wandelbots-api-client 25.8.0.dev23__py3-none-any.whl → 25.10.0rc2__py3-none-any.whl

wandelbots_api_client/v2/api/virtual_controller_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
@@ -74,7 +73,7 @@ class VirtualControllerApi:
     ) -> None:
         """Add Coordinate Systems
 
-        Adds a coordinate system to the robot controller. 
+        Adds a coordinate system to the robot controller.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is added, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -155,7 +154,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[None]:
         """Add Coordinate Systems
 
-        Adds a coordinate system to the robot controller. 
+        Adds a coordinate system to the robot controller.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is added, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -236,7 +235,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Add Coordinate Systems
 
-        Adds a coordinate system to the robot controller. 
+        Adds a coordinate system to the robot controller.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is added, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -397,7 +396,7 @@ class VirtualControllerApi:
     ) -> None:
         """Add TCP
 
-        Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP's position is within the robot's reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach. 
+        Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange's coordinate system.  > **NOTE** > > Ensure the TCP's position is within the robot's reach. Refer to the robot's documentation or data sheet for details like joint limits or reach.  <!-- theme: info -->  > #### NOTE > > When adding or updating a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the TCP is available for operation. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the TCP may not yet be visible nor usable. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -482,7 +481,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[None]:
         """Add TCP
 
-        Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP's position is within the robot's reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach. 
+        Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange's coordinate system.  > **NOTE** > > Ensure the TCP's position is within the robot's reach. Refer to the robot's documentation or data sheet for details like joint limits or reach.  <!-- theme: info -->  > #### NOTE > > When adding or updating a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the TCP is available for operation. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the TCP may not yet be visible nor usable. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -567,7 +566,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Add TCP
 
-        Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP's position is within the robot's reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach. 
+        Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange's coordinate system.  > **NOTE** > > Ensure the TCP's position is within the robot's reach. Refer to the robot's documentation or data sheet for details like joint limits or reach.  <!-- theme: info -->  > #### NOTE > > When adding or updating a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the TCP is available for operation. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the TCP may not yet be visible nor usable. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -731,9 +730,9 @@ class VirtualControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> None:
-        """Remove Coordinate System
+        """Delete Coordinate System
 
-        Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference. 
+        Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is removed, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -812,9 +811,9 @@ class VirtualControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> ApiResponse[None]:
-        """Remove Coordinate System
+        """Delete Coordinate System
 
-        Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference. 
+        Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is removed, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -893,9 +892,9 @@ class VirtualControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Remove Coordinate System
+        """Delete Coordinate System
 
-        Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference. 
+        Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is removed, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1044,7 +1043,7 @@ class VirtualControllerApi:
     ) -> None:
         """Remove TCP
 
-        Removes the TCP from the motion group. An unknown TCP is a valid input. 
+        Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  <!-- theme: info -->  > #### NOTE > > When removing a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The removal of the TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the then used TCP may not yet be visible nor usable. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1125,7 +1124,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[None]:
         """Remove TCP
 
-        Removes the TCP from the motion group. An unknown TCP is a valid input. 
+        Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  <!-- theme: info -->  > #### NOTE > > When removing a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The removal of the TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the then used TCP may not yet be visible nor usable. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1206,7 +1205,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Remove TCP
 
-        Removes the TCP from the motion group. An unknown TCP is a valid input. 
+        Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  <!-- theme: info -->  > #### NOTE > > When removing a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The removal of the TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the then used TCP may not yet be visible nor usable. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1351,7 +1350,7 @@ class VirtualControllerApi:
     ) -> Flag:
         """Get Emergency Stop State
 
-        Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
+        Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1391,6 +1390,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "Flag",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -1423,7 +1423,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[Flag]:
         """Get Emergency Stop State
 
-        Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
+        Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1463,6 +1463,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "Flag",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -1495,7 +1496,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Get Emergency Stop State
 
-        Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
+        Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1535,6 +1536,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "Flag",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -2200,7 +2202,7 @@ class VirtualControllerApi:
     ) -> OpMode:
         """Get Operation Mode
 
-        Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The operation mode can only be changed via API when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2240,6 +2242,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "OpMode",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -2272,7 +2275,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[OpMode]:
         """Get Operation Mode
 
-        Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The operation mode can only be changed via API when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2312,6 +2315,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "OpMode",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -2344,7 +2348,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Get Operation Mode
 
