@wandelbots/nova-api 25.5.0-dev.14 → 25.5.0-dev.16

package/v1/api.ts

@@ -3620,6 +3620,12 @@ export interface MotionGroupState {
      * @memberof MotionGroupState
      */
     'joint_current'?: Joints;
+    /**
+     * Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller. The sequence number is reset when the connection to the physical controller is closed and re-established. It is of type string to represent uint64 values, which is not supported by OpenAPI. 
+     * @type {string}
+     * @memberof MotionGroupState
+     */
+    'sequence_number': string;
 }
 /**
  * Indicates which joint of the motion group is in a limit. If a joint is in its limit, only this joint can be moved. Movements that affect any other joints are not executed.
@@ -5936,6 +5942,12 @@ export interface RobotControllerState {
      * @memberof RobotControllerState
      */
     'motion_groups': Array<MotionGroupState>;
+    /**
+     * Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller. The sequence number is reset when the connection to the physical controller is closed and re-established. It is of type string to represent uint64 values, which is not supported by OpenAPI. 
+     * @type {string}
+     * @memberof RobotControllerState
+     */
+    'sequence_number': string;
 }
 
 export const RobotControllerStateOperationModeEnum = {

package/v2/api.d.ts

@@ -4234,30 +4234,28 @@ export interface ProgramRequest {
      * @type {string}
      * @memberof ProgramRequest
      */
-    'program'?: string;
+    'program': string;
     /**
-     *
+     * Identifier of the default robot to use for execution
      * @type {string}
      * @memberof ProgramRequest
      */
-    'default_robot'?: string | null;
+    'default_robot'?: string;
     /**
-     *
+     * Identifier of the default TCP to use for execution
      * @type {string}
      * @memberof ProgramRequest
      */
-    'default_tcp'?: string | null;
+    'default_tcp'?: string;
     /**
      * Initial arguments that are available within the program
-     * @type {{ [key: string]: RunArgsValue; }}
+     * @type {object}
      * @memberof ProgramRequest
      */
-    'run_args'?: {
-        [key: string]: RunArgsValue;
-    };
+    'run_args'?: object;
 }
 /**
- * Holds the state of a program run.  Args:     id: The unique id of the program run     state: The state of the program run     logs: The logs of the program run     stdout: The stdout of the program run     store: The store of the program run     error: The error message of the program run, if any     traceback: The traceback of the program run, if any     start_time: The start time of the program run     end_time: The end time of the program run     execution_results: The robot execution results of the program run
+ * Holds the state of a program run.
  * @export
  * @interface ProgramRun
  */
@@ -4275,49 +4273,47 @@ export interface ProgramRun {
      */
     'state': ProgramRunState;
     /**
-     *
+     * Logs of the program run
      * @type {string}
      * @memberof ProgramRun
      */
-    'logs'?: string | null;
+    'logs'?: string;
     /**
-     *
+     * Stdout of the program run
      * @type {string}
      * @memberof ProgramRun
      */
-    'stdout'?: string | null;
+    'stdout'?: string;
     /**
      * Stores runtime variables of the run
-     * @type {{ [key: string]: StoreValue; }}
+     * @type {object}
      * @memberof ProgramRun
      */
-    'store'?: {
-        [key: string]: StoreValue;
-    };
+    'store'?: object;
     /**
-     *
+     * Error message of the program run, if any
      * @type {string}
      * @memberof ProgramRun
      */
-    'error'?: string | null;
+    'error'?: string;
     /**
-     *
+     * Traceback of the program run, if any
      * @type {string}
      * @memberof ProgramRun
      */
-    'traceback'?: string | null;
+    'traceback'?: string;
     /**
-     *
+     * Start time of the program run
      * @type {number}
      * @memberof ProgramRun
      */
-    'start_time'?: number | null;
+    'start_time'?: number;
     /**
-     *
+     * End time of the program run
      * @type {number}
      * @memberof ProgramRun
      */
-    'end_time'?: number | null;
+    'end_time'?: number;
     /**
      * Execution results of the program run
      * @type {Array<ProgramRunResult>}
@@ -4630,7 +4626,7 @@ export interface RobotLinkGeometry {
     'geometry': Geometry;
 }
 /**
- * Collection of information on the current state of the robot
+ * Collection of information on the current state of the robot.
  * @export
  * @interface RobotState
  */
@@ -4646,7 +4642,7 @@ export interface RobotState {
      * @type {Array<number>}
      * @memberof RobotState
      */
-    'joints'?: Array<number> | null;
+    'joints'?: Array<number>;
 }
 /**
