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

wandelbots_api_client/{v2/api/virtual_robot_behavior_api.py → v2_pydantic/api/motion_group_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
@@ -26,16 +25,14 @@ from urllib.parse import quote
 from pydantic import Field, StrictStr
 from typing import Optional
 from typing_extensions import Annotated
-from wandelbots_api_client.v2.models.behavior import Behavior
-from wandelbots_api_client.v2.models.external_joint_stream_datapoint import ExternalJointStreamDatapoint
-from wandelbots_api_client.v2.models.motion_group_behavior_getter import MotionGroupBehaviorGetter
-from wandelbots_api_client.v2.models.motion_group_joints import MotionGroupJoints
+from wandelbots_api_client.v2_pydantic.models import MotionGroupDescription
+from wandelbots_api_client.v2_pydantic.models import MotionGroupState
 
-from wandelbots_api_client.v2.api_client import ApiClient, RequestSerialized
-from wandelbots_api_client.v2.api_response import ApiResponse
-from wandelbots_api_client.v2.rest import RESTResponseType
+from wandelbots_api_client.v2_pydantic.api_client import ApiClient, RequestSerialized
+from wandelbots_api_client.v2_pydantic.api_response import ApiResponse
+from wandelbots_api_client.v2_pydantic.rest import RESTResponseType
 
-class VirtualRobotBehaviorApi:
+class MotionGroupApi:
     """NOTE: This class is auto generated by OpenAPI Generator
     Ref: https://openapi-generator.tech
 
@@ -48,69 +45,12 @@ class VirtualRobotBehaviorApi:
         self.api_client = api_client
 
     @validate_call
-    async def external_joints_stream(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[MotionGroupJoints, None]], AsyncGenerator[ExternalJointStreamDatapoint, None]]) -> None:  # noqa: E501
-        """Stream Joint Configuration  # noqa: E501
-
-        <!-- theme: danger -->  > Websocket endpoint  This stream provides the commanded joint state and sets a motion groups joint configuration, e.g. to move a motion group. The concept is that an application is using the Motion Service to move a motion group. The Motion Service is commanding the desired joint configuration of a motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! It is __not__ providing the *actual* joint state! (Please file a request - if you need a stream of the *actual* joint state)  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configurations. CAUTION: Incoming joint configurations are not visualized and their velocity limits are not checked. we don't even check limits!  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion group.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller's joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.   # noqa: E501
-        :param client_request_generator: An AsyncGenerator that yields request of type ExternalJointsStreamRequest and takes an AsyncGenerator of MotionGroupJoints as an input argument (required)
-        :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[MotionGroupJoints, None])
-        :type AsyncGenerator[ExternalJointsStreamRequest, None]
-        """
-        def format_path_parameters(path):
-            # Find all substrings that are enclosed in brackets
-            bracket_contents = re.findall(r'\{(.*?)\}', path)
-
-            # For each found substring, alter it to match the python variable name
-            for content in bracket_contents:
-                content = "{" + content + "}"
-                modified_content = humps.dekebabize(content)
-                path = path.replace(content, modified_content)
-
-            return path
-
-        async def iterate_responses(ws) -> AsyncGenerator[MotionGroupJoints, None]:
-            async for response in ws:
-                if "Cancelled on the server side" in response:
-                    break
-                response_data = json.loads(response)
-                if "result" not in response_data:
-                    raise Exception(response_data)
-                yield MotionGroupJoints.from_dict(response_data["result"])
-
-        path = format_path_parameters("/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/external-joints-stream")
-        path = path.format(cell=cell,controller=controller,)
-
-        headers = websockets.Headers()
-        tmp_host = self.api_client.configuration.host
-        if self.api_client.configuration.host.startswith("https://"):
-            # Basic Auth
-            if self.api_client.configuration.username:
-                tmp_host = self.api_client.configuration.host.replace("https://", "")
-                tmp_host = f"wss://{self.api_client.configuration.username}:{self.api_client.configuration.password}@{tmp_host}"
-
-            # OAuth2
-            elif self.api_client.configuration.access_token:
-                tmp_host = self.api_client.configuration.host.replace("https://", "")
-                tmp_host = f"wss://{tmp_host}"
-                headers = websockets.Headers([
-                    ("Authorization", f"Bearer {self.api_client.configuration.access_token}")
-                ])
-        else:
-            tmp_host = tmp_host.replace("http://", "ws://")
-
-        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())
-
-
-    @validate_call
-    async def get_motion_group_behavior(
+    async def get_current_motion_group_state(
         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.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
+        response_coordinate_system: Annotated[Optional[StrictStr], Field(description="Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. ")] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -123,10 +63,10 @@ class VirtualRobotBehaviorApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> MotionGroupBehaviorGetter:
-        """Behavior
+    ) -> MotionGroupState:
+        """State
 
