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

wandelbots_api_client/v2/api/trajectory_planning_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
@@ -24,9 +23,9 @@ from typing_extensions import Annotated
 from urllib.parse import quote
 
 from pydantic import Field, StrictStr
-from typing import Dict, List, Optional
 from typing_extensions import Annotated
-from wandelbots_api_client.v2.models.collider import Collider
+from wandelbots_api_client.v2.models.plan_collision_free_request import PlanCollisionFreeRequest
+from wandelbots_api_client.v2.models.plan_collision_free_response import PlanCollisionFreeResponse
 from wandelbots_api_client.v2.models.plan_trajectory_request import PlanTrajectoryRequest
 from wandelbots_api_client.v2.models.plan_trajectory_response import PlanTrajectoryResponse
 
@@ -47,10 +46,10 @@ class TrajectoryPlanningApi:
         self.api_client = api_client
 
     @validate_call
-    async def get_default_link_chain(
+    async def plan_collision_free(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        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). ")],
+        plan_collision_free_request: PlanCollisionFreeRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -63,15 +62,15 @@ class TrajectoryPlanningApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> List[Dict[str, Collider]]:
-        """Get Default Link Chain
+    ) -> PlanCollisionFreeResponse:
+        """Plan Collision-Free Trajectory
 
-        Returns the default collision link chain for a given motion group model.  See [getPlanningMotionGroupModels](getPlanningMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link's default shape. 
+        Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :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 plan_collision_free_request: (required)
+        :type plan_collision_free_request: PlanCollisionFreeRequest
         :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
@@ -94,9 +93,9 @@ class TrajectoryPlanningApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_default_link_chain_serialize(
+        _param = self._plan_collision_free_serialize(
             cell=cell,
-            motion_group_model=motion_group_model,
+            plan_collision_free_request=plan_collision_free_request,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -104,9 +103,9 @@ class TrajectoryPlanningApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "List[Dict[str, Collider]]",
+            '200': "PlanCollisionFreeResponse",
             '404': None,
-            '422': "HTTPValidationError",
+            '422': "Plan422Response",
             '500': None,
         }
         response_data = await self.api_client.call_api(
@@ -121,10 +120,10 @@ class TrajectoryPlanningApi:
 
 
     @validate_call
-    async def get_default_link_chain_with_http_info(
+    async def plan_collision_free_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        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). ")],
+        plan_collision_free_request: PlanCollisionFreeRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -137,15 +136,15 @@ class TrajectoryPlanningApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[List[Dict[str, Collider]]]:
-        """Get Default Link Chain
+    ) -> ApiResponse[PlanCollisionFreeResponse]:
+        """Plan Collision-Free Trajectory
 
-        Returns the default collision link chain for a given motion group model.  See [getPlanningMotionGroupModels](getPlanningMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link's default shape. 
+        Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :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 plan_collision_free_request: (required)
+        :type plan_collision_free_request: PlanCollisionFreeRequest
         :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
@@ -168,9 +167,9 @@ class TrajectoryPlanningApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_default_link_chain_serialize(
+        _param = self._plan_collision_free_serialize(
             cell=cell,
-            motion_group_model=motion_group_model,
+            plan_collision_free_request=plan_collision_free_request,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -178,9 +177,9 @@ class TrajectoryPlanningApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "List[Dict[str, Collider]]",
+            '200': "PlanCollisionFreeResponse",
             '404': None,
-            '422': "HTTPValidationError",
+            '422': "Plan422Response",
             '500': None,
         }
         response_data = await self.api_client.call_api(
@@ -195,10 +194,10 @@ class TrajectoryPlanningApi:
 
 
     @validate_call
-    async def get_default_link_chain_without_preload_content(
+    async def plan_collision_free_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        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). ")],
+        plan_collision_free_request: PlanCollisionFreeRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -212,14 +211,14 @@ class TrajectoryPlanningApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Get Default Link Chain
+        """Plan Collision-Free Trajectory
 
