@wandelbots/nova-api 25.8.0-dev.48 → 25.8.0-dev.49

package/v2/api.ts

@@ -106,7 +106,7 @@ export interface AddTrajectoryError {
      */
     'message'?: string;
     /**
-     * The location of the error in the trajectory. 
+     * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g. in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path 
      * @type {number}
      * @memberof AddTrajectoryError
      */
@@ -2639,7 +2639,7 @@ export interface JointTrajectory {
      */
     'times': Array<number>;
     /**
-     * Location for each sample, scalar value defining a position along a path. Typical range: 0 to `n`, `n` denoting the number of motion commands. Each integer value of the location corresponds to a specific motion command. If provided, the number of samples must match the number of timestamps provided in the times field. 
+     * 
      * @type {Array<number>}
      * @memberof JointTrajectory
      */
@@ -3913,11 +3913,11 @@ export interface PlanTrajectoryFailedResponse {
      */
     'error_feedback': PlanTrajectoryFailedResponseErrorFeedback;
     /**
-     * 
+     * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g. in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path 
      * @type {number}
      * @memberof PlanTrajectoryFailedResponse
      */
-    'error_location_on_trajectory'?: number;
+    'error_location_on_trajectory': number;
     /**
      * The joint trajectory from the start joint position to the error. 
      * @type {JointTrajectory}
@@ -4962,6 +4962,25 @@ export interface ServiceStatusStatus {
 }
 
 
+/**
+ * Defines an input/output that should be set upon reaching a specified location on the trajectory.
+ * @export
+ * @interface SetIO
+ */
+export interface SetIO {
+    /**
+     * 
+     * @type {IOValue}
+     * @memberof SetIO
+     */
+    'io': IOValue;
+    /**
+     * The location on the trajectory where the input/output should be set.
+     * @type {number}
+     * @memberof SetIO
+     */
+    'location': number;
+}
 /**
  * 
  * @export
@@ -5037,10 +5056,10 @@ export interface StartMovementRequest {
     'direction'?: Direction;
     /**
      * Attaches a list of output commands to the trajectory. The outputs are set to the specified values right after the specified location was reached. If the specified location is located before the start location (forward direction: value is smaller, backward direction: value is bigger), the output is not set. 
-     * @type {Array<IOValue>}
+     * @type {Array<SetIO>}
      * @memberof StartMovementRequest
      */
-    'set_outputs'?: Array<IOValue>;
+    'set_outputs'?: Array<SetIO>;
     /**
      * Defines an input/output that is listened to before the movement. Execution starts if the defined comparator evaluates to `true`. 
      * @type {StartOnIO}
@@ -5312,7 +5331,7 @@ export interface TrajectoryDetails {
      */
     'trajectory': string;
     /**
-     * Current location of motion group on the trajectory.
+     * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g. in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path 
      * @type {number}
      * @memberof TrajectoryDetails
      */