wandelbots-api-client 26.1.0.dev53__py3-none-any.whl → 26.1.0.dev63__py3-none-any.whl

wandelbots_api_client/__init__.py

@@ -13,7 +13,7 @@
     Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.1.0.dev53"
+__version__ = "26.1.0.dev63"
 
 from . import models
 from . import api

wandelbots_api_client/api_client.py

@@ -91,7 +91,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = 'Wandelbots-Nova-API-Python-Client/26.1.0.dev53'
+        self.user_agent = 'Wandelbots-Nova-API-Python-Client/26.1.0.dev63'
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

wandelbots_api_client/configuration.py

@@ -535,7 +535,7 @@ conf = wandelbots_api_client.Configuration(
                "OS: {env}\n"\
                "Python Version: {pyversion}\n"\
                "Version of the API: 1.2.0 dev\n"\
-               "SDK Package Version: 26.1.0.dev53".\
+               "SDK Package Version: 26.1.0.dev63".\
                format(env=sys.platform, pyversion=sys.version)
 
     def get_host_settings(self) -> List[HostSetting]:

wandelbots_api_client/v2/__init__.py

@@ -13,7 +13,7 @@
     Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.1.0.dev53"
+__version__ = "26.1.0.dev63"
 
 from . import models
 from . import api

wandelbots_api_client/v2/api/jogging_api.py

@@ -47,7 +47,7 @@ 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: 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.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the (state stream)[streamMotionGroupState], which can be subscribed to via nats as well.  #### 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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]

wandelbots_api_client/v2/api/motion_group_models_api.py

@@ -26,6 +26,7 @@ from pydantic import Field, StrictBytes, StrictStr
 from typing import Dict, List, Tuple, Union
 from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.collider import Collider
+from wandelbots_api_client.v2.models.kinematic_model import KinematicModel
 
 from wandelbots_api_client.v2.api_client import ApiClient, RequestSerialized
 from wandelbots_api_client.v2.api_response import ApiResponse
@@ -571,6 +572,270 @@ class MotionGroupModelsApi:
 
 
 
+    @validate_call
+    async def get_motion_group_kinematic_model(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _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,
+    ) -> KinematicModel:
+        """Get Kinematics
+
+        Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: 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._get_motion_group_kinematic_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "KinematicModel",
+            '404': None,
+            '500': None,
+        }
+        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 get_motion_group_kinematic_model_with_http_info(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _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[KinematicModel]:
+        """Get Kinematics
+
+        Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: 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._get_motion_group_kinematic_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "KinematicModel",
+            '404': None,
+            '500': None,
+        }
+        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 get_motion_group_kinematic_model_without_preload_content(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _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:
+        """Get Kinematics
+
+        Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: 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._get_motion_group_kinematic_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "KinematicModel",
+            '404': None,
+            '500': None,
+        }
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        return response_data.response
+
+
+    def _get_motion_group_kinematic_model_serialize(
+        self,
+        motion_group_model,
+        _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 motion_group_model is not None:
+            _path_params['motion-group-model'] = motion_group_model
+        # 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='/motion-group-models/{motion-group-model}/kinematic',
+            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 get_motion_group_models(
         self,

wandelbots_api_client/v2/api_client.py

@@ -91,7 +91,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = 'Wandelbots-Nova-API-Python-Client/26.1.0.dev53'
+        self.user_agent = 'Wandelbots-Nova-API-Python-Client/26.1.0.dev63'
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

wandelbots_api_client/v2/configuration.py

@@ -535,7 +535,7 @@ conf = wandelbots_api_client.v2.Configuration(
                "OS: {env}\n"\
                "Python Version: {pyversion}\n"\
                "Version of the API: 2.1.0 dev\n"\
-               "SDK Package Version: 26.1.0.dev53".\
+               "SDK Package Version: 26.1.0.dev63".\
                format(env=sys.platform, pyversion=sys.version)
 
     def get_host_settings(self) -> List[HostSetting]:

wandelbots_api_client/v2/models/__init__.py

@@ -135,6 +135,7 @@ from .joint_limits import JointLimits
 from .joint_trajectory import JointTrajectory
 from .joint_velocity_request import JointVelocityRequest
 from .joint_velocity_response import JointVelocityResponse
+from .kinematic_model import KinematicModel
 from .kuka_controller import KukaController
 from .kuka_controller_rsi_server import KukaControllerRsiServer
 from .license import License
@@ -382,6 +383,7 @@ __all__ = [
     "JointTrajectory", 
     "JointVelocityRequest", 
     "JointVelocityResponse", 
+    "KinematicModel", 
     "KukaController", 
     "KukaControllerRsiServer", 
     "License", 

wandelbots_api_client/v2/models/initialize_jogging_request.py

@@ -29,8 +29,7 @@ class InitializeJoggingRequest(BaseModel):
     message_type: str = "InitializeJoggingRequest"
     motion_group: StrictStr = Field(description="Identifier of the motion group.") 
     tcp: Optional[StrictStr] = Field(default=None, description="Identifier of the tool. Required for robots (all limits, including TCP limits, are respected at all times regardless of the motion). Not required for external axes. ") 
-    response_coordinate_system: Optional[StrictStr] = Field(default=None, description="Unique identifier addressing a coordinate system to which the responses are transformed. If not set, world coordinate system is used. ") 
-    __properties: ClassVar[List[str]] = ["message_type", "motion_group", "tcp", "response_coordinate_system"]
+    __properties: ClassVar[List[str]] = ["message_type", "motion_group", "tcp"]
 
     @field_validator('message_type')
     def message_type_validate_enum(cls, value):
@@ -96,8 +95,7 @@ class InitializeJoggingRequest(BaseModel):
         _obj = cls.model_validate({
             "message_type": obj.get("message_type"),
             "motion_group": obj.get("motion_group"),
-            "tcp": obj.get("tcp"),
-            "response_coordinate_system": obj.get("response_coordinate_system")
+            "tcp": obj.get("tcp")
         })
         return _obj
 

wandelbots_api_client/v2/models/inverse_kinematics_request.py

@@ -17,8 +17,8 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict, Field, StrictStr
-from typing import Any, ClassVar, Dict, List, Optional
+from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional, Union
 from wandelbots_api_client.v2.models.collision_setup import CollisionSetup
 from wandelbots_api_client.v2.models.limit_range import LimitRange
 from wandelbots_api_client.v2.models.pose import Pose
@@ -35,7 +35,8 @@ class InverseKinematicsRequest(BaseModel):
     mounting: Optional[Pose] = Field(default=None, description="Offset from the world frame to the motion group base.") 
     joint_position_limits: Optional[List[LimitRange]] = Field(default=None, description="Joint position limits in [rad], indexed starting from base. ") 
     collision_setups: Optional[Dict[str, CollisionSetup]] = Field(default=None, description="Collision layers to be respected by the motion planner when planning for a single motion group. Each setup represents one layer, e.g., the safety zones and shapes or a fine grained tool and workpiece model. Layers are checked individually along the trajectory and independently of other layers.  To respect the safety zones of the controller and check for collision: 1. Fetch the safety zones, link and tool shapes from the controller. 2. Add the fetched zones, links and tools to a layer. 3. Create other layers from your own 3D data as needed. 4. Plan trajectory. 5. The response highlights the layer in which a collision was detected by key. ") 
-    __properties: ClassVar[List[str]] = ["motion_group_model", "tcp_poses", "tcp_offset", "mounting", "joint_position_limits", "collision_setups"]
+    reference_joint_position: Optional[List[Union[StrictFloat, StrictInt]]] = None 
+    __properties: ClassVar[List[str]] = ["motion_group_model", "tcp_poses", "tcp_offset", "mounting", "joint_position_limits", "collision_setups", "reference_joint_position"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -148,7 +149,8 @@ class InverseKinematicsRequest(BaseModel):
                 for _k, _v in obj["collision_setups"].items()
             )
             if obj.get("collision_setups") is not None
-            else None
+            else None,
+            "reference_joint_position": obj.get("reference_joint_position")
         })
         return _obj
 

