@wandelbots/nova-api 26.3.0-dev.11 → 26.3.0-dev.13

package/dist/v2/index.d.cts

@@ -7,7 +7,7 @@ import { AxiosInstance, AxiosPromise, RawAxiosRequestConfig } from "axios";
  * Wandelbots NOVA API
  * Interact with robots in an easy and intuitive way.
  *
- * The version of the OpenAPI document: 2.2.0
+ * The version of the OpenAPI document: 2.3.0 dev
  *
  *
  * NOTE: This class is auto generated by OpenAPI Generator (https://openapi-generator.tech).
@@ -1634,6 +1634,10 @@ interface KinematicModel {
    * Constant coordinate transformation between the motion group base frame and the start of the kinematic chain modeled by Denavit-Hartenberg parameters.
    */
   'kinematic_chain_offset'?: Pose;
+  /**
+   * Constant coordinate transformation between the end of the kinematic chain modelled by Denavit-Hartenberg parameters and the flange frame. This can be used, e.g., to ensure that the flange frame has a certain orientation.
+   */
+  'flange_offset'?: Pose;
   /**
    * Optional name of the inverse kinematics solver.
    */
@@ -1952,7 +1956,7 @@ type MotionCommandBlending = BlendingAuto | BlendingPosition;
  */
 type MotionCommandPath = PathCartesianPTP | PathCircle | PathCubicSpline | PathJointPTP | PathLine;
 /**
- * The configuration of a motion-group used for motion planning. The parameters `mounting`, `kinematic_chain_offset`, `dh_parameters` and `tcp_offset` are used to model the kinematic structure of the motion group. They can be used to compute the coordinate transformations from world to tcp frame: [world frame] -> mounting -> [base frame] -> kinematic chain offset + motion group kinematics (Denavit-Hartenberg parameters) -> [flange frame] -> tcp_offset -> [tcp frame].
+ * The configuration of a motion-group used for motion planning. The parameters `mounting`, `kinematic_chain_offset`, `dh_parameters`, `flange_offset` and `tcp_offset` are used to model the kinematic structure of the motion group. They can be used to compute the coordinate transformations from world to tcp frame: [world frame] -> mounting -> [base frame] -> kinematic chain offset + motion group kinematics (Denavit-Hartenberg parameters) -> [end of kinematic chain frame] -> flange_offset -> [flange frame] -> tcp_offset -> [tcp frame].
  */
 interface MotionGroupDescription {
   /**
@@ -2008,6 +2012,10 @@ interface MotionGroupDescription {
    * Constant coordinate transformation between the motion group base frame and the start of the kinematic chain modelled by Denavit-Hartenberg parameters. Unlike the mounting, which is used to set the actual position and orientation of the motion group within a cell, this offset is fixed. It is part of the description of the kinematical structure of the motion group.
    */
   'kinematic_chain_offset'?: Pose;
+  /**
+   * Constant coordinate transformation between the end of the kinematic chain modelled by Denavit-Hartenberg parameters and the flange frame. This can be used, e.g., to ensure that the flange frame has a certain orientation.
+   */
+  'flange_offset'?: Pose;
   /**
    * The serial number of the motion group, if available. If not available, the serial number of the robot controller. If not available, empty.
    */

package/dist/v2/index.d.ts

@@ -7,7 +7,7 @@ import { AxiosInstance, AxiosPromise, RawAxiosRequestConfig } from "axios";
  * Wandelbots NOVA API
  * Interact with robots in an easy and intuitive way.
  *
- * The version of the OpenAPI document: 2.2.0
+ * The version of the OpenAPI document: 2.3.0 dev
  *
  *
  * NOTE: This class is auto generated by OpenAPI Generator (https://openapi-generator.tech).
@@ -1634,6 +1634,10 @@ interface KinematicModel {
    * Constant coordinate transformation between the motion group base frame and the start of the kinematic chain modeled by Denavit-Hartenberg parameters.
    */
   'kinematic_chain_offset'?: Pose;
+  /**
+   * Constant coordinate transformation between the end of the kinematic chain modelled by Denavit-Hartenberg parameters and the flange frame. This can be used, e.g., to ensure that the flange frame has a certain orientation.
+   */
+  'flange_offset'?: Pose;
   /**
    * Optional name of the inverse kinematics solver.
    */
@@ -1952,7 +1956,7 @@ type MotionCommandBlending = BlendingAuto | BlendingPosition;
  */
 type MotionCommandPath = PathCartesianPTP | PathCircle | PathCubicSpline | PathJointPTP | PathLine;
 /**
- * The configuration of a motion-group used for motion planning. The parameters `mounting`, `kinematic_chain_offset`, `dh_parameters` and `tcp_offset` are used to model the kinematic structure of the motion group. They can be used to compute the coordinate transformations from world to tcp frame: [world frame] -> mounting -> [base frame] -> kinematic chain offset + motion group kinematics (Denavit-Hartenberg parameters) -> [flange frame] -> tcp_offset -> [tcp frame].
+ * The configuration of a motion-group used for motion planning. The parameters `mounting`, `kinematic_chain_offset`, `dh_parameters`, `flange_offset` and `tcp_offset` are used to model the kinematic structure of the motion group. They can be used to compute the coordinate transformations from world to tcp frame: [world frame] -> mounting -> [base frame] -> kinematic chain offset + motion group kinematics (Denavit-Hartenberg parameters) -> [end of kinematic chain frame] -> flange_offset -> [flange frame] -> tcp_offset -> [tcp frame].
  */
 interface MotionGroupDescription {
   /**
@@ -2008,6 +2012,10 @@ interface MotionGroupDescription {
    * Constant coordinate transformation between the motion group base frame and the start of the kinematic chain modelled by Denavit-Hartenberg parameters. Unlike the mounting, which is used to set the actual position and orientation of the motion group within a cell, this offset is fixed. It is part of the description of the kinematical structure of the motion group.
    */
   'kinematic_chain_offset'?: Pose;
+  /**
+   * Constant coordinate transformation between the end of the kinematic chain modelled by Denavit-Hartenberg parameters and the flange frame. This can be used, e.g., to ensure that the flange frame has a certain orientation.
+   */
+  'flange_offset'?: Pose;
   /**
    * The serial number of the motion group, if available. If not available, the serial number of the robot controller. If not available, empty.
    */

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/nova-api",
-  "version": "26.3.0-dev.11",
+  "version": "26.3.0-dev.13",
   "description": "API Client to interact with Wandelbots Public API.",
   "type": "module",
   "files": [