             width: "100%",
             overflow: "hidden"
           },
-          children: e
+          children: t
         }
       )
     }
   ) });
-}, mi = $(
-  J(({ tcpPose: t, showCopyButton: e = !1 }) => {
-    const [o, r] = F(null), i = Se(t);
+}, pi = $(
+  J(({ tcpPose: e, showCopyButton: t = !1 }) => {
+    const [o, i] = F(null), r = ye(e);
     return /* @__PURE__ */ S(
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       {
@@ -3518,8 +3511,8 @@ const Zt = J(
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         children: [
-          /* @__PURE__ */ a(Qt, { value: i }),
-          e && /* @__PURE__ */ a(
+          /* @__PURE__ */ a(Qt, { value: r }),
+          t && /* @__PURE__ */ a(
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             {
               variant: "contained",
@@ -3527,9 +3520,9 @@ const Zt = J(
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               onClick: async () => {
                 try {
-                  await navigator.clipboard.writeText(i), r("Copied!"), setTimeout(() => r(null), 2e3);
+                  await navigator.clipboard.writeText(r), i("Copied!"), setTimeout(() => i(null), 2e3);
                 } catch {
-                  r("Copy failed"), setTimeout(() => r(null), 2e3);
+                  i("Copy failed"), setTimeout(() => i(null), 2e3);
                 }
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               sx: { flexShrink: 0 },
@@ -3540,9 +3533,9 @@ const Zt = J(
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     );
   })
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-    const [o, r] = F(null), i = `[${t.map((c) => parseFloat(c.toFixed(4))).join(", ")}]`;
+), mi = $(
+  J(({ joints: e, showCopyButton: t = !1 }) => {
+    const [o, i] = F(null), r = `[${e.map((c) => parseFloat(c.toFixed(4))).join(", ")}]`;
     return /* @__PURE__ */ S(
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       {
@@ -3552,8 +3545,8 @@ const Zt = J(
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         "data-testid": "pose-joint-values",
         children: [
-          /* @__PURE__ */ a(Qt, { value: i }),
-          e && /* @__PURE__ */ a(
+          /* @__PURE__ */ a(Qt, { value: r }),
+          t && /* @__PURE__ */ a(
             Z,
             {
               variant: "contained",
@@ -3561,9 +3554,9 @@ const Zt = J(
               size: "small",
               onClick: async () => {
                 try {
-                  await navigator.clipboard.writeText(i), r("Copied!"), setTimeout(() => r(null), 2e3);
+                  await navigator.clipboard.writeText(r), i("Copied!"), setTimeout(() => i(null), 2e3);
                 } catch {
-                  r("Copy failed"), setTimeout(() => r(null), 2e3);
+                  i("Copy failed"), setTimeout(() => i(null), 2e3);
                 }
               },
               sx: { flexShrink: 0 },
@@ -3575,51 +3568,51 @@ const Zt = J(
     );
   })
 );
-class Do {
+class Oo {
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-    this.messages = [], this.addMessage = (e, o = "info") => {
-      const r = {
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+      const i = {
         id: Math.random().toString(36).substring(2, 11),
         timestamp: /* @__PURE__ */ new Date(),
-        message: e,
+        message: t,
         level: o
       };
-      this.messages.push(r);
+      this.messages.push(i);
     }, this.clearMessages = () => {
       this.messages = [];
-    }, this.addInfo = (e) => {
-      this.addMessage(e, "info");
-    }, this.addWarning = (e) => {
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-      this.addMessage(e, "error");
-    }, this.addDebug = (e) => {
-      this.addMessage(e, "debug");
-    }, Te(this, {
-      messages: Me,
+    }, 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");
+    }, we(this, {
+      messages: Te,
       addMessage: Rt,
       clearMessages: Rt
     });
   }
 }
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-  level: e
-}), fi = (t, e) => at(t, "debug", e), bi = (t, e) => at(t, "info", e), xi = (t, e) => at(t, "warning", e), yi = (t, e) => at(t, "error", e), Ao = $(
-  J((t) => {
+  message: e,
+  level: t
