wandelbots-api-client 25.8.0.dev77__py3-none-any.whl → 25.11.0.dev12__py3-none-any.whl

wandelbots_api_client/v2/models/robot_controller_configuration.py

@@ -3,9 +3,9 @@
 """
     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.

wandelbots_api_client/v2/models/robot_controller_state.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -18,8 +18,9 @@ import re  # noqa: F401
 import json
 
 from datetime import datetime
-from pydantic import BaseModel, ConfigDict, Field, StrictInt, StrictStr
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
 from typing import Any, ClassVar, Dict, List, Optional
+from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.motion_group_state import MotionGroupState
 from wandelbots_api_client.v2.models.operation_mode import OperationMode
 from wandelbots_api_client.v2.models.robot_system_mode import RobotSystemMode
@@ -31,15 +32,15 @@ class RobotControllerState(BaseModel):
     """
     Returns the whole current state of robot controller.
     """ # noqa: E501
-    mode: RobotSystemMode = Field(description="Mode of communication and control between NOVA and the robot controller.")
-    last_error: Optional[List[StrictStr]] = Field(default=None, description="Last error stack encountered during initialization process or after a controller disconnect. At this stage, it's unclear whether the error is fatal.  Evaluate `last_error` to decide whether to remove the controller using `deleteController`. Examples: - Delete required: Host resolution fails repeatedly due to an incorrect IP. - Delete not required: Temporary network delay caused a disconnect; the system will auto-reconnect. ")
-    timestamp: datetime = Field(description="Timestamp indicating when the represented information was received from the robot controller.")
-    sequence_number: StrictInt = Field(description="Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller. The sequence number is reset when the connection to the physical controller is closed and re-established. ")
-    controller: StrictStr = Field(description="Identifier of the configured robot controller.")
-    operation_mode: OperationMode
-    safety_state: SafetyStateType
-    velocity_override: Optional[StrictInt] = Field(default=None, description="If made available by the robot controller, returns the current velocity override in [percentage] for movements adjusted on robot control panel. Valid value range: 1 - 100. ")
-    motion_groups: List[MotionGroupState] = Field(description="State of indicated motion groups. In case of state request via controller all configured motion groups are returned. In case of executing a motion only the affected motion groups are returned. ")
+    mode: RobotSystemMode = Field(description="Mode of communication and control between NOVA and the robot controller.") 
+    last_error: Optional[List[StrictStr]] = Field(default=None, description="Last error stack encountered during initialization process or after a controller disconnect. At this stage, it's unclear whether the error is fatal.  Evaluate `last_error` to decide whether to remove the controller using `deleteController`. Examples: - Delete required: Host resolution fails repeatedly due to an incorrect IP. - Delete not required: Temporary network delay caused a disconnect; the system will auto-reconnect. ") 
+    timestamp: datetime = Field(description="Timestamp indicating when the represented information was received from the robot controller.") 
+    sequence_number: Annotated[int, Field(le=4294967295, strict=True, ge=0)] = Field(description="Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller. The sequence number is reset when the connection to the physical controller is closed and re-established. ") 
+    controller: StrictStr = Field(description="Identifier of the configured robot controller.") 
+    operation_mode: OperationMode 
+    safety_state: SafetyStateType 
+    velocity_override: Optional[Annotated[int, Field(le=100, strict=True, ge=1)]] = Field(default=None, description="If made available by the robot controller, returns the current velocity override in [percentage] for movements adjusted on robot control panel. Valid value range: 1 - 100. ") 
+    motion_groups: List[MotionGroupState] = Field(description="State of indicated motion groups. In case of state request via controller all configured motion groups are returned. In case of executing a motion only the affected motion groups are returned. ") 
     __properties: ClassVar[List[str]] = ["mode", "last_error", "timestamp", "sequence_number", "controller", "operation_mode", "safety_state", "velocity_override", "motion_groups"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/robot_system_mode.py

@@ -3,9 +3,9 @@
 """
     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.

wandelbots_api_client/v2/models/robot_tcp.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -28,11 +28,11 @@ class RobotTcp(BaseModel):
     """
     RobotTcp
     """ # noqa: E501
-    name: Optional[StrictStr] = Field(default=None, description="A readable and changeable name for frontend visualization.")
-    position: Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)] = Field(description="A three-dimensional vector [x, y, z] with double precision. ")
-    orientation: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=4)]] = Field(default=None, description="Describes an orientation in 3D space. A tree-to-four-dimensional vector [x, y, z, w] with double precision. ")
-    orientation_type: Optional[OrientationType] = OrientationType.ROTATION_VECTOR
-    id: StrictStr = Field(description="Identifier of this tcp.")
+    name: Optional[StrictStr] = Field(default=None, description="A readable and changeable name for frontend visualization.") 
+    position: Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)] = Field(description="A three-dimensional vector [x, y, z] with double precision. ") 
+    orientation: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=4)]] = Field(default=None, description="Describes an orientation in 3D space. A tree-to-four-dimensional vector [x, y, z, w] with double precision. ") 
+    orientation_type: Optional[OrientationType] = OrientationType.ROTATION_VECTOR 
+    id: StrictStr = Field(description="Identifier of this tcp.") 
     __properties: ClassVar[List[str]] = ["name", "position", "orientation", "orientation_type", "id"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/robot_tcp_data.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -28,10 +28,10 @@ class RobotTcpData(BaseModel):
     """
     RobotTcpData
     """ # noqa: E501
-    name: Optional[StrictStr] = Field(default=None, description="A readable and changeable name for frontend visualization.")
-    position: Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)] = Field(description="A three-dimensional vector [x, y, z] with double precision. ")
-    orientation: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=4)]] = Field(default=None, description="Describes an orientation in 3D space. A tree-to-four-dimensional vector [x, y, z, w] with double precision. ")
-    orientation_type: Optional[OrientationType] = OrientationType.ROTATION_VECTOR
+    name: Optional[StrictStr] = Field(default=None, description="A readable and changeable name for frontend visualization.") 
+    position: Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)] = Field(description="A three-dimensional vector [x, y, z] with double precision. ") 
+    orientation: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=4)]] = Field(default=None, description="Describes an orientation in 3D space. A tree-to-four-dimensional vector [x, y, z, w] with double precision. ") 
+    orientation_type: Optional[OrientationType] = OrientationType.ROTATION_VECTOR 
     __properties: ClassVar[List[str]] = ["name", "position", "orientation", "orientation_type"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/rrt_connect_algorithm.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -27,12 +27,12 @@ class RRTConnectAlgorithm(BaseModel):
     """
     RRTConnectAlgorithm
     """ # noqa: E501
-    algorithm_name: StrictStr = Field(description="Algorithm discriminator.  RRT Connect algorithm configuration for collision-free path planning. Rapidly-exploring Random Trees (RRT) builds trees of valid configurations by randomly sampling the joint space and connecting feasible points with JointPTP motions. RRT Connect grows two trees simultaneously from start and target positions until they meet. This is a custom implementation optimized for manipulator kinematics and collision checking in industrial contexts. ")
-    max_iterations: Optional[Annotated[int, Field(strict=True, ge=1)]] = Field(default=10000, description="Maximum number of iterations for the RRT Connect algorithm. Higher values increase likelihood of success, but also computation time. ")
-    max_step_size: Optional[Union[StrictFloat, StrictInt]] = Field(default=1, description="Maximum step size for tree extension in joint space.")
-    adaptive_step_size: Optional[StrictBool] = Field(default=True, description="Adjust the maximum step size during the search based on the recent success rate of tree expansion.")
-    apply_smoothing: Optional[StrictBool] = Field(default=True, description="Apply smoothing after the search has succeeded. This will remove as many intermediate points as possible while keeping the path valid.")
-    apply_blending: Optional[StrictBool] = Field(default=True, description="Apply blending after the search has succeeded and smoothing has been applied. This will apply the largest viable blending at each intermediate point.")
+    algorithm_name: str = "RRTConnectAlgorithm"
+    max_iterations: Optional[Annotated[int, Field(strict=True, ge=1)]] = Field(default=10000, description="Maximum number of iterations for the RRT Connect algorithm. Higher values increase likelihood of success, but also computation time. ") 
+    max_step_size: Optional[Union[StrictFloat, StrictInt]] = Field(default=1, description="Maximum step size for tree extension in joint space.") 
+    adaptive_step_size: Optional[StrictBool] = Field(default=True, description="Adjust the maximum step size during the search based on the recent success rate of tree expansion.") 
+    apply_smoothing: Optional[StrictBool] = Field(default=True, description="Apply smoothing after the search has succeeded. This will remove as many intermediate points as possible while keeping the path valid.") 
+    apply_blending: Optional[StrictBool] = Field(default=True, description="Apply blending after the search has succeeded and smoothing has been applied. This will apply the largest viable blending at each intermediate point.") 
     __properties: ClassVar[List[str]] = ["algorithm_name", "max_iterations", "max_step_size", "adaptive_step_size", "apply_smoothing", "apply_blending"]
 
