@wandelbots/nova-js/dist/NovaClient-D2EItmiH.cjs.map

Official JS client for the Wandelbots API

{"version":3,"file":"NovaClient-D2EItmiH.cjs","names":["MOTION_DELTA_THRESHOLD","nova: NovaClient","controller: ControllerInstance","motionGroup: MotionGroupPhysical","initialMotionState: MotionGroupStateResponse","motionStateSocket: AutoReconnectingWebsocket","isVirtual: boolean","tcps: RobotTcp[]","motionGroupSpecification: MotionGroupSpecification","safetySetup: SafetySetup","mounting: Mounting | null","initialControllerState: RobotControllerState","controllerStateSocket: AutoReconnectingWebsocket","THREE","motionStream: MotionStreamConnection","opts: JoggerConnectionOpts","commands: Command[]","Vector3","jointVelocityLimits: number[]","Vector3","nova: NovaClient","controller: ControllerInstance","motionGroup: MotionGroupPhysical","initialMotionState: MotionGroupStateResponse","motionStateSocket: AutoReconnectingWebsocket","cellId: string","opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    }","SystemApi","CellApi","DeviceConfigurationApi","MotionGroupApi","MotionGroupInfosApi","ControllerApi","ProgramApi","ProgramValuesApi","ControllerIOsApi","MotionGroupKinematicApi","MotionApi","CoordinateSystemsApi","ApplicationApi","MotionGroupJoggingApi","VirtualRobotApi","VirtualRobotSetupApi","VirtualRobotModeApi","VirtualRobotBehaviorApi","LibraryProgramMetadataApi","LibraryProgramApi","LibraryRecipeMetadataApi","LibraryRecipeApi","StoreObjectApi","StoreCollisionComponentsApi","StoreCollisionScenesApi","pathToRegexp","AxiosError","availableStorage","config","loginWithAuth0","AutoReconnectingWebsocket"],"sources":["../src/lib/converters.ts","../src/lib/v1/wandelscriptUtils.ts","../src/lib/v1/motionStateUpdate.ts","../src/lib/v1/ConnectedMotionGroup.ts","../src/lib/v1/JoggerConnection.ts","../src/lib/v1/MotionStreamConnection.ts","../src/lib/v1/NovaCellAPIClient.ts","../src/lib/v1/mock/MockNovaInstance.ts","../src/lib/v1/NovaClient.ts"],"sourcesContent":["/** Try to parse something as JSON; return undefined if we can't */\n// biome-ignore lint/suspicious/noExplicitAny: it's json\nexport function tryParseJson(json: unknown): any {\n  try {\n    return JSON.parse(json as string)\n  } catch {\n    return undefined\n  }\n}\n\n/** Try to turn something into JSON; return undefined if we can't */\nexport function tryStringifyJson(json: unknown): string | undefined {\n  try {\n    return JSON.stringify(json)\n  } catch {\n    return undefined\n  }\n}\n\n/**\n * Converts object parameters to query string.\n * e.g. { a: \"1\", b: \"2\" } => \"?a=1&b=2\"\n *      {} => \"\"\n */\nexport function makeUrlQueryString(obj: Record<string, string>): string {\n  const str = new URLSearchParams(obj).toString()\n  return str ? `?${str}` : \"\"\n}\n\n/** Convert radians to degrees */\nexport function radiansToDegrees(radians: number): number {\n  return radians * (180 / Math.PI)\n}\n\n/** Convert degrees to radians */\nexport function degreesToRadians(degrees: number): number {\n  return degrees * (Math.PI / 180)\n}\n\n/**\n * Check for coordinate system id equivalence, accounting for the \"world\" default\n * on empty/undefined values.\n */\nexport function isSameCoordinateSystem(\n  firstCoordSystem: string | undefined,\n  secondCoordSystem: string | undefined,\n) {\n  if (!firstCoordSystem) firstCoordSystem = \"world\"\n  if (!secondCoordSystem) secondCoordSystem = \"world\"\n\n  return firstCoordSystem === secondCoordSystem\n}\n\n/**\n * Helpful const for converting {x, y, z} to [x, y, z] and vice versa\n */\nexport const XYZ_TO_VECTOR = { x: 0, y: 1, z: 2 }\n","import type { Pose } from \"@wandelbots/nova-api/v1\"\n\n/**\n * Convert a Pose object representing a motion group position\n * into a string which represents that pose in Wandelscript.\n */\nexport function poseToWandelscriptString(\n  pose: Pick<Pose, \"position\" | \"orientation\">,\n) {\n  const position = [pose.position.x, pose.position.y, pose.position.z]\n  const orientation = [\n    pose.orientation?.x ?? 0,\n    pose.orientation?.y ?? 0,\n    pose.orientation?.z ?? 0,\n  ]\n\n  const positionValues = position.map((v) => v.toFixed(1))\n  // Rotation needs more precision since it's in radians\n  const rotationValues = orientation.map((v) => v.toFixed(4))\n\n  return `(${positionValues.concat(rotationValues).join(\", \")})`\n}\n","import type { TcpPose } from \"@wandelbots/nova-api/v1\"\n\nexport function jointValuesEqual(\n  oldJointValues: number[],\n  newJointValues: number[],\n  changeDeltaThreshold: number,\n): boolean {\n  if (newJointValues.length !== oldJointValues.length) {\n    return true\n  }\n\n  for (let jointIndex = 0; jointIndex < newJointValues.length; jointIndex++) {\n    if (\n      // biome-ignore lint/style/noNonNullAssertion: legacy code\n      Math.abs(newJointValues[jointIndex]! - oldJointValues[jointIndex]!) >\n      changeDeltaThreshold\n    ) {\n      return false\n    }\n  }\n\n  return true\n}\n\nexport function tcpPoseEqual(\n  oldTcp: TcpPose | undefined,\n  newTcp: TcpPose | undefined,\n  changeDeltaThreshold: number,\n): boolean {\n  // undefined -> defined (+reverse) transition\n  if ((oldTcp === undefined && newTcp) || (oldTcp && newTcp === undefined)) {\n    return false\n  }\n\n  // the typechecker cannot resolve states to \"!