-        Returns the default collision link chain for a given motion group model.  See [getPlanningMotionGroupModels](getPlanningMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link's default shape. 
+        Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :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 plan_collision_free_request: (required)
+        :type plan_collision_free_request: PlanCollisionFreeRequest
         :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
@@ -242,9 +241,9 @@ class TrajectoryPlanningApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_default_link_chain_serialize(
+        _param = self._plan_collision_free_serialize(
             cell=cell,
-            motion_group_model=motion_group_model,
+            plan_collision_free_request=plan_collision_free_request,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -252,9 +251,9 @@ class TrajectoryPlanningApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "List[Dict[str, Collider]]",
+            '200': "PlanCollisionFreeResponse",
             '404': None,
-            '422': "HTTPValidationError",
+            '422': "Plan422Response",
             '500': None,
         }
         response_data = await self.api_client.call_api(
@@ -264,10 +263,10 @@ class TrajectoryPlanningApi:
         return response_data.response
 
 
-    def _get_default_link_chain_serialize(
+    def _plan_collision_free_serialize(
         self,
         cell,
-        motion_group_model,
+        plan_collision_free_request,
         _request_auth,
         _content_type,
         _headers,
@@ -289,12 +288,12 @@ class TrajectoryPlanningApi:
         # process the path parameters
         if cell is not None:
             _path_params['cell'] = cell
-        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
+        if plan_collision_free_request is not None:
+            _body_params = plan_collision_free_request
 
 
         # set the HTTP header `Accept`
@@ -304,6 +303,19 @@ class TrajectoryPlanningApi:
             ]
         )
 
+        # set the HTTP header `Content-Type`
+        if _content_type:
+            _header_params['Content-Type'] = _content_type
+        else:
+            _default_content_type = (
+                self.api_client.select_header_content_type(
+                    [
+                        'application/json'
+                    ]
+                )
+            )
+            if _default_content_type is not None:
+                _header_params['Content-Type'] = _default_content_type
 
         # authentication setting
         _auth_settings: List[str] = [
@@ -312,275 +324,8 @@ class TrajectoryPlanningApi:
         ]
 
         return self.api_client.param_serialize(
-            method='GET',
-            resource_path='/cells/{cell}/store/collision/default-link-chains/{motion-group-model}',
-            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_for_planning(
-        self,
-        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        _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,
-    ) -> List[str]:
-        """Motion Group Models for Planning
-
-        Returns motion group models that are supported for planning. 
-
-        :param cell: Unique identifier addressing a cell in all API calls.  (required)
-        :type cell: 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_models_for_planning_serialize(
-            cell=cell,
-            _request_auth=_request_auth,
-            _content_type=_content_type,
-            _headers=_headers,
-            _host_index=_host_index
-        )
-
-        _response_types_map: Dict[str, Optional[str]] = {
-            '200': "List[str]",
-            '404': None,
-            '422': "HTTPValidationError",
-            '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_models_for_planning_with_http_info(
-        self,
-        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        _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[List[str]]:
-        """Motion Group Models for Planning
-
-        Returns motion group models that are supported for planning. 
-
-        :param cell: Unique identifier addressing a cell in all API calls.  (required)
-        :type cell: 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_models_for_planning_serialize(
-            cell=cell,
-            _request_auth=_request_auth,
-            _content_type=_content_type,
-            _headers=_headers,
-            _host_index=_host_index
-        )
-
-        _response_types_map: Dict[str, Optional[str]] = {
-            '200': "List[str]",
-            '404': None,
-            '422': "HTTPValidationError",
-            '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_models_for_planning_without_preload_content(
-        self,
-        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        _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:
-        """Motion Group Models for Planning
-
-        Returns motion group models that are supported for planning. 
-
-        :param cell: Unique identifier addressing a cell in all API calls.  (required)
-        :type cell: 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_models_for_planning_serialize(
-            cell=cell,
-            _request_auth=_request_auth,
-            _content_type=_content_type,
-            _headers=_headers,
-            _host_index=_host_index
-        )
-
-        _response_types_map: Dict[str, Optional[str]] = {
-            '200': "List[str]",
-            '404': None,
-            '422': "HTTPValidationError",
-            '500': None,
-        }
-        response_data = await self.api_client.call_api(
-            *_param,
-            _request_timeout=_request_timeout
-        )
-        return response_data.response
-
-
-    def _get_motion_group_models_for_planning_serialize(
-        self,
-        cell,
-        _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 cell is not None:
-            _path_params['cell'] = cell
-        # 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/json'
-            ]
-        )
-
-
-        # authentication setting
-        _auth_settings: List[str] = [
-            'BasicAuth', 
-            'BearerAuth'
-        ]
-
-        return self.api_client.param_serialize(
-            method='GET',
-            resource_path='/cells/{cell}/motion-planning/motion-group-models',
+            method='POST',
+            resource_path='/cells/{cell}/trajectory-planning/plan-collision-free',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -599,7 +344,7 @@ class TrajectoryPlanningApi:
     async def plan_trajectory(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        plan_trajectory_request: Optional[PlanTrajectoryRequest] = None,
+        plan_trajectory_request: PlanTrajectoryRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -615,11 +360,11 @@ class TrajectoryPlanningApi:
     ) -> PlanTrajectoryResponse:
         """Plan Trajectory
 