wandelbots_api_client/v2/models/kinematic_model.py

@@ -0,0 +1,110 @@
+# coding: utf-8
+
+"""
+    Wandelbots NOVA API
+
+    Interact with robots in an easy and intuitive way. 
+
+    The version of the OpenAPI document: 2.1.0 dev
+    Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+    Do not edit the class manually.
+"""  # noqa: E501
+
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.dh_parameter import DHParameter
+from typing import Optional, Set
+from typing_extensions import Self
+
+class KinematicModel(BaseModel):
+    """
+    Kinematics model described by Denavit-Hartenberg parameters.
+    """ # noqa: E501
+    dh_parameters: Optional[List[DHParameter]] = None 
+    inverse_solver: Optional[StrictStr] = Field(default=None, description="Optional name of the inverse kinematics solver.") 
+    __properties: ClassVar[List[str]] = ["dh_parameters", "inverse_solver"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+        
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of KinematicModel from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([
+        ])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        # override the default output from pydantic by calling `to_dict()` of each item in dh_parameters (list)
+        _items = []
+        if self.dh_parameters:
+            for _item in self.dh_parameters:
+                # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
+                #     to not drop empty elements in lists
+                if _item is not None:
+                    _items.append(_item.to_dict())
+                # <<< End modification
+            _dict['dh_parameters'] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of KinematicModel from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({
+            "dh_parameters": [
+                # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
+                #     to allow dicts in lists
+                DHParameter.from_dict(_item) if hasattr(DHParameter, 'from_dict') else _item
+                # <<< End modification
+                for _item in obj["dh_parameters"]
+            ] if obj.get("dh_parameters") is not None else None,
+            "inverse_solver": obj.get("inverse_solver")
+        })
+        return _obj
+
+

wandelbots_api_client/v2_pydantic/__init__.py

@@ -13,7 +13,7 @@
     Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.1.0.dev53"
+__version__ = "26.1.0.dev63"
 
 from . import api
 from . import api_client

wandelbots_api_client/v2_pydantic/api/jogging_api.py

@@ -47,7 +47,7 @@ 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: 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.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the (state stream)[streamMotionGroupState], which can be subscribed to via nats as well.  #### 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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]

wandelbots_api_client/v2_pydantic/api/motion_group_models_api.py

@@ -26,6 +26,7 @@ from pydantic import Field, StrictBytes, StrictStr
 from typing import Dict, List, Tuple, Union
 from typing_extensions import Annotated
 from wandelbots_api_client.v2_pydantic.models import Collider
+from wandelbots_api_client.v2_pydantic.models import KinematicModel
 
 from wandelbots_api_client.v2_pydantic.api_client import ApiClient, RequestSerialized
 from wandelbots_api_client.v2_pydantic.api_response import ApiResponse
@@ -577,6 +578,273 @@ class MotionGroupModelsApi:
 
 
 
+    @validate_call
+    async def get_motion_group_kinematic_model(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _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,
+    ) -> KinematicModel:
+        """Get Kinematics
+
+        Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: 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._get_motion_group_kinematic_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "KinematicModel",
+            '404': None,
+            '500': None,
+        }        
+        
+        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 get_motion_group_kinematic_model_with_http_info(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _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[KinematicModel]:
+        """Get Kinematics
+
+        Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: 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._get_motion_group_kinematic_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "KinematicModel",
+            '404': None,
+            '500': None,
+        }        
+        
+        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 get_motion_group_kinematic_model_without_preload_content(
+        self,
+        motion_group_model: Annotated[StrictStr, Field(description="Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). ")],
+        _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:
+        """Get Kinematics
+
+        Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models. 
+
+        :param motion_group_model: Unique identifier for the model of a motion group, e.g., `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).  (required)
+        :type motion_group_model: 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._get_motion_group_kinematic_model_serialize(
+            motion_group_model=motion_group_model,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            '200': "KinematicModel",
+            '404': None,
+            '500': None,
+        }        
+
+        response_data = await self.api_client.call_api(
+            *_param,
+            _request_timeout=_request_timeout
+        )
+        return response_data.response
+
+
+    def _get_motion_group_kinematic_model_serialize(
+        self,
+        motion_group_model,
+        _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 motion_group_model is not None:
+            _path_params['motion-group-model'] = motion_group_model
+        # 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='/motion-group-models/{motion-group-model}/kinematic',
+            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 get_motion_group_models(
         self,

wandelbots_api_client/v2_pydantic/api_client.py

@@ -91,7 +91,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = 'Wandelbots-Nova-API-Python-Client/26.1.0.dev53'
+        self.user_agent = 'Wandelbots-Nova-API-Python-Client/26.1.0.dev63'
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