= undefined\" if \"&&\" is used\n  if (oldTcp === undefined || newTcp === undefined) {\n    return true\n  }\n\n  let changedDelta = 0\n  changedDelta += Math.abs(oldTcp.orientation.x - newTcp.orientation.x)\n  changedDelta += Math.abs(oldTcp.orientation.y - newTcp.orientation.y)\n  changedDelta += Math.abs(oldTcp.orientation.z - newTcp.orientation.z)\n  changedDelta += Math.abs(oldTcp.position.x - newTcp.position.x)\n  changedDelta += Math.abs(oldTcp.position.y - newTcp.position.y)\n  changedDelta += Math.abs(oldTcp.position.z - newTcp.position.z)\n\n  if (changedDelta > changeDeltaThreshold) {\n    return false\n  }\n\n  return (\n    oldTcp.coordinate_system === newTcp.coordinate_system &&\n    oldTcp.tcp === newTcp.tcp\n  )\n}\n","import type {\n  ControllerInstance,\n  MotionGroupPhysical,\n  MotionGroupSpecification,\n  MotionGroupStateResponse,\n  Mounting,\n  RobotControllerState,\n  RobotControllerStateOperationModeEnum,\n  RobotControllerStateSafetyStateEnum,\n  RobotTcp,\n  SafetySetup,\n} from \"@wandelbots/nova-api/v1\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport * as THREE from \"three\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpPoseEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nexport type MotionGroupOption = {\n  selectionId: string\n} & MotionGroupPhysical\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class ConnectedMotionGroup {\n  static async connect(\n    nova: NovaClient,\n    motionGroupId: string,\n    controllers: ControllerInstance[],\n  ) {\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n    const controller = controllers.find((c) => c.controller === controllerId)\n    const motionGroup = controller?.physical_motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupStateResponse\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    // Check if robot is virtual or physical\n    const config = await nova.api.controller.getRobotController(\n      controller.controller,\n    )\n    const isVirtual = config.configuration.kind === \"VirtualController\"\n\n    // If there's a configured mounting, we need it to show the right\n    // position of the robot model\n    const mounting = await (async () => {\n      try {\n        const mounting = await nova.api.motionGroupInfos.getMounting(\n          motionGroup.motion_group,\n        )\n        return mounting\n      } catch (err) {\n        console.error(\n          `Error fetching mounting for ${motionGroup.motion_group}`,\n          err,\n        )\n        return null\n      }\n    })()\n\n    // Open the websocket to monitor controller state for e.g. e-stop\n    const controllerStateSocket = nova.openReconnectingWebsocket(\n      `/controllers/${controller.controller}/state-stream?response_rate=1000`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstControllerMessage = await controllerStateSocket.firstMessage()\n    const initialControllerState = tryParseJson(firstControllerMessage.data)\n      ?.result as RobotControllerState\n\n    if (!initialControllerState) {\n      throw new Error(\n        `Unable to parse initial controller state message ${firstControllerMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected controller state websocket to controller ${controller.controller}. Initial state:\\n  `,\n      initialControllerState,\n    )\n\n    // Find out what TCPs this motion group has (we need it for jogging)\n    const { tcps } = await nova.api.motionGroupInfos.listTcps(motionGroupId)\n\n    const motionGroupSpecification =\n      await nova.api.motionGroupInfos.getMotionGroupSpecification(motionGroupId)\n\n    const safetySetup =\n      await nova.api.motionGroupInfos.getSafetySetup(motionGroupId)\n\n    return new ConnectedMotionGroup(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n      isVirtual,\n      // biome-ignore lint/style/noNonNullAssertion: legacy code\n      tcps!,\n      motionGroupSpecification,\n      safetySetup,\n      mounting,\n      initialControllerState,\n      controllerStateSocket,\n    )\n  }\n\n  connectedJoggingCartesianSocket: WebSocket | null = null\n  connectedJoggingJointsSocket: WebSocket | null = null\n  // biome-ignore lint/suspicious/noExplicitAny: legacy code\n  planData: any | null // tmp\n  joggingVelocity: number = 10\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupStateResponse\n\n  // Response rate on the websocket should be a bit slower on this one since\n  // we don't use the motion data\n  controllerState: RobotControllerState\n\n  /**\n   * Reflects activation state of the motion group / robot servos. The\n   * movement controls in the UI should only be enabled in the \"active\" state\n   */\n  activationState: \"inactive\" | \"activating\" | \"deactivating\" | \"active\" =\n    \"inactive\"\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: ControllerInstance,\n    readonly motionGroup: MotionGroupPhysical,\n    readonly initialMotionState: MotionGroupStateResponse,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n    readonly isVirtual: boolean,\n    readonly tcps: RobotTcp[],\n    readonly motionGroupSpecification: MotionGroupSpecification,\n    readonly safetySetup: SafetySetup,\n    readonly mounting: Mounting | null,\n    readonly initialControllerState: RobotControllerState,\n    readonly controllerStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n    this.controllerState = initialControllerState\n\n    // Track controller state updates (e.g. safety state and operation mode)\n    controllerStateSocket.addEventListener(\"message\", (event) => {\n      const data = tryParseJson(event.data)?.result\n\n      if (!data) {\n        return\n      }\n\n      runInAction(() => {\n        this.controllerState = data\n      })\n    })\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const motionStateResponse = tryParseJson(event.data)?.result as\n        | MotionGroupStateResponse\n        | undefined\n\n      if (!motionStateResponse) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle motionState