@wandelbots/nova-api 25.6.0-dev.28 → 25.6.0-dev.29

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/nova-api",
-  "version": "25.6.0-dev.28",
+  "version": "25.6.0-dev.29",
   "description": "API Client to interact with Wandelbots Public API.",
   "files": [
     "*",

package/v2/api.d.ts

@@ -1814,7 +1814,7 @@ export interface InvalidDofInvalidDof {
  */
 export interface InverseKinematicsRequest {
     /**
-     * The data to assemble the robot setup can be retrieved from [getPlanningParameters](getPlanningParameters) endpoint.
+     * The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) endpoint.
      * @type {RobotSetup}
      * @memberof InverseKinematicsRequest
      */
@@ -2386,6 +2386,85 @@ export interface MotionGroupBehaviorGetter {
      */
     'behavior': Behavior;
 }
+/**
+ * The configuration of a motion-group used for motion planning.
+ * @export
+ * @interface MotionGroupDescription
+ */
+export interface MotionGroupDescription {
+    /**
+     * String identifiying the model of a motion group.
+     * @type {string}
+     * @memberof MotionGroupDescription
+     */
+    'motion_group_type': string;
+    /**
+     * The offset from the world frame to the motion group base.
+     * @type {Pose}
+     * @memberof MotionGroupDescription
+     */
+    'mounting': Pose;
+    /**
+     * Maps a TCP name to its offset relative to the flange coordinate system. Key must be a TCP identifier. Values are TcpOffsets.
+     * @type {{ [key: string]: TcpOffset; }}
+     * @memberof MotionGroupDescription
+     */
+    'tcps': {
+        [key: string]: TcpOffset;
+    };
+    /**
+     * A collection of identifiable colliders.
+     * @type {{ [key: string]: Collider; }}
+     * @memberof MotionGroupDescription
+     */
+    'safety_zones'?: {
+        [key: string]: Collider;
+    };
+    /**
+     * The shape of the MotionGroups links to validate against safety zones. Indexed along the kinematic chain, starting with a static base shape before first joint.
+     * @type {Array<{ [key: string]: Collider; }>}
+     * @memberof MotionGroupDescription
+     */
+    'safety_link_colliders'?: Array<{
+        [key: string]: Collider;
+    }>;
+    /**
+     * Maps a TCP name to its tool collider. Key must be a TCP identifier. Values are ColliderDictionaries that make up the shape of one tool to validate against safety zones.
+     * @type {{ [key: string]: { [key: string]: Collider; }; }}
+     * @memberof MotionGroupDescription
+     */
+    'safety_tool_colliders'?: {
+        [key: string]: {
+            [key: string]: Collider;
+        };
+    };
+    /**
+     *
+     * @type {PlanningLimits}
+     * @memberof MotionGroupDescription
+     */
+    'global_limits': PlanningLimits;
+    /**
+     * Maps a payload name to its configuration. Key must be a payload identifier. Values are payload objects.
+     * @type {{ [key: string]: Payload; }}
+     * @memberof MotionGroupDescription
+     */
+    'payloads'?: {
+        [key: string]: Payload;
+    };
+    /**
+     * [ms] cycle time of the motion group controller. A trajectory for this motion group should be computed to this resolution.
+     * @type {number}
+     * @memberof MotionGroupDescription
+     */
+    'cycle_time'?: number;
+    /**
+     * The DH parameters describing the motion group geometry, starting from base.
+     * @type {Array<DHParameter>}
+     * @memberof MotionGroupDescription
+     */
+    'dh_parameters'?: Array<DHParameter>;
+}
 /**
  *
  * @export
@@ -3177,7 +3256,7 @@ export type PlanTrajectoryFailedResponseErrorFeedback = FeedbackCollision | Feed
  */
 export interface PlanTrajectoryRequest {
     /**
-     * The data to assemble the robot setup can be retrieved from [getPlanningParameters](getPlanningParameters) endpoint.
+     * The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) endpoint.
      * @type {RobotSetup}
      * @memberof PlanTrajectoryRequest
      */
@@ -3328,85 +3407,6 @@ export interface PlanningLimitsLimitRange {
      */
     'upper_limit': number;
 }
-/**
- * The configuration of a motion-group used for motion planning.
- * @export
- * @interface PlanningParameters
- */
-export interface PlanningParameters {
-    /**
-     * String identifiying the model of a motion group.
-     * @type {string}
-     * @memberof PlanningParameters
-     */
-    'motion_group_type': string;
-    /**
-     * The offset from the world frame to the motion group base.
-     * @type {Pose}
-     * @memberof PlanningParameters
-     */
-    'mounting': Pose;
-    /**
-     * Maps a TCP name to its offset relative to the flange coordinate system. Key must be a TCP identifier. Values are TcpOffsets.
-     * @type {{ [key: string]: TcpOffset; }}
-     * @memberof PlanningParameters
-     */
-    'tcps': {
-        [key: string]: TcpOffset;
-    };
-    /**
