@wandelbots/nova-api 25.6.0-dev.36 → 25.6.0-dev.37

package/v2/api.ts

@@ -122,7 +122,7 @@ export interface AddTrajectoryError {
  * @type AddTrajectoryErrorData
  * @export
  */
-export type AddTrajectoryErrorData = Collision2 | InconsitentTrajectorySize | InvalidDof | JointLimitExceeded | NanValue | TcpRequired | TorqueExceeded;
+export type AddTrajectoryErrorData = CollisionError | InconsitentTrajectorySize | InvalidDof | JointLimitExceeded | NanValue | TcpRequired | TorqueExceeded;
 
 /**
  * 
@@ -398,6 +398,37 @@ export const CapsuleShapeTypeEnum = {
 
 export type CapsuleShapeTypeEnum = typeof CapsuleShapeTypeEnum[keyof typeof CapsuleShapeTypeEnum];
 
+/**
+ * 
+ * @export
+ * @interface CartesianLimits
+ */
+export interface CartesianLimits {
+    /**
+     * 
+     * @type {number}
+     * @memberof CartesianLimits
+     */
+    'velocity'?: number;
+    /**
+     * 
+     * @type {number}
+     * @memberof CartesianLimits
+     */
+    'acceleration'?: number;
+    /**
+     * 
+     * @type {number}
+     * @memberof CartesianLimits
+     */
+    'orientation_velocity'?: number;
+    /**
+     * 
+     * @type {number}
+     * @memberof CartesianLimits
+     */
+    'orientation_acceleration'?: number;
+}
 /**
  * To create a robot cell, only a valid name is required. Once created, a robot cell provides access to the Wandelbots NOVA foundation services. The configuration can be customized, e.g. robot controllers, also within apps. 
  * @export
@@ -503,19 +534,6 @@ export interface Collision {
      */
     'position_on_b'?: CollisionContact;
 }
-/**
- * 
- * @export
- * @interface Collision2
- */
-export interface Collision2 {
-    /**
-     * 
-     * @type {FeedbackCollision}
-     * @memberof Collision2
-     */
-    'collision'?: FeedbackCollision;
-}
 /**
  * 
  * @export
@@ -535,6 +553,19 @@ export interface CollisionContact {
      */
     'world'?: Array<number>;
 }
+/**
+ * 
+ * @export
+ * @interface CollisionError
+ */
+export interface CollisionError {
+    /**
+     * 
+     * @type {FeedbackCollision}
+     * @memberof CollisionError
+     */
+    'collision'?: FeedbackCollision;
+}
 /**
  * 
  * @export
@@ -1856,10 +1887,10 @@ export interface InverseKinematicsRequest {
     'mounting'?: Pose;
     /**
      * Joint position limits in [rad], indexed starting from base. 
-     * @type {Array<PlanningLimitsLimitRange>}
+     * @type {Array<LimitRange>}
      * @memberof InverseKinematicsRequest
      */
-    'joint_position_limits'?: Array<PlanningLimitsLimitRange>;
+    'joint_position_limits'?: Array<LimitRange>;
     /**
      * Collision scenes to be respected by the motion planner. Each contains the single motion group which is planned for. Scenes are checked individually along the trajectory and independently of other scenes. To respect the safety zones of the controller, fetch the safety zones, link and tool shapes from the controller and add one scene made up of those. To respect the safety zones of the controller and check for collision: 1. Fetch the safety zones, link and tool shapes from the controller. 2. Add the fetched zones, links and tools to a scene. 3. Create other scenes from your own 3D data as needed. 4. Execute this endpoint. 5. The response highlights the scenes in which a collision was detected by key. 
      * @type {{ [key: string]: SingleMotionGroupCollisionScene; }}
@@ -1925,6 +1956,37 @@ export interface JointLimitExceeded {
      */
     'joint_limit_exceeded'?: FeedbackJointLimitExceeded;
 }
+/**
+ * 
+ * @export
+ * @interface JointLimits
+ */
+export interface JointLimits {
+    /**
+     * 
+     * @type {LimitRange}
+     * @memberof JointLimits
+     */
+    'position'?: LimitRange;
+    /**
+     * 
+     * @type {number}
+     * @memberof JointLimits
+     */
+    'velocity'?: number;
+    /**
+     * 
+     * @type {number}
+     * @memberof JointLimits
+     */
+    'acceleration'?: number;
+    /**
+     * 
+     * @type {number}
+     * @memberof JointLimits
+     */
+    'torque'?: number;
+}
 /**
  * 
  * @export
@@ -2177,6 +2239,75 @@ export const LicenseStatusEnum = {
 export type LicenseStatusEnum = typeof LicenseStatusEnum[keyof typeof LicenseStatusEnum];
 
 
+/**
+ * 
+ * @export
+ * @interface LimitConfig
+ */
+export interface LimitConfig {
+    /**
+     * 
+     * @type {LimitSet}
+     * @memberof LimitConfig
+     */
+    'physical_limits'?: LimitSet;
+    /**
+     * 
+     * @type {OperationLimits}
+     * @memberof LimitConfig
+     */
+    'operation_limits'?: OperationLimits;
+}
+/**
+ * The upper_limit must be greater then the lower_limit.
+ * @export
+ * @interface LimitRange
+ */
+export interface LimitRange {
+    /**
+     * 
+     * @type {number}
+     * @memberof LimitRange
+     */
+    'lower_limit'?: number;
+    /**
+     * 
+     * @type {number}
+     * @memberof LimitRange
+     */
+    'upper_limit'?: number;
+}
+/**
+ * 
+ * @export
+ * @interface LimitSet
+ */
+export interface LimitSet {
+    /**
+     * 
+     * @type {Array<JointLimits>}
+     * @memberof LimitSet
+     */
+    'joints'?: Array<JointLimits>;
+    /**
+     * 
+     * @type {CartesianLimits}
+     * @memberof LimitSet
+     */
+    'tcp'?: CartesianLimits;
+    /**
+     * 
+     * @type {CartesianLimits}
+     * @memberof LimitSet
+     */
+    'elbow'?: CartesianLimits;
+    /**
+     * 
+     * @type {CartesianLimits}
+     * @memberof LimitSet
+     */
+    'flange'?: CartesianLimits;
+}
 /**
  * If a limit is not set, the default value will be used. 
  * @export
@@ -2379,10 +2510,10 @@ export interface MotionGroupDescription {
     'safety_tool_colliders'?: { [key: string]: { [key: string]: Collider; }; };
     /**
      * 
-     * @type {PlanningLimits}
+     * @type {LimitConfig}
      * @memberof MotionGroupDescription
      */
-    'global_limits': PlanningLimits;
+    'global_limits': LimitConfig;
     /**
      * Maps a payload name to its configuration. Key must be a payload identifier. Values are payload objects. 
      * @type {{ [key: string]: Payload; }}
@@ -2687,6 +2818,37 @@ export const OperatingState = {
 export type OperatingState = typeof OperatingState[keyof typeof OperatingState];
 
 
+/**
+ * 
+ * @export
+ * @interface OperationLimits
+ */
+export interface OperationLimits {
+    /**
+     * 
+     * @type {LimitSet}
+     * @memberof OperationLimits
+     */
+    'auto_limits'?: LimitSet;
+    /**
+     * 
+     * @type {LimitSet}
+     * @memberof OperationLimits
+     */
+    'manual_limits'?: LimitSet;
+    /**
+     * 
+     * @type {LimitSet}
+     * @memberof OperationLimits
+     */
+    'manual_t1_limits'?: LimitSet;
+    /**
+     * 
+     * @type {LimitSet}
+     * @memberof OperationLimits
+     */
+    'manual_t2_limits'?: LimitSet;
+}
 /**
  * Current operation mode of the configured robot controller. Operation modes in which the attached motion groups can be moved are: - OPERATION_MODE_MANUAL (if enabling switch is pressed) - OPERATION_MODE_MANUAL_T1 (if enabling switch is pressed) - OPERATION_MODE_MANUAL_T2 (if enabling switch is pressed) - OPERATION_MODE_AUTO (without needing to press enabling switch) All other modes are considered as non-operational. 
  * @export
@@ -3234,104 +3396,6 @@ export const PlaneShapeTypeEnum = {
 
 export type PlaneShapeTypeEnum = typeof PlaneShapeTypeEnum[keyof typeof PlaneShapeTypeEnum];
 
-/**
- * All known joint and cartesian limits of a motion-group. Used for motion planning.
- * @export
- * @interface PlanningLimits
- */
-export interface PlanningLimits {
-    /**
-     * Joint position limits in [rad], indexed starting from base. 
-     * @type {Array<PlanningLimitsLimitRange>}
-     * @memberof PlanningLimits
-     */
-    'joint_position_limits'?: Array<PlanningLimitsLimitRange>;
-    /**
-     * Maximum allowed velocity for joints in [rad/s or mm/s] of the safety setup, starting at base. 
-     * @type {Array<number>}
-     * @memberof PlanningLimits
-     */
-    'joint_velocity_limits'?: Array<number>;
-    /**
-     * Maximum allowed acceleration for joints in [rad/s^2 or mm/s^2] of the safety setup, starting at base. 
-     * @type {Array<number>}
-     * @memberof PlanningLimits
-     */
-    'joint_acceleration_limits'?: Array<number>;
-    /**
-     * Maximum allowed torque for joints in [Nm or N] of the safety setup, starting at base. 
-     * @type {Array<number>}
-     * @memberof PlanningLimits
-     */
-    'joint_torque_limits'?: Array<number>;
-    /**
-     * At maximum one dimensional velocity in [mm/s] at TCP allowed. 
-     * @type {number}
-     * @memberof PlanningLimits
-     */
-    'tcp_velocity_limit'?: number;
-    /**
-     * At maximum one dimensional acceleration in [mm/s^2] at TCP allowed. 
-     * @type {number}
-     * @memberof PlanningLimits
-     */
-    'tcp_acceleration_limit'?: number;
-    /**
-     * At maximum one dimensional orientation velocity in [rad/s] at TCP allowed. 
-     * @type {number}
-     * @memberof PlanningLimits
-     */
-    'tcp_orientation_velocity_limit'?: number;
-    /**
-     * At maximum one dimensional orientation acceleration in [rad/s^2] at TCP allowed. 
-     * @type {number}
-     * @memberof PlanningLimits
-     */
-    'tcp_orientation_acceleration_limit'?: number;
-    /**
-     * At maximum one dimensional force in [N] at TCP allowed. 
-     * @type {number}
-     * @memberof PlanningLimits
-     */
-    'tcp_force_limit'?: number;
-    /**
-     * At maximum one dimensional velocity in [mm/s] at the elbow allowed. 
-     * @type {number}
-     * @memberof PlanningLimits
-     */
-    'elbow_velocity_limit'?: number;
-    /**
-     * At maximum one dimensional acceleration in [mm/s^2] at the elbow allowed. 
-     * @type {number}
-     * @memberof PlanningLimits
-     */
-    'elbow_acceleration_limit'?: number;
-    /**
-     * At maximum one dimensional force in [N] at the elbow allowed. 
-     * @type {number}
-     * @memberof PlanningLimits
-     */
-    'elbow_force_limit'?: number;
-}
-/**
- * The upper_limit must be greater then the lower_limit.
- * @export
- * @interface PlanningLimitsLimitRange
- */
-export interface PlanningLimitsLimitRange {
-    /**
-     * 
-     * @type {number}
-     * @memberof PlanningLimitsLimitRange
-     */
-    'lower_limit': number;
-    /**
-     * 
-     * @type {number}
-     * @memberof PlanningLimitsLimitRange
-     */
-    'upper_limit': number;
-}
 /**
  * Sets velocity for executed movements of the motion, in percent. Send after initializing the connection with InitializeMovementRequest. 
  * @export
@@ -3766,10 +3830,10 @@ export interface RobotSetup {
     'tcp_offset'?: Pose;
     /**
      * 
-     * @type {PlanningLimits}
+     * @type {LimitSet}
      * @memberof RobotSetup
      */
-    'global_limits'?: PlanningLimits;
+    'global_limits'?: LimitSet;
     /**
      * 
      * @type {Payload}