-        Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The operation mode can only be changed via API when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2384,6 +2388,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "OpMode",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -2477,7 +2482,7 @@ class VirtualControllerApi:
     ) -> CoordinateSystem:
         """Get Mounting
 
-        Gets motion group mounting. The motion group is based on the origin of the returned coordinate system. 
+        Gets motion group mounting.  The motion group is based on the origin of the returned coordinate system. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2554,7 +2559,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[CoordinateSystem]:
         """Get Mounting
 
-        Gets motion group mounting. The motion group is based on the origin of the returned coordinate system. 
+        Gets motion group mounting.  The motion group is based on the origin of the returned coordinate system. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2631,7 +2636,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Get Mounting
 
-        Gets motion group mounting. The motion group is based on the origin of the returned coordinate system. 
+        Gets motion group mounting.  The motion group is based on the origin of the returned coordinate system. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2810,6 +2815,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "List[CoordinateSystem]",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -2882,6 +2888,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "List[CoordinateSystem]",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -2954,6 +2961,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "List[CoordinateSystem]",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -3047,7 +3055,7 @@ class VirtualControllerApi:
     ) -> List[RobotTcp]:
         """List TCPs
 
-        Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes. 
+        Lists TCPs of the motion group.  An empty TCP list is valid, e.g., for external axes. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3124,7 +3132,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[List[RobotTcp]]:
         """List TCPs
 
-        Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes. 
+        Lists TCPs of the motion group.  An empty TCP list is valid, e.g., for external axes. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3201,7 +3209,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """List TCPs
 
-        Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes. 
+        Lists TCPs of the motion group.  An empty TCP list is valid, e.g., for external axes. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3341,7 +3349,7 @@ class VirtualControllerApi:
     ) -> None:
         """Push or Release Emergency Stop
 
-        Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+        Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths.  Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3384,6 +3392,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -3417,7 +3426,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[None]:
         """Push or Release Emergency Stop
 
-        Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+        Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths.  Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3460,6 +3469,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -3493,7 +3503,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Push or Release Emergency Stop
 
-        Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+        Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths.  Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3536,6 +3546,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -3635,7 +3646,7 @@ class VirtualControllerApi:
     ) -> None:
         """Set Motion Group State
 
-        Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur. 
+        Sets the values for joint position, joint velocity or joint acceleration of a motion group state.  The values are immediately applied to the joints of the motion group.  <!-- theme: info -->  > #### NOTE > > Only use the endpoint when the motion group is in monitor mode. If the motion group is controlled, currently jogging or planning motions, > the values are overridden by the controller or an error may occur. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3716,7 +3727,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[None]:
         """Set Motion Group State
 
-        Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur. 
+        Sets the values for joint position, joint velocity or joint acceleration of a motion group state.  The values are immediately applied to the joints of the motion group.  <!-- theme: info -->  > #### NOTE > > Only use the endpoint when the motion group is in monitor mode. If the motion group is controlled, currently jogging or planning motions, > the values are overridden by the controller or an error may occur. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3797,7 +3808,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Set Motion Group State
 
-        Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur. 
+        Sets the values for joint position, joint velocity or joint acceleration of a motion group state.  The values are immediately applied to the joints of the motion group.  <!-- theme: info -->  > #### NOTE > > Only use the endpoint when the motion group is in monitor mode. If the motion group is controlled, currently jogging or planning motions, > the values are overridden by the controller or an error may occur. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3956,7 +3967,7 @@ class VirtualControllerApi:
     ) -> None:
         """Set Operation Mode
 
-        Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        Changes the operation mode of the virtual robot controller to the specified value.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The operation mode can only be changed via API when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3999,6 +4010,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -4032,7 +4044,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[None]:
         """Set Operation Mode
 
-        Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        Changes the operation mode of the virtual robot controller to the specified value.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The operation mode can only be changed via API when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -4075,6 +4087,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -4108,7 +4121,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Set Operation Mode
 
-        Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        Changes the operation mode of the virtual robot controller to the specified value.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The operation mode can only be changed via API when using virtual robot controllers. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -4151,6 +4164,7 @@ class VirtualControllerApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -4250,7 +4264,7 @@ class VirtualControllerApi:
     ) -> CoordinateSystem:
         """Set Mounting
 
