wandelbots-api-client 25.9.0.dev2__py3-none-any.whl → 25.10.0.dev47__py3-none-any.whl

wandelbots_api_client/v2/api/store_collision_setups_api.py

@@ -24,7 +24,7 @@ from typing_extensions import Annotated
 from urllib.parse import quote
 
 from pydantic import Field, StrictStr
-from typing import Dict
+from typing import Dict, List
 from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.collision_setup import CollisionSetup
 
@@ -845,6 +845,264 @@ class StoreCollisionSetupsApi:
 
 
 
+    @validate_call
+    async def list_stored_collision_setups_keys(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        _request_timeout: Union[
+            None,
+            Annotated[StrictFloat, Field(gt=0)],
+            Tuple[
+                Annotated[StrictFloat, Field(gt=0)],
+                Annotated[StrictFloat, Field(gt=0)]
+            ]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> List[str]:
+        """List Collision Setup Keys
+
+        Returns a list of keys for stored collision setups. 
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """ # noqa: E501
+
+        _param = self._list_stored_collision_setups_keys_serialize(
+            cell=cell,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "List[str]",
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        ).data
+
+
+    @validate_call
+    async def list_stored_collision_setups_keys_with_http_info(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        _request_timeout: Union[
+            None,
+            Annotated[StrictFloat, Field(gt=0)],
+            Tuple[
+                Annotated[StrictFloat, Field(gt=0)],
+                Annotated[StrictFloat, Field(gt=0)]
+            ]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> ApiResponse[List[str]]:
+        """List Collision Setup Keys
+
+        Returns a list of keys for stored collision setups. 
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """ # noqa: E501
+
+        _param = self._list_stored_collision_setups_keys_serialize(
+            cell=cell,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "List[str]",
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        )
+
+
+    @validate_call
+    async def list_stored_collision_setups_keys_without_preload_content(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        _request_timeout: Union[
+            None,
+            Annotated[StrictFloat, Field(gt=0)],
+            Tuple[
+                Annotated[StrictFloat, Field(gt=0)],
+                Annotated[StrictFloat, Field(gt=0)]
+            ]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> RESTResponseType:
+        """List Collision Setup Keys
+
+        Returns a list of keys for stored collision setups. 
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """ # noqa: E501
+
+        _param = self._list_stored_collision_setups_keys_serialize(
+            cell=cell,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "List[str]",
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        return response_data.response
+
+
+    def _list_stored_collision_setups_keys_serialize(
+        self,
+        cell,
+        _request_auth,
+        _content_type,
+        _headers,
+        _host_index,
+    ) -> RequestSerialized:
+
+        _host = None
+
+        _collection_formats: Dict[str, str] = {
+        }
+
+        _path_params: Dict[str, str] = {}
+        _query_params: List[Tuple[str, str]] = []
+        _header_params: Dict[str, Optional[str]] = _headers or {}
+        _form_params: List[Tuple[str, str]] = []
+        _files: Dict[str, Union[str, bytes]] = {}
+        _body_params: Optional[bytes] = None
+
+        # process the path parameters
+        if cell is not None:
+            _path_params['cell'] = cell
+        # process the query parameters
+        # process the header parameters
+        # process the form parameters
+        # process the body parameter
+
+
+        # set the HTTP header `Accept`
+        _header_params['Accept'] = self.api_client.select_header_accept(
+            [
+                'application/json'
+            ]
+        )
+
+
+        # authentication setting
+        _auth_settings: List[str] = [
+            'BasicAuth', 
+            'BearerAuth'
+        ]
+
+        return self.api_client.param_serialize(
+            method='GET',
+            resource_path='/cells/{cell}/store/collision/setups-keys',
+            path_params=_path_params,
+            query_params=_query_params,
+            header_params=_header_params,
+            body=_body_params,
+            post_params=_form_params,
+            files=_files,
+            auth_settings=_auth_settings,
+            collection_formats=_collection_formats,
+            _host=_host,
+            _request_auth=_request_auth
+        )
+
+
+
     @validate_call
     async def store_collision_setup(
         self,
@@ -866,7 +1124,7 @@ class StoreCollisionSetupsApi:
     ) -> CollisionSetup:
         """Store Collision Setup
 
-        Stores collision setup.  If the collision setup does not exist, it will be created. If the collision setup exists, it will be updated. 
+        Stores collision setup.  - If the collision setup does not exist, it will be created. - If the collision setup exists, it will be updated. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -941,7 +1199,7 @@ class StoreCollisionSetupsApi:
     ) -> ApiResponse[CollisionSetup]:
         """Store Collision Setup
 
-        Stores collision setup.  If the collision setup does not exist, it will be created. If the collision setup exists, it will be updated. 
+        Stores collision setup.  - If the collision setup does not exist, it will be created. - If the collision setup exists, it will be updated. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1016,7 +1274,7 @@ class StoreCollisionSetupsApi:
     ) -> RESTResponseType:
         """Store Collision Setup
 
-        Stores collision setup.  If the collision setup does not exist, it will be created. If the collision setup exists, it will be updated. 
+        Stores collision setup.  - If the collision setup does not exist, it will be created. - If the collision setup exists, it will be updated. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

wandelbots_api_client/v2/api/store_object_api.py

@@ -591,7 +591,7 @@ class StoreObjectApi:
     ) -> bytearray:
         """Get Object
 
-        Get the object.  This request returns the object and any metadata attached to it. 
+        Returns content and metadata of a stored object. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -663,7 +663,7 @@ class StoreObjectApi:
     ) -> ApiResponse[bytearray]:
         """Get Object
 
-        Get the object.  This request returns the object and any metadata attached to it. 
+        Returns content and metadata of a stored object. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -735,7 +735,7 @@ class StoreObjectApi:
     ) -> RESTResponseType:
         """Get Object
 
-        Get the object.  This request returns the object and any metadata attached to it. 
+        Returns content and metadata of a stored object. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -868,7 +868,7 @@ class StoreObjectApi:
     ) -> None:
         """Get Object Metadata
 
-        Get object metadata.  Objects can be large. Therefore this request only returns metadata without fetching the object's content. 
+        Returns metadata. Object content is not returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -940,7 +940,7 @@ class StoreObjectApi:
     ) -> ApiResponse[None]:
         """Get Object Metadata
 
-        Get object metadata.  Objects can be large. Therefore this request only returns metadata without fetching the object's content. 
+        Returns metadata. Object content is not returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1012,7 +1012,7 @@ class StoreObjectApi:
     ) -> RESTResponseType:
         """Get Object Metadata
 
-        Get object metadata.  Objects can be large. Therefore this request only returns metadata without fetching the object's content. 
+        Returns metadata. Object content is not returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1404,7 +1404,7 @@ class StoreObjectApi:
     ) -> None:
         """Store Object
 
-        Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](getObjectMetadata) to verify that the key does not contain objects.  Optional: Specify metadata as a dictionary with names and values. 
+        Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](getObjectMetadata) to verify that the key does not contain objects.  #### Optional Specify metadata as a dictionary with names and values. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1484,7 +1484,7 @@ class StoreObjectApi:
     ) -> ApiResponse[None]:
         """Store Object
 
-        Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](getObjectMetadata) to verify that the key does not contain objects.  Optional: Specify metadata as a dictionary with names and values. 
+        Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](getObjectMetadata) to verify that the key does not contain objects.  #### Optional Specify metadata as a dictionary with names and values. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1564,7 +1564,7 @@ class StoreObjectApi:
     ) -> RESTResponseType:
         """Store Object
 
-        Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](getObjectMetadata) to verify that the key does not contain objects.  Optional: Specify metadata as a dictionary with names and values. 
+        Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](getObjectMetadata) to verify that the key does not contain objects.  #### Optional Specify metadata as a dictionary with names and values. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

wandelbots_api_client/v2/api/trajectory_caching_api.py

@@ -67,7 +67,7 @@ class TrajectoryCachingApi:
     ) -> AddTrajectoryResponse:
         """Add Trajectory
 
-        <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
+        Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable.  <!-- theme: info -->  > #### NOTE > > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -144,7 +144,7 @@ class TrajectoryCachingApi:
     ) -> ApiResponse[AddTrajectoryResponse]:
         """Add Trajectory
 
-        <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
+        Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable.  <!-- theme: info -->  > #### NOTE > > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -221,7 +221,7 @@ class TrajectoryCachingApi:
     ) -> RESTResponseType:
         """Add Trajectory
 
-        <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
+        Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable.  <!-- theme: info -->  > #### NOTE > > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -650,7 +650,7 @@ class TrajectoryCachingApi:
     ) -> None:
         """Delete Trajectory
 
-        Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
+        Delete a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -727,7 +727,7 @@ class TrajectoryCachingApi:
     ) -> ApiResponse[None]:
         """Delete Trajectory
 
-        Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
+        Delete a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -804,7 +804,7 @@ class TrajectoryCachingApi:
     ) -> RESTResponseType:
         """Delete Trajectory
 
-        Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
+        Delete a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -944,7 +944,7 @@ class TrajectoryCachingApi:
     ) -> GetTrajectoryResponse:
         """Get Trajectory
 
-        Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. 
+        Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1021,7 +1021,7 @@ class TrajectoryCachingApi:
     ) -> ApiResponse[GetTrajectoryResponse]:
         """Get Trajectory
 
-        Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. 
+        Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1098,7 +1098,7 @@ class TrajectoryCachingApi:
     ) -> RESTResponseType:
         """Get Trajectory
 
-        Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. 
+        Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1237,7 +1237,7 @@ class TrajectoryCachingApi:
     ) -> ListTrajectoriesResponse:
         """List Trajectories
 
-        List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
+        List currently cached trajectories.  Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1309,7 +1309,7 @@ class TrajectoryCachingApi:
     ) -> ApiResponse[ListTrajectoriesResponse]:
         """List Trajectories
 
-        List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
+        List currently cached trajectories.  Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1381,7 +1381,7 @@ class TrajectoryCachingApi:
     ) -> RESTResponseType:
         """List Trajectories
 
-        List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
+        List currently cached trajectories.  Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

wandelbots_api_client/v2/api/trajectory_execution_api.py

@@ -48,7 +48,7 @@ class TrajectoryExecutionApi:
     async def execute_trajectory(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[ExecuteTrajectoryResponse, None]], AsyncGenerator[ExecuteTrajectoryRequest, None]]) -> None:  # noqa: E501
         """Execute Trajectory  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a previously planned trajectory. Enables the caller to attach input/output actions to the trajectory.  Understanding the concept of location:   The location or path parameter specifies the exact position along a trajectory.   The location is a scalar value that ranges from 0 to `n`,   where `n` denotes the number of motion commands, or trajectory segments, e.g. line, p2p, etc. See [planMotion](planMotion).   Each integer value of the location corresponds to one motion command, e.g. 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group's control mode is not claimed by any other endpoint. - The motion group's joint position are at start location specified with InitializeMovementRequest. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send InitializeMovementRequest to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send StartMovementRequest to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send PauseMovementRequest before the movement has reached its end location. - Change the movement's velocity with PlaybackSpeedRequest after initializing the movement with InitializeMovementRequest.  ### Responses  - InitializeMovementResponse is sent to signal the success or failure of the InitializeMovementRequest. - Movement responses are streamed after a StartMovementRequest successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by InitializeMovementRequest. - Standstill reponse  is sent once the movement has finished or has come to a standstill due to a pause. - PauseMovementResponse is sent to signal the success of the PauseMovementRequest. It does not signal the end of the movement.   End of movement is signaled by Standstill reponse . - PlaybackSpeedResponse is sent to signal the success of the PlaybackSpeedRequest. - MovementError with error details is sent in case of an unexpected error, e.g. controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending PauseMovementRequest and StartMovementRequest. - Send PlaybackSpeedRequest before StartMovementRequest to reduce the velocity of the movement before it starts. - Send PlaybackSpeedRequest repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send PlaybackSpeedRequest with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending StartMovementRequest after the movement has finished.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Provides execution control over a previously [planned trajectory](planTrajectory). Enables the caller to attach input/output actions to the trajectory.  ### Movement behavior  | Virtual controller | Physical controller | |------------------|-------------------| | Desired joint configurations are commanded to each motion group and **applied immediately** | Move to desired **actual joint configuration**, **if possible** |  ### Concept of location    - The location or path parameter specifies the exact position along a trajectory.   - The location is a scalar value that ranges from 0 to `n`, where `n` denotes the number of motion commands, or trajectory segments, e.g., line, p2p, etc. See [planTrajectory](planTrajectory).   - Each integer value of the location corresponds to one motion command, e.g., 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group's control mode is not claimed by any other endpoint. - The motion group's joint position are at start location specified with `InitializeMovementRequest`. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send `InitializeMovementRequest` to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send `StartMovementRequest` to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send `PauseMovementRequest` before the movement has reached its end location. - Change the movement's velocity with `PlaybackSpeedRequest` after initializing the movement with `InitializeMovementRequest`.  ### Responses  - `InitializeMovementResponse` is sent to signal the success or failure of the `InitializeMovementRequest`. - Movement responses are streamed after a `StartMovementRequest` successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by `InitializeMovementRequest`. - Standstill response is sent once the movement has finished or has come to a standstill due to a pause. - `PauseMovementResponse` is sent to signal the success of the `PauseMovementRequest`. It does not signal the end of the movement.   End of movement is signaled by Standstill response. - `PlaybackSpeedResponse` is sent to signal the success of the `PlaybackSpeedRequest`. - `MovementError` with error details is sent in case of an unexpected error, e.g., controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending `PauseMovementRequest` and `StartMovementRequest`. - Send `PlaybackSpeedRequest` before `StartMovementRequest` to reduce the velocity of the movement before it starts. - Send `PlaybackSpeedRequest` repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send `PlaybackSpeedRequest` with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending `StartMovementRequest` after the movement has finished.   # noqa: E501
         :param client_request_generator: An AsyncGenerator that yields request of type ExecuteTrajectoryRequest and takes an AsyncGenerator of ExecuteTrajectoryResponse as an input argument (required)
         :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteTrajectoryResponse, None])
         :type AsyncGenerator[ExecuteTrajectoryRequest, None]
@@ -118,6 +118,9 @@ class TrajectoryExecutionApi:
         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()