wandelbots_api_client/v2_pydantic/configuration.py

@@ -535,7 +535,7 @@ conf = wandelbots_api_client.v2_pydantic.Configuration(
                "OS: {env}\n"\
                "Python Version: {pyversion}\n"\
                "Version of the API: 2.1.0 dev\n"\
-               "SDK Package Version: 26.1.0.dev53".\
+               "SDK Package Version: 26.1.0.dev63".\
                format(env=sys.platform, pyversion=sys.version)
 
     def get_host_settings(self) -> List[HostSetting]:

wandelbots_api_client/v2_pydantic/models.py

@@ -1,6 +1,6 @@
 # generated by datamodel-codegen:
 #   filename:  public.openapi.yaml
-#   timestamp: 2026-01-10T00:12:37+00:00
+#   timestamp: 2026-01-15T16:36:39+00:00
 
 from __future__ import annotations
 
@@ -49,7 +49,7 @@ class NameList(RootModel):
 
 
 class CellName(RootModel):
-    root: Annotated[str, Field(pattern='^[a-z][a-z0-9-]{0,30}[a-z0-9]$')]
+    root: Annotated[str, Field(pattern='^[a-z][a-z0-9-]{0,30}[a-z0-9]$')] = 'cell'
     """
     A unique name for the cell used as an identifier for addressing the cell in all API calls.
     It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
@@ -417,7 +417,7 @@ class Cell(BaseModel):
 
     """
 
-    name: CellName
+    name: Annotated[CellName, Field(default_factory=lambda: CellName('cell'))]
     description: CellDescription | None = None
     controllers: list[RobotController] | None = None
     apps: list[App] | None = None
@@ -1226,6 +1226,45 @@ class LinkChain(RootModel):
         return iter(self.root)
 
 
+class DHParameter(BaseModel):
+    """
+    A single set of DH parameters.
+    """
+
+    alpha: float | None = None
+    """
+    Angle about x-axis in [rad].
+    """
+    theta: float | None = None
+    """
+    Angle about z-axis in [rad].
+    """
+    a: float | None = None
+    """
+    Offset along x-axis in [mm].
+    """
+    d: float | None = None
+    """
+    Offset along z-axis in [mm].
+    """
+    reverse_rotation_direction: bool | None = None
+    """
+    True, if rotation direction of joint is reversed.
+    """
+
+
+class KinematicModel(BaseModel):
+    """
+    Kinematics model described by Denavit-Hartenberg parameters.
+    """
+
+    dh_parameters: list[DHParameter] | None = None
+    inverse_solver: str | None = None
+    """
+    Optional name of the inverse kinematics solver.
+    """
+
+
 class ControllerDescription(BaseModel):
     """
     The data type to describe a robot controller.
@@ -2255,33 +2294,6 @@ class Payload(BaseModel):
     moment_of_inertia: Vector3d | None = None
 
 
-class DHParameter(BaseModel):
-    """
-    A single set of DH parameters.
-    """
-
-    alpha: float | None = None
-    """
-    Angle about x-axis in [rad].
-    """
-    theta: float | None = None
-    """
-    Angle about z-axis in [rad].
-    """
-    a: float | None = None
-    """
-    Offset along x-axis in [mm].
-    """
-    d: float | None = None
-    """
-    Offset along z-axis in [mm].
-    """
-    reverse_rotation_direction: bool | None = None
-    """
-    True, if rotation direction of joint is reversed.
-    """
-
-
 class MotionGroupDescription(BaseModel):
     """
     The configuration of a motion-group used for motion planning.
@@ -3022,6 +3034,15 @@ class InverseKinematicsRequest(BaseModel):
     """
     joint_position_limits: JointPositionLimits | None = None
     collision_setups: CollisionSetups | None = None
+    reference_joint_position: DoubleArray | None = None
+    """
+    If present, all solutions are shifted to the same periodicity
+    as the reference: Each individual joint angle is shifted
+    by integer multiples of 2 pi (whole revolutions) until it's
+    as close to the reference as possible. The solutions are sorted
+    by ascending distance (L2 norm) from the reference.
+
+    """
 
 
 class InverseKinematicsResponse(BaseModel):
@@ -3561,12 +3582,6 @@ class InitializeJoggingRequest(BaseModel):
     Identifier of the tool. Required for robots (all limits, including TCP limits, are respected at all times regardless of the motion). Not required for external axes.
 