-        Get the current robot motion group behavior - please see the setter [setMotionGroupBehavior](setMotionGroupBehavior) and the enum for details. 
+        Returns the current state of the selected motion group including the current joint position, velocity, pose, and more. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -134,6 +74,8 @@ class VirtualRobotBehaviorApi:
         :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
+        :param response_coordinate_system: Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. 
+        :type response_coordinate_system: 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
@@ -156,10 +98,11 @@ class VirtualRobotBehaviorApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_motion_group_behavior_serialize(
+        _param = self._get_current_motion_group_state_serialize(
             cell=cell,
             controller=controller,
             motion_group=motion_group,
+            response_coordinate_system=response_coordinate_system,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -167,10 +110,11 @@ class VirtualRobotBehaviorApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "MotionGroupBehaviorGetter",
+            '200': "MotionGroupState",
             '400': "Error",
             '404': "Error",
-        }
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -183,11 +127,12 @@ class VirtualRobotBehaviorApi:
 
 
     @validate_call
-    async def get_motion_group_behavior_with_http_info(
+    async def get_current_motion_group_state_with_http_info(
         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.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
+        response_coordinate_system: Annotated[Optional[StrictStr], Field(description="Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. ")] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -200,10 +145,10 @@ class VirtualRobotBehaviorApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[MotionGroupBehaviorGetter]:
-        """Behavior
+    ) -> ApiResponse[MotionGroupState]:
+        """State
 
-        Get the current robot motion group behavior - please see the setter [setMotionGroupBehavior](setMotionGroupBehavior) and the enum for details. 
+        Returns the current state of the selected motion group including the current joint position, velocity, pose, and more. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -211,6 +156,8 @@ class VirtualRobotBehaviorApi:
         :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
+        :param response_coordinate_system: Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. 
+        :type response_coordinate_system: 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
@@ -233,10 +180,11 @@ class VirtualRobotBehaviorApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_motion_group_behavior_serialize(
+        _param = self._get_current_motion_group_state_serialize(
             cell=cell,
             controller=controller,
             motion_group=motion_group,
+            response_coordinate_system=response_coordinate_system,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -244,10 +192,11 @@ class VirtualRobotBehaviorApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "MotionGroupBehaviorGetter",
+            '200': "MotionGroupState",
             '400': "Error",
             '404': "Error",
-        }
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -260,11 +209,12 @@ class VirtualRobotBehaviorApi:
 
 
     @validate_call
-    async def get_motion_group_behavior_without_preload_content(
+    async def get_current_motion_group_state_without_preload_content(
         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.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
+        response_coordinate_system: Annotated[Optional[StrictStr], Field(description="Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. ")] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -278,9 +228,9 @@ class VirtualRobotBehaviorApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Behavior
+        """State
 
-        Get the current robot motion group behavior - please see the setter [setMotionGroupBehavior](setMotionGroupBehavior) and the enum for details. 
+        Returns the current state of the selected motion group including the current joint position, velocity, pose, and more. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -288,6 +238,8 @@ class VirtualRobotBehaviorApi:
         :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
+        :param response_coordinate_system: Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used. 
+        :type response_coordinate_system: 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
@@ -310,10 +262,11 @@ class VirtualRobotBehaviorApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_motion_group_behavior_serialize(
+        _param = self._get_current_motion_group_state_serialize(
             cell=cell,
             controller=controller,
             motion_group=motion_group,
+            response_coordinate_system=response_coordinate_system,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -321,10 +274,11 @@ class VirtualRobotBehaviorApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "MotionGroupBehaviorGetter",
+            '200': "MotionGroupState",
             '400': "Error",
             '404': "Error",
-        }
+        }        
+
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -332,11 +286,12 @@ class VirtualRobotBehaviorApi:
         return response_data.response
 