+}), hi = (e, t) => at(e, "debug", t), fi = (e, t) => at(e, "info", t), bi = (e, t) => at(e, "warning", t), xi = (e, t) => at(e, "error", t), Do = $(
+  J((e) => {
     var f;
-    const { messages: e = [], onClear: o, height: r = 400, sx: i } = t, n = L(), c = D(null);
+    const { messages: t = [], onClear: o, height: i = 400, sx: r } = e, n = L(), c = D(null);
     A(() => {
-      if (e.length === 0) return;
+      if (t.length === 0) return;
       const g = c.current;
       if (!g) return;
       const d = setTimeout(() => {
         g.scrollTop = g.scrollHeight;
       }, 10);
       return () => clearTimeout(d);
-    }, [e.length]);
+    }, [t.length]);
     const s = (g) => g.toLocaleTimeString("en-US", {
       hour12: !1,
       hour: "2-digit",
@@ -3728,7 +3721,7 @@ const at = (t, e, o) => ({
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                       },
                       title: x ? "Copied!" : "Copy message",
-                      children: /* @__PURE__ */ a(Ze, { sx: { fontSize: 12 } })
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                   v && /* @__PURE__ */ a(
@@ -3744,7 +3737,7 @@ const at = (t, e, o) => ({
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                   )
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@@ -3756,17 +3749,17 @@ const at = (t, e, o) => ({
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     return /* @__PURE__ */ S(
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           backgroundColor: ((f = n.palette.backgroundPaperElevation) == null ? void 0 : f[2]) || "#171927",
           backgroundImage: "none",
           // Override any gradient from elevation
-          height: r,
+          height: i,
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           flexDirection: "column",
           overflow: "hidden",
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+          ...r
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@@ -3857,7 +3850,7 @@ const at = (t, e, o) => ({
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               },
-              children: e.length === 0 ? /* @__PURE__ */ a(
+              children: t.length === 0 ? /* @__PURE__ */ a(
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                 {
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@@ -3869,49 +3862,49 @@ const at = (t, e, o) => ({
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                 }
-              ) : e.map((g) => /* @__PURE__ */ a(u, { message: g }, g.id))
+              ) : t.map((g) => /* @__PURE__ */ a(u, { message: g }, g.id))
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           )
         ]
       }
     );
   })
-), Si = $(
-  J((t) => {
-    const { store: e, onStoreReady: o, ...r } = t, i = D(o);
+), yi = $(
+  J((e) => {
+    const { store: t, onStoreReady: o, ...i } = e, r = D(o);
     A(() => {
-      i.current = o;
+      r.current = o;
     }, [o]);
     const n = rt(() => {
       var l;
-      const s = e || new Do();
-      return (l = i.current) == null || l.call(i, s), s;
-    }, [e]), c = () => {
+      const s = t || new Oo();
+      return (l = r.current) == null || l.call(r, s), s;
+    }, [t]), c = () => {
       n.clearMessages();
     };
     return /* @__PURE__ */ a(
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+      Do,
       {
-        ...r,
+        ...i,
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         onClear: c
       }
     );
   })
 );
-function Jo() {
-  const t = window.location.href;
-  return t.substring(
+function Ao() {
+  const e = window.location.href;
+  return e.substring(
     0,
-    t.indexOf("/", t.indexOf("//") + 2)
+    e.indexOf("/", e.indexOf("//") + 2)
   );
 }
-function vi({
-  baseUrl: t = Jo(),
-  ...e
+function Si({
+  baseUrl: e = Ao(),
+  ...t
 }) {
   return /* @__PURE__ */ S(
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+    to,
     {
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@@ -3931,9 +3924,9 @@ function vi({
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         /* @__PURE__ */ S(
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+          oo,
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@@ -3946,11 +3939,11 @@ function vi({