     """
-    response_coordinate_system: str | None = None
-    """
-    Unique identifier addressing a coordinate system to which the responses are transformed.
-    If not set, world coordinate system is used.
-
-    """
 
 
 class JointVelocityRequest(BaseModel):

{wandelbots_api_client-26.1.0.dev53.dist-info → wandelbots_api_client-26.1.0.dev63.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.1.0.dev53
+Version: 26.1.0.dev63
 Summary: Wandelbots Python Client: Interact with robots in an easy and intuitive way. 
 Home-page: 
 Author: Copyright (c) 2025 Wandelbots GmbH
@@ -41,7 +41,7 @@ Dynamic: license-file
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 1.2.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.1.0.dev53
+- Package version: 26.1.0.dev63
 
 ## Requirements.
 Python >=3.11, Python < 4.0

{wandelbots_api_client-26.1.0.dev53.dist-info → wandelbots_api_client-26.1.0.dev63.dist-info}/RECORD

@@ -1,8 +1,8 @@
-wandelbots_api_client/__init__.py,sha256=yb8PW4-7XWWi5Fsw-DHco19RFvp7WaKjqn8O50pe2p8,1026
-wandelbots_api_client/api_client.py,sha256=F-j_RzcF5S8CE5IreVSfshtIPomtLfyyp75109-vN30,27916
+wandelbots_api_client/__init__.py,sha256=8IetRES0V4J1AjvXpVIPHyoj9P_uc-gRnDrRQfPEW8Y,1026
+wandelbots_api_client/api_client.py,sha256=HToWASqeZtuxLHVH9HZowTqQClYJ4OLxZ4Vskjz-6qo,27916
 wandelbots_api_client/api_response.py,sha256=eMxw1mpmJcoGZ3gs9z6jM4oYoZ10Gjk333s9sKxGv7s,652
 wandelbots_api_client/authorization.py,sha256=DyGsVHmD-1D4C9rMEEtQLi5YvbxPxgt7MqKVlwQgC3o,9499
-wandelbots_api_client/configuration.py,sha256=g_zygx8Hxr0Pa-NMcQ3i7C35h01rhrw9FXBWyKZdYj4,18879
+wandelbots_api_client/configuration.py,sha256=U8tdnS_noej23rGxmhw-qRMNVLiArCbg_eXDaJsYJwM,18879
 wandelbots_api_client/exceptions.py,sha256=vt8CfEEb6tv-SLne9AsjB68nYm6jfvl9T1fgq0Dp_2I,6432
 wandelbots_api_client/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 wandelbots_api_client/rest.py,sha256=l217DMul4sTxbJ24bRKuRo9kllBUfIec52829IxTFfA,7260
@@ -327,10 +327,10 @@ wandelbots_api_client/models/virtual_controller.py,sha256=La9EZaZacWBB7IWFR-TKRn
 wandelbots_api_client/models/virtual_controller_types.py,sha256=IIcNSonSxyah0DlHiiW_bSol1P5m5wSY5_DTvU2nj0w,6571
 wandelbots_api_client/models/virtual_robot_configuration.py,sha256=hSE-ATghHP7T0--x1LGmKjO3afMkRAvb7W-qvhgAWlU,2958
 wandelbots_api_client/models/yaskawa_controller.py,sha256=Qni-K_9wsekMuvwd1tjSGUYO6GXzcpqorNe6WceZAiU,3192
-wandelbots_api_client/v2/__init__.py,sha256=zz9WikH94hFs_xTg5sO8zvtwwZ5UibpO9pSZ5zoQrM4,1026
-wandelbots_api_client/v2/api_client.py,sha256=ElWsfTk30hR-1KfQiEWyppFWqvGu3-tFPP4m774eUX8,27934
