@wandelbots/nova-api 25.7.0-rc.1 → 25.8.0-dev.2

package/v2/api.ts

@@ -2570,10 +2570,10 @@ export interface JointLimits {
 export interface JointTrajectory {
     /**
      * List of joint positions [rad] for each sample. The number of samples must match the number of timestamps provided in the times field. 
-     * @type {Array<Joints>}
+     * @type {Array<Array<number>>}
      * @memberof JointTrajectory
      */
-    'joint_positions': Array<Joints>;
+    'joint_positions': Array<Array<number>>;
     /**
      * Timestamp for each sample [s].
      * @type {Array<number>}
@@ -2600,11 +2600,11 @@ export interface JointVelocityRequest {
      */
     'message_type'?: JointVelocityRequestMessageTypeEnum;
     /**
-     * in [rad/s]
-     * @type {Joints}
+     * This structure describes a set of joint values (e.g. positions, currents, torques) of a motion group.  Float precision is the default. 
+     * @type {Array<number>}
      * @memberof JointVelocityRequest
      */
-    'velocity': Joints;
+    'velocity': Array<number>;
 }
 
 export const JointVelocityRequestMessageTypeEnum = {
@@ -2639,19 +2639,6 @@ export const JointVelocityResponseKindEnum = {
 
 export type JointVelocityResponseKindEnum = typeof JointVelocityResponseKindEnum[keyof typeof JointVelocityResponseKindEnum];
 
-/**
- * This structure describes a set of joint values of a motion group.  We call a set of joint values describing the current position in joint space of a motion group a \"joint position\". Joint position was chosen as the term to be consistent with the terms \"joint velocity\" and \"joint acceleration\".  `joints` must have as many entries as the motion group\'s degrees of freedom to be valid.  Float precision is the default. 
- * @export
- * @interface Joints
- */
-export interface Joints {
-    /**
-     * 
-     * @type {Array<number>}
-     * @memberof Joints
-     */
-    'joints': Array<number>;
-}
 /**
  * The configuration of a physical KUKA robot controller has to contain an IP address. Additionally an RSI server configuration has to be specified in order to control the robot. Deploying the server is a functionality of this API. 
  * @export
@@ -3242,11 +3229,11 @@ export interface MotionGroupState {
      */
     'controller': string;
     /**
-     * Current joint position of each joint in [rad] 
-     * @type {Joints}
+     * This structure describes a set of joint values (e.g. positions, currents, torques) of a motion group.  Float precision is the default. 
+     * @type {Array<number>}
      * @memberof MotionGroupState
      */
-    'joint_position': Joints;
+    'joint_position': Array<number>;
     /**
      * Indicates whether the joint is in a limit for all joints of the motion group. 
      * @type {MotionGroupStateJointLimitReached}
@@ -3254,17 +3241,17 @@ export interface MotionGroupState {
      */
     'joint_limit_reached': MotionGroupStateJointLimitReached;
     /**
-     * Current joint torque of each joint in [Nm]. Is only available if the robot controller supports it, e.g. available for UR controllers. 
-     * @type {Joints}
+     * This structure describes a set of joint values (e.g. positions, currents, torques) of a motion group.  Float precision is the default. 
+     * @type {Array<number>}
      * @memberof MotionGroupState
      */
-    'joint_torque'?: Joints;
+    'joint_torque'?: Array<number>;
     /**
-     * Current at TCP in [A]. Is only available if the robot controller supports it, e.g. available for UR controllers. 
-     * @type {Joints}
+     * This structure describes a set of joint values (e.g. positions, currents, torques) of a motion group.  Float precision is the default. 
+     * @type {Array<number>}
      * @memberof MotionGroupState
      */
-    'joint_current'?: Joints;
+    'joint_current'?: Array<number>;
     /**
      * Pose of the flange. Positions are in [mm]. Oriantations are in [rad]. The pose is relative to the response_coordinate_system specified in the request. For robot arms a flange pose is always returned, for positioners the flange might not be available, depending on the model. 
      * @type {Pose}