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@@ -3962,7 +3955,7 @@ function vi({
           /* @__PURE__ */ a(
             Z,
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 }
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-const Bo = $(
-  J(({ setupState: t, className: e }) => {
-    const o = L(), { t: r } = V(), i = () => {
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+const Jo = $(
+  J(({ setupState: e, className: t }) => {
+    const o = L(), { t: i } = V(), r = () => {
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-      switch (t) {
+      switch (e) {
         case "READY":
           return {
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+            label: i("RobotSetupReadinessIndicator.Ready.lb"),
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             textColor: o.palette.secondary.contrastText
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         case "ROBOT_DISCONNECTED":
           return {
-            label: r("RobotSetupReadinessIndicator.RobotDisconnected.lb"),
+            label: i("RobotSetupReadinessIndicator.RobotDisconnected.lb"),
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             backgroundColor: ((g = o.palette.backgroundPaperElevation) == null ? void 0 : g[11]) || o.palette.background.paper,
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           };
         case "CELL_OPEN":
           return {
-            label: r("RobotSetupReadinessIndicator.CellOpen.lb"),
+            label: i("RobotSetupReadinessIndicator.CellOpen.lb"),
             indicatorColor: o.palette.error.main,
             backgroundColor: ((d = o.palette.backgroundPaperElevation) == null ? void 0 : d[11]) || o.palette.background.paper,
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           };
         case "E_STOP":
           return {
-            label: r("RobotSetupReadinessIndicator.EStop.lb"),
+            label: i("RobotSetupReadinessIndicator.EStop.lb"),
             indicatorColor: o.palette.error.main,
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             textColor: o.palette.secondary.contrastText
           };
         case "MANUAL_MODE":
           return {
-            label: r("RobotSetupReadinessIndicator.ManualMode.lb"),
+            label: i("RobotSetupReadinessIndicator.ManualMode.lb"),
             indicatorColor: o.palette.error.main,
             backgroundColor: ((x = o.palette.backgroundPaperElevation) == null ? void 0 : x[11]) || o.palette.background.paper,
             textColor: o.palette.secondary.contrastText
           };
         default:
           return {
-            label: r(
+            label: i(
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             ),
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@@ -4029,11 +4022,11 @@ const Bo = $(
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           };
       }
-    }, { label: n, indicatorColor: c, backgroundColor: s, textColor: l } = i();
+    }, { label: n, indicatorColor: c, backgroundColor: s, textColor: l } = r();
     return /* @__PURE__ */ a(
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+      ro,
       {
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+        className: t,
         label: /* @__PURE__ */ S(
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     );
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-), Ci = $(
+), vi = $(
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-      robotType: e,
+      robotName: e,
+      robotType: t,
       setupState: o,
-      PreconditionComponent: r = Bo,
-      className: i
+      PreconditionComponent: i = Jo,
+      className: r
     }) => {
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-      const n = L(), c = e || "Robot", s = o === Xt.READY;
+      const n = L(), c = t || "Robot", s = o === Xt.READY;
       return /* @__PURE__ */ S(
         T,
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+          className: r,
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+                      children: e
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-})(({ theme: t }) => {
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+), Bo = ut(ao, {
+  shouldForwardProp: (e) => e !== "selected"
