@wandelbots/nova-api 25.6.0-dev.2 → 25.6.0-dev.3

package/v2/api.ts

@@ -2215,6 +2215,50 @@ export interface InvalidDofInvalidDof {
      */
     'joint_position'?: Array<number>;
 }
+/**
+ * 
+ * @export
+ * @interface InverseKinematicsRequest
+ */
+export interface InverseKinematicsRequest {
+    /**
+     * The robot setup as returned from [getOptimizerConfiguration](getOptimizerConfiguration).
+     * @type {OptimizerSetup}
+     * @memberof InverseKinematicsRequest
+     */
+    'robot_setup': OptimizerSetup;
+    /**
+     * List of TCP poses for which the inverse solutions are computed. 
+     * @type {Array<Pose>}
+     * @memberof InverseKinematicsRequest
+     */
+    'tcp_poses': Array<Pose>;
+    /**
+     * A collection of identifiable colliders.
+     * @type {{ [key: string]: Collider; }}
+     * @memberof InverseKinematicsRequest
+     */
+    'static_colliders'?: { [key: string]: Collider; };
+    /**
+     * Collision motion group. 
+     * @type {CollisionMotionGroup}
+     * @memberof InverseKinematicsRequest
+     */
+    'collision_motion_group'?: CollisionMotionGroup;
+}
+/**
+ * 
+ * @export
+ * @interface InverseKinematicsResponse
+ */
+export interface InverseKinematicsResponse {
+    /**
+     * 
+     * @type {Array<Array<Array<number>>>}
+     * @memberof InverseKinematicsResponse
+     */
+    'joints': Array<Array<Array<number>>>;
+}
 /**
  * Response signalling an error during jogging execution. This response is sent in case of an unexpected error, e.g. controller disconnects. 
  * @export
@@ -3289,6 +3333,7 @@ export const MotionGroupModel = {
     YaskawaTurn2: 'Yaskawa_TURN2',
     YaskawaTurn3: 'Yaskawa_TURN3',
     KukaKr150R2: 'KUKA_KR150_R2',
+    KukaKr3R540: 'KUKA_KR3_R540',
     KukaKr4R600: 'KUKA_KR4_R600',
     KukaKr6R700: 'KUKA_KR6_R700',
     KukaKr6R7002: 'KUKA_KR6_R700_2',
@@ -6057,6 +6102,7 @@ export const VirtualControllerTypes = {
     KukaKr210R33002: 'kuka-kr210_r3300_2',
     KukaKr240R2700: 'kuka-kr240_r2700',
     KukaKr250R27002: 'kuka-kr250_r2700_2',
+    KukaKr3R540: 'kuka-kr3_r540',
     KukaKr30R3: 'kuka-kr30_r3',
     KukaKr360L2403: 'kuka-kr360_l240_3',
     KukaKr4R600: 'kuka-kr4_r600',
@@ -9465,6 +9511,129 @@ export class CoordinateSystemsApi extends BaseAPI {
 
 
 
+/**
+ * InverseKinematicsApi - axios parameter creator
+ * @export
+ */
+export const InverseKinematicsApiAxiosParamCreator = function (configuration?: Configuration) {
+    return {
+        /**
+         * Returns the reachable joint positions for a list of given poses. 
+         * @summary Inverse kinematics
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {InverseKinematicsRequest} [inverseKinematicsRequest] 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        inverseKinematics: async (cell: string, inverseKinematicsRequest?: InverseKinematicsRequest, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('inverseKinematics', 'cell', cell)
+            const localVarPath = `/cells/{cell}/kinematic/inverse-kinematics`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+
+            const localVarRequestOptions = { method: 'POST', ...baseOptions, ...options};
+            const localVarHeaderParameter = {} as any;
+            const localVarQueryParameter = {} as any;
+
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration)
+
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration)
+
+
+    
+            localVarHeaderParameter['Content-Type'] = 'application/json';
+
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
+            localVarRequestOptions.data = serializeDataIfNeeded(inverseKinematicsRequest, localVarRequestOptions, configuration)
+
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+    }
+};
+
+/**
+ * InverseKinematicsApi - functional programming interface
+ * @export
+ */
+export const InverseKinematicsApiFp = function(configuration?: Configuration) {
+    const localVarAxiosParamCreator = InverseKinematicsApiAxiosParamCreator(configuration)
+    return {
+        /**
+         * Returns the reachable joint positions for a list of given poses. 
+         * @summary Inverse kinematics
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {InverseKinematicsRequest} [inverseKinematicsRequest] 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async inverseKinematics(cell: string, inverseKinematicsRequest?: InverseKinematicsRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<InverseKinematicsResponse>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.inverseKinematics(cell, inverseKinematicsRequest, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['InverseKinematicsApi.inverseKinematics']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+    }
+};
+
+/**
+ * InverseKinematicsApi - factory interface
+ * @export
+ */
+export const InverseKinematicsApiFactory = function (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) {
+    const localVarFp = InverseKinematicsApiFp(configuration)
+    return {
+        /**
+         * Returns the reachable joint positions for a list of given poses. 
+         * @summary Inverse kinematics
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {InverseKinematicsRequest} [inverseKinematicsRequest] 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        inverseKinematics(cell: string, inverseKinematicsRequest?: InverseKinematicsRequest, options?: RawAxiosRequestConfig): AxiosPromise<InverseKinematicsResponse> {
+            return localVarFp.inverseKinematics(cell, inverseKinematicsRequest, options).then((request) => request(axios, basePath));
+        },
+    };
+};
+
+/**
+ * InverseKinematicsApi - object-oriented interface
+ * @export
+ * @class InverseKinematicsApi
+ * @extends {BaseAPI}
+ */
+export class InverseKinematicsApi extends BaseAPI {
+    /**
+     * Returns the reachable joint positions for a list of given poses. 
+     * @summary Inverse kinematics
+     * @param {string} cell Unique identifier addressing a cell in all API calls. 
+     * @param {InverseKinematicsRequest} [inverseKinematicsRequest] 
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof InverseKinematicsApi
+     */
+    public inverseKinematics(cell: string, inverseKinematicsRequest?: InverseKinematicsRequest, options?: RawAxiosRequestConfig) {
+        return InverseKinematicsApiFp(this.configuration).inverseKinematics(cell, inverseKinematicsRequest, options).then((request) => request(this.axios, this.basePath));
+    }
+}
+
+
+
 /**
  * JoggingApi - axios parameter creator
  * @export