+wandelbots_api_client/v2/__init__.py,sha256=FVpsHaMNRANdIfa2KWJoTepO5N0JGFtGmWOH4E1FxVw,1026
+wandelbots_api_client/v2/api_client.py,sha256=-1JsveN-qdT--Jw2a7x7yxLUYCtoggM7a2YmL2l10TU,27934
 wandelbots_api_client/v2/api_response.py,sha256=eMxw1mpmJcoGZ3gs9z6jM4oYoZ10Gjk333s9sKxGv7s,652
-wandelbots_api_client/v2/configuration.py,sha256=Ej9pv85GHARoxvAH1lgPKQt4ovKXR5N4uTOOw5KtgKY,18885
+wandelbots_api_client/v2/configuration.py,sha256=eFdO3NqGbE-3Zkz3BNAZM8JnTjc3O6zW5ISx3Q72lyA,18885
 wandelbots_api_client/v2/exceptions.py,sha256=Ca5nkeVDg0VRjfjpyMekJd9c9OXUXfnd3aSOFDxRIZk,6432
 wandelbots_api_client/v2/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 wandelbots_api_client/v2/rest.py,sha256=2NwLYJ9HyXfGOM4vIz-AD_cL-BwZOzl5NvoHm7p73jk,7263
@@ -340,11 +340,11 @@ wandelbots_api_client/v2/api/bus_inputs_outputs_api.py,sha256=QxLWvgRJhtwJI2WuDb
 wandelbots_api_client/v2/api/cell_api.py,sha256=Uiche9Es8LpOKhtL09EOIe6Qu1u7j0MgAUCaYgW7mac,76604
 wandelbots_api_client/v2/api/controller_api.py,sha256=LlqkzCRpg-WSjwRJtn0PAh-4hOa8Vqod0sqbZHxxD5o,164265
 wandelbots_api_client/v2/api/controller_inputs_outputs_api.py,sha256=nP-Nv8CaSluktUWR-dBH2Mwq9-k3E-8GuqnrAut2aoM,61855
-wandelbots_api_client/v2/api/jogging_api.py,sha256=8jOmLOsxGfAYyKLx-rLSg3Gs2mH7QxvQ0c9emj5JoJI,7773
+wandelbots_api_client/v2/api/jogging_api.py,sha256=ua2mW7nAN-W8S2TG6jDBHMUPippiIPwm-daxF2i6kLA,7927
 wandelbots_api_client/v2/api/kinematics_api.py,sha256=yp3xGJYs1N7sK4DP06iYZcClB-mmNBQhMF9N4LLAGqg,25405
 wandelbots_api_client/v2/api/license_api.py,sha256=90kO8MKfCdRb4E4Z9sUMs413G4151LNLMapJNLzBXlE,40658
 wandelbots_api_client/v2/api/motion_group_api.py,sha256=krnvzo5b-w5ai-0T4zZbUvWZAZCDlijDRaEUnTcr_ms,32792
-wandelbots_api_client/v2/api/motion_group_models_api.py,sha256=NvyCSaf4APArRqmxGNLFF5WIHH5uRD85vzQmobId9Qg,47352
+wandelbots_api_client/v2/api/motion_group_models_api.py,sha256=ZoC-pv5Po0xDxDsqnxDMqNeLvfjq61eoGeAeOAVbOVE,59230
 wandelbots_api_client/v2/api/program_api.py,sha256=SxWfih0IxtgKl0GTAggQDqcV6Owzc2iOYVvgy1IPgCw,45939
 wandelbots_api_client/v2/api/robot_configurations_api.py,sha256=n6vKKYO-lp9E1yQlIYsNMh__iNqmt_mWY2ENDXebvUY,10995
 wandelbots_api_client/v2/api/store_collision_components_api.py,sha256=Nb8gg6E_DUiCqgVWBlJrMh6eAX7m2ShZ2LwvAUww60A,165184
@@ -358,7 +358,7 @@ wandelbots_api_client/v2/api/version_api.py,sha256=blrLxwmtrPj6Wq_ujGy1eC9vD_J1G
 wandelbots_api_client/v2/api/virtual_controller_api.py,sha256=n2njQG3KS956_XpuIKXOOw_2ckjBMBR8qhmtC8hydyM,206604
 wandelbots_api_client/v2/api/virtual_controller_behavior_api.py,sha256=tbCeKf5NfaynA85gCwm3dHoLFtrXS6FRcS-4aCo36i8,42162