+})(({ theme: e }) => {
+  var t, o, i;
   return {
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     "&:hover": {
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+      background: (t = e.palette.backgroundPaperElevation) == null ? void 0 : t[7]
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+        props: ({ selected: r }) => !r,
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-          color: t.palette.action.disabled,
+          background: (o = e.palette.backgroundPaperElevation) == null ? void 0 : o[0],
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+        props: ({ selected: r }) => r,
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-          border: `1px solid ${t.palette.divider}`,
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+          background: (i = e.palette.backgroundPaperElevation) == null ? void 0 : i[11],
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+    Bo,
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 };
-function Lo(t) {
-  const { children: e, value: o, index: r, ...i } = t;
+function Fo(e) {
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-      children: o === r && /* @__PURE__ */ a(T, { children: e })
+      hidden: o !== i,
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 }
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 }
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                   },
-                  children: e.map((d, p) => {
+                  children: t.map((d, p) => {
                     var w, C, M;
                     const x = () => {
                       if (!d.badge) return;
@@ -4338,7 +4331,7 @@ const Ti = $(
                       const k = d.badge.content, R = d.badge.showZero;
                       return !(k === 0 && !R);
                     }, h = x(), m = y(), v = () => {
-                      s || u(p), i == null || i(p);
+                      s || u(p), r == null || r(p);
                     }, b = /* @__PURE__ */ a(
                       zt,
                       {
@@ -4384,12 +4377,12 @@ const Ti = $(
                       d.id
                     );
                     return m ? /* @__PURE__ */ a(
-                      $o,
+                      Lo,
                       {
                         component: "span",
                         sx: { display: "inline-flex" },
                         children: /* @__PURE__ */ a(
-                          lo,
+                          so,
                           {
                             badgeContent: h,
                             color: ((w = d.badge) == null ? void 0 : w.color) || "error",
@@ -4427,35 +4420,35 @@ const Ti = $(
               }
             }
           ),
-          /* @__PURE__ */ a(T, { sx: { flex: 1, overflow: "auto" }, children: e.map((d, p) => /* @__PURE__ */ a(Lo, { value: f, index: p, children: d.content }, d.id)) })
+          /* @__PURE__ */ a(T, { sx: { flex: 1, overflow: "auto" }, children: t.map((d, p) => /* @__PURE__ */ a(Fo, { value: f, index: p, children: d.content }, d.id)) })
         ]
       }
     );
   })
-), zo = (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(":");
-}, At = (t, e) => {
-  const o = Math.floor(t / 86400), r = Math.floor(t % 86400 / 3600), i = Math.floor(t % 3600 / 60), n = t % 60;
+), $o = (e) => {
+  const t = Math.floor(e / 86400), o = Math.floor(e % 86400 / 3600), i = Math.floor(e % 3600 / 60), r = e % 60, n = [];
+  return t > 0 ? (n.push(t.toString()), n.push(o.toString().padStart(2, "0")), n.push(i.toString().padStart(2, "0")), n.push(r.toString().padStart(2, "0"))) : o > 0 ? (n.push(o.toString()), n.push(i.toString().padStart(2, "0")), n.push(r.toString().padStart(2, "0"))) : (n.push(i.toString()), n.push(r.toString().padStart(2, "0"))), n.join(":");
+}, At = (e, t) => {
+  const o = Math.floor(e / 86400), i = Math.floor(e % 86400 / 3600), r = Math.floor(e % 3600 / 60), n = e % 60;
   if (typeof Intl < "u" && "DurationFormat" in Intl)
     try {
       const s = {};
-      return o > 0 && (s.days = o), r > 0 && (s.hours = r), i > 0 && (s.minutes = i), (n > 0 || Object.keys(s).length === 0) && (s.seconds = n), new Intl.DurationFormat(e, { style: "narrow" }).format(s);
