wandelbots-api-client 25.11.0.dev27__py3-none-any.whl → 26.1.0.dev42__py3-none-any.whl

wandelbots_api_client/v2/api/motion_group_models_api.py

@@ -22,8 +22,8 @@ from typing import Any, AsyncGenerator, Callable, Dict, List, Optional, Tuple, U
 from typing_extensions import Annotated
 from urllib.parse import quote
 
-from pydantic import Field, StrictStr
-from typing import Dict, List
+from pydantic import Field, StrictBytes, StrictStr
+from typing import Dict, List, Tuple, Union
 from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.collider import Collider
 
@@ -307,6 +307,270 @@ class MotionGroupModelsApi:
 
 
 
+    @validate_call
+    async def get_motion_group_glb_model(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _request_timeout: Union[
+            None,
+            Annotated[StrictFloat, Field(gt=0)],
+            Tuple[
+                Annotated[StrictFloat, Field(gt=0)],
+                Annotated[StrictFloat, Field(gt=0)]
+            ]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> bytearray:
+        """Download GLB Model
+
+        Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: str
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """ # noqa: E501
+
+        _param = self._get_motion_group_glb_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "bytearray",
+            '404': None,
+            '500': None,
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        ).data
+
+
+    @validate_call
+    async def get_motion_group_glb_model_with_http_info(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _request_timeout: Union[
+            None,
+            Annotated[StrictFloat, Field(gt=0)],
+            Tuple[
+                Annotated[StrictFloat, Field(gt=0)],
+                Annotated[StrictFloat, Field(gt=0)]
+            ]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> ApiResponse[bytearray]:
+        """Download GLB Model
+
+        Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: str
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """ # noqa: E501
+
+        _param = self._get_motion_group_glb_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "bytearray",
+            '404': None,
+            '500': None,
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        )
+
+
+    @validate_call
+    async def get_motion_group_glb_model_without_preload_content(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _request_timeout: Union[
+            None,
+            Annotated[StrictFloat, Field(gt=0)],
+            Tuple[
+                Annotated[StrictFloat, Field(gt=0)],
+                Annotated[StrictFloat, Field(gt=0)]
+            ]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> RESTResponseType:
+        """Download GLB Model
+
+        Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: str
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """ # noqa: E501
+
+        _param = self._get_motion_group_glb_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "bytearray",
+            '404': None,
+            '500': None,
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        return response_data.response
+
+
+    def _get_motion_group_glb_model_serialize(
+        self,
+        motion_group_model,
+        _request_auth,
+        _content_type,
+        _headers,
+        _host_index,
+    ) -> RequestSerialized:
+
+        _host = None
+
+        _collection_formats: Dict[str, str] = {
+        }
+
+        _path_params: Dict[str, str] = {}
+        _query_params: List[Tuple[str, str]] = []
+        _header_params: Dict[str, Optional[str]] = _headers or {}
+        _form_params: List[Tuple[str, str]] = []
+        _files: Dict[str, Union[str, bytes]] = {}
+        _body_params: Optional[bytes] = None
+
+        # process the path parameters
+        if motion_group_model is not None:
+            _path_params['motion-group-model'] = motion_group_model
+        # process the query parameters
+        # process the header parameters
+        # process the form parameters
+        # process the body parameter
+
+
+        # set the HTTP header `Accept`
+        _header_params['Accept'] = self.api_client.select_header_accept(
+            [
+                'application/octet-stream'
+            ]
+        )
+
+
+        # authentication setting
+        _auth_settings: List[str] = [
+            'BasicAuth', 
+            'BearerAuth'
+        ]
+
+        return self.api_client.param_serialize(
+            method='GET',
+            resource_path='/motion-group-models/{motion-group-model}/glb',
+            path_params=_path_params,
+            query_params=_query_params,
+            header_params=_header_params,
+            body=_body_params,
+            post_params=_form_params,
+            files=_files,
+            auth_settings=_auth_settings,
+            collection_formats=_collection_formats,
+            _host=_host,
+            _request_auth=_request_auth
+        )
+
+
+
     @validate_call
     async def get_motion_group_models(
         self,
@@ -555,3 +819,267 @@ class MotionGroupModelsApi:
         )
 
 
+
+    @validate_call
+    async def get_motion_group_usd_model(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _request_timeout: Union[
+            None,
+            Annotated[StrictFloat, Field(gt=0)],
+            Tuple[
+                Annotated[StrictFloat, Field(gt=0)],
+                Annotated[StrictFloat, Field(gt=0)]
+            ]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> bytearray:
+        """Download USD Model
+
+        Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: str
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """ # noqa: E501
+
+        _param = self._get_motion_group_usd_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "bytearray",
+            '404': None,
+            '500': None,
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        ).data
+
+
+    @validate_call
+    async def get_motion_group_usd_model_with_http_info(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _request_timeout: Union[
+            None,
+            Annotated[StrictFloat, Field(gt=0)],
+            Tuple[
+                Annotated[StrictFloat, Field(gt=0)],
+                Annotated[StrictFloat, Field(gt=0)]
+            ]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> ApiResponse[bytearray]:
+        """Download USD Model
+
+        Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: str
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """ # noqa: E501
+
+        _param = self._get_motion_group_usd_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "bytearray",
+            '404': None,
+            '500': None,
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        )
+
+
+    @validate_call
+    async def get_motion_group_usd_model_without_preload_content(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _request_timeout: Union[
+            None,
+            Annotated[StrictFloat, Field(gt=0)],
+            Tuple[
+                Annotated[StrictFloat, Field(gt=0)],
+                Annotated[StrictFloat, Field(gt=0)]
+            ]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> RESTResponseType:
+        """Download USD Model
+
+        Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: str
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """ # noqa: E501
+
+        _param = self._get_motion_group_usd_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "bytearray",
+            '404': None,
+            '500': None,
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        return response_data.response
+
+
+    def _get_motion_group_usd_model_serialize(
+        self,
+        motion_group_model,
+        _request_auth,
+        _content_type,
+        _headers,
+        _host_index,
+    ) -> RequestSerialized:
+
+        _host = None
+
+        _collection_formats: Dict[str, str] = {
+        }
+
+        _path_params: Dict[str, str] = {}
+        _query_params: List[Tuple[str, str]] = []
+        _header_params: Dict[str, Optional[str]] = _headers or {}
+        _form_params: List[Tuple[str, str]] = []
+        _files: Dict[str, Union[str, bytes]] = {}
+        _body_params: Optional[bytes] = None
+
+        # process the path parameters
+        if motion_group_model is not None:
+            _path_params['motion-group-model'] = motion_group_model
+        # process the query parameters
+        # process the header parameters
+        # process the form parameters
+        # process the body parameter
+
+
+        # set the HTTP header `Accept`
+        _header_params['Accept'] = self.api_client.select_header_accept(
+            [
+                'application/octet-stream'
+            ]
+        )
+
+
+        # authentication setting
+        _auth_settings: List[str] = [
+            'BasicAuth', 
+            'BearerAuth'
+        ]
+
+        return self.api_client.param_serialize(
+            method='GET',
+            resource_path='/motion-group-models/{motion-group-model}/usd',
+            path_params=_path_params,
+            query_params=_query_params,
+            header_params=_header_params,
+            body=_body_params,
+            post_params=_form_params,
+            files=_files,
+            auth_settings=_auth_settings,
+            collection_formats=_collection_formats,
+            _host=_host,
+            _request_auth=_request_auth
+        )
+
+

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/26.1.0.dev42'
         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: 26.1.0.dev42".\
                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