 
-    def _get_motion_group_behavior_serialize(
+    def _get_current_motion_group_state_serialize(
         self,
         cell,
         controller,
         motion_group,
+        response_coordinate_system,
         _request_auth,
         _content_type,
         _headers,
@@ -363,6 +318,10 @@ class VirtualRobotBehaviorApi:
         if motion_group is not None:
             _path_params['motion-group'] = motion_group
         # process the query parameters
+        if response_coordinate_system is not None:
+            
+            _query_params.append(('response_coordinate_system', response_coordinate_system))
+            
         # process the header parameters
         # process the form parameters
         # process the body parameter
@@ -384,7 +343,7 @@ class VirtualRobotBehaviorApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{motion-group}/behavior',
+            resource_path='/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/state',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -400,12 +359,11 @@ class VirtualRobotBehaviorApi:
 
 
     @validate_call
-    async def set_motion_group_behavior(
+    async def get_motion_group_description(
         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.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
-        behavior: Optional[Behavior] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -418,10 +376,10 @@ class VirtualRobotBehaviorApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> None:
-        """Switch Behavior
+    ) -> MotionGroupDescription:
+        """Description
 
-        Switch robot motion group behavior. 
+        Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc.  This data can change upon connection to the robot. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -429,8 +387,6 @@ class VirtualRobotBehaviorApi:
         :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
-        :param behavior:
-        :type behavior: Behavior
         :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
@@ -453,11 +409,10 @@ class VirtualRobotBehaviorApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._set_motion_group_behavior_serialize(
+        _param = self._get_motion_group_description_serialize(
             cell=cell,
             controller=controller,
             motion_group=motion_group,
-            behavior=behavior,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -465,9 +420,11 @@ class VirtualRobotBehaviorApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': None,
+            '200': "MotionGroupDescription",
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -480,12 +437,11 @@ class VirtualRobotBehaviorApi:
 
 
     @validate_call
-    async def set_motion_group_behavior_with_http_info(
+    async def get_motion_group_description_with_http_info(
         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.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
-        behavior: Optional[Behavior] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -498,10 +454,10 @@ class VirtualRobotBehaviorApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[None]:
-        """Switch Behavior
+    ) -> ApiResponse[MotionGroupDescription]:
+        """Description
 
-        Switch robot motion group behavior. 
+        Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc.  This data can change upon connection to the robot. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -509,8 +465,6 @@ class VirtualRobotBehaviorApi:
         :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
-        :param behavior:
-        :type behavior: Behavior
         :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
@@ -533,11 +487,10 @@ class VirtualRobotBehaviorApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._set_motion_group_behavior_serialize(
+        _param = self._get_motion_group_description_serialize(
             cell=cell,
             controller=controller,
             motion_group=motion_group,
-            behavior=behavior,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -545,9 +498,11 @@ class VirtualRobotBehaviorApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': None,
+            '200': "MotionGroupDescription",
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -560,12 +515,11 @@ class VirtualRobotBehaviorApi:
 
 
     @validate_call
-    async def set_motion_group_behavior_without_preload_content(
+    async def get_motion_group_description_without_preload_content(
         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.")],
         motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")],
-        behavior: Optional[Behavior] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -579,9 +533,9 @@ class VirtualRobotBehaviorApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Switch Behavior
+        """Description
 
-        Switch robot motion group behavior. 
+        Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc.  This data can change upon connection to the robot. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -589,8 +543,6 @@ class VirtualRobotBehaviorApi:
         :type controller: str
         :param motion_group: The motion-group identifier. (required)
         :type motion_group: str
-        :param behavior:
-        :type behavior: Behavior
         :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
@@ -613,11 +565,10 @@ class VirtualRobotBehaviorApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._set_motion_group_behavior_serialize(
+        _param = self._get_motion_group_description_serialize(
             cell=cell,
             controller=controller,
             motion_group=motion_group,
-            behavior=behavior,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -625,9 +576,11 @@ class VirtualRobotBehaviorApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': None,
+            '200': "MotionGroupDescription",
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -635,12 +588,11 @@ class VirtualRobotBehaviorApi:
         return response_data.response
 
 
-    def _set_motion_group_behavior_serialize(
+    def _get_motion_group_description_serialize(
         self,
         cell,
         controller,
         motion_group,
-        behavior,
         _request_auth,
         _content_type,
         _headers,
@@ -667,10 +619,6 @@ class VirtualRobotBehaviorApi:
         if motion_group is not None:
             _path_params['motion-group'] = motion_group
         # process the query parameters
-        if behavior is not None:
-            
-            _query_params.append(('behavior', behavior.value))
-            
         # process the header parameters
         # process the form parameters
         # process the body parameter
@@ -691,8 +639,8 @@ class VirtualRobotBehaviorApi:
         ]
 
         return self.api_client.param_serialize(
-            method='PUT',
-            resource_path='/cells/{cell}/controllers/{controller}/teach-pendant/motion-groups/{motion-group}/behavior',
+            method='GET',
+            resource_path='/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/description',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -706,3 +654,80 @@ class VirtualRobotBehaviorApi:
         )
 
 
+
+    @validate_call
+    async def stream_motion_group_state(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.")], motion_group: Annotated[StrictStr, Field(description="The motion-group identifier.")], response_rate: Annotated[Optional[Annotated[int, Field(le=2147483647, strict=True, ge=0)]], Field(description="Update rate for the response message in milliseconds (ms). Default is 200 ms. We recommend to use the step rate of the controller or a multiple of the step rate as NOVA updates the state in the controller's step rate as well. Minimal response rate is the step rate of controller.")] = None, response_coordinate_system: Annotated[Optional[StrictStr], Field(description="Unique identifier addressing a coordinate system to which the cartesian data of the responses should be converted. Default is the world coordinate system. ")] = None) -> AsyncGenerator[MotionGroupState, None]:  # noqa: E501
+        """Stream State  # noqa: E501
+
+        <!-- theme: success -->  > Websocket endpoint  Receive updates of the motion group state.  The stream will be closed from the server if the controller is disconnected.   # noqa: E501
+        :param request: A StreamMotionGroupStateRequest
+        :info All responses from the server will be yielded
+        :type StreamMotionGroupStateRequest
+        """
+        def format_path_parameters(path):
+            # Find all substrings that are enclosed in brackets
+            bracket_contents = re.findall(r'\{(.*?)\}', path)
+
+            # For each found substring, replace underscores with spaces
+            for content in bracket_contents:
+                content = "{" + content + "}"
+                modified_content = humps.dekebabize(content)
+                path = path.replace(content, modified_content)
+
+            return path
+
+        def append_parameter_connector(url_schema):
+            if not "?" in url_schema:
+                url_schema += "?"
+            else:
+                url_schema += "&"
+            return url_schema
+
+        path = format_path_parameters("/cells/{cell}/controllers/{controller}/motion-groups/{motion-group}/state-stream")
+        path = path.format(cell=cell,controller=controller,motion_group=motion_group,)
+
+        headers = websockets.Headers()
+        tmp_host = self.api_client.configuration.host
+        if self.api_client.configuration.host.startswith("https://"):
+            # Basic Auth
+            if self.api_client.configuration.username:
+                tmp_host = self.api_client.configuration.host.replace("https://", "")
+                tmp_host = f"wss://{self.api_client.configuration.username}:{self.api_client.configuration.password}@{tmp_host}"
+
+            # OAuth2
+            elif self.api_client.configuration.access_token:
+                tmp_host = self.api_client.configuration.host.replace("https://", "")
+                tmp_host = f"wss://{tmp_host}"
+                headers = websockets.Headers([
+                    ("Authorization", f"Bearer {self.api_client.configuration.access_token}")
+                ])
+        else:
+            tmp_host = tmp_host.replace("http://", "ws://")
+
+        url_schema = tmp_host + path
+        if locals().get("response_rate") is not None:
+            url_schema = append_parameter_connector(url_schema)
+            if isinstance(response_rate, list):
+              url_schema += "&".join(["response_rate=" + s for s in response_rate])
+            else:
+              url_schema += "response_rate="+str(response_rate)
+        if locals().get("response_coordinate_system") is not None:
+            url_schema = append_parameter_connector(url_schema)
+            if isinstance(response_coordinate_system, list):
+              url_schema += "&".join(["response_coordinate_system=" + s for s in response_coordinate_system])
+            else:
+              url_schema += "response_coordinate_system="+str(response_coordinate_system)
+        full_url = furl(url_schema)
+
+        async with websockets.connect(full_url.url, open_timeout=10, additional_headers=headers) as websocket:
+            try:
+                async for response in websocket:
+                    response_data = json.loads(response)
+                    if "result" not in response_data:
+                        raise Exception(response_data)
+                    yield MotionGroupState.model_validate(response_data["result"])
+            except websockets.exceptions.ConnectionClosed:
+                return
+            finally:
+                await websocket.close()
+