+      return o > 0 && (s.days = o), i > 0 && (s.hours = i), r > 0 && (s.minutes = r), (n > 0 || Object.keys(s).length === 0) && (s.seconds = n), new Intl.DurationFormat(t, { style: "narrow" }).format(s);
     } catch {
     }
   const c = [];
-  return o > 0 && c.push(`${o}d`), r > 0 && c.push(`${r}h`), i > 0 && c.push(`${i}m`), (n > 0 || c.length === 0) && c.push(`${n}s`), c.join(" ");
-}, Vo = ({
-  timerState: t,
-  animationState: e,
+  return o > 0 && c.push(`${o}d`), i > 0 && c.push(`${i}h`), r > 0 && c.push(`${r}m`), (n > 0 || c.length === 0) && c.push(`${n}s`), c.join(" ");
+}, zo = ({
+  timerState: e,
+  animationState: t,
   hasError: o,
-  className: r
+  className: i
 }) => {
-  const { t: i } = V(), n = L(), { elapsedTime: c, currentProgress: s } = t, { showErrorAnimation: l, showPauseAnimation: u, showMainText: f } = e;
+  const { t: r } = V(), n = L(), { elapsedTime: c, currentProgress: s } = e, { showErrorAnimation: l, showPauseAnimation: u, showMainText: f } = t;
   return /* @__PURE__ */ S(
     T,
     {
-      className: r,
+      className: i,
       sx: {
         position: "relative",
         width: 264,
@@ -4466,7 +4459,7 @@ const Ti = $(
       },
       children: [
         /* @__PURE__ */ a(
-          co,
+          lo,
           {
             width: 264,
             height: 264,
@@ -4542,7 +4535,7 @@ const Ti = $(
                         fontWeight: 500,
                         color: n.palette.error.light
                       },
-                      children: i("timer.error")
+                      children: r("timer.error")
                     }
                   ) }),
                   /* @__PURE__ */ a(U, { in: f && !o, timeout: 300, children: /* @__PURE__ */ a(
@@ -4557,7 +4550,7 @@ const Ti = $(
                         lineHeight: 1,
                         letterSpacing: "-0.5px"
                       },
-                      children: zo(c)
+                      children: $o(c)
                     }
                   ) })
                 ]
@@ -4568,18 +4561,18 @@ const Ti = $(
       ]
     }
   );
-}, No = ({
-  timerState: t,
-  animationState: e,
+}, Vo = ({
+  timerState: e,
+  animationState: t,
   hasError: o,
-  compact: r,
-  className: i
+  compact: i,
+  className: r
 }) => {
-  const { t: n, i18n: c } = V(), s = L(), { elapsedTime: l, currentProgress: u } = t, { showErrorAnimation: f, showPauseAnimation: g } = e;
-  return r ? /* @__PURE__ */ a(
+  const { t: n, i18n: c } = V(), s = L(), { elapsedTime: l, currentProgress: u } = e, { showErrorAnimation: f, showPauseAnimation: g } = t;
+  return i ? /* @__PURE__ */ a(
     T,
     {
-      className: i,
+      className: r,
       sx: {
         display: "flex",
         alignItems: "center",
@@ -4601,7 +4594,7 @@ const Ti = $(
   ) : /* @__PURE__ */ S(
     T,
     {
-      className: i,
+      className: r,
       sx: {
         display: "flex",
         alignItems: "center",
@@ -4685,45 +4678,45 @@ const Ti = $(
       ]
     }
   );
-}, Wo = () => {
-  const [t, e] = F({
+}, No = () => {
+  const [e, t] = F({
     showPauseAnimation: !1,
     showErrorAnimation: !1,
     showMainText: !0
   }), o = D(
     null
-  ), r = D(
+  ), i = D(
     null
-  ), i = D(null), n = P(() => {
-    e((g) => ({ ...g, showPauseAnimation: !0 })), o.current && clearTimeout(o.current), o.current = setTimeout(() => {
-      e((g) => ({ ...g, showPauseAnimation: !1 }));
+  ), r = D(null), n = P(() => {
+    t((g) => ({ ...g, showPauseAnimation: !0 })), o.current && clearTimeout(o.current), o.current = setTimeout(() => {
+      t((g) => ({ ...g, showPauseAnimation: !1 }));
     }, 800);
   }, []), c = P(() => {
-    e((g) => ({ ...g, showErrorAnimation: !0 })), r.current && clearTimeout(r.current), r.current = setTimeout(() => {
-      e((g) => ({ ...g, showErrorAnimation: !1 }));
+    t((g) => ({ ...g, showErrorAnimation: !0 })), i.current && clearTimeout(i.current), i.current = setTimeout(() => {
+      t((g) => ({ ...g, showErrorAnimation: !1 }));
     }, 600);
   }, []), s = P(() => {
-    e((g) => ({ ...g, showErrorAnimation: !1 })), r.current && clearTimeout(r.current);
+    t((g) => ({ ...g, showErrorAnimation: !1 })), i.current && clearTimeout(i.current);
   }, []), l = P(() => {
-    e((g) => ({
+    t((g) => ({
       ...g,