     @field_validator('algorithm_name')

wandelbots_api_client/v2/models/safety_state_type.py

@@ -3,9 +3,9 @@
 """
     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.

wandelbots_api_client/v2/models/service_group.py

@@ -3,9 +3,9 @@
 """
     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.

wandelbots_api_client/v2/models/service_status.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -28,9 +28,9 @@ class ServiceStatus(BaseModel):
     """
     ServiceStatus
     """ # noqa: E501
-    service: StrictStr
-    group: ServiceGroup
-    status: ServiceStatusStatus
+    service: StrictStr 
+    group: ServiceGroup 
+    status: ServiceStatusStatus 
     __properties: ClassVar[List[str]] = ["service", "group", "status"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/service_status_phase.py

@@ -3,9 +3,9 @@
 """
     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.

wandelbots_api_client/v2/models/service_status_response.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -28,8 +28,8 @@ class ServiceStatusResponse(BaseModel):
     """
     Response containing both the overall operating state of the cell and detailed status information for each service within the cell.  The operating state indicates whether the cell is active or inactive, while the service statuses provide specific health and operational information for individual service running in the cell. 
     """ # noqa: E501
-    operating_state: OperatingState
-    service_status: List[ServiceStatus]
+    operating_state: OperatingState 
+    service_status: List[ServiceStatus] 
     __properties: ClassVar[List[str]] = ["operating_state", "service_status"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/service_status_severity.py

@@ -3,9 +3,9 @@
 """
     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.

wandelbots_api_client/v2/models/service_status_status.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -28,9 +28,9 @@ class ServiceStatusStatus(BaseModel):
     """
     ServiceStatusStatus
     """ # noqa: E501
-    severity: ServiceStatusSeverity
-    code: ServiceStatusPhase
-    reason: Optional[StrictStr] = None
+    severity: ServiceStatusSeverity 
+    code: ServiceStatusPhase 
+    reason: Optional[StrictStr] = None 
     __properties: ClassVar[List[str]] = ["severity", "code", "reason"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/set_io.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -19,6 +19,7 @@ import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt
 from typing import Any, ClassVar, Dict, List, Union
+from wandelbots_api_client.v2.models.io_origin import IOOrigin
 from wandelbots_api_client.v2.models.io_value import IOValue
 from typing import Optional, Set
 from typing_extensions import Self
@@ -27,9 +28,10 @@ class SetIO(BaseModel):
     """
     Defines an input/output that should be set upon reaching a specified location on the trajectory.
     """ # noqa: E501
-    io: IOValue
-    location: Union[StrictFloat, StrictInt] = Field(description="The location on the trajectory where the input/output should be set.")
-    __properties: ClassVar[List[str]] = ["io", "location"]
+    io: IOValue 
+    location: Union[StrictFloat, StrictInt] = Field(description="The location on the trajectory where the input/output should be set.") 
+    io_origin: IOOrigin 
+    __properties: ClassVar[List[str]] = ["io", "location", "io_origin"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -90,7 +92,8 @@ class SetIO(BaseModel):
 
         _obj = cls.model_validate({
             "io": IOValue.from_dict(obj["io"]) if obj.get("io") is not None else None,
-            "location": obj.get("location")
+            "location": obj.get("location"),
+            "io_origin": obj.get("io_origin")
         })
         return _obj
 

wandelbots_api_client/v2/models/settable_robot_system_mode.py

@@ -3,9 +3,9 @@
 """
     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.

wandelbots_api_client/v2/models/singularity_type_enum.py

@@ -3,9 +3,9 @@
 """
     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.

wandelbots_api_client/v2/models/sphere.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -26,8 +26,8 @@ class Sphere(BaseModel):
     """
     Defines a spherical shape centred around the origin.
     """ # noqa: E501
-    shape_type: StrictStr
-    radius: Union[StrictFloat, StrictInt] = Field(description="The radius of the sphere in [mm].")
+    shape_type: str = "sphere"
+    radius: Union[StrictFloat, StrictInt] = Field(description="The radius of the sphere in [mm].") 
     __properties: ClassVar[List[str]] = ["shape_type", "radius"]
 
     @field_validator('shape_type')

wandelbots_api_client/v2/models/start_movement_request.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -17,8 +17,8 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict, Field, StrictStr, field_validator
-from typing import Any, ClassVar, Dict, List, Optional
+from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Optional, Union
 from wandelbots_api_client.v2.models.direction import Direction
 from wandelbots_api_client.v2.models.pause_on_io import PauseOnIO
 from wandelbots_api_client.v2.models.set_io import SetIO
@@ -30,19 +30,17 @@ class StartMovementRequest(BaseModel):
     """
     Moves the motion group along a trajectory, added via [planTrajectory](planTrajectory) or [planMotion](planMotion). Trajectories can be executed forwards or backwards(\"in reverse\").  Pause the execution with PauseMovementRequest. Resume execution with StartMovementRequest.  Precondition: To start execution, the motion group must be located at the trajectory's start location specified in InitializeMovementRequest. 
     """ # noqa: E501
-    message_type: Optional[StrictStr] = Field(default='StartMovementRequest', description="Type specifier for server, set automatically. ")
-    direction: Optional[Direction] = Direction.DIRECTION_FORWARD
-    set_outputs: Optional[List[SetIO]] = Field(default=None, description="Attaches a list of output commands to the trajectory. The outputs are set to the specified values right after the specified location was reached. If the specified location is located before the start location (forward direction: value is smaller, backward direction: value is bigger), the output is not set. ")
-    start_on_io: Optional[StartOnIO] = Field(default=None, description="Defines an input/output that is listened to before the movement. Execution starts if the defined comparator evaluates to `true`. ")
-    pause_on_io: Optional[PauseOnIO] = Field(default=None, description="Defines an input/output that is listened to during the movement. Execution pauses if the defined comparator evaluates to `true`. ")
-    __properties: ClassVar[List[str]] = ["message_type", "direction", "set_outputs", "start_on_io", "pause_on_io"]
+    message_type: str = "StartMovementRequest"
+    direction: Optional[Direction] = Direction.DIRECTION_FORWARD 
+    target_location: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g., in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path ") 
+    set_outputs: Optional[List[SetIO]] = Field(default=None, description="Attaches a list of output commands to the trajectory. The outputs are set to the specified values right after the specified location was reached. If the specified location is located before the start location (forward direction: value is smaller, backward direction: value is bigger), the output is not set. ") 
+    start_on_io: Optional[StartOnIO] = Field(default=None, description="Defines an input/output that is listened to before the movement. Execution starts if the defined comparator evaluates to `true`. ") 
+    pause_on_io: Optional[PauseOnIO] = Field(default=None, description="Defines an input/output that is listened to during the movement. Execution pauses if the defined comparator evaluates to `true`. ") 
+    __properties: ClassVar[List[str]] = ["message_type", "direction", "target_location", "set_outputs", "start_on_io", "pause_on_io"]
 
     @field_validator('message_type')
     def message_type_validate_enum(cls, value):
         """Validates the enum"""
-        if value is None:
-            return value
-
         if value not in set(['StartMovementRequest']):
             raise ValueError("must be one of enum values ('StartMovementRequest')")
         return value
@@ -118,8 +116,9 @@ class StartMovementRequest(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "message_type": obj.get("message_type") if obj.get("message_type") is not None else 'StartMovementRequest',
+            "message_type": obj.get("message_type"),
             "direction": obj.get("direction"),
+            "target_location": obj.get("target_location"),
             "set_outputs": [
                 # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
                 #     to allow dicts in lists

wandelbots_api_client/v2/models/start_movement_response.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -26,8 +26,8 @@ class StartMovementResponse(BaseModel):
     """
     Acknowledgment for StartMovementRequest message. ATTENTION: No confirmation that the movement was started. Confirmation that the StartMovementRequest was received and is processed. Fields `execute` and `standstill` of response of [streamMotionGroupState](streamMotionGroupState) signal start of movement execution. 
     """ # noqa: E501
-    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid StartMovementResquest.")
-    kind: StrictStr
+    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid StartMovementResquest.") 
+    kind: str = "START_RECEIVED"
     __properties: ClassVar[List[str]] = ["message", "kind"]
 
     @field_validator('kind')

wandelbots_api_client/v2/models/start_on_io.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -20,6 +20,7 @@ import json
 from pydantic import BaseModel, ConfigDict, Field
 from typing import Any, ClassVar, Dict, List
 from wandelbots_api_client.v2.models.comparator import Comparator
+from wandelbots_api_client.v2.models.io_origin import IOOrigin
 from wandelbots_api_client.v2.models.io_value import IOValue
 from typing import Optional, Set
 from typing_extensions import Self
@@ -28,9 +29,10 @@ class StartOnIO(BaseModel):
     """
     Defines an input/output that the motion should wait for to start the execution.
     """ # noqa: E501
-    io: IOValue
-    comparator: Comparator = Field(description="Comparator for the comparison of two values. Use the measured I/O as the base value (a) and the expected input/output value as the comparator (b): e.g., a > b. ")
-    __properties: ClassVar[List[str]] = ["io", "comparator"]
+    io: IOValue 
+    comparator: Comparator = Field(description="Comparator for the comparison of two values. Use the measured I/O as the base value (a) and the expected input/output value as the comparator (b): e.g., a > b. ") 
+    io_origin: IOOrigin 
+    __properties: ClassVar[List[str]] = ["io", "comparator", "io_origin"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -91,7 +93,8 @@ class StartOnIO(BaseModel):
 
         _obj = cls.model_validate({
             "io": IOValue.from_dict(obj["io"]) if obj.get("io") is not None else None,
-            "comparator": obj.get("comparator")
+            "comparator": obj.get("comparator"),
+            "io_origin": obj.get("io_origin")
         })
         return _obj
 

wandelbots_api_client/v2/models/stream_io_values_response.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -18,8 +18,9 @@ import re  # noqa: F401
 import json
 
 from datetime import datetime
-from pydantic import BaseModel, ConfigDict, Field, StrictInt
+from pydantic import BaseModel, ConfigDict, Field
 from typing import Any, ClassVar, Dict, List
+from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.io_value import IOValue
 from typing import Optional, Set
 from typing_extensions import Self
@@ -28,9 +29,9 @@ class StreamIOValuesResponse(BaseModel):
     """
     Array of input/output values.
     """ # noqa: E501
-    io_values: List[IOValue]
-    timestamp: datetime = Field(description="Timestamp indicating when the represented information was received from the robot controller.")
-    sequence_number: StrictInt = Field(description="Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller. The sequence number is reset when the connection to the physical controller is closed and re-established. ")
+    io_values: List[IOValue] 
+    timestamp: datetime = Field(description="Timestamp indicating when the represented information was received from the robot controller.") 
+    sequence_number: Annotated[int, Field(le=4294967295, strict=True, ge=0)] = Field(description="Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller. The sequence number is reset when the connection to the physical controller is closed and re-established. ") 
     __properties: ClassVar[List[str]] = ["io_values", "timestamp", "sequence_number"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/tcp_offset.py

@@ -3,9 +3,9 @@
 """
     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.
@@ -27,8 +27,8 @@ class TcpOffset(BaseModel):
     """
     TcpOffset
     """ # noqa: E501
-    name: StrictStr = Field(description="A readable and changeable name for frontend visualization.")
-    pose: Pose
+    name: StrictStr = Field(description="A readable and changeable name for frontend visualization.") 
+    pose: Pose 
     __properties: ClassVar[List[str]] = ["name", "pose"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/{tcp_required.py → tcp_required_error.py}

@@ -3,9 +3,9 @@
 """
     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.
@@ -22,11 +22,11 @@ from typing import Any, ClassVar, Dict, List, Optional
 from typing import Optional, Set
 from typing_extensions import Self
 
-class TcpRequired(BaseModel):
+class TcpRequiredError(BaseModel):
     """
     Requested motion group requires TCP to be defined.
     """ # noqa: E501
-    tcp_missing: Optional[Any] = None
+    tcp_missing: Optional[Any] = None 
     __properties: ClassVar[List[str]] = ["tcp_missing"]
 
     model_config = ConfigDict(
@@ -51,7 +51,7 @@ class TcpRequired(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of TcpRequired from a JSON string"""
+        """Create an instance of TcpRequiredError from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -81,7 +81,7 @@ class TcpRequired(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of TcpRequired from a dict"""
+        """Create an instance of TcpRequiredError from a dict"""
         if obj is None:
             return None