@wandelbots/nova-api 26.3.0-rc.1 → 26.3.0-rc.2

package/dist/v2/index.js

@@ -3311,6 +3311,35 @@ const KinematicsApiAxiosParamCreator = function(configuration) {
 				url: toPathString(localVarUrlObj),
 				options: localVarRequestOptions
 			};
+		},
+		projectJointPositionDirectionConstraint: async (cell, projectJointPositionDirectionConstraintRequest, options = {}) => {
+			assertParamExists("projectJointPositionDirectionConstraint", "cell", cell);
+			assertParamExists("projectJointPositionDirectionConstraint", "projectJointPositionDirectionConstraintRequest", projectJointPositionDirectionConstraintRequest);
+			const localVarPath = `/experimental/cells/{cell}/kinematic/project-joint-position-direction-constraint`.replace(`{cell}`, encodeURIComponent(String(cell)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "POST",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			localVarHeaderParameter["Content-Type"] = "application/json";
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			localVarRequestOptions.data = serializeDataIfNeeded(projectJointPositionDirectionConstraintRequest, localVarRequestOptions, configuration);
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
 		}
 	};
 };
@@ -3331,6 +3360,12 @@ const KinematicsApiFp = function(configuration) {
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
 			const localVarOperationServerBasePath = operationServerMap["KinematicsApi.inverseKinematics"]?.[localVarOperationServerIndex]?.url;
 			return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+		},
+		async projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["KinematicsApi.projectJointPositionDirectionConstraint"]?.[localVarOperationServerIndex]?.url;
+			return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
 		}
 	};
 };
@@ -3345,6 +3380,9 @@ const KinematicsApiFactory = function(configuration, basePath, axios) {
 		},
 		inverseKinematics(cell, inverseKinematicsRequest, options) {
 			return localVarFp.inverseKinematics(cell, inverseKinematicsRequest, options).then((request) => request(axios, basePath));
+		},
+		projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options) {
+			return localVarFp.projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options).then((request) => request(axios, basePath));
 		}
 	};
 };
@@ -3374,6 +3412,17 @@ var KinematicsApi = class extends BaseAPI {
 	inverseKinematics(cell, inverseKinematicsRequest, options) {
 		return KinematicsApiFp(this.configuration).inverseKinematics(cell, inverseKinematicsRequest, options).then((request) => request(this.axios, this.basePath));
 	}
+	/**
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  <!-- theme: danger -->  > **Experimental**  Returns the projected joint position that satisfies the direction constraint for a given target joint position. This may alter the TCP pose.  To project the cartesian pose instead, use the following code snippet:  ```python import numpy as np from scipy.spatial.transform import Rotation as R  def project_cartesian_pose_direction_constraint(T_world_tcp: models.Pose, constraint: models.DirectionConstraint) -> models.Pose:   constraint_tcp = np.array(constraint.tcp)   target_constraint_world = np.array(constraint.world)   R_world_tcp = R.from_rotvec(T_world_tcp.orientation.root)   current_constraint_world = R_world_tcp.apply(constraint_tcp)   R_corr, _ = R.align_vectors([target_constraint_world], [current_constraint_world])   R_world_tcp_new = R_corr * R_world_tcp   return models.Pose(position=T_world_tcp.position, orientation=R_world_tcp_new.as_rotvec()) ``` 
+	* @summary Project joint position to direction constraint
+	* @param {string} cell Unique identifier addressing a cell in all API calls. 
+	* @param {ProjectJointPositionDirectionConstraintRequest} projectJointPositionDirectionConstraintRequest 
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options) {
+		return KinematicsApiFp(this.configuration).projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options).then((request) => request(this.axios, this.basePath));
+	}
 };
 /**
 * LicenseApi - axios parameter creator

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/nova-api",
-  "version": "26.3.0-rc.1",
+  "version": "26.3.0-rc.2",
   "description": "API Client to interact with Wandelbots Public API.",
   "type": "module",
   "files": [