wandelbots-api-client 25.11.0.dev27__py3-none-any.whl → 25.11.0.dev37__py3-none-any.whl

wandelbots_api_client/models/trajectory_sample.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/trigger_object.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/trigger_type.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/universalrobots_controller.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/update_nova_version_request.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/update_program_metadata_request.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/update_recipe_metadata_request.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/update_trigger_request.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/validation_error.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/validation_error2.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/validation_error2_loc_inner.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/validation_error_loc_inner.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/value.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/vector3d.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/version_number.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/virtual_controller.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/virtual_controller_types.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/virtual_robot_configuration.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/yaskawa_controller.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/rest.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.1.0
+    The version of the OpenAPI document: 1.2.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/v2/__init__.py

@@ -13,7 +13,7 @@
     Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "25.11.0.dev27"
+__version__ = "25.11.0.dev37"
 
 from . import models
 from . import api

wandelbots_api_client/v2/api/jogging_api.py

@@ -47,7 +47,7 @@ class JoggingApi:
     async def execute_jogging(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], client_request_generator: Callable[[AsyncGenerator[ExecuteJoggingResponse, None]], AsyncGenerator[ExecuteJoggingRequest, None]]) -> None:  # noqa: E501
         """Execute Jogging  # noqa: E501
 
-        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP. The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Sets rate and coordinate system for the jogging response.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with `JointVelocityRequest` or `TcpVelocityRequest`. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - `InitializeJoggingResponse` is sent to signal the success or failure of the `InitializeJoggingRequest`. - Jogging responses are streamed continuously after an `InitializeJoggingRequest` is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - `JoggingErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the `JoggingResponse`, verify that the robot control is in the desired state, e.g., standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP. The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Sets rate and coordinate system for the jogging response.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the (state stream)[streamMotionGroupState], which can be subscribed to via nats as well.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with `JointVelocityRequest` or `TcpVelocityRequest`. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - `InitializeJoggingResponse` is sent to signal the success or failure of the `InitializeJoggingRequest`. - Jogging responses are streamed continuously after an `InitializeJoggingRequest` is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - `JoggingErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the `JoggingResponse`, verify that the robot control is in the desired state, e.g., standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.   # noqa: E501
         :param client_request_generator: An AsyncGenerator that yields request of type ExecuteJoggingRequest and takes an AsyncGenerator of ExecuteJoggingResponse as an input argument (required)
         :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteJoggingResponse, None])
         :type AsyncGenerator[ExecuteJoggingRequest, None]

wandelbots_api_client/v2/api/trajectory_execution_api.py

@@ -47,7 +47,7 @@ class TrajectoryExecutionApi:
     async def execute_trajectory(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], client_request_generator: Callable[[AsyncGenerator[ExecuteTrajectoryResponse, None]], AsyncGenerator[ExecuteTrajectoryRequest, None]]) -> None:  # noqa: E501
         """Execute Trajectory  # noqa: E501
 