  * The system mode of the robot system.  ### ROBOT_SYSTEM_MODE_UNDEFINED  Indicates that the robot controller is currently performing a mode transition.  ### ROBOT_SYSTEM_MODE_DISCONNECT  There is no communication with the robot controller at all. All connections are closed. No command is sent to the robot controller while in this mode. No input/output interaction is possible in this mode! All move requests will be rejected in this mode!  ### ROBOT_SYSTEM_MODE_MONITOR  A connection to the robot controller is established to only read the robot controller state. No command is sent to the robot controller while in this mode. It is possible to receive input/output information. All move requests will be rejected in this mode!  ### ROBOT_SYSTEM_MODE_CONTROL  An active connection is established with the robot controller and the robot system is cyclic commanded to stay in its actual position. The robot controller state is received in the cycle time of the robot controller. Requests via the MotionService and JoggingService will be processed and executed in this mode. Input/Output interaction is possible in this mode! **In this mode the robot system can be commanded to move.**  ### ROBOT_SYSTEM_MODE_FREE_DRIVE  Like ROBOT_SYSTEM_MODE_MONITOR a connection to the robot controller is established to only read the robot controller state. The difference is that the motion groups can be moved by the user (Free Drive). Thus, the servo motors are turned on. All move requests will be rejected in this mode! **This mode is not supported by every robot!** Use [getSupportedModes](getSupportedModes) to evaluate if the device support free drive.
@@ -4711,13 +4707,6 @@ export interface RobotTcps {
      */
     'tcps': Array<RobotTcp>;
 }
-/**
- *
- * @export
- * @interface RunArgsValue
- */
-export interface RunArgsValue {
-}
 /**
  * The safety configuration of a motion-group. Used for motion planning.
  * @export
@@ -5213,25 +5202,6 @@ export interface StartOnIO {
      */
     'comparator': Comparator;
 }
-/**
- *
- * @export
- * @interface StoreValue
- */
-export interface StoreValue {
-    /**
-     * A three-dimensional vector [x, y, z] with double precision.
-     * @type {Array<number>}
-     * @memberof StoreValue
-     */
-    'position'?: Array<number>;
-    /**
-     * Defines a rotation in 3D space. A three-dimensional Vector [rx, ry, rz] with double precision. Rotation is applied around the vector. The angle of rotation equals the length of the vector.
-     * @type {Array<number>}
-     * @memberof StoreValue
-     */
-    'orientation'?: Array<number>;
-}
 /**
  * Representing a robot pose in operational space aware of a configured TCP.
  * @export
@@ -5405,6 +5375,12 @@ export interface TrajectoryData {
      * @memberof TrajectoryData
      */
     'message_type': TrajectoryDataMessageTypeEnum;
+    /**
+     * Identifier of the motion-group.
+     * @type {string}
+     * @memberof TrajectoryData
+     */
+    'motion_group'?: string;
     /**
      * The trajectory consisting of a list of joint positions and an equal number of corresponding timestamps.
      * @type {JointTrajectory}
@@ -5621,10 +5597,10 @@ export interface ValidationError {
 export interface ValidationError2 {
     /**
      *
-     * @type {Array<ValidationError2LocInner>}
+     * @type {Array<number>}
      * @memberof ValidationError2
      */
-    'loc': Array<ValidationError2LocInner>;
+    'loc': Array<number>;
     /**
      *
      * @type {string}
@@ -5638,13 +5614,6 @@ export interface ValidationError2 {
      */
     'type': string;
 }
-/**
- *
- * @export
- * @interface ValidationError2LocInner
- */
-export interface ValidationError2LocInner {
-}
 /**
  * @type ValidationErrorLocInner
  * @export
@@ -8607,7 +8576,7 @@ export declare const ProgramApiFp: (configuration?: Configuration) => {
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    stopAllPrograms(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<any>>;
+    stopAllPrograms(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Stop a specific program run.
      * @summary Stop program run
@@ -8683,7 +8652,7 @@ export declare const ProgramApiFactory: (configuration?: Configuration, basePath
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    stopAllPrograms(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<any>;
+    stopAllPrograms(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
      * Stop a specific program run.
      * @summary Stop program run
@@ -8767,7 +8736,7 @@ export declare class ProgramApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof ProgramApi
      */
-    stopAllPrograms(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<any, any>>;
+    stopAllPrograms(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
      * Stop a specific program run.
      * @summary Stop program run