 wandelbots_api_client/v2/api/virtual_controller_inputs_outputs_api.py,sha256=VnhBKJ5gwGT0RcS6d-kMp_wBngQmQ_FhNIDJTOlC9mg,42446
-wandelbots_api_client/v2/models/__init__.py,sha256=odkdp0j9INkYJONQrabcnuH1KVCm_Usu22PH1uVLz00,19858
+wandelbots_api_client/v2/models/__init__.py,sha256=CtLrVlnhB3RUEzFgc8-I1J_xnphCBKnXyiTI4hrGU8Q,19925
 wandelbots_api_client/v2/models/abb_controller.py,sha256=J4KR0yDwYua1Jt7aPVDEAfVBgPinvJ6D6tE8ZnZhyFM,3860
 wandelbots_api_client/v2/models/abb_controller_egm_server.py,sha256=_-Kk3mAYlJ-beKKITI3nnTI4dQNLuzLIiFtN2jc_J8M,2776
 wandelbots_api_client/v2/models/activate_license_request.py,sha256=wBbxeVV_kGwJfKE6JVARyjrrgxxm32J9DYxqrzYxhcg,2693
@@ -447,7 +447,7 @@ wandelbots_api_client/v2/models/http_validation_error.py,sha256=yuEYvTsBOB5JoXRN
 wandelbots_api_client/v2/models/image_credentials.py,sha256=RnB5MMcibRwdnSsMaQEwLa24gzu3gWIiJNEEf0e0KI8,2791
 wandelbots_api_client/v2/models/inconsistent_trajectory_size_error.py,sha256=nQwAfBP1gLHm8cnA4ck5fmJ5n0gEVfjKBGWqsfX5wGU,3398
 wandelbots_api_client/v2/models/inconsistent_trajectory_size_error_inconsistent_trajectory_size.py,sha256=Tj6ZnIQl-y1nByjpxQWptEpp6-U3xWKYkI5JwthS6cg,3042
-wandelbots_api_client/v2/models/initialize_jogging_request.py,sha256=lam0Bb-8GWd8IIU0CYdl2AlggP4RdFc4l5HemOaYGXw,3758
+wandelbots_api_client/v2/models/initialize_jogging_request.py,sha256=dvq3gPVK8SJ-8EeroMLbqPjlSM_aosxTtGTBzeSZ_IE,3422
 wandelbots_api_client/v2/models/initialize_jogging_response.py,sha256=g0KlElPFn2pI1I-2kNV0YJLTGVIRjDLygTHQxdcagew,3115
 wandelbots_api_client/v2/models/initialize_movement_request.py,sha256=AOs88zSsBorXvSgCmCiFGKZc7n6MXUfxg2OndwPWLJc,5076
 wandelbots_api_client/v2/models/initialize_movement_request_trajectory.py,sha256=l0q6XpzgvDFlRebED5hKTtpDoALTuFuoIzAHrcIiRtc,6161
@@ -456,7 +456,7 @@ wandelbots_api_client/v2/models/integer_value.py,sha256=d6l2pBP718l8sEL4SPpQ-1FP
 wandelbots_api_client/v2/models/invalid_dof_error.py,sha256=BsJJXLeTplkTnTDmiKP3YiVsSmf8F97SMsFrM1_XKGQ,2979
 wandelbots_api_client/v2/models/invalid_dof_error_invalid_dof.py,sha256=FOxL_scfg-NhBm4Yp5wr6fn_o9zkrkrmhIOBGXaLPr4,2978
 wandelbots_api_client/v2/models/inverse_kinematics422_response.py,sha256=qJOpa_DKDCXYA-QcAhTQQxlmpudKXKR3Ni5RSS1EZkI,3835
-wandelbots_api_client/v2/models/inverse_kinematics_request.py,sha256=Y-mNMb7qXBBLy1p0m4fC_mYBNsuz_METh3EZWRCQclM,7659
+wandelbots_api_client/v2/models/inverse_kinematics_request.py,sha256=mYTeAeQRswC5rkcChrVcqkI5GZTGPetBCd0M-2VqeqE,7879
 wandelbots_api_client/v2/models/inverse_kinematics_response.py,sha256=DRgT-kuDtYK1hoMgpkgOSObcZCf8NlPEHVDs8F4pPpE,2663