message\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.state.joint_position.joints,\n          motionStateResponse.state.joint_position.joints,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.state = motionStateResponse.state\n        })\n      }\n\n      // handle tcpPose message\n      if (\n        !tcpPoseEqual(\n          this.rapidlyChangingMotionState.tcp_pose,\n          motionStateResponse.tcp_pose,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.tcp_pose =\n            motionStateResponse.tcp_pose\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.motionGroup.model_from_controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  /** Jogging velocity in radians for rotation and joint movement */\n  get joggingVelocityRads() {\n    return (this.joggingVelocity * Math.PI) / 180\n  }\n\n  get joints() {\n    return this.initialMotionState.state.joint_position.joints.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  get dhParameters() {\n    return this.motionGroupSpecification.dh_parameters\n  }\n\n  get safetyZones() {\n    return this.safetySetup.safety_zones\n  }\n\n  /** Gets the robot mounting position offset in 3D viz coordinates */\n  get mountingPosition(): [number, number, number] {\n    if (!this.mounting) {\n      return [0, 0, 0]\n    }\n\n    return [\n      this.mounting.pose.position.x / 1000,\n      this.mounting.pose.position.y / 1000,\n      this.mounting.pose.position.z / 1000,\n    ]\n  }\n\n  /** Gets the robot mounting position rotation in 3D viz coordinates */\n  get mountingQuaternion() {\n    const rotationVector = new THREE.Vector3(\n      this.mounting?.pose.orientation?.x || 0,\n      this.mounting?.pose.orientation?.y || 0,\n      this.mounting?.pose.orientation?.z || 0,\n    )\n\n    const magnitude = rotationVector.length()\n    const axis = rotationVector.normalize()\n\n    return new THREE.Quaternion().setFromAxisAngle(axis, magnitude)\n  }\n\n  /**\n   * Whether the controller is currently in a safety state\n   * corresponding to an emergency stop\n   */\n  get isEstopActive() {\n    const estopStates: RobotControllerStateSafetyStateEnum[] = [\n      \"SAFETY_STATE_ROBOT_EMERGENCY_STOP\",\n      \"SAFETY_STATE_DEVICE_EMERGENCY_STOP\",\n    ]\n\n    return estopStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in a safety state\n   * that may be non-functional for robot pad purposes\n   */\n  get isMoveableSafetyState() {\n    const goodSafetyStates: RobotControllerStateSafetyStateEnum[] = [\n      \"SAFETY_STATE_NORMAL\",\n      \"SAFETY_STATE_REDUCED\",\n    ]\n\n    return goodSafetyStates.includes(this.controllerState.safety_state)\n  }\n\n  /**\n   * Whether the controller is in an operation mode that allows movement\n   */\n  get isMoveableOperationMode() {\n    const goodOperationModes: RobotControllerStateOperationModeEnum[] = [\n      \"OPERATION_MODE_AUTO\",\n      \"OPERATION_MODE_MANUAL\",\n      \"OPERATION_MODE_MANUAL_T1\",\n      \"OPERATION_MODE_MANUAL_T2\",\n    ]\n\n    return goodOperationModes.includes(this.controllerState.operation_mode)\n  }\n\n  /**\n   * Whether the robot is currently active and can be moved, based on the\n   * safety state, operation mode and servo toggle activation state.\n   */\n  get canBeMoved() {\n    return (\n      this.isMoveableSafetyState &&\n      this.isMoveableOperationMode &&\n      this.activationState === \"active\"\n    )\n  }\n\n  async deactivate() {\n    if (this.activationState !== \"active\") {\n      console.error(\"Tried to deactivate while already deactivating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"deactivating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"MODE_MONITOR\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n      throw err\n    }\n  }\n\n  async activate() {\n    if (this.activationState !== \"inactive\") {\n      console.error(\"Tried to activate while already activating\")\n      return\n    }\n\n    runInAction(() => {\n      this.activationState = \"activating\"\n    })\n\n    try {\n      await this.nova.api.controller.setDefaultMode(\n        this.controllerId,\n        \"MODE_CONTROL\",\n      )\n\n      runInAction(() => {\n        this.activationState = \"active\"\n      })\n    } catch (err) {\n      runInAction(() => {\n        this.activationState = \"inactive\"\n      })\n      throw err\n    }\n  }\n\n  toggleActivation() {\n    if (this.activationState === \"inactive\") {\n      this.activate()\n    } else if (this.activationState === \"active\") {\n      this.deactivate()\n    }\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n    if (this.connectedJoggingCartesianSocket)\n      this.connectedJoggingCartesianSocket.close()\n    if (this.connectedJoggingJointsSocket)\n      this.connectedJoggingJointsSocket.close()\n  }\n\n  setJoggingVelocity(velocity: number) {\n    this.joggingVelocity = velocity\n  }\n}\n","import type { Command, Joints, TcpPose } from \"@wandelbots/nova-api/v1\"\nimport { Vector3 } from \"three/src/math/Vector3.js\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { isSameCoordinateSystem, tryParseJson } from \"../converters\"\nimport type { MotionStreamConnection } from \"./MotionStreamConnection\"\nimport type { NovaClient } from \"./NovaClient\"\n\nexport type JoggerConnectionOpts = {\n  /**\n   * When an error message is received from the jogging websocket, it\n   * will be passed here. If this handler is not provided, the error will\n   * instead be thrown as an unhandled error.