wandelbots-api-client 25.6.0.dev7__py3-none-any.whl → 25.10.0rc2__py3-none-any.whl

wandelbots_api_client/v2/api/controller_inputs_outputs_api.py

@@ -3,15 +3,14 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    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 furl import furl
 import json
 import humps
@@ -26,11 +25,11 @@ from urllib.parse import quote
 from pydantic import Field, StrictBool, StrictStr
 from typing import List, Optional
 from typing_extensions import Annotated
+from wandelbots_api_client.v2.models.io_description import IODescription
 from wandelbots_api_client.v2.models.io_direction import IODirection
+from wandelbots_api_client.v2.models.io_value import IOValue
 from wandelbots_api_client.v2.models.io_value_type import IOValueType
-from wandelbots_api_client.v2.models.list_io_descriptions_response import ListIODescriptionsResponse
-from wandelbots_api_client.v2.models.list_io_values_response import ListIOValuesResponse
-from wandelbots_api_client.v2.models.set_output_values_request_inner import SetOutputValuesRequestInner
+from wandelbots_api_client.v2.models.stream_io_values_response import StreamIOValuesResponse
 from wandelbots_api_client.v2.models.wait_for_io_event_request import WaitForIOEventRequest
 
 from wandelbots_api_client.v2.api_client import ApiClient, RequestSerialized
@@ -70,10 +69,10 @@ class ControllerInputsOutputsApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ListIODescriptionsResponse:
+    ) -> List[IODescription]:
         """List Descriptions
 
-        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information such as the name of the input/output, the input/output type and the input/output unit. The set of available inputs/outputs is defined by the robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. Except when a filter (direction, value_type, group) is applied. Then only the inputs/outputs matching the filter are returned. 
+        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the robot controller\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -123,7 +122,7 @@ class ControllerInputsOutputsApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ListIODescriptionsResponse",
+            '200': "List[IODescription]",
             '400': "Error",
             '404': "Error",
         }
@@ -159,10 +158,10 @@ class ControllerInputsOutputsApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[ListIODescriptionsResponse]:
+    ) -> ApiResponse[List[IODescription]]:
         """List Descriptions
 
-        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information such as the name of the input/output, the input/output type and the input/output unit. The set of available inputs/outputs is defined by the robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. Except when a filter (direction, value_type, group) is applied. Then only the inputs/outputs matching the filter are returned. 
+        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the robot controller\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -212,7 +211,7 @@ class ControllerInputsOutputsApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ListIODescriptionsResponse",
+            '200': "List[IODescription]",
             '400': "Error",
             '404': "Error",
         }
@@ -251,7 +250,7 @@ class ControllerInputsOutputsApi:
     ) -> RESTResponseType:
         """List Descriptions
 
-        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information such as the name of the input/output, the input/output type and the input/output unit. The set of available inputs/outputs is defined by the robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. Except when a filter (direction, value_type, group) is applied. Then only the inputs/outputs matching the filter are returned. 
+        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the robot controller\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -301,7 +300,7 @@ class ControllerInputsOutputsApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ListIODescriptionsResponse",
+            '200': "List[IODescription]",
             '400': "Error",
             '404': "Error",
         }
@@ -415,7 +414,7 @@ class ControllerInputsOutputsApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ListIOValuesResponse:
+    ) -> List[IOValue]:
         """Get Input/Output Values
 
         Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](listIODescriptions). 
@@ -459,7 +458,7 @@ class ControllerInputsOutputsApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ListIOValuesResponse",
+            '200': "List[IOValue]",
             '400': "Error",
             '404': "Error",
         }
@@ -492,7 +491,7 @@ class ControllerInputsOutputsApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[ListIOValuesResponse]:
+    ) -> ApiResponse[List[IOValue]]:
         """Get Input/Output Values
 
         Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](listIODescriptions). 
@@ -536,7 +535,7 @@ class ControllerInputsOutputsApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ListIOValuesResponse",
+            '200': "List[IOValue]",
             '400': "Error",
             '404': "Error",
         }
@@ -613,7 +612,7 @@ class ControllerInputsOutputsApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ListIOValuesResponse",
+            '200': "List[IOValue]",
             '400': "Error",
             '404': "Error",
         }
@@ -699,7 +698,7 @@ class ControllerInputsOutputsApi:
         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.")],
-        set_output_values_request_inner: List[SetOutputValuesRequestInner],
+        io_value: List[IOValue],
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -715,14 +714,14 @@ class ControllerInputsOutputsApi:
     ) -> None:
         """Set Output Values
 
-        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This might take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
+        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This can take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
         :param controller: Unique identifier to address a controller in the cell. (required)
         :type controller: str
-        :param set_output_values_request_inner: (required)
-        :type set_output_values_request_inner: List[SetOutputValuesRequestInner]
+        :param io_value: (required)
+        :type io_value: List[IOValue]
         :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
@@ -748,7 +747,7 @@ class ControllerInputsOutputsApi:
         _param = self._set_output_values_serialize(
             cell=cell,
             controller=controller,
-            set_output_values_request_inner=set_output_values_request_inner,
+            io_value=io_value,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -777,7 +776,7 @@ class ControllerInputsOutputsApi:
         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.")],
-        set_output_values_request_inner: List[SetOutputValuesRequestInner],
+        io_value: List[IOValue],
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -793,14 +792,14 @@ class ControllerInputsOutputsApi:
     ) -> ApiResponse[None]:
         """Set Output Values
 
-        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This might take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
+        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This can take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
         :param controller: Unique identifier to address a controller in the cell. (required)
         :type controller: str
-        :param set_output_values_request_inner: (required)
-        :type set_output_values_request_inner: List[SetOutputValuesRequestInner]
+        :param io_value: (required)
+        :type io_value: List[IOValue]
         :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
@@ -826,7 +825,7 @@ class ControllerInputsOutputsApi:
         _param = self._set_output_values_serialize(
             cell=cell,
             controller=controller,
-            set_output_values_request_inner=set_output_values_request_inner,
+            io_value=io_value,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -855,7 +854,7 @@ class ControllerInputsOutputsApi:
         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.")],
-        set_output_values_request_inner: List[SetOutputValuesRequestInner],
+        io_value: List[IOValue],
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -871,14 +870,14 @@ class ControllerInputsOutputsApi:
     ) -> RESTResponseType:
         """Set Output Values
 
-        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This might take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
+        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This can take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
         :param controller: Unique identifier to address a controller in the cell. (required)
         :type controller: str
-        :param set_output_values_request_inner: (required)
-        :type set_output_values_request_inner: List[SetOutputValuesRequestInner]
+        :param io_value: (required)
+        :type io_value: List[IOValue]
         :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
@@ -904,7 +903,7 @@ class ControllerInputsOutputsApi:
         _param = self._set_output_values_serialize(
             cell=cell,
             controller=controller,
-            set_output_values_request_inner=set_output_values_request_inner,
+            io_value=io_value,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -928,7 +927,7 @@ class ControllerInputsOutputsApi:
         self,
         cell,
         controller,
-        set_output_values_request_inner,
+        io_value,
         _request_auth,
         _content_type,
         _headers,
@@ -938,7 +937,7 @@ class ControllerInputsOutputsApi:
         _host = None
 
         _collection_formats: Dict[str, str] = {
-            'SetOutputValuesRequestInner': '',
+            'IOValue': '',
         }
 
         _path_params: Dict[str, str] = {}
@@ -957,8 +956,8 @@ class ControllerInputsOutputsApi:
         # process the header parameters
         # process the form parameters
         # process the body parameter
-        if set_output_values_request_inner is not None:
-            _body_params = set_output_values_request_inner
+        if io_value is not None:
+            _body_params = io_value
 
 
         # set the HTTP header `Accept`
@@ -1006,10 +1005,10 @@ class ControllerInputsOutputsApi:
 
 
     @validate_call
-    async def stream_io_values(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.")], ios: Optional[List[StrictStr]] = None) -> AsyncGenerator[ListIOValuesResponse, None]:  # noqa: E501
+    async def stream_io_values(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.")], ios: Optional[List[StrictStr]] = None) -> AsyncGenerator[StreamIOValuesResponse, None]:  # noqa: E501
         """Stream Input/Output Values  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  Continuously receive updates of input/output values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > Do not request too many values simultaneously as the request is then likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. Consider that this might lead to a high amount of data transmitted.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Continuously receive updates of input/output values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > If you request many values simultaneously, the request is likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. This can lead to a high amount of data transmitted.   # noqa: E501
         :param request: A StreamIoValuesRequest
         :info All responses from the server will be yielded
         :type StreamIoValuesRequest
@@ -1069,9 +1068,11 @@ class ControllerInputsOutputsApi:
                     response_data = json.loads(response)
                     if "result" not in response_data:
                         raise Exception(response_data)
-                    yield ListIOValuesResponse.from_dict(response_data["result"])
+                    yield StreamIOValuesResponse.from_dict(response_data["result"])
             except websockets.exceptions.ConnectionClosed:
                 return
+            finally:
+                await websocket.close()
 
 
     @validate_call
@@ -1095,7 +1096,7 @@ class ControllerInputsOutputsApi:
     ) -> bool:
         """Wait For
 
-        Wait until an input/output reaches a certain value. This call returns as soon as the condition is met or the request fails.  The comparison_type value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the value_type of the input/output, see (listIODescriptions)[listIODescriptions] for more information. Examples: If you want to wait until an analog input (\"AI_1\") is less than 10, you would set io to \"AI_1\" comparison_type to COMPARISON_LESS and only integer_value to 10. If you want to wait until an analog input (\"AI_2\") is greater than 5.0, you would set io to \"AI_2\" comparison_type to COMPARISON_GREATER and only float_value to 5.0. If you want to wait until a digital input (\"DI_3\") is true, you would set io to \"DI_3\" comparison_type to COMPARISON_EQUAL and only boolean_value to true. 
+        Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](listIODescriptions) for more information.  **Examples**  1. Wait until analog input `AI_1` < 10:     ```     io: \"AI_1\"     comparison_type: \"COMPARISON_LESS\"     value: 10     ```  2. Wait until analog input `AI_2` > 5.0:     ```     io: \"AI_2\"     comparison_type: \"COMPARISON_GREATER\"     value: 5.0     ```  3. Wait until digital input `DI_3` is true:     ```     io: \"DI_3\"     comparison_type: \"COMPARISON_EQUAL\"     value: true     ``` 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1172,7 +1173,7 @@ class ControllerInputsOutputsApi:
     ) -> ApiResponse[bool]:
         """Wait For
 
-        Wait until an input/output reaches a certain value. This call returns as soon as the condition is met or the request fails.  The comparison_type value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the value_type of the input/output, see (listIODescriptions)[listIODescriptions] for more information. Examples: If you want to wait until an analog input (\"AI_1\") is less than 10, you would set io to \"AI_1\" comparison_type to COMPARISON_LESS and only integer_value to 10. If you want to wait until an analog input (\"AI_2\") is greater than 5.0, you would set io to \"AI_2\" comparison_type to COMPARISON_GREATER and only float_value to 5.0. If you want to wait until a digital input (\"DI_3\") is true, you would set io to \"DI_3\" comparison_type to COMPARISON_EQUAL and only boolean_value to true. 
+        Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](listIODescriptions) for more information.  **Examples**  1. Wait until analog input `AI_1` < 10:     ```     io: \"AI_1\"     comparison_type: \"COMPARISON_LESS\"     value: 10     ```  2. Wait until analog input `AI_2` > 5.0:     ```     io: \"AI_2\"     comparison_type: \"COMPARISON_GREATER\"     value: 5.0     ```  3. Wait until digital input `DI_3` is true:     ```     io: \"DI_3\"     comparison_type: \"COMPARISON_EQUAL\"     value: true     ``` 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1249,7 +1250,7 @@ class ControllerInputsOutputsApi:
     ) -> RESTResponseType:
         """Wait For
 
-        Wait until an input/output reaches a certain value. This call returns as soon as the condition is met or the request fails.  The comparison_type value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the value_type of the input/output, see (listIODescriptions)[listIODescriptions] for more information. Examples: If you want to wait until an analog input (\"AI_1\") is less than 10, you would set io to \"AI_1\" comparison_type to COMPARISON_LESS and only integer_value to 10. If you want to wait until an analog input (\"AI_2\") is greater than 5.0, you would set io to \"AI_2\" comparison_type to COMPARISON_GREATER and only float_value to 5.0. If you want to wait until a digital input (\"DI_3\") is true, you would set io to \"DI_3\" comparison_type to COMPARISON_EQUAL and only boolean_value to true. 
+        Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](listIODescriptions) for more information.  **Examples**  1. Wait until analog input `AI_1` < 10:     ```     io: \"AI_1\"     comparison_type: \"COMPARISON_LESS\"     value: 10     ```  2. Wait until analog input `AI_2` > 5.0:     ```     io: \"AI_2\"     comparison_type: \"COMPARISON_GREATER\"     value: 5.0     ```  3. Wait until digital input `DI_3` is true:     ```     io: \"DI_3\"     comparison_type: \"COMPARISON_EQUAL\"     value: true     ``` 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

wandelbots_api_client/v2/api/jogging_api.py

@@ -3,15 +3,14 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    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 furl import furl
 import json
 import humps
@@ -45,10 +44,10 @@ class JoggingApi:
         self.api_client = api_client
 
     @validate_call
-    async def execute_jogging(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], client_request_generator: Callable[[AsyncGenerator[ExecuteJoggingResponse, None]], AsyncGenerator[ExecuteJoggingRequest, None]]) -> None:  # noqa: E501
+    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: danger -->  > 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 (Tool Center Point). 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 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.  #### 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]
@@ -72,10 +71,30 @@ class JoggingApi:
                 response_data = json.loads(response)
                 if "result" not in response_data:
                     raise Exception(response_data)
-                yield ExecuteJoggingResponse.from_dict(response_data["result"])
-
-        path = format_path_parameters("/cells/{cell}/execution/jogging")
-        path = path.format(cell=cell,)
+                result_data = response_data["result"]
+                if isinstance(result_data, list):
+                    # Handle list of objects
+                    import re
+                    # Extract the base type from List[BaseType] pattern
+                    return_type_str = "ExecuteJoggingResponse"
+                    if return_type_str.startswith("List[") and return_type_str.endswith("]"):
+                        base_type_name = return_type_str[5:-1]  # Remove "List[" and "]"
+                        # Get the actual class from the module
+                        base_type_class = globals().get(base_type_name)
+                        if base_type_class and hasattr(base_type_class, 'from_dict'):
+                            result_list = [base_type_class.from_dict(item) for item in result_data]
+                            yield result_list
+                        else:
+                            yield result_data
+                    else:
+                        yield result_data
+                else:
+                    # Handle single object
+                    yield ExecuteJoggingResponse.from_dict(result_data)
+
+
+        path = format_path_parameters("/cells/{cell}/controllers/{controller}/execution/jogging")
+        path = path.format(cell=cell,controller=controller,)
 
         headers = websockets.Headers()
         tmp_host = self.api_client.configuration.host
@@ -98,6 +117,9 @@ class JoggingApi:
         full_url = furl(tmp_host + path)
 
         async with websockets.connect(full_url.url, open_timeout=10, additional_headers=headers) as websocket:
-            async for request in client_request_generator(iterate_responses(websocket)):
-                await websocket.send(request.to_json())
+            try:
+                async for request in client_request_generator(iterate_responses(websocket)):
+                    await websocket.send(request.to_json())
+            finally:
+                await websocket.close()