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

package/v2/api.ts

@@ -1872,7 +1872,7 @@ 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
      */
@@ -2461,6 +2461,73 @@ export interface MotionGroupBehaviorGetter {
 }
 
 
+/**
+ * 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
@@ -3287,7 +3354,7 @@ 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
      */
@@ -3442,73 +3509,6 @@ 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
@@ -8931,19 +8931,19 @@ export const MotionGroupApiAxiosParamCreator = function (configuration?: Configu
             };
         },
         /**
-         * 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: string, motionGroup: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+        getMotionGroupDescription: async (cell: string, motionGroup: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
             // 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.
@@ -9058,17 +9058,17 @@ export const MotionGroupApiFp = function(configuration?: 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: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<PlanningParameters>> {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.getPlanningParameters(cell, motionGroup, options);
+        async getMotionGroupDescription(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupDescription>> {
+            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);
         },
         /**
@@ -9110,15 +9110,15 @@ export const MotionGroupApiFactory = function (configuration?: Configuration, ba
             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: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<PlanningParameters> {
-            return localVarFp.getPlanningParameters(cell, motionGroup, options).then((request) => request(axios, basePath));
+        getMotionGroupDescription(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupDescription> {
+            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. 
@@ -9158,16 +9158,16 @@ export class MotionGroupApi extends BaseAPI {
     }
 
     /**
-     * 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
      */
-    public getPlanningParameters(cell: string, motionGroup: string, options?: RawAxiosRequestConfig) {
-        return MotionGroupApiFp(this.configuration).getPlanningParameters(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
+    public getMotionGroupDescription(cell: string, motionGroup: string, options?: RawAxiosRequestConfig) {
+        return MotionGroupApiFp(this.configuration).getMotionGroupDescription(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
     }
 
     /**