-        Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
+        Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the response will contain the joint trajectory up until the error, e.g., all samples until a collision occurs.   <!-- theme: info -->  > #### Exception > > If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param plan_trajectory_request:
+        :param plan_trajectory_request: (required)
         :type plan_trajectory_request: PlanTrajectoryRequest
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -655,7 +400,7 @@ class TrajectoryPlanningApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "PlanTrajectoryResponse",
             '404': None,
-            '422': "HTTPValidationError",
+            '422': "Plan422Response",
             '500': None,
         }
         response_data = await self.api_client.call_api(
@@ -673,7 +418,7 @@ class TrajectoryPlanningApi:
     async def plan_trajectory_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        plan_trajectory_request: Optional[PlanTrajectoryRequest] = None,
+        plan_trajectory_request: PlanTrajectoryRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -689,11 +434,11 @@ class TrajectoryPlanningApi:
     ) -> ApiResponse[PlanTrajectoryResponse]:
         """Plan Trajectory
 
-        Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
+        Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the response will contain the joint trajectory up until the error, e.g., all samples until a collision occurs.   <!-- theme: info -->  > #### Exception > > If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param plan_trajectory_request:
+        :param plan_trajectory_request: (required)
         :type plan_trajectory_request: PlanTrajectoryRequest
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -729,7 +474,7 @@ class TrajectoryPlanningApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "PlanTrajectoryResponse",
             '404': None,
-            '422': "HTTPValidationError",
+            '422': "Plan422Response",
             '500': None,
         }
         response_data = await self.api_client.call_api(
@@ -747,7 +492,7 @@ class TrajectoryPlanningApi:
     async def plan_trajectory_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        plan_trajectory_request: Optional[PlanTrajectoryRequest] = None,
+        plan_trajectory_request: PlanTrajectoryRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -763,11 +508,11 @@ class TrajectoryPlanningApi:
     ) -> RESTResponseType:
         """Plan Trajectory
 
-        Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
+        Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the response will contain the joint trajectory up until the error, e.g., all samples until a collision occurs.   <!-- theme: info -->  > #### Exception > > If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param plan_trajectory_request:
+        :param plan_trajectory_request: (required)
         :type plan_trajectory_request: PlanTrajectoryRequest
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -803,7 +548,7 @@ class TrajectoryPlanningApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "PlanTrajectoryResponse",
             '404': None,
-            '422': "HTTPValidationError",
+            '422': "Plan422Response",
             '500': None,
         }
         response_data = await self.api_client.call_api(
@@ -875,7 +620,7 @@ class TrajectoryPlanningApi:
 
         return self.api_client.param_serialize(
             method='POST',
-            resource_path='/cells/{cell}/motion-planning/plan-trajectory',
+            resource_path='/cells/{cell}/trajectory-planning/plan-trajectory',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,