 wandelbots_api_client/v2/models/inverse_kinematics_validation_error.py,sha256=ORW251P8MwgafCqxho2PSL7faIrvrt8m-wDxP1rgXZk,4468
 wandelbots_api_client/v2/models/inverse_kinematics_validation_error_all_of_data.py,sha256=AoTehZikk39JeKvFcBswusiMjmuc167qP2ZoYJ56Adk,6586
@@ -481,6 +481,7 @@ wandelbots_api_client/v2/models/joint_limits.py,sha256=4oGsGqhXf-5ZkXq3qf3_EokyY
 wandelbots_api_client/v2/models/joint_trajectory.py,sha256=rs7nO4xc42r-N1k2UXBuRMGo27OddZ5jRn_DeZZOv_w,3080
 wandelbots_api_client/v2/models/joint_velocity_request.py,sha256=tIT3Pou-33HLI-9BVnbJiPerpm_4D9NpFjC8UFDbZqU,3265
 wandelbots_api_client/v2/models/joint_velocity_response.py,sha256=Txw_KlgCa-YXYIWeivW24TbipPNIZXhBhGSGMMdx1EE,3106
+wandelbots_api_client/v2/models/kinematic_model.py,sha256=65akUk2_zBcDerKT0SaRz7E4STqUAEFvJX5EiXxlz_E,4000
 wandelbots_api_client/v2/models/kuka_controller.py,sha256=3FYVbPlTjXnU9P1hfWnfq0KJ6DNrMYHE2wM83ATybBs,4076
 wandelbots_api_client/v2/models/kuka_controller_rsi_server.py,sha256=ecZ5PsRm0MpPkBycTFBAqR287BgIhlUKmBZFi34S558,2760
 wandelbots_api_client/v2/models/license.py,sha256=-TDBzT6M0sKPkP6Y9hhCy56oD_5Zat9QnB1TDA0IYgw,4593
@@ -604,12 +605,12 @@ wandelbots_api_client/v2/models/virtual_controller_types.py,sha256=IIcNSonSxyah0
 wandelbots_api_client/v2/models/virtual_robot_configuration.py,sha256=91OOKWd5zM15ohNn0NF7wwi08HJtZTZHQl29ibQb4LY,2958
 wandelbots_api_client/v2/models/wait_for_io_event_request.py,sha256=F5H8xDdWckiC4zwLc7Ce-TMcHeWteUfaUiu6wQ7FMr4,3211
 wandelbots_api_client/v2/models/yaskawa_controller.py,sha256=BQtgT1acj1-hXW5mA33GPcv7utqM5hbRqD0kmN5N2tk,3040
-wandelbots_api_client/v2_pydantic/__init__.py,sha256=_ONKa43ezopgmDEXOwEoGu92NjeoTKoHRE-p-94WvWU,1061
-wandelbots_api_client/v2_pydantic/api_client.py,sha256=uAbWhSQhoGO8_2KaNuGem_nObyOAp-BzA3ET9RlpvPQ,28142
+wandelbots_api_client/v2_pydantic/__init__.py,sha256=6w5pX7aLTXERI-r1wBEumBwYlIvgbtKkKhr_aKiFKzo,1061
+wandelbots_api_client/v2_pydantic/api_client.py,sha256=lSEAeGrSVyR1Lcq5RJUda_DIk0ygw64NwAupaXRqC5A,28142
 wandelbots_api_client/v2_pydantic/api_response.py,sha256=eMxw1mpmJcoGZ3gs9z6jM4oYoZ10Gjk333s9sKxGv7s,652
-wandelbots_api_client/v2_pydantic/configuration.py,sha256=8Qjub8FBxNq5h6BtlBuDZC5w1k_gL5WN5-mNIuoDB0I,18903
+wandelbots_api_client/v2_pydantic/configuration.py,sha256=rOnW7mlQzonqYws-IAgVQezv2vahSioll2sc0qUSBR0,18903
 wandelbots_api_client/v2_pydantic/exceptions.py,sha256=Ca5nkeVDg0VRjfjpyMekJd9c9OXUXfnd3aSOFDxRIZk,6432
-wandelbots_api_client/v2_pydantic/models.py,sha256=jQxJDonl9eHPh-F_aFRB_re9RH-sj5S_FOsetjaFoeQ,129928
+wandelbots_api_client/v2_pydantic/models.py,sha256=Ocw7DM4AYTