wandelbots-api-client 25.8.0.dev88__py3-none-any.whl → 25.10.0.dev47__py3-none-any.whl

wandelbots_api_client/v2/api/cell_api.py

@@ -347,7 +347,7 @@ class CellApi:
     ) -> None:
         """Add Cell
 
-        Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](docs/wandelbots-nova-api/#create-a-cell) for more information.
+        Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](https://docs.wandelbots.io/latest/setup-cell) for more information.
 
         :param cell: (required)
         :type cell: Cell
@@ -421,7 +421,7 @@ class CellApi:
     ) -> ApiResponse[None]:
         """Add Cell
 
-        Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](docs/wandelbots-nova-api/#create-a-cell) for more information.
+        Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](https://docs.wandelbots.io/latest/setup-cell) for more information.
 
         :param cell: (required)
         :type cell: Cell
@@ -495,7 +495,7 @@ class CellApi:
     ) -> RESTResponseType:
         """Add Cell
 
-        Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](docs/wandelbots-nova-api/#create-a-cell) for more information.
+        Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](https://docs.wandelbots.io/latest/setup-cell) for more information.
 
         :param cell: (required)
         :type cell: Cell
@@ -643,7 +643,7 @@ class CellApi:
     ) -> Cell:
         """Configuration
 
-        List all cell resources.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+        List all cell resources. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -711,7 +711,7 @@ class CellApi:
     ) -> ApiResponse[Cell]:
         """Configuration
 
-        List all cell resources.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+        List all cell resources. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -779,7 +779,7 @@ class CellApi:
     ) -> RESTResponseType:
         """Configuration
 
-        List all cell resources.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+        List all cell resources. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

wandelbots_api_client/v2/api/controller_api.py

@@ -23,7 +23,7 @@ from typing import Any, AsyncGenerator, Callable, Dict, List, Optional, Tuple, U
 from typing_extensions import Annotated
 from urllib.parse import quote
 
-from pydantic import Field, StrictInt, StrictStr
+from pydantic import Field, StrictStr
 from typing import List, Optional
 from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.controller_description import ControllerDescription
@@ -71,7 +71,7 @@ class ControllerApi:
     ) -> None:
         """Add Robot Controller
 
-        Add a robot controller to the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Add a robot controller to the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -150,7 +150,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Add Robot Controller
 
-        Add a robot controller to the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Add a robot controller to the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -229,7 +229,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Add Robot Controller
 
-        Add a robot controller to the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Add a robot controller to the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -385,7 +385,7 @@ class ControllerApi:
     ) -> None:
         """Clear Robot Controllers
 
-        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with the 'Add Robot Controller' endpoint.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -458,7 +458,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Clear Robot Controllers
 
-        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with the 'Add Robot Controller' endpoint.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -531,7 +531,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Clear Robot Controllers
 
-        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with the 'Add Robot Controller' endpoint.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -667,7 +667,7 @@ class ControllerApi:
     ) -> None:
         """Delete Robot Controller
 
-        Delete a robot controller from the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete a robot controller from the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -744,7 +744,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Delete Robot Controller
 
-        Delete a robot controller from the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete a robot controller from the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -821,7 +821,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Delete Robot Controller
 
-        Delete a robot controller from the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete a robot controller from the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1243,7 +1243,7 @@ class ControllerApi:
     ) -> CoordinateSystem:
         """Coordinate System
 
-        Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        Request a coordinate system specification for a given identifier. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1324,7 +1324,7 @@ class ControllerApi:
     ) -> ApiResponse[CoordinateSystem]:
         """Coordinate System
 
-        Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        Request a coordinate system specification for a given identifier. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1405,7 +1405,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Coordinate System
 
-        Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        Request a coordinate system specification for a given identifier. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2107,7 +2107,7 @@ class ControllerApi:
     ) -> VirtualRobotConfiguration:
         """Virtual Controller Configuration
 
-        Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+        Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2180,7 +2180,7 @@ class ControllerApi:
     ) -> ApiResponse[VirtualRobotConfiguration]:
         """Virtual Controller Configuration
 
-        Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+        Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2253,7 +2253,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Virtual Controller Configuration
 
-        Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+        Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2387,7 +2387,7 @@ class ControllerApi:
     ) -> List[CoordinateSystem]:
         """List Coordinate Systems
 
-        Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        Lists all specifications of coordinate systems from robot controllers. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2463,7 +2463,7 @@ class ControllerApi:
     ) -> ApiResponse[List[CoordinateSystem]]:
         """List Coordinate Systems
 
-        Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        Lists all specifications of coordinate systems from robot controllers. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2539,7 +2539,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """List Coordinate Systems
 
-        Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        Lists all specifications of coordinate systems from robot controllers. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2938,7 +2938,7 @@ class ControllerApi:
     ) -> None:
         """Set Default Mode
 
-        Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state 'normal' or 'reduced'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
+        Switch between monitor and control usage as default for a robot controller.  Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network, monitoring mode is always possible.  To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state `normal` or `reduced`. If the robot controller is in `manual` operating mode, you have to manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3015,7 +3015,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Set Default Mode
 
-        Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state 'normal' or 'reduced'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
+        Switch between monitor and control usage as default for a robot controller.  Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network, monitoring mode is always possible.  To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state `normal` or `reduced`. If the robot controller is in `manual` operating mode, you have to manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3092,7 +3092,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Set Default Mode
 
-        Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state 'normal' or 'reduced'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
+        Switch between monitor and control usage as default for a robot controller.  Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network, monitoring mode is always possible.  To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state `normal` or `reduced`. If the robot controller is in `manual` operating mode, you have to manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3214,10 +3214,10 @@ class ControllerApi:
 
 
     @validate_call
-    async def stream_free_drive(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.")], response_rate: Optional[StrictInt] = None) -> AsyncGenerator[RobotControllerState, None]:  # noqa: E501
+    async def stream_free_drive(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.")], response_rate: Optional[Annotated[int, Field(le=2147483647, strict=True, ge=0)]] = None) -> AsyncGenerator[RobotControllerState, None]:  # noqa: E501
         """Stream Free Drive  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot.  <!-- theme: danger -->  > **DANGER**  > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being > crushed, drawn in or caught due to the robot's complex movement sequences. Before opening the websocket, ensure that  > - The robot is in a safe state,  > - The right payload is set (e.g by using the (getActivePayload)[getActivePayload] endpoint),  > - No humans or object are within the robot's reach or within the cell.  As long as the websocket connection is open you will get the current state of the robot system in the response in the specified response_rate. If the activation failed, the returned status will return possible reasons for the failure.  Free drive mode is only available for robot controllers that support it, in particular Collobarative Robots (\"Cobots\"). Use the (listController)[listController] endpoint to check if the robot controller supports free drive mode.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot.  <!-- theme: danger -->  > **DANGER** > > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being > crushed, drawn in or caught due to the robot's complex movement sequences. Before opening the websocket, ensure that > > - The robot is in a safe state, > - The right payload is set, > - No humans or object are within the robot's reach or within the cell.  As long as the websocket connection is open you will get the current state of the robot system in the response in the specified `response_rate`. If the activation failed, the returned status will return possible reasons for the failure.  Free drive mode is only available for robot controllers that support it, in particular cobots. Use [listRobotControllers](listRobotControllers) to check if the robot controller supports free drive mode.   # noqa: E501
         :param request: A StreamFreeDriveRequest
         :info All responses from the server will be yielded
         :type StreamFreeDriveRequest
@@ -3280,13 +3280,15 @@ class ControllerApi:
                     yield RobotControllerState.from_dict(response_data["result"])
             except websockets.exceptions.ConnectionClosed:
                 return
+            finally:
+                await websocket.close()
 
 
     @validate_call
-    async def stream_robot_controller_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.")], response_rate: Optional[StrictInt] = None, add_controller_timeout: Optional[StrictInt] = None) -> AsyncGenerator[RobotControllerState, None]:  # noqa: E501
+    async def stream_robot_controller_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.")], response_rate: Optional[Annotated[int, Field(le=2147483647, strict=True, ge=0)]] = None, add_controller_timeout: Optional[Annotated[int, Field(le=2147483647, strict=True, ge=0)]] = None) -> AsyncGenerator[RobotControllerState, None]:  # noqa: E501
         """Stream State  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates.   # noqa: E501
         :param request: A StreamRobotControllerStateRequest
         :info All responses from the server will be yielded
         :type StreamRobotControllerStateRequest
@@ -3355,6 +3357,8 @@ class ControllerApi:
                     yield RobotControllerState.from_dict(response_data["result"])
             except websockets.exceptions.ConnectionClosed:
                 return
+            finally:
+                await websocket.close()
 
 
     @validate_call
@@ -3379,7 +3383,7 @@ class ControllerApi:
     ) -> None:
         """Update Robot Controller
 
-        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3460,7 +3464,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Update Robot Controller
 
-        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3541,7 +3545,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Update Robot Controller
 
-        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

wandelbots_api_client/v2/api/controller_inputs_outputs_api.py

@@ -73,7 +73,7 @@ class ControllerInputsOutputsApi:
     ) -> List[IODescription]:
         """List Descriptions
 
-        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information such as the name of the input/output, the input/output type and the input/output unit. The set of available inputs/outputs is defined by the robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. Except when a filter (direction, value_type, group) is applied. Then only the inputs/outputs matching the filter are returned. 
+        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the robot controller\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -162,7 +162,7 @@ class ControllerInputsOutputsApi:
     ) -> ApiResponse[List[IODescription]]:
         """List Descriptions
 
-        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information such as the name of the input/output, the input/output type and the input/output unit. The set of available inputs/outputs is defined by the robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. Except when a filter (direction, value_type, group) is applied. Then only the inputs/outputs matching the filter are returned. 
+        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the robot controller\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -251,7 +251,7 @@ class ControllerInputsOutputsApi:
     ) -> RESTResponseType:
         """List Descriptions
 
-        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information such as the name of the input/output, the input/output type and the input/output unit. The set of available inputs/outputs is defined by the robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. Except when a filter (direction, value_type, group) is applied. Then only the inputs/outputs matching the filter are returned. 
+        Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the robot controller\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -715,7 +715,7 @@ class ControllerInputsOutputsApi:
     ) -> None:
         """Set Output Values
 
-        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This might take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
+        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This can take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -793,7 +793,7 @@ class ControllerInputsOutputsApi:
     ) -> ApiResponse[None]:
         """Set Output Values
 
-        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This might take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
+        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This can take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -871,7 +871,7 @@ class ControllerInputsOutputsApi:
     ) -> RESTResponseType:
         """Set Output Values
 
-        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This might take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
+        Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This can take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1009,7 +1009,7 @@ class ControllerInputsOutputsApi:
     async def stream_io_values(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], ios: Optional[List[StrictStr]] = None) -> AsyncGenerator[StreamIOValuesResponse, None]:  # noqa: E501
         """Stream Input/Output Values  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  Continuously receive updates of input/output values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > Do not request too many values simultaneously as the request is then likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. Consider that this might lead to a high amount of data transmitted.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Continuously receive updates of input/output values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > If you request many values simultaneously, the request is likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. This can lead to a high amount of data transmitted.   # noqa: E501
         :param request: A StreamIoValuesRequest
         :info All responses from the server will be yielded
         :type StreamIoValuesRequest
@@ -1072,6 +1072,8 @@ class ControllerInputsOutputsApi:
                     yield StreamIOValuesResponse.from_dict(response_data["result"])
             except websockets.exceptions.ConnectionClosed:
                 return
+            finally:
+                await websocket.close()
 
 
     @validate_call
@@ -1095,7 +1097,7 @@ class ControllerInputsOutputsApi:
     ) -> bool:
         """Wait For
 
-        Wait until an input/output reaches a certain value. This call returns as soon as the condition is met or the request fails.  The comparison_type value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the value_type of the input/output, see (listIODescriptions)[listIODescriptions] for more information. Examples: If you want to wait until an analog input (\"AI_1\") is less than 10, you would set io to \"AI_1\" comparison_type to COMPARISON_LESS and only value to 10. If you want to wait until an analog input (\"AI_2\") is greater than 5.0, you would set io to \"AI_2\" comparison_type to COMPARISON_GREATER and only value to 5.0. If you want to wait until a digital input (\"DI_3\") is true, you would set io to \"DI_3\" comparison_type to COMPARISON_EQUAL and only value to true. 
+        Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](listIODescriptions) for more information.  **Examples**  1. Wait until analog input `AI_1` < 10:     ```     io: \"AI_1\"     comparison_type: \"COMPARISON_LESS\"     value: 10     ```  2. Wait until analog input `AI_2` > 5.0:     ```     io: \"AI_2\"     comparison_type: \"COMPARISON_GREATER\"     value: 5.0     ```  3. Wait until digital input `DI_3` is true:     ```     io: \"DI_3\"     comparison_type: \"COMPARISON_EQUAL\"     value: true     ``` 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1172,7 +1174,7 @@ class ControllerInputsOutputsApi:
     ) -> ApiResponse[bool]:
         """Wait For
 
-        Wait until an input/output reaches a certain value. This call returns as soon as the condition is met or the request fails.  The comparison_type value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the value_type of the input/output, see (listIODescriptions)[listIODescriptions] for more information. Examples: If you want to wait until an analog input (\"AI_1\") is less than 10, you would set io to \"AI_1\" comparison_type to COMPARISON_LESS and only value to 10. If you want to wait until an analog input (\"AI_2\") is greater than 5.0, you would set io to \"AI_2\" comparison_type to COMPARISON_GREATER and only value to 5.0. If you want to wait until a digital input (\"DI_3\") is true, you would set io to \"DI_3\" comparison_type to COMPARISON_EQUAL and only value to true. 
+        Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](listIODescriptions) for more information.  **Examples**  1. Wait until analog input `AI_1` < 10:     ```     io: \"AI_1\"     comparison_type: \"COMPARISON_LESS\"     value: 10     ```  2. Wait until analog input `AI_2` > 5.0:     ```     io: \"AI_2\"     comparison_type: \"COMPARISON_GREATER\"     value: 5.0     ```  3. Wait until digital input `DI_3` is true:     ```     io: \"DI_3\"     comparison_type: \"COMPARISON_EQUAL\"     value: true     ``` 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1249,7 +1251,7 @@ class ControllerInputsOutputsApi:
     ) -> RESTResponseType:
         """Wait For
 
-        Wait until an input/output reaches a certain value. This call returns as soon as the condition is met or the request fails.  The comparison_type value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the value_type of the input/output, see (listIODescriptions)[listIODescriptions] for more information. Examples: If you want to wait until an analog input (\"AI_1\") is less than 10, you would set io to \"AI_1\" comparison_type to COMPARISON_LESS and only value to 10. If you want to wait until an analog input (\"AI_2\") is greater than 5.0, you would set io to \"AI_2\" comparison_type to COMPARISON_GREATER and only value to 5.0. If you want to wait until a digital input (\"DI_3\") is true, you would set io to \"DI_3\" comparison_type to COMPARISON_EQUAL and only value to true. 
+        Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](listIODescriptions) for more information.  **Examples**  1. Wait until analog input `AI_1` < 10:     ```     io: \"AI_1\"     comparison_type: \"COMPARISON_LESS\"     value: 10     ```  2. Wait until analog input `AI_2` > 5.0:     ```     io: \"AI_2\"     comparison_type: \"COMPARISON_GREATER\"     value: 5.0     ```  3. Wait until digital input `DI_3` is true:     ```     io: \"DI_3\"     comparison_type: \"COMPARISON_EQUAL\"     value: true     ``` 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

wandelbots_api_client/v2/api/jogging_api.py

@@ -48,7 +48,7 @@ class JoggingApi:
     async def execute_jogging(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], client_request_generator: Callable[[AsyncGenerator[ExecuteJoggingResponse, None]], AsyncGenerator[ExecuteJoggingRequest, None]]) -> None:  # noqa: E501
         """Execute Jogging  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP (Tool Center Point). The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send InitializeJoggingRequest to configure the jogging.  Sets robot controller mode to control mode. Sets rate and coordinate system for the jogging response.  #### 2. Send JointVelocityRequest or TcpVelocityRequest to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with JointVelocityRequest or TcpVelocityRequest. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - InitializeJoggingResponse is sent to signal the success or failure of the InitializeJoggingRequest. - Jogging responses are streamed continuously after an InitializeJoggingRequest is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - JoggingErrorResponse with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the JoggingResponse, verify that the robot control is in the desired state, e.g. standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP. The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Sets rate and coordinate system for the jogging response.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with `JointVelocityRequest` or `TcpVelocityRequest`. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - `InitializeJoggingResponse` is sent to signal the success or failure of the `InitializeJoggingRequest`. - Jogging responses are streamed continuously after an `InitializeJoggingRequest` is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - `JoggingErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the `JoggingResponse`, verify that the robot control is in the desired state, e.g., standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.   # noqa: E501
         :param client_request_generator: An AsyncGenerator that yields request of type ExecuteJoggingRequest and takes an AsyncGenerator of ExecuteJoggingResponse as an input argument (required)
         :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteJoggingResponse, None])
         :type AsyncGenerator[ExecuteJoggingRequest, None]
@@ -118,6 +118,9 @@ class JoggingApi:
         full_url = furl(tmp_host + path)
 
         async with websockets.connect(full_url.url, open_timeout=10, additional_headers=headers) as websocket:
-            async for request in client_request_generator(iterate_responses(websocket)):
-                await websocket.send(request.to_json())
+            try:
+                async for request in client_request_generator(iterate_responses(websocket)):
+                    await websocket.send(request.to_json())
+            finally:
+                await websocket.close()
 

wandelbots_api_client/v2/api/kinematics_api.py

@@ -24,7 +24,6 @@ from typing_extensions import Annotated
 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.forward_kinematics_request import ForwardKinematicsRequest
 from wandelbots_api_client.v2.models.forward_kinematics_response import ForwardKinematicsResponse
@@ -51,7 +50,7 @@ class KinematicsApi:
     async def forward_kinematics(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        forward_kinematics_request: Optional[ForwardKinematicsRequest] = None,
+        forward_kinematics_request: ForwardKinematicsRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -71,7 +70,7 @@ class KinematicsApi:
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param forward_kinematics_request:
+        :param forward_kinematics_request: (required)
         :type forward_kinematics_request: ForwardKinematicsRequest
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -125,7 +124,7 @@ class KinematicsApi:
     async def forward_kinematics_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        forward_kinematics_request: Optional[ForwardKinematicsRequest] = None,
+        forward_kinematics_request: ForwardKinematicsRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -145,7 +144,7 @@ class KinematicsApi:
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param forward_kinematics_request:
+        :param forward_kinematics_request: (required)
         :type forward_kinematics_request: ForwardKinematicsRequest
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -199,7 +198,7 @@ class KinematicsApi:
     async def forward_kinematics_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        forward_kinematics_request: Optional[ForwardKinematicsRequest] = None,
+        forward_kinematics_request: ForwardKinematicsRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -219,7 +218,7 @@ class KinematicsApi:
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param forward_kinematics_request:
+        :param forward_kinematics_request: (required)
         :type forward_kinematics_request: ForwardKinematicsRequest
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -346,7 +345,7 @@ class KinematicsApi:
     async def inverse_kinematics(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        inverse_kinematics_request: Optional[InverseKinematicsRequest] = None,
+        inverse_kinematics_request: InverseKinematicsRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -366,7 +365,7 @@ class KinematicsApi:
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param inverse_kinematics_request:
+        :param inverse_kinematics_request: (required)
         :type inverse_kinematics_request: InverseKinematicsRequest
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -420,7 +419,7 @@ class KinematicsApi:
     async def inverse_kinematics_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        inverse_kinematics_request: Optional[InverseKinematicsRequest] = None,
+        inverse_kinematics_request: InverseKinematicsRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -440,7 +439,7 @@ class KinematicsApi:
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param inverse_kinematics_request:
+        :param inverse_kinematics_request: (required)
         :type inverse_kinematics_request: InverseKinematicsRequest
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
@@ -494,7 +493,7 @@ class KinematicsApi:
     async def inverse_kinematics_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        inverse_kinematics_request: Optional[InverseKinematicsRequest] = None,
+        inverse_kinematics_request: InverseKinematicsRequest,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -514,7 +513,7 @@ class KinematicsApi:
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param inverse_kinematics_request:
+        :param inverse_kinematics_request: (required)
         :type inverse_kinematics_request: InverseKinematicsRequest
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request