-        Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system's origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system. 
+        Sets the motion group mounting by specifying a coordinate system.  The motion group will be based on the coordinate system's origin.  The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  <!-- theme: info -->  > #### Changing the mounting configuration is considered a setup change > > When the mounting is set to a new coordinate system, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or not reflect the new mounting immediately. > - Motion group state and coordinate system alignment may not be immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -4331,7 +4345,7 @@ class VirtualControllerApi:
     ) -> ApiResponse[CoordinateSystem]:
         """Set Mounting
 
-        Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system's origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system. 
+        Sets the motion group mounting by specifying a coordinate system.  The motion group will be based on the coordinate system's origin.  The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  <!-- theme: info -->  > #### Changing the mounting configuration is considered a setup change > > When the mounting is set to a new coordinate system, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or not reflect the new mounting immediately. > - Motion group state and coordinate system alignment may not be immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -4412,7 +4426,7 @@ class VirtualControllerApi:
     ) -> RESTResponseType:
         """Set Mounting
 
-        Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system's origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system. 
+        Sets the motion group mounting by specifying a coordinate system.  The motion group will be based on the coordinate system's origin.  The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  <!-- theme: info -->  > #### Changing the mounting configuration is considered a setup change > > When the mounting is set to a new coordinate system, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or not reflect the new mounting immediately. > - Motion group state and coordinate system alignment may not be immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

wandelbots_api_client/v2/api/virtual_controller_behavior_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
@@ -51,7 +50,7 @@ class VirtualControllerBehaviorApi:
     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[List[ExternalJointStreamDatapoint], None]], AsyncGenerator[ExternalJointStreamRequest, None]]) -> None:  # noqa: E501
         """Stream Joint Configuration  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  This stream sends the commanded state (joint positions, velocities, accelerations, torques) for each motion group of the virtual controller and sets the joint configuration. Moving motion groups on virtual controllers can be executed by using Trajectory Planning and Trajectory Execution. Trajectory Execution commands the desired joint configuration to each 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! > **NOTE** > > This stream provides *commanded* joint states, it **doesn't provide actual joint states**.  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configuration. > **CAUTION** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  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 groups.  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
+        <!-- theme: success -->  > Websocket endpoint  Sends the **commanded** state, e.g., joint positions, velocities, accelerations, torques, for each motion group of the virtual controller and sets the joint configuration.  Use [planTrajectory](planTrajectory) and [executeTrajectory](executeTrajectory) to move motion groups on virtual controllers.  Learn more about the [movement behavior of virtual controllers in comparison to physical controllers](executeTrajectory#movement-behavior).  > **NOTE** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  #### Use cases  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 groups.\\     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 List[ExternalJointStreamDatapoint] as an input argument (required)
         :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[List[ExternalJointStreamDatapoint], None])
         :type AsyncGenerator[ExternalJointsStreamRequest, None]
@@ -121,8 +120,11 @@ class VirtualControllerBehaviorApi:
         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()
 
 
     @validate_call
@@ -185,6 +187,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "CycleTime",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -257,6 +260,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "CycleTime",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -329,6 +333,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "CycleTime",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -421,7 +426,7 @@ class VirtualControllerBehaviorApi:
     ) -> Behavior:
         """Get Behavior
 
-        Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details. 
+        Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -494,7 +499,7 @@ class VirtualControllerBehaviorApi:
     ) -> ApiResponse[Behavior]:
         """Get Behavior
 
-        Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details. 
+        Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -567,7 +572,7 @@ class VirtualControllerBehaviorApi:
     ) -> RESTResponseType:
         """Get Behavior
 
-        Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details. 
+        Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -701,7 +706,7 @@ class VirtualControllerBehaviorApi:
     ) -> None:
         """Set Behavior
 
-        Set virtual controller behavior. 
+        Set virtual controller behavior.  See query parameters for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -744,6 +749,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -777,7 +783,7 @@ class VirtualControllerBehaviorApi:
     ) -> ApiResponse[None]:
         """Set Behavior
 
-        Set virtual controller behavior. 
+        Set virtual controller behavior.  See query parameters for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -820,6 +826,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -853,7 +860,7 @@ class VirtualControllerBehaviorApi:
     ) -> RESTResponseType:
         """Set Behavior
 
-        Set virtual controller behavior. 
+        Set virtual controller behavior.  See query parameters for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -896,6 +903,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,