       showMainText: !1
-    })), i.current && clearTimeout(i.current), i.current = setTimeout(() => {
-      e((g) => ({
+    })), r.current && clearTimeout(r.current), r.current = setTimeout(() => {
+      t((g) => ({
         ...g,
         showMainText: !0
       }));
     }, 200);
   }, []), u = P(() => {
-    e((g) => ({
+    t((g) => ({
       ...g,
       showMainText: !0
     }));
   }, []), f = P(() => {
-    o.current && clearTimeout(o.current), r.current && clearTimeout(r.current), i.current && clearTimeout(i.current);
+    o.current && clearTimeout(o.current), i.current && clearTimeout(i.current), r.current && clearTimeout(r.current);
   }, []);
   return {
-    animationState: t,
+    animationState: e,
     triggerPauseAnimation: n,
     triggerErrorAnimation: c,
     clearErrorAnimation: s,
@@ -4731,12 +4724,12 @@ const Ti = $(
     setInitialAnimationState: u,
     cleanup: f
   };
-}, Go = ({
-  autoStart: t,
-  hasError: e,
+}, Wo = ({
+  autoStart: e,
+  hasError: t,
   onPauseAnimation: o,
-  onErrorAnimation: r,
-  onClearErrorAnimation: i
+  onErrorAnimation: i,
+  onClearErrorAnimation: r
 }) => {
   const [n, c] = F({
     elapsedTime: 0,
@@ -4758,9 +4751,9 @@ const Ti = $(
         elapsedTime: m,
         isPausedState: !1,
         currentProgress: v
-      })), u.current = 0, f.current = v, g.setImmediate([v]), t ? (l.current = Date.now() - m * 1e3, c((b) => ({ ...b, isRunning: !0 }))) : l.current = null;
+      })), u.current = 0, f.current = v, g.setImmediate([v]), e ? (l.current = Date.now() - m * 1e3, c((b) => ({ ...b, isRunning: !0 }))) : l.current = null;
     },
-    [t, g]
+    [e, g]
   ), p = P(() => {
     if (l.current && n.isRunning) {
       const v = (Date.now() - l.current) / 1e3 + u.current, b = v / 60 % 1 * 100;
@@ -4790,15 +4783,15 @@ const Ti = $(
     })), u.current = 0, l.current = null, f.current = 0, g.setImmediate([0]);
   }, [g]), h = P(() => n.isPausedState, [n.isPausedState]);
   return A(() => {
-    e ? (n.isRunning && (c((m) => ({ ...m, wasRunningBeforeError: !0 })), p()), r()) : (n.wasRunningBeforeError && !n.isRunning && (c((m) => ({ ...m, wasRunningBeforeError: !1 })), x()), i());
+    t ? (n.isRunning && (c((m) => ({ ...m, wasRunningBeforeError: !0 })), p()), i()) : (n.wasRunningBeforeError && !n.isRunning && (c((m) => ({ ...m, wasRunningBeforeError: !1 })), x()), r());
   }, [
-    e,
+    t,
     n.isRunning,
     n.wasRunningBeforeError,
     p,
     x,
-    r,
-    i
+    i,
+    r
   ]), A(() => {
     if (n.isRunning) {
       const m = () => {
@@ -4837,14 +4830,14 @@ const Ti = $(
       isPaused: h
     }
   };
-}, Mi = $(
+}, Ti = $(
   J(
     ({
-      onTimerReady: t,
-      autoStart: e = !0,
+      onTimerReady: e,
+      autoStart: t = !0,
       variant: o = "default",
-      compact: r = !1,
-      className: i,
+      compact: i = !1,
+      className: r,
       hasError: n = !1
     }) => {
       const {
@@ -4854,8 +4847,8 @@ const Ti = $(
         clearErrorAnimation: u,
         setInitialAnimationState: f,
         cleanup: g
-      } = Wo(), { timerState: d, controls: p } = Go({
-        autoStart: e,
+      } = No(), { timerState: d, controls: p } = Wo({
+        autoStart: t,
         hasError: n,
         onPauseAnimation: s,
         onErrorAnimation: l,
@@ -4866,32 +4859,32 @@ const Ti = $(
       }, [f]), A(() => {
         let x = !0;
         const y = setTimeout(() => {
-          x && t(p);
+          x && e(p);
         }, 0);
         return () => {
           x = !1, clearTimeout(y);
         };
-      }, [t, p]), A(() => g, [g]), o === "small" ? /* @__PURE__ */ a(
-        No,
+      }, [e, p]), A(() => g, [g]), o === "small" ? /* @__PURE__ */ a(
+        Vo,
         {
           timerState: d,
           animationState: c,
           hasError: n,
-          compact: r,
-          className: i
+          compact: i,
+          className: r
         }
       ) : /* @__PURE__ */ a(
-        Vo,
+        zo,
         {
           timerState: d,
           animationState: c,
           hasError: n,
-          className: i
+          className: r
         }
       );
     }
   )
-), Jt = 1e-4, Uo = {
+), Jt = 1e-4, Go = {
   a: 0,
   d: 0,
   alpha: 0,
@@ -4899,8 +4892,8 @@ const Ti = $(
   reverse_rotation_direction: !1
 };
 class gt {
-  constructor(e, o, r, i, n, c, s, l, u, f) {
-    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 = u, this.controllerStateSocket = f, this.connectedJoggingSocket = null, this.joggingVelocity = 10, this.activationState = "inactive", this.rapidlyChangingMotionState = i, this.controllerState = u, f.addEventListener("message", (g) => {
+  constructor(t, o, i, r, n, c, s, l, u, f) {
+    this.nova = t, this.controller = o, this.motionGroup = i, this.initialMotionState = r, this.motionStateSocket = n, this.isVirtual = c, this.tcps = s, this.description = l, this.initialControllerState = u, this.controllerStateSocket = f, this.connectedJoggingSocket = null, this.joggingVelocity = 10, this.activationState = "inactive", this.rapidlyChangingMotionState = r, this.controllerState = u, f.addEventListener("message", (g) => {
       var p;
       const d = (p = W(g.data)) == null ? void 0 : p.result;
       d && B(() => {
@@ -4932,24 +4925,24 @@ class gt {
       });
     }), mt(this);
   }
-  static async connectMultiple(e, o) {
+  static async connectMultiple(t, o) {
     return Promise.all(
       o.map(
-        (r) => gt.connect(e, r)
+        (i) => gt.connect(t, i)
       )
     );
   }
-  static async connect(e, o) {
+  static async connect(t, o) {
     var m, v;
-    const [r, i] = o.split("@"), n = await e.api.controller.getCurrentRobotControllerState(i), c = n == null ? void 0 : n.motion_groups.find(
+    const [i, r] = o.split("@"), n = await t.api.controller.getCurrentRobotControllerState(r), 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`
+        `Controller ${r} or motion group ${o} not found`
       );
-    const s = e.openReconnectingWebsocket(
-      `/controllers/${i}/motion-groups/${o}/state-stream`
+    const s = t.openReconnectingWebsocket(
+      `/controllers/${r}/motion-groups/${o}/state-stream`
     ), l = await s.firstMessage(), u = (m = W(l.data)) == null ? void 0 : m.result;
     if (!u)
       throw new Error(
@@ -4960,10 +4953,10 @@ class gt {
   `,
       u
     );
-    const g = (await e.api.controller.getRobotController(
+    const g = (await t.api.controller.getRobotController(
       n.controller
-    )).configuration.kind === "VirtualController", d = await e.api.motionGroup.getMotionGroupDescription(
-      i,
+    )).configuration.kind === "VirtualController", d = await t.api.motionGroup.getMotionGroupDescription(
+      r,
       c.motion_group
     ), p = Object.entries(d.tcps || {}).map(
       ([b, w]) => ({
@@ -4972,7 +4965,7 @@ class gt {
         position: w.pose.position,
         orientation: w.pose.orientation
       })
-    ), x = e.openReconnectingWebsocket(
+    ), x = t.openReconnectingWebsocket(
       `/controllers/${n.controller}/state-stream?response_rate=1000`
     ), y = await x.firstMessage(), h = (v = W(y.data)) == null ? void 0 : v.result;
     if (!h)
@@ -4984,7 +4977,7 @@ class gt {
   `,
       h
     ), new gt(
-      e,
+      t,
       n,
       c,
       u,
@@ -5010,16 +5003,16 @@ class gt {
     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) => ({
-        ...Uo,
-        ...e
+      return this.description.dh_parameters.map((t) => ({
+        ...Go,
+        ...t
       }));
   }
   get safetyZones() {
@@ -5027,22 +5020,22 @@ class gt {
   }
   /** Gets the robot mounting position offset in 3D viz coordinates */
   get mountingPosition() {
-    var e, o, r;
+    var t, o, i;
     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
+      (((i = this.description.mounting.position) == null ? void 0 : i[2]) || 0) / 1e3
     ] : [0, 0, 0];
   }
   /** Gets the robot mounting position rotation in 3D viz coordinates */
   get mountingQuaternion() {
-    var i, n, c, s, l, u;
-    const e = new Et.Vector3(
-      ((n = (i = this.description.mounting) == null ? void 0 : i.orientation) == null ? void 0 : n[0]) || 0,
+    var r, n, c, s, l, u;
+    const t = new Et.Vector3(
+      ((n = (r = this.description.mounting) == null ? void 0 : r.orientation) == null ? void 0 : n[0]) || 0,
       ((s = (c = this.description.mounting) == null ? void 0 : c.orientation) == null ? void 0 : s[1]) || 0,
       ((u = (l = this.description.mounting) == null ? void 0 : l.orientation) == null ? void 0 : u[2]) || 0