\n   */\n  onError?: (err: unknown) => void\n}\n\nexport class JoggerConnection {\n  // Currently a separate websocket is needed for each mode, pester API people\n  // to merge these for simplicity\n  cartesianWebsocket: AutoReconnectingWebsocket | null = null\n  jointWebsocket: AutoReconnectingWebsocket | null = null\n  cartesianJoggingOpts: {\n    tcpId?: string\n    coordSystemId?: string\n  } = {}\n\n  static async open(\n    nova: NovaClient,\n    motionGroupId: string,\n    opts: JoggerConnectionOpts = {},\n  ) {\n    const motionStream = await nova.connectMotionStream(motionGroupId)\n\n    return new JoggerConnection(motionStream, opts)\n  }\n\n  constructor(\n    readonly motionStream: MotionStreamConnection,\n    readonly opts: JoggerConnectionOpts = {},\n  ) {}\n\n  get motionGroupId() {\n    return this.motionStream.motionGroupId\n  }\n\n  get nova() {\n    return this.motionStream.nova\n  }\n\n  get numJoints() {\n    return this.motionStream.joints.length\n  }\n\n  get activeJoggingMode() {\n    if (this.cartesianWebsocket) return \"cartesian\"\n    if (this.jointWebsocket) return \"joint\"\n    return \"increment\"\n  }\n\n  get activeWebsocket() {\n    return this.cartesianWebsocket || this.jointWebsocket\n  }\n\n  async stop() {\n    // Why not call the stopJogging API endpoint?\n    // Because this results in the websocket closing and we\n    // would like to keep it open for now.\n\n    if (this.cartesianWebsocket) {\n      this.cartesianWebsocket.sendJson({\n        motion_group: this.motionGroupId,\n        position_direction: { x: 0, y: 0, z: 0 },\n        rotation_direction: { x: 0, y: 0, z: 0 },\n        position_velocity: 0,\n        rotation_velocity: 0,\n        tcp: this.cartesianJoggingOpts.tcpId,\n        coordinate_system: this.cartesianJoggingOpts.coordSystemId,\n      })\n    }\n\n    if (this.jointWebsocket) {\n      this.jointWebsocket.sendJson({\n        motion_group: this.motionGroupId,\n        joint_velocities: new Array(this.numJoints).fill(0),\n      })\n    }\n  }\n\n  dispose() {\n    if (this.cartesianWebsocket) {\n      this.cartesianWebsocket.dispose()\n    }\n\n    if (this.jointWebsocket) {\n      this.jointWebsocket.dispose()\n    }\n  }\n\n  setJoggingMode(\n    mode: \"cartesian\" | \"joint\" | \"increment\",\n    cartesianJoggingOpts?: {\n      tcpId?: string\n      coordSystemId?: string\n    },\n  ) {\n    console.log(\"Setting jogging mode to\", mode)\n    if (cartesianJoggingOpts) {\n      // Websocket needs to be reopened to change options\n      if (\n        JSON.stringify(this.cartesianJoggingOpts) !==\n        JSON.stringify(cartesianJoggingOpts)\n      ) {\n        if (this.cartesianWebsocket) {\n          this.cartesianWebsocket.dispose()\n          this.cartesianWebsocket = null\n        }\n      }\n\n      this.cartesianJoggingOpts = cartesianJoggingOpts\n    }\n\n    if (mode !== \"cartesian\" && this.cartesianWebsocket) {\n      this.cartesianWebsocket.dispose()\n      this.cartesianWebsocket = null\n    }\n\n    if (mode !== \"joint\" && this.jointWebsocket) {\n      this.jointWebsocket.dispose()\n      this.jointWebsocket = null\n    }\n\n    if (mode === \"cartesian\" && !this.cartesianWebsocket) {\n      this.cartesianWebsocket = this.nova.openReconnectingWebsocket(\n        `/motion-groups/move-tcp`,\n      )\n\n      this.cartesianWebsocket.addEventListener(\n        \"message\",\n        (ev: MessageEvent) => {\n          const data = tryParseJson(ev.data)\n          if (data && \"error\" in data) {\n            if (this.opts.onError) {\n              this.opts.onError(ev.data)\n            } else {\n              throw new Error(ev.data)\n            }\n          }\n        },\n      )\n    }\n\n    if (mode === \"joint\" && !this.jointWebsocket) {\n      this.jointWebsocket = this.nova.openReconnectingWebsocket(\n        `/motion-groups/move-joint`,\n      )\n\n      this.jointWebsocket.addEventListener(\"message\", (ev: MessageEvent) => {\n        const data = tryParseJson(ev.data)\n        if (data && \"error\" in data) {\n          if (this.opts.onError) {\n            this.opts.onError(ev.data)\n          } else {\n            throw new Error(ev.data)\n          }\n        }\n      })\n    }\n  }\n\n  /**\n   * Start rotation of a single robot joint at the specified velocity\n   */\n  async startJointRotation({\n    joint,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    /** Index of the joint to rotate */\n    joint: number\n    /** Direction of rotation (\"+\" or \"-\") */\n    direction: \"+\" | \"-\"\n    /** Speed of the rotation in radians per second */\n    velocityRadsPerSec: number\n  }) {\n    if (!this.jointWebsocket) {\n      throw new Error(\n        \"Joint jogging websocket not connected; call setJoggingMode first\",\n      )\n    }\n\n    const jointVelocities = new Array(this.numJoints).fill(0)\n\n    jointVelocities[joint] =\n      direction === \"-\" ? -velocityRadsPerSec : velocityRadsPerSec\n\n    this.jointWebsocket.sendJson({\n      motion_group: this.motionGroupId,\n      joint_velocities: jointVelocities,\n    })\n  }\n\n  /**\n   * Start the TCP moving along a specified axis at a given velocity\n   */\n  async startTCPTranslation({\n    axis,\n    direction,\n    velocityMmPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityMmPerSec: number\n  }) {\n    if (!this.cartesianWebsocket) {\n      throw new Error(\n        \"Cartesian jogging websocket not connected; call setJoggingMode first\",\n      )\n    }\n\n    const zeroVector = { x: 0, y: 0, z: 0 }\n    const joggingVector = Object.assign({}, zeroVector)\n    joggingVector[axis] = direction === \"-\" ? -1 : 1\n\n    this.cartesianWebsocket.sendJson({\n      motion_group: this.motionGroupId,\n      position_direction: joggingVector,\n      rotation_direction: zeroVector,\n      