-     * A collection of identifiable colliders.
-     * @type {{ [key: string]: Collider; }}
-     * @memberof PlanningParameters
-     */
-    'safety_zones'?: {
-        [key: string]: Collider;
-    };
-    /**
-     * The shape of the MotionGroups links to validate against safety zones. Indexed along the kinematic chain, starting with a static base shape before first joint.
-     * @type {Array<{ [key: string]: Collider; }>}
-     * @memberof PlanningParameters
-     */
-    'safety_link_colliders'?: Array<{
-        [key: string]: Collider;
-    }>;
-    /**
-     * Maps a TCP name to its tool collider. Key must be a TCP identifier. Values are ColliderDictionaries that make up the shape of one tool to validate against safety zones.
-     * @type {{ [key: string]: { [key: string]: Collider; }; }}
-     * @memberof PlanningParameters
-     */
-    'safety_tool_colliders'?: {
-        [key: string]: {
-            [key: string]: Collider;
-        };
-    };
-    /**
-     *
-     * @type {PlanningLimits}
-     * @memberof PlanningParameters
-     */
-    'global_limits': PlanningLimits;
-    /**
-     * Maps a payload name to its configuration. Key must be a payload identifier. Values are payload objects.
-     * @type {{ [key: string]: Payload; }}
-     * @memberof PlanningParameters
-     */
-    'payloads'?: {
-        [key: string]: Payload;
-    };
-    /**
-     * [ms] cycle time of the motion group controller. A trajectory for this motion group should be computed to this resolution.
-     * @type {number}
-     * @memberof PlanningParameters
-     */
-    'cycle_time'?: number;
-    /**
-     * The DH parameters describing the motion group geometry, starting from base.
-     * @type {Array<DHParameter>}
-     * @memberof PlanningParameters
-     */
-    'dh_parameters'?: Array<DHParameter>;
-}
 /**
  * Sets velocity for executed movements of the motion, in percent. Send after initializing the connection with InitializeMovementRequest.
  * @export
@@ -6576,14 +6576,14 @@ export declare const MotionGroupApiAxiosParamCreator: (configuration?: Configura
      */
     getCurrentMotionGroupState: (cell: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.).
-     * @summary Planning Parameters
+     * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
+     * @summary Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getPlanningParameters: (cell: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getMotionGroupDescription: (cell: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.
      * @summary Stream State
@@ -6612,14 +6612,14 @@ export declare const MotionGroupApiFp: (configuration?: Configuration) => {
      */
     getCurrentMotionGroupState(cell: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupState>>;
     /**
-     * Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.).
-     * @summary Planning Parameters
+     * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
+     * @summary Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getPlanningParameters(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<PlanningParameters>>;
+    getMotionGroupDescription(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupDescription>>;
     /**
      * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.
      * @summary Stream State
@@ -6648,14 +6648,14 @@ export declare const MotionGroupApiFactory: (configuration?: Configuration, base
      */
     getCurrentMotionGroupState(cell: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupState>;
     /**
-     * Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.).
-     * @summary Planning Parameters
+     * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
+     * @summary Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getPlanningParameters(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<PlanningParameters>;
+    getMotionGroupDescription(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupDescription>;
     /**
      * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.
      * @summary Stream State
@@ -6687,15 +6687,15 @@ export declare class MotionGroupApi extends BaseAPI {
      */
     getCurrentMotionGroupState(cell: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupState, any>>;
     /**
-     * Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.).
-     * @summary Planning Parameters
+     * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
+     * @summary Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof MotionGroupApi
      */
-    getPlanningParameters(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<PlanningParameters, any>>;
+    getMotionGroupDescription(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupDescription, any>>;
     /**
      * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.
      * @summary Stream State

package/v2/api.js

@@ -4053,19 +4053,19 @@ export const MotionGroupApiAxiosParamCreator = function (configuration) {
             };
         },
         /**
-         * Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.).
-         * @summary Planning Parameters
+         * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
+         * @summary Description
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {string} motionGroup The motion-group identifier.
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        getPlanningParameters: async (cell, motionGroup, options = {}) => {
+        getMotionGroupDescription: async (cell, motionGroup, options = {}) => {
             // verify required parameter 'cell' is not null or undefined
-            assertParamExists('getPlanningParameters', 'cell', cell);
+            assertParamExists('getMotionGroupDescription', 'cell', cell);
             // verify required parameter 'motionGroup' is not null or undefined
-            assertParamExists('getPlanningParameters', 'motionGroup', motionGroup);
-            const localVarPath = `/cells/{cell}/motion-groups/{motion-group}/planning-parameters`
+            assertParamExists('getMotionGroupDescription', 'motionGroup', motionGroup);
+            const localVarPath = `/cells/{cell}/motion-groups/{motion-group}/description`
                 .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
                 .replace(`{${"motion-group"}}`, encodeURIComponent(String(motionGroup)));
             // use dummy base URL string because the URL constructor only accepts absolute URLs.
@@ -4163,17 +4163,17 @@ export const MotionGroupApiFp = function (configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.).
-         * @summary Planning Parameters
+         * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
+         * @summary Description
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {string} motionGroup The motion-group identifier.
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async getPlanningParameters(cell, motionGroup, options) {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.getPlanningParameters(cell, motionGroup, options);
+        async getMotionGroupDescription(cell, motionGroup, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getMotionGroupDescription(cell, motionGroup, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['MotionGroupApi.getPlanningParameters']?.[localVarOperationServerIndex]?.url;
+            const localVarOperationServerBasePath = operationServerMap['MotionGroupApi.getMotionGroupDescription']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
@@ -4214,15 +4214,15 @@ export const MotionGroupApiFactory = function (configuration, basePath, axios) {
             return localVarFp.getCurrentMotionGroupState(cell, motionGroup, responseCoordinateSystem, options).then((request) => request(axios, basePath));
         },
         /**
-         * Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.).
-         * @summary Planning Parameters
+         * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
+         * @summary Description
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {string} motionGroup The motion-group identifier.
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        getPlanningParameters(cell, motionGroup, options) {
-            return localVarFp.getPlanningParameters(cell, motionGroup, options).then((request) => request(axios, basePath));
+        getMotionGroupDescription(cell, motionGroup, options) {
+            return localVarFp.getMotionGroupDescription(cell, motionGroup, options).then((request) => request(axios, basePath));
         },
         /**
          * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.
@@ -4260,16 +4260,16 @@ export class MotionGroupApi extends BaseAPI {
         return MotionGroupApiFp(this.configuration).getCurrentMotionGroupState(cell, motionGroup, responseCoordinateSystem, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * Get the complete set of parameters that can be passed to the motion-planner (incl. safety zones, limits etc.).
-     * @summary Planning Parameters
+     * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
+     * @summary Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof MotionGroupApi
      */
-    getPlanningParameters(cell, motionGroup, options) {
-        return MotionGroupApiFp(this.configuration).getPlanningParameters(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
+    getMotionGroupDescription(cell, motionGroup, options) {
+        return MotionGroupApiFp(this.configuration).getMotionGroupDescription(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
     }
     /**
      * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.