@wandelbots/nova-api 25.3.0-dev.36 → 25.3.0-dev.38

package/v2/api.ts

@@ -2318,7 +2318,7 @@ export interface InitializeJoggingRequest {
      */
     'motion_group': string;
     /**
-     * Identifier of the tool. Required for robots. Not required for external axes.
+     * Identifier of the tool. Required for robots (all limits, including TCP limits, are respected at all times regardless of the motion). Not required for external axes. 
      * @type {string}
      * @memberof InitializeJoggingRequest
      */
@@ -2394,11 +2394,11 @@ export interface InitializeMovementRequest {
      */
     'message_type'?: InitializeMovementRequestMessageTypeEnum;
     /**
-     * The trajectory which should be executed and locked to the connection. Get information about the trajectory via [getMotionTrajectory](getMotionTrajectory). 
-     * @type {string}
+     * 
+     * @type {InitializeMovementRequestTrajectory}
      * @memberof InitializeMovementRequest
      */
-    'trajectory': string;
+    'trajectory': InitializeMovementRequestTrajectory;
     /**
      * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g. in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path 
      * @type {number}
@@ -2425,6 +2425,13 @@ export const InitializeMovementRequestMessageTypeEnum = {
 
 export type InitializeMovementRequestMessageTypeEnum = typeof InitializeMovementRequestMessageTypeEnum[keyof typeof InitializeMovementRequestMessageTypeEnum];
 
+/**
+ * @type InitializeMovementRequestTrajectory
+ * The trajectory which should be executed and locked to the connection. 
+ * @export
+ */
+export type InitializeMovementRequestTrajectory = { message_type: 'TrajectoryData' } & TrajectoryData | { message_type: 'TrajectoryId' } & TrajectoryId;
+
 /**
  * Response for InitializeMovementRequest message. 
  * @export
@@ -5976,6 +5983,64 @@ export interface TorqueExceededTorqueExceeded {
      */
     'torque_limit'?: number;
 }
+/**
+ * 
+ * @export
+ * @interface TrajectoryData
+ */
+export interface TrajectoryData {
+    /**
+     * Type specifier for server, set automatically. 
+     * @type {string}
+     * @memberof TrajectoryData
+     */
+    'message_type': TrajectoryDataMessageTypeEnum;
+    /**
+     * The trajectory consisting of a list of joint positions and an equal number of corresponding timestamps. 
+     * @type {JointTrajectory}
+     * @memberof TrajectoryData
+     */
+    'data': JointTrajectory;
+    /**
+     * Unique identifier of the tool the trajectory is planned for.
+     * @type {string}
+     * @memberof TrajectoryData
+     */
+    'tcp'?: string;
+}
+
+export const TrajectoryDataMessageTypeEnum = {
+    TrajectoryData: 'TrajectoryData'
+} as const;
+
+export type TrajectoryDataMessageTypeEnum = typeof TrajectoryDataMessageTypeEnum[keyof typeof TrajectoryDataMessageTypeEnum];
+
+/**
+ * 
+ * @export
+ * @interface TrajectoryId
+ */
+export interface TrajectoryId {
+    /**
+     * Type specifier for server, set automatically. 
+     * @type {string}
+     * @memberof TrajectoryId
+     */
+    'message_type': TrajectoryIdMessageTypeEnum;
+    /**
+     * The identifier of the trajectory which was returned by the [addTrajectory](addTrajectory) endpoint. 
+     * @type {string}
+     * @memberof TrajectoryId
+     */
+    'id': string;
+}
+
+export const TrajectoryIdMessageTypeEnum = {
+    TrajectoryId: 'TrajectoryId'
+} as const;
+
+export type TrajectoryIdMessageTypeEnum = typeof TrajectoryIdMessageTypeEnum[keyof typeof TrajectoryIdMessageTypeEnum];
+
 /**
  * 
  * @export