position_velocity: velocityMmPerSec,\n      rotation_velocity: 0,\n      tcp: this.cartesianJoggingOpts.tcpId,\n      coordinate_system: this.cartesianJoggingOpts.coordSystemId,\n    })\n  }\n\n  /**\n   * Start the TCP rotating around a specified axis at a given velocity\n   */\n  async startTCPRotation({\n    axis,\n    direction,\n    velocityRadsPerSec,\n  }: {\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    velocityRadsPerSec: number\n  }) {\n    if (!this.cartesianWebsocket) {\n      throw new Error(\n        \"Cartesian jogging websocket not connected; call setJoggingMode first\",\n      )\n    }\n\n    const zeroVector = { x: 0, y: 0, z: 0 }\n    const joggingVector = Object.assign({}, zeroVector)\n    joggingVector[axis] = direction === \"-\" ? -1 : 1\n\n    this.cartesianWebsocket.sendJson({\n      motion_group: this.motionGroupId,\n      position_direction: zeroVector,\n      rotation_direction: joggingVector,\n      position_velocity: 0,\n      rotation_velocity: velocityRadsPerSec,\n      tcp: this.cartesianJoggingOpts.tcpId,\n      coordinate_system: this.cartesianJoggingOpts.coordSystemId,\n    })\n  }\n\n  /**\n   * Move the robot by a fixed distance in a single cartesian\n   * axis, either rotating or translating relative to the TCP.\n   * Promise resolves only after the motion has completed.\n   */\n  async runIncrementalCartesianMotion({\n    currentTcpPose,\n    currentJoints,\n    coordSystemId,\n    velocityInRelevantUnits,\n    axis,\n    direction,\n    motion,\n  }: {\n    currentTcpPose: TcpPose\n    currentJoints: Joints\n    coordSystemId: string\n    velocityInRelevantUnits: number\n    axis: \"x\" | \"y\" | \"z\"\n    direction: \"-\" | \"+\"\n    motion:\n      | {\n          type: \"rotate\"\n          distanceRads: number\n        }\n      | {\n          type: \"translate\"\n          distanceMm: number\n        }\n  }) {\n    const commands: Command[] = []\n\n    if (\n      !isSameCoordinateSystem(currentTcpPose.coordinate_system, coordSystemId)\n    ) {\n      throw new Error(\n        `Current TCP pose coordinate system ${currentTcpPose.coordinate_system} does not match target coordinate system ${coordSystemId}`,\n      )\n    }\n\n    if (motion.type === \"translate\") {\n      const targetTcpPosition = Object.assign({}, currentTcpPose.position)\n      targetTcpPosition[axis] +=\n        motion.distanceMm * (direction === \"-\" ? -1 : 1)\n\n      commands.push({\n        settings: {\n          limits_override: {\n            tcp_velocity_limit: velocityInRelevantUnits,\n          },\n        },\n        line: {\n          position: targetTcpPosition,\n          orientation: currentTcpPose.orientation,\n          coordinate_system: coordSystemId,\n        },\n      })\n    } else if (motion.type === \"rotate\") {\n      // Concatenate rotations expressed by rotation vectors\n      // Equations taken from https://physics.stackexchange.com/a/287819\n\n      // Compute axis and angle of current rotation vector\n      const currentRotationVector = new Vector3(\n        currentTcpPose.orientation.x,\n        currentTcpPose.orientation.y,\n        currentTcpPose.orientation.z,\n      )\n\n      const currentRotationRad = currentRotationVector.length()\n      const currentRotationDirection = currentRotationVector.clone().normalize()\n\n      // Compute axis and angle of difference rotation vector\n      const differenceRotationRad =\n        motion.distanceRads * (direction === \"-\" ? -1 : 1)\n\n      const differenceRotationDirection = new Vector3(0.0, 0.0, 0.0)\n      differenceRotationDirection[axis] = 1.0\n\n      // Some abbreviations to make the following equations more readable\n      const f1 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f2 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n      const f3 =\n        Math.sin(0.5 * differenceRotationRad) *\n        Math.cos(0.5 * currentRotationRad)\n      const f4 =\n        Math.cos(0.5 * differenceRotationRad) *\n        Math.sin(0.5 * currentRotationRad)\n\n      const dotProduct = differenceRotationDirection.dot(\n        currentRotationDirection,\n      )\n\n      const crossProduct = differenceRotationDirection\n        .clone()\n        .cross(currentRotationDirection)\n\n      // Compute angle of concatenated rotation\n      const newRotationRad = 2.0 * Math.acos(f1 - f2 * dotProduct)\n\n      // Compute rotation vector of concatenated rotation\n      const f5 = newRotationRad / Math.sin(0.5 * newRotationRad)\n\n      const targetTcpOrientation = new Vector3()\n        .addScaledVector(crossProduct, f2)\n        .addScaledVector(differenceRotationDirection, f3)\n        .addScaledVector(currentRotationDirection, f4)\n        .multiplyScalar(f5)\n\n      commands.push({\n        settings: {\n          limits_override: {\n            tcp_orientation_velocity_limit: velocityInRelevantUnits,\n          },\n        },\n        line: {\n          position: currentTcpPose.position,\n          orientation: targetTcpOrientation,\n          coordinate_system: coordSystemId,\n        },\n      })\n    }\n\n    const motionPlanRes = await this.nova.api.motion.planMotion({\n      motion_group: this.motionGroupId,\n      start_joint_position: currentJoints,\n      tcp: this.cartesianJoggingOpts.tcpId,\n      commands,\n    })\n\n    const plannedMotion = motionPlanRes.plan_successful_response?.motion\n    if (!plannedMotion) {\n      throw new Error(\n        `Failed to plan jogging increment motion ${JSON.stringify(motionPlanRes)}`,\n      )\n    }\n\n    await this.nova.api.motion.streamMoveForward(\n      plannedMotion,\n      100,\n      undefined,\n      undefined,\n      undefined,\n      {\n        // Might take a while at low velocity\n        timeout: 1000 * 60,\n      },\n    )\n  }\n\n  /**\n   * Rotate a single robot joint by a fixed number of radians\n   * Promise resolves only after the motion has completed.\n   */\n  async runIncrementalJointRotation({\n    joint,\n    currentJoints,\n    velocityRadsPerSec,\n    direction,\n    distanceRads,\n  }: {\n    joint: number\n    currentJoints: Joints\n    velocityRadsPerSec: number\n    direction: \"-\" | \"+\"\n    distanceRads: number\n  }) {\n    const targetJoints = [...currentJoints.joints]\n    // biome-ignore lint/style/noNonNullAssertion: legacy code\n    targetJoints[joint]! += distanceRads * (direction === \"-\" ? -1 : 1)\n\n    const jointVelocityLimits: number[] = new Array(\n      currentJoints.joints.length,\n    ).fill(velocityRadsPerSec)\n\n    const motionPlanRes = await this.nova.api.motion.planMotion({\n      motion_group: this.motionGroupId,\n      start_joint_position: currentJoints,\n      commands: [\n        {\n          settings: {\n            limits_override: {\n              joint_velocity_limits: {\n                joints: jointVelocityLimits,\n              },\n            },\n          },\n          joint_ptp: {\n            joints: targetJoints,\n          },\n        },\n      ],\n    })\n\n    const plannedMotion = motionPlanRes.plan_successful_response?.motion\n    if (!plannedMotion) {\n      console.error(\"Failed to plan jogging increment motion\", motionPlanRes)\n      return\n    }\n\n    await this.nova.api.motion.streamMoveForward(\n      plannedMotion,\n      100,\n      undefined,\n      undefined,\n      undefined,\n      {\n        // Might take a while at low velocity\n        timeout: 1000 * 60,\n      },\n    )\n  }\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\nimport type {\n  ControllerInstance,\n  MotionGroupPhysical,\n  MotionGroupStateResponse,\n  Vector3d,\n} from \"@wandelbots/nova-api/v1\"\nimport { makeAutoObservable, runInAction } from \"mobx\"\nimport { Vector3 } from \"three\"\nimport type { AutoReconnectingWebsocket } from \"../AutoReconnectingWebsocket\"\nimport { tryParseJson } from \"../converters\"\nimport { jointValuesEqual, tcpPoseEqual } from \"./motionStateUpdate\"\nimport type { NovaClient } from \"./NovaClient\"\n\nconst MOTION_DELTA_THRESHOLD = 0.0001\n\nfunction unwrapRotationVector(\n  newRotationVectorApi: Vector3d,\n  currentRotationVectorApi: Vector3d,\n): Vector3d {\n  const currentRotationVector = new Vector3(\n    currentRotationVectorApi.x,\n    currentRotationVectorApi.y,\n    currentRotationVectorApi.z,\n  )\n\n  const newRotationVector = new Vector3(\n    newRotationVectorApi.x,\n    newRotationVectorApi.y,\n    newRotationVectorApi.z,\n  )\n\n  const currentAngle = currentRotationVector.length()\n  const currentAxis = currentRotationVector.normalize()\n\n  let newAngle = newRotationVector.length()\n  let newAxis = newRotationVector.normalize()\n\n  // Align rotation axes\n  if (newAxis.dot(currentAxis) < 0) {\n    newAngle = -newAngle\n    newAxis = newAxis.multiplyScalar(-1.0)\n  }\n\n  // Shift rotation angle close to previous one to extend domain of rotation angles beyond [0, pi]\n  // - this simplifies interpolation and prevents abruptly changing signs of the rotation angles\n  let angleDifference = newAngle - currentAngle\n  angleDifference -=\n    2.0 * Math.PI * Math.floor((angleDifference + Math.PI) / (2.0 * Math.PI))\n\n  newAngle = currentAngle + angleDifference\n\n  return newAxis.multiplyScalar(newAngle)\n}\n\n/**\n * Store representing the current state of a connected motion group.\n */\nexport class MotionStreamConnection {\n  static async open(nova: NovaClient, motionGroupId: string) {\n    const { instances: controllers } =\n      await nova.api.controller.listControllers()\n\n    const [_motionGroupIndex, controllerId] = motionGroupId.split(\"@\") as [\n      string,\n      string,\n    ]\n    const controller = controllers.find((c) => c.controller === controllerId)\n    const motionGroup = controller?.physical_motion_groups.find(\n      (mg) => mg.motion_group === motionGroupId,\n    )\n    if (!controller || !motionGroup) {\n      throw new Error(\n        `Controller ${controllerId} or motion group ${motionGroupId} not found`,\n      )\n    }\n\n    const motionStateSocket = nova.openReconnectingWebsocket(\n      `/motion-groups/${motionGroupId}/state-stream`,\n    )\n\n    // Wait for the first message to get the initial state\n    const firstMessage = await motionStateSocket.firstMessage()\n    const initialMotionState = tryParseJson(firstMessage.data)\n      ?.result as MotionGroupStateResponse\n\n    if (!initialMotionState) {\n      throw new Error(\n        `Unable to parse initial motion state message ${firstMessage.data}`,\n      )\n    }\n\n    console.log(\n      `Connected motion state websocket to motion group ${motionGroup.motion_group}. Initial state:\\n  `,\n      initialMotionState,\n    )\n\n    return new MotionStreamConnection(\n      nova,\n      controller,\n      motionGroup,\n      initialMotionState,\n      motionStateSocket,\n    )\n  }\n\n  // Not mobx-observable as this changes very fast; should be observed\n  // using animation frames\n  rapidlyChangingMotionState: MotionGroupStateResponse\n\n  constructor(\n    readonly nova: NovaClient,\n    readonly controller: ControllerInstance,\n    readonly motionGroup: MotionGroupPhysical,\n    readonly initialMotionState: MotionGroupStateResponse,\n    readonly motionStateSocket: AutoReconnectingWebsocket,\n  ) {\n    this.rapidlyChangingMotionState = initialMotionState\n\n    