@wandelbots/nova-api 25.8.0-dev.21 → 25.8.0-dev.24

package/v2/api.ts

@@ -3014,13 +3014,13 @@ export type Manufacturer = typeof Manufacturer[keyof typeof Manufacturer];
 
 
 /**
- * Midpoint insertion algorithm configuration for collision-free path planning. This algorithm iteratively inserts midpoints between the start and target joint position to find collision-free paths. 
+ * 
  * @export
  * @interface MidpointInsertionAlgorithm
  */
 export interface MidpointInsertionAlgorithm {
     /**
-     * Algorithm discriminator. 
+     * Algorithm discriminator.  Midpoint insertion algorithm configuration for collision-free path planning. This algorithm adds a single midpoint between the start and target joint position to find collision-free paths. 
      * @type {string}
      * @memberof MidpointInsertionAlgorithm
      */
@@ -4498,13 +4498,13 @@ export interface ProgramStartRequest {
     'arguments': object;
 }
 /**
- * <!-- theme: danger -->  > **Experimental**  RRT Connect algorithm configuration for collision-free path planning. Rapidly-exploring Random Trees (RRT) builds trees of valid configurations by randomly sampling the joint space and connecting feasible points. RRT Connect grows two trees simultaneously from start and target positions until they meet. This is a custom implementation optimized for manipulator kinematics and collision checking in industrial contexts. 
+ * 
  * @export
  * @interface RRTConnectAlgorithm
  */
 export interface RRTConnectAlgorithm {
     /**
-     * Algorithm discriminator. 
+     * Algorithm discriminator.  <!-- theme: danger --> > **Experimental**  RRT Connect algorithm configuration for collision-free path planning. Rapidly-exploring Random Trees (RRT) builds trees of valid configurations by randomly sampling the joint space and connecting feasible points with JointPTP motions. RRT Connect grows two trees simultaneously from start and target positions until they meet. This is a custom implementation optimized for manipulator kinematics and collision checking in industrial contexts. 
      * @type {string}
      * @memberof RRTConnectAlgorithm
      */
@@ -4515,6 +4515,30 @@ export interface RRTConnectAlgorithm {
      * @memberof RRTConnectAlgorithm
      */
     'max_iterations'?: number;
+    /**
+     * Maximum step size for tree extension in joint space.
+     * @type {number}
+     * @memberof RRTConnectAlgorithm
+     */
+    'max_step_size'?: number;
+    /**
+     * Adjust the maximum step size during the search based on the recent success rate of tree expansion.
+     * @type {boolean}
+     * @memberof RRTConnectAlgorithm
+     */
+    'adaptive_step_size'?: boolean;
+    /**
+     * Apply smoothing after the search has succeeded. This will remove as many intermediate points as possible while keeping the path valid.
+     * @type {boolean}
+     * @memberof RRTConnectAlgorithm
+     */
+    'apply_smoothing'?: boolean;
+    /**
+     * Apply blending after the search has succeeded and smoothing has been applied. This will apply the largest viable blending at each intermediate point.
+     * @type {boolean}
+     * @memberof RRTConnectAlgorithm
+     */
+    'apply_blending'?: boolean;
 }
 
 export const RRTConnectAlgorithmAlgorithmNameEnum = {