-        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a previously [planned trajectory](planTrajectory). Enables the caller to attach input/output actions to the trajectory.  ### Movement behavior  | Virtual controller | Physical controller | |------------------|-------------------| | Desired joint configurations are commanded to each motion group and **applied immediately** | Move to desired **actual joint configuration**, **if possible** |  ### Concept of location    - The location or path parameter specifies the exact position along a trajectory.   - The location is a scalar value that ranges from 0 to `n`, where `n` denotes the number of motion commands, or trajectory segments, e.g., line, p2p, etc. See [planTrajectory](planTrajectory).   - Each integer value of the location corresponds to one motion command, e.g., 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group's control mode is not claimed by any other endpoint. - The motion group's joint position are at start location specified with `InitializeMovementRequest`. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send `InitializeMovementRequest` to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send `StartMovementRequest` to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send `PauseMovementRequest` before the movement has reached its end location. - Change the movement's velocity with `PlaybackSpeedRequest` after initializing the movement with `InitializeMovementRequest`.  ### Responses  - `InitializeMovementResponse` is sent to signal the success or failure of the `InitializeMovementRequest`. - Movement responses are streamed after a `StartMovementRequest` successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by `InitializeMovementRequest`. - Standstill response is sent once the movement has finished or has come to a standstill due to a pause. - `PauseMovementResponse` is sent to signal the success of the `PauseMovementRequest`. It does not signal the end of the movement.   End of movement is signaled by Standstill response. - `PlaybackSpeedResponse` is sent to signal the success of the `PlaybackSpeedRequest`. - `MovementError` with error details is sent in case of an unexpected error, e.g., controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending `PauseMovementRequest` and `StartMovementRequest`. - Send `PlaybackSpeedRequest` before `StartMovementRequest` to reduce the velocity of the movement before it starts. - Send `PlaybackSpeedRequest` repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send `PlaybackSpeedRequest` with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending `StartMovementRequest` after the movement has finished.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a previously [planned trajectory](planTrajectory). Enables the caller to attach input/output actions to the trajectory.  ### Movement behavior  | Virtual controller | Physical controller | |------------------|-------------------| | Desired joint configurations are commanded to each motion group and **applied immediately** | Move to desired **actual joint configuration**, **if possible** |  ### Concept of location    - The location or path parameter specifies the exact position along a trajectory.   - The location is a scalar value that ranges from 0 to `n`, where `n` denotes the number of motion commands, or trajectory segments, e.g., line, p2p, etc. See [planTrajectory](planTrajectory).   - Each integer value of the location corresponds to one motion command, e.g., 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group's control mode is not claimed by any other endpoint. - The motion group's joint position are at start location specified with `InitializeMovementRequest`. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send `InitializeMovementRequest` to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 2. Send `StartMovementRequest` to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send `PauseMovementRequest` before the movement has reached its end location. - Change the movement's velocity with `PlaybackSpeedRequest` after initializing the movement with `InitializeMovementRequest`.  ### Responses  To monitor the state of the movement, listen to the [state stream](streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, e.g., controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending `PauseMovementRequest` and `StartMovementRequest`. - Send `PlaybackSpeedRequest` before `StartMovementRequest` to reduce the velocity of the movement before it starts. - Send `PlaybackSpeedRequest` repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send `PlaybackSpeedRequest` with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending `StartMovementRequest` after the movement has finished.   # noqa: E501
         :param client_request_generator: An AsyncGenerator that yields request of type ExecuteTrajectoryRequest and takes an AsyncGenerator of ExecuteTrajectoryResponse as an input argument (required)
         :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteTrajectoryResponse, None])
         :type AsyncGenerator[ExecuteTrajectoryRequest, None]

wandelbots_api_client/v2/api_client.py

@@ -91,7 +91,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = 'Wandelbots-Nova-API-Python-Client/25.11.0.dev27'
+        self.user_agent = 'Wandelbots-Nova-API-Python-Client/25.11.0.dev37'
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

wandelbots_api_client/v2/configuration.py

@@ -535,7 +535,7 @@ conf = wandelbots_api_client.v2.Configuration(
                "OS: {env}\n"\
                "Python Version: {pyversion}\n"\
                "Version of the API: 2.1.0 dev\n"\
-               "SDK Package Version: 25.11.0.dev27".\
+               "SDK Package Version: 25.11.0.dev37".\
                format(env=sys.platform, pyversion=sys.version)
 
     def get_host_settings(self) -> List[HostSetting]:

wandelbots_api_client/v2/models/__init__.py

@@ -25,6 +25,7 @@ from .app import App
 from .behavior import Behavior
 from .blending_auto import BlendingAuto
 from .blending_position import BlendingPosition
+from .blending_space import BlendingSpace
 from .boolean_value import BooleanValue
 from .box import Box
 from .bus_io_description import BusIODescription
@@ -271,6 +272,7 @@ __all__ = [
     "Behavior", 
     "BlendingAuto", 
     "BlendingPosition", 
+    "BlendingSpace", 
     "BooleanValue", 
     "Box", 
     "BusIODescription", 