motionStateSocket.addEventListener(\"message\", (event) => {\n      const motionStateResponse = tryParseJson(event.data)?.result as\n        | MotionGroupStateResponse\n        | undefined\n\n      if (!motionStateResponse) {\n        throw new Error(\n          `Failed to get motion state for ${this.motionGroupId}: ${event.data}`,\n        )\n      }\n\n      // handle motionState message\n      if (\n        !jointValuesEqual(\n          this.rapidlyChangingMotionState.state.joint_position.joints,\n          motionStateResponse.state.joint_position.joints,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          this.rapidlyChangingMotionState.state = motionStateResponse.state\n        })\n      }\n\n      // handle tcpPose message\n      if (\n        !tcpPoseEqual(\n          this.rapidlyChangingMotionState.tcp_pose,\n          motionStateResponse.tcp_pose,\n          MOTION_DELTA_THRESHOLD,\n        )\n      ) {\n        runInAction(() => {\n          if (this.rapidlyChangingMotionState.tcp_pose == null) {\n            this.rapidlyChangingMotionState.tcp_pose =\n              motionStateResponse.tcp_pose\n          } else {\n            this.rapidlyChangingMotionState.tcp_pose = {\n              position: motionStateResponse.tcp_pose!.position,\n              orientation: unwrapRotationVector(\n                motionStateResponse.tcp_pose!.orientation,\n                this.rapidlyChangingMotionState.tcp_pose!.orientation,\n              ),\n              tcp: motionStateResponse.tcp_pose!.tcp,\n              coordinate_system:\n                motionStateResponse.tcp_pose!.coordinate_system,\n            }\n          }\n        })\n      }\n    })\n    makeAutoObservable(this)\n  }\n\n  get motionGroupId() {\n    return this.motionGroup.motion_group\n  }\n\n  get controllerId() {\n    return this.controller.controller\n  }\n\n  get modelFromController() {\n    return this.motionGroup.model_from_controller\n  }\n\n  get wandelscriptIdentifier() {\n    const num = this.motionGroupId.split(\"@\")[0]\n    return `${this.controllerId.replaceAll(\"-\", \"_\")}_${num}`\n  }\n\n  get joints() {\n    return this.initialMotionState.state.joint_position.joints.map((_, i) => {\n      return {\n        index: i,\n      }\n    })\n  }\n\n  dispose() {\n    this.motionStateSocket.close()\n  }\n}\n","/** biome-ignore-all lint/style/noNonNullAssertion: legacy code */\n/** biome-ignore-all lint/suspicious/noExplicitAny: legacy code */\nimport type {\n  BaseAPI,\n  Configuration as BaseConfiguration,\n} from \"@wandelbots/nova-api/v1\"\nimport {\n  ApplicationApi,\n  CellApi,\n  ControllerApi,\n  ControllerIOsApi,\n  CoordinateSystemsApi,\n  DeviceConfigurationApi,\n  LibraryProgramApi,\n  LibraryProgramMetadataApi,\n  LibraryRecipeApi,\n  LibraryRecipeMetadataApi,\n  MotionApi,\n  MotionGroupApi,\n  MotionGroupInfosApi,\n  MotionGroupJoggingApi,\n  MotionGroupKinematicApi,\n  ProgramApi,\n  ProgramValuesApi,\n  StoreCollisionComponentsApi,\n  StoreCollisionScenesApi,\n  StoreObjectApi,\n  SystemApi,\n  VirtualRobotApi,\n  VirtualRobotBehaviorApi,\n  VirtualRobotModeApi,\n  VirtualRobotSetupApi,\n} from \"@wandelbots/nova-api/v1\"\nimport type { AxiosInstance } from \"axios\"\nimport axios from \"axios\"\n\ntype OmitFirstArg<F> = F extends (x: any, ...args: infer P) => infer R\n  ? (...args: P) => R\n  : never\n\ntype UnwrapAxiosResponseReturn<T> = T extends (...a: any) => any\n  ? (\n      ...a: Parameters<T>\n    ) => Promise<Awaited<ReturnType<T>> extends { data: infer D } ? D : never>\n  : never\n\nexport type WithCellId<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<OmitFirstArg<T[P]>>\n}\n\nexport type WithUnwrappedAxiosResponse<T> = {\n  [P in keyof T]: UnwrapAxiosResponseReturn<T[P]>\n}\n\n/**\n * API client providing type-safe access to all the Nova API REST endpoints\n * associated with a specific cell id.\n */\nexport class NovaCellAPIClient {\n  constructor(\n    readonly cellId: string,\n    readonly opts: BaseConfiguration & {\n      axiosInstance?: AxiosInstance\n      mock?: boolean\n    },\n  ) {}\n\n  /**\n   * Some TypeScript sorcery which alters the API class methods so you don't\n   * have to pass the cell id to every single one, and de-encapsulates the\n   * response data\n   */\n  private withCellId<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, [this.cellId, ...args])\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithCellId<T>\n  }\n\n  /**\n   * As withCellId, but only does the response unwrapping\n   */\n  private withUnwrappedResponsesOnly<T extends BaseAPI>(\n    ApiConstructor: new (\n      config: BaseConfiguration,\n      basePath: string,\n      axios: AxiosInstance,\n    ) => T,\n  ) {\n    const apiClient = new ApiConstructor(\n      {\n        ...this.opts,\n        isJsonMime: (mime: string) => {\n          return mime === \"application/json\"\n        },\n      },\n      this.opts.basePath ?? \"\",\n      this.opts.axiosInstance ?? axios.create(),\n    ) as {\n      [key: string | symbol]: any\n    }\n\n    for (const key of Reflect.ownKeys(Reflect.getPrototypeOf(apiClient)!)) {\n      if (key !== \"constructor\" && typeof apiClient[key] === \"function\") {\n        const originalFunction = apiClient[key]\n        apiClient[key] = (...args: any[]) => {\n          return originalFunction\n            .apply(apiClient, args)\n            .then((res: any) => res.data)\n        }\n      }\n    }\n\n    return apiClient as WithUnwrappedAxiosResponse<T>\n  }\n\n  readonly system = this.withUnwrappedResponsesOnly(SystemApi)\n  readonly cell = this.withUnwrappedResponsesOnly(CellApi)\n\n  readonly deviceConfig = this.withCellId(DeviceConfigurationApi)\n\n  readonly motionGroup = this.withCellId(MotionGroupApi)\n  readonly motionGroupInfos = this.withCellId(MotionGroupInfosApi)\n\n  readonly controller = this.withCellId(ControllerApi)\n\n  readonly program = this.withCellId(ProgramApi)\n  readonly programValues = this.withCellId(ProgramValuesApi)\n\n  readonly controllerIOs = this.withCellId(ControllerIOsApi)\n\n  readonly motionGroupKinematic = this.withCellId(MotionGroupKinematicApi)\n  readonly motion = this.withCellId(MotionApi)\n\n  readonly coordinateSystems = this.withCellId(CoordinateSystemsApi)\n\n  readonly application = this.withCellId(ApplicationApi)\n  readonly applicationGlobal = this.withUnwrappedResponsesOnly(ApplicationApi)\n\n  readonly motionGroupJogging = this.withCellId(MotionGroupJoggingApi)\n\n  readonly virtualRobot = this.withCellId(VirtualRobotApi)\n  readonly virtualRobotSetup = this.withCellId(VirtualRobotSetupApi)\n  readonly virtualRobotMode = this.withCellId(VirtualRobotModeApi)\n  readonly virtualRobotBehavior = this.withCellId(VirtualRobotBehaviorApi)\n\n  readonly libraryProgramMetadata = this.withCellId(LibraryProgramMetadataApi)\n  readonly libraryProgram = this.withCellId(LibraryProgramApi)\n  readonly libraryRecipeMetadata = this.withCellId(LibraryRecipeMetadataApi)\n  readonly libraryRecipe = this.withCellId(LibraryRecipeApi)\n\n  readonly storeObject = this.withCellId(StoreObjectApi)\n  readonly storeCollisionComponents = this.withCellId(\n    StoreCollisionComponentsApi,\n  )\n  readonly storeCollisionScenes = this.withCellId(StoreCollisionScenesApi)\n}\n","import type {\n  ControllerInstanceList,\n  MotionGroupSpecification,\n  MotionGroupStateResponse,\n  RobotController,\n  SafetySetup,\n} from \"@wandelbots/nova-api/v1\"\nimport type { AxiosResponse, InternalAxiosRequestConfig } from \"axios\"\nimport { AxiosError } from \"axios\"\nimport * as pathToRegexp from \"path-to-regexp\"\nimport type { AutoReconnectingWebsocket } from \"../../AutoReconnectingWebsocket\"\n\n/**\n * Ultra-simplified mock Nova server for testing stuff\n */\nexport class MockNovaInstance {\n  readonly connections: AutoReconnectingWebsocket[] = []\n\n  async handleAPIRequest(\n    config: InternalAxiosRequestConfig,\n  ): Promise<AxiosResponse> {\n    const apiHandlers = [\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers\",\n        handle() {\n          return {\n            instances: [\n              {\n                controller: \"mock-ur5e\",\n                model_name: \"UniversalRobots::Controller\",\n                host: \"mock-ur5e\",\n                allow_software_install_on_controller: true,\n                physical_motion_groups: [\n                  {\n                    motion_group: \"0@mock-ur5e\",\n                    name_from_controller: \"UR5e\",\n                    active: false,\n                    model_from_controller: \"UniversalRobots_UR5e\",\n                  },\n                ],\n                has_error: false,\n                error_details: \"\",\n              },\n            ],\n          } satisfies ControllerInstanceList\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/controllers/:controllerId\",\n        handle() {\n          return {\n            configuration: {\n              kind: \"VirtualController\",\n              manufacturer: \"universalrobots\",\n              position: \"[0,-1.571,-1.571,-1.571,1.571,-1.571,0]\",\n              type: \"universalrobots-ur5e\",\n            },\n            name: \"mock-ur5\",\n          } satisfies RobotController\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/specification\",\n        handle() {\n          return {\n            dh_parameters: [\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 162.25,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -425,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: -392.2,\n                d: 0,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 133.3,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: -1.5707963267948966,\n                theta: 0,\n                a: 0,\n                d: 99.7,\n                reverse_rotation_direction: false,\n              },\n              {\n                alpha: 0,\n                theta: 0,\n                a: 0,\n                d: 99.6,\n                reverse_rotation_direction: false,\n              },\n            ],\n            mechanical_joint_limits: [\n              {\n                joint: \"JOINTNAME_AXIS_1\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_2\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_3\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_4\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_5\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n              {\n                joint: \"JOINTNAME_AXIS_6\",\n                lower_limit: -6.335545063018799,\n                upper_limit: 6.335545063018799,\n                unlimited: false,\n              },\n            ],\n          } satisfies MotionGroupSpecification\n        },\n      },\n      {\n        method: \"GET\",\n        path: \"/cells/:cellId/motion-groups/:motionGroupId/safety-setup\",\n        handle() {\n          return {\n            safety_settings: [\n              {\n                safety_state: \"SAFETY_NORMAL\",\n                settings: {\n                  joint_position_limits: [\n                    {\n                      joint: \"JOINTNAME_AXIS_1\",\n                      lower_limit: -2.96705961227417,\n                      upper_limit: 2.96705961227417,\n                      unlimited: false,\n                    },\n                    {\n