-    ), o = e.length(), r = e.normalize();
-    return new Et.Quaternion().setFromAxisAngle(r, o);
+    ), o = t.length(), i = t.normalize();
+    return new Et.Quaternion().setFromAxisAngle(i, o);
   }
   /**
    * Whether the controller is currently in a safety state
@@ -5097,10 +5090,10 @@ class gt {
       ), B(() => {
         this.activationState = "inactive";
       });
-    } catch (e) {
+    } catch (t) {
       throw B(() => {
         this.activationState = "active";
-      }), e;
+      }), t;
     }
   }
   async activate() {
@@ -5118,10 +5111,10 @@ class gt {
       ), B(() => {
         this.activationState = "active";
       });
-    } catch (e) {
+    } catch (t) {
       throw B(() => {
         this.activationState = "inactive";
-      }), e;
+      }), t;
     }
   }
   toggleActivation() {
@@ -5130,13 +5123,13 @@ class gt {
   dispose() {
     this.motionStateSocket.close(), this.connectedJoggingSocket && this.connectedJoggingSocket.close();
   }
-  setJoggingVelocity(e) {
-    this.joggingVelocity = e;
+  setJoggingVelocity(t) {
+    this.joggingVelocity = t;
   }
 }
 function Kt() {
-  var e, o, r, i, n, c;
-  const t = Bt({
+  var t, o, i, r, n, c;
+  const e = Bt({
     palette: {
       mode: "dark",
       text: {
@@ -5230,7 +5223,7 @@ function Kt() {
     }
   });
   return {
-    ...t,
+    ...e,
     components: {
       MuiCssBaseline: {
         styleOverrides: {
@@ -5240,7 +5233,7 @@ function Kt() {
           },
           "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": {
@@ -5328,14 +5321,14 @@ function Kt() {
           {
             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: (i = (o = (t = e.paletteExt) == null ? void 0 : t.secondary) == null ? void 0 : o.tonal) == null ? void 0 : i.toString()
             }
           },
           {
             props: { color: "secondary", variant: "outlined" },
             style: {
-              border: `1px solid ${t.palette.divider}`
+              border: `1px solid ${e.palette.divider}`
             }
           }
         ]
@@ -5344,9 +5337,9 @@ function Kt() {
         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
             }
           }
         }
@@ -5354,7 +5347,7 @@ function Kt() {
       MuiTabs: {
         styleOverrides: {
           root: {
-            background: (i = t.palette.backgroundPaperElevation) == null ? void 0 : i[1]
+            background: (r = e.palette.backgroundPaperElevation) == null ? void 0 : r[1]
           }
         }
       },
@@ -5406,14 +5399,14 @@ function Kt() {
       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
             }
           }
         ]
@@ -5433,7 +5426,7 @@ function Kt() {
                 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)",
@@ -5445,7 +5438,7 @@ function Kt() {
                 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)",
@@ -5457,68 +5450,68 @@ function Kt() {
                 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 Ho() {
-  const t = Kt();
-  return t.palette.mode = "light", t;
+function Uo() {
+  const e = Kt();
+  return e.palette.mode = "light", e;
 }
-function Ii(t) {
-  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 ? Kt() : Ho();
-  return Bt(o, t);
+function Mi(e) {
+  var i, r, n, c;
+  let t = !0;
+  ((i = e.palette) == null ? void 0 : i.mode) === "light" ? t = !1 : ((r = e.palette) == null ? void 0 : r.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 ? Kt() : Uo();
+  return Bt(o, e);
 }
 export {
-  gi as A,
-  ui as C,
+  di as A,
+  gi as C,
   bt as J,
-  Do as L,
+  Oo as L,
   ht as M,
-  vi as N,
-  mi as P,
-  Ci as R,
-  wi as S,
-  Ti as T,
-  Eo as V,
-  xo as W,
+  Si as N,
+  pi as P,
+  vi as R,
+  Ci as S,
+  wi as T,
+  jo as V,
+  bo as W,
   _t as a,
-  yo as b,
-  Ii as c,
-  pi as d,
-  hi as e,
-  Co as f,
-  wo as g,
-  Si as h,
+  xo as b,
+  Mi as c,
+  ui as d,
+  mi as e,
+  vo as f,
+  Co as g,
+  yi as h,
   at as i,
-  fi as j,
-  bi as k,
-  xi as l,
-  yi as m,
-  Ao as n,
+  hi as j,
+  fi as k,
+  bi as l,
+  xi as m,
+  Do as n,
   Xt as o,
-  Bo as p,
-  Mi as q,
+  Jo as p,
+  Ti as q,
   Yt as r,
   gt as s,
   ft as t,
   Ut as u,
-  So as v,
+  yo as v,
   Ht as w,
-  vo as x
+  So as x
 };