wandelbots_api_client/v2/models/blending_auto.py

@@ -27,7 +27,7 @@ class BlendingAuto(BaseModel):
     """
     BlendingAuto
     """ # noqa: E501
-    min_velocity_in_percent: Optional[Annotated[int, Field(le=100, strict=True, ge=0)]] = Field(default=None, description="Auto-blending is used to keep a constant velocity when blending between two motion commands. It changes the TCP path around the target point of the motion command. The value represents the percentage of the original velocity. ") 
+    min_velocity_in_percent: Optional[Annotated[int, Field(le=100, strict=True, ge=0)]] = Field(default=None, description="Auto-blending is used to keep a constant velocity when blending between two motion commands. To use auto-blending, the TCP velocity limit must be set. It changes the TCP path around the target point of the motion command. The value represents the percentage of the original velocity. Auto-blending is always performed in cartesian space. ") 
     blending_name: str = "BlendingAuto"
     __properties: ClassVar[List[str]] = ["min_velocity_in_percent", "blending_name"]
 

wandelbots_api_client/v2/models/blending_position.py

@@ -19,6 +19,8 @@ import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt, StrictStr, field_validator
 from typing import Any, ClassVar, Dict, List, Optional, Union
+from typing_extensions import Annotated
+from wandelbots_api_client.v2.models.blending_space import BlendingSpace
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -27,8 +29,14 @@ class BlendingPosition(BaseModel):
     BlendingPosition
     """ # noqa: E501
     position_zone_radius: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Specifies the maximum radius in [mm] around the motion command's target point where the TCP path can be altered to blend the motion command into the following one. If auto-blending blends too much of the resulting trajectory, use position-blending to restrict the blending zone radius. ") 
+    position_zone_percentage: Optional[Union[Annotated[float, Field(le=100, strict=True, ge=0)], Annotated[int, Field(le=100, strict=True, ge=0)]]] = Field(default=None, description="Specifies the maximum blending percentage based on the trajectory length in position space around the motion command's target point. Percentage indicated in 0.0 - 100.0. ") 
+    orientation_zone_radius: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Specifies the maximum radius in [rad] for orientation blending around the motion command's target orientation. At the target's orientation, the TCP orientation can be altered to blend into the following motion. ") 
+    orientation_zone_percentage: Optional[Union[Annotated[float, Field(le=100, strict=True, ge=0)], Annotated[int, Field(le=100, strict=True, ge=0)]]] = Field(default=None, description="Specifies the maximum blending percentage for orientation blending based on the trajectory length in orientation space. Percentage indicated in 0.0 - 100.0. ") 
+    joints_zone_radius: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Specifies the maximum radius in [rad] for joint space blending around the motion command's target joint configuration. At the target joint configuration, the joint path can be altered to blend into the following motion. ") 
+    joints_zone_percentage: Optional[Union[Annotated[float, Field(le=100, strict=True, ge=0)], Annotated[int, Field(le=100, strict=True, ge=0)]]] = Field(default=None, description="Specifies the maximum blending percentage for joint space blending based on the trajectory length in joint space. Percentage indicated in 0.0 to 100.0. ") 
+    space: Optional[BlendingSpace] = Field(default=None, description="Defines the space in which blending is performed. ") 
     blending_name: str = "BlendingPosition"
-    __properties: ClassVar[List[str]] = ["position_zone_radius", "blending_name"]
+    __properties: ClassVar[List[str]] = ["position_zone_radius", "position_zone_percentage", "orientation_zone_radius", "orientation_zone_percentage", "joints_zone_radius", "joints_zone_percentage", "space", "blending_name"]
 
     @field_validator('blending_name')
     def blending_name_validate_enum(cls, value):
@@ -93,6 +101,12 @@ class BlendingPosition(BaseModel):
 
         _obj = cls.model_validate({
             "position_zone_radius": obj.get("position_zone_radius"),
+            "position_zone_percentage": obj.get("position_zone_percentage"),
+            "orientation_zone_radius": obj.get("orientation_zone_radius"),
+            "orientation_zone_percentage": obj.get("orientation_zone_percentage"),
+            "joints_zone_radius": obj.get("joints_zone_radius"),
+            "joints_zone_percentage": obj.get("joints_zone_percentage"),
+            "space": obj.get("space"),
             "blending_name": obj.get("blending_name")
         })
         return _obj

wandelbots_api_client/v2/models/blending_space.py

@@ -0,0 +1,37 @@
+# coding: utf-8
+
+"""
+    Wandelbots NOVA API
+
+    Interact with robots in an easy and intuitive way. 
+
+    The version of the OpenAPI document: 2.1.0 dev
+    Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+    Do not edit the class manually.
+"""  # noqa: E501
+
+
+from __future__ import annotations
+import json
+from enum import Enum
+from typing_extensions import Self
+
+
+class BlendingSpace(str, Enum):
+    """
+    Defines the space in which blending is performed. - `JOINT`: Zone blending is performed in joint space - `CARTESIAN`: Auto-blending is performed in cartesian space 
+    """
+
+    """
+    allowed enum values
+    """
+    JOINT = 'JOINT'
+    CARTESIAN = 'CARTESIAN'
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of BlendingSpace from a JSON string"""
+        return cls(json.loads(json_str))
+
+

wandelbots_api_client/v2_pydantic/__init__.py

@@ -13,7 +13,7 @@
     Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "25.11.0.dev27"
+__version__ = "25.11.0.dev37"
 
 from . import api
 from . import api_client

wandelbots_api_client/v2_pydantic/api/jogging_api.py

@@ -47,7 +47,7 @@ class JoggingApi:
     async def execute_jogging(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], client_request_generator: Callable[[AsyncGenerator[ExecuteJoggingResponse, None]], AsyncGenerator[ExecuteJoggingRequest, None]]) -> None:  # noqa: E501
         """Execute Jogging  # noqa: E501
 
-        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP. The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Sets rate and coordinate system for the jogging response.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with `JointVelocityRequest` or `TcpVelocityRequest`. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - `InitializeJoggingResponse` is sent to signal the success or failure of the `InitializeJoggingRequest`. - Jogging responses are streamed continuously after an `InitializeJoggingRequest` is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - `JoggingErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the `JoggingResponse`, verify that the robot control is in the desired state, e.g., standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP. The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Sets rate and coordinate system for the jogging response.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the (state stream)[streamMotionGroupState], which can be subscribed to via nats as well.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with `JointVelocityRequest` or `TcpVelocityRequest`. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - `InitializeJoggingResponse` is sent to signal the success or failure of the `InitializeJoggingRequest`. - Jogging responses are streamed continuously after an `InitializeJoggingRequest` is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - `JoggingErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the `JoggingResponse`, verify that the robot control is in the desired state, e.g., standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.   # noqa: E501
         :param client_request_generator: An AsyncGenerator that yields request of type ExecuteJoggingRequest and takes an AsyncGenerator of ExecuteJoggingResponse as an input argument (required)
         :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteJoggingResponse, None])
         :type AsyncGenerator[ExecuteJoggingRequest, None]

wandelbots_api_client/v2_pydantic/api/trajectory_execution_api.py

@@ -47,7 +47,7 @@ class TrajectoryExecutionApi:
     async def execute_trajectory(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], client_request_generator: Callable[[AsyncGenerator[ExecuteTrajectoryResponse, None]], AsyncGenerator[ExecuteTrajectoryRequest, None]]) -> None:  # noqa: E501
         """Execute Trajectory  # noqa: E501
 
-        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a previously [planned trajectory](planTrajectory). Enables the caller to attach input/output actions to the trajectory.  ### Movement behavior  | Virtual controller | Physical controller | |------------------|-------------------| | Desired joint configurations are commanded to each motion group and **applied immediately** | Move to desired **actual joint configuration**, **if possible** |  ### Concept of location    - The location or path parameter specifies the exact position along a trajectory.   - The location is a scalar value that ranges from 0 to `n`, where `n` denotes the number of motion commands, or trajectory segments, e.g., line, p2p, etc. See [planTrajectory](planTrajectory).   - Each integer value of the location corresponds to one motion command, e.g., 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group's control mode is not claimed by any other endpoint. - The motion group's joint position are at start location specified with `InitializeMovementRequest`. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send `InitializeMovementRequest` to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send `StartMovementRequest` to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send `PauseMovementRequest` before the movement has reached its end location. - Change the movement's velocity with `PlaybackSpeedRequest` after initializing the movement with `InitializeMovementRequest`.  ### Responses  - `InitializeMovementResponse` is sent to signal the success or failure of the `InitializeMovementRequest`. - Movement responses are streamed after a `StartMovementRequest` successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by `InitializeMovementRequest`. - Standstill response is sent once the movement has finished or has come to a standstill due to a pause. - `PauseMovementResponse` is sent to signal the success of the `PauseMovementRequest`. It does not signal the end of the movement.   End of movement is signaled by Standstill response. - `PlaybackSpeedResponse` is sent to signal the success of the `PlaybackSpeedRequest`. - `MovementError` with error details is sent in case of an unexpected error, e.g., controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending `PauseMovementRequest` and `StartMovementRequest`. - Send `PlaybackSpeedRequest` before `StartMovementRequest` to reduce the velocity of the movement before it starts. - Send `PlaybackSpeedRequest` repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send `PlaybackSpeedRequest` with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending `StartMovementRequest` after the movement has finished.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a previously [planned trajectory](planTrajectory). Enables the caller to attach input/output actions to the trajectory.  ### Movement behavior  | Virtual controller | Physical controller | |------------------|-------------------| | Desired joint configurations are commanded to each motion group and **applied immediately** | Move to desired **actual joint configuration**, **if possible** |  ### Concept of location    - The location or path parameter specifies the exact position along a trajectory.   - The location is a scalar value that ranges from 0 to `n`, where `n` denotes the number of motion commands, or trajectory segments, e.g., line, p2p, etc. See [planTrajectory](planTrajectory).   - Each integer value of the location corresponds to one motion command, e.g., 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group's control mode is not claimed by any other endpoint. - The motion group's joint position are at start location specified with `InitializeMovementRequest`. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send `InitializeMovementRequest` to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 2. Send `StartMovementRequest` to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send `PauseMovementRequest` before the movement has reached its end location. - Change the movement's velocity with `PlaybackSpeedRequest` after initializing the movement with `InitializeMovementRequest`.  ### Responses  To monitor the state of the movement, listen to the [state stream](streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, e.g., controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending `PauseMovementRequest` and `StartMovementRequest`. - Send `PlaybackSpeedRequest` before `StartMovementRequest` to reduce the velocity of the movement before it starts. - Send `PlaybackSpeedRequest` repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send `PlaybackSpeedRequest` with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending `StartMovementRequest` after the movement has finished.   # noqa: E501
         :param client_request_generator: An AsyncGenerator that yields request of type ExecuteTrajectoryRequest and takes an AsyncGenerator of ExecuteTrajectoryResponse as an input argument (required)
         :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteTrajectoryResponse, None])
         :type AsyncGenerator[ExecuteTrajectoryRequest, None]

wandelbots_api_client/v2_pydantic/api_client.py

@@ -91,7 +91,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = 'Wandelbots-Nova-API-Python-Client/25.11.0.dev27'
+        self.user_agent = 'Wandelbots-Nova-API-Python-Client/25.11.0.dev37'
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

wandelbots_api_client/v2_pydantic/configuration.py

@@ -535,7 +535,7 @@ conf = wandelbots_api_client.v2_pydantic.Configuration(
                "OS: {env}\n"\
                "Python Version: {pyversion}\n"\
                "Version of the API: 2.1.0 dev\n"\
-               "SDK Package Version: 25.11.0.dev27".\
+               "SDK Package Version: 25.11.0.dev37".\
                format(env=sys.platform, pyversion=sys.version)
 
     def get_host_settings(self) -> List[HostSetting]:

wandelbots_api_client/v2_pydantic/models.py

@@ -1,6 +1,6 @@
 # generated by datamodel-codegen:
 #   filename:  public.openapi.yaml
-#   timestamp: 2025-12-15T10:38:33+00:00
+#   timestamp: 2025-12-19T15:11:08+00:00
 
 from __future__ import annotations
 
@@ -2559,14 +2559,26 @@ class DoubleArray(RootModel):
 class BlendingAuto(BaseModel):
     min_velocity_in_percent: Annotated[Optional[int], Field(ge=0, le=100)] = None
     """
-    Auto-blending is used to keep a constant velocity when blending between two motion commands.
+    Auto-blending is used to keep a constant velocity when blending between two motion commands. To use auto-blending, the TCP velocity limit must be set.
     It changes the TCP path around the target point of the motion command.
-    The value represents the percentage of the original velocity.
+    The value represents the percentage of the original velocity. Auto-blending is always performed in cartesian space.
 
     """
     blending_name: Literal['BlendingAuto'] = 'BlendingAuto'
 
 
+class BlendingSpace(Enum):
+    """
+    Defines the space in which blending is performed.
+    - `JOINT`: Zone blending is performed in joint space
+    - `CARTESIAN`: Auto-blending is performed in cartesian space
+
+    """
+
+    JOINT = 'JOINT'
+    CARTESIAN = 'CARTESIAN'
+
+
 class BlendingPosition(BaseModel):
     position_zone_radius: Optional[float] = None
     """
@@ -2574,6 +2586,43 @@ class BlendingPosition(BaseModel):
     where the TCP path can be altered to blend the motion command into the following one.
     If auto-blending blends too much of the resulting trajectory, use position-blending to restrict the blending zone radius.
 
+    """
+    position_zone_percentage: Annotated[Optional[float], Field(ge=0.0, le=100.0)] = None
+    """
+    Specifies the maximum blending percentage based on the trajectory length in position space
+    around the motion command's target point. Percentage indicated in 0.0 - 100.0.
+
+    """
+    orientation_zone_radius: Optional[float] = None
+    """
+    Specifies the maximum radius in [rad] for orientation blending around the motion command's
+    target orientation. At the target's orientation, the TCP orientation can be altered to blend into the following motion.
+
+    """
+    orientation_zone_percentage: Annotated[Optional[float], Field(ge=0.0, le=100.0)] = (
+        None
+    )
+    """
+    Specifies the maximum blending percentage for orientation blending
+    based on the trajectory length in orientation space. Percentage indicated in 0.0 - 100.0.
+
+    """
+    joints_zone_radius: Optional[float] = None
+    """
+    Specifies the maximum radius in [rad] for joint space blending around the motion command's
+    target joint configuration. At the target joint configuration, the joint path can be altered to blend into the following motion.
+
+    """
+    joints_zone_percentage: Annotated[Optional[float], Field(ge=0.0, le=100.0)] = None
+    """
+    Specifies the maximum blending percentage for joint space blending
+    based on the trajectory length in joint space. Percentage indicated in 0.0 to 100.0.
+
+    """
+    space: Optional[BlendingSpace] = None
+    """
+    Defines the space in which blending is performed.
+
     """
     blending_name: Literal['BlendingPosition'] = 'BlendingPosition'
 

{wandelbots_api_client-25.11.0.dev27.dist-info → wandelbots_api_client-25.11.0.dev37.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 25.11.0.dev27
+Version: 25.11.0.dev37
 Summary: Wandelbots Python Client: Interact with robots in an easy and intuitive way. 
 Home-page: 
 Author: Copyright (c) 2025 Wandelbots GmbH
@@ -40,8 +40,8 @@ Dynamic: license-file
 # wandelbots-api-client
 Interact with robots in an easy and intuitive way.
 
-- Compatible API version: 1.1.0 (can be found at the home screen of your instance -> API)
-- Package version: 25.11.0.dev27
+- Compatible API version: 1.2.0 dev (can be found at the home screen of your instance -> API)
+- Package version: 25.11.0.dev37
 
 ## Requirements.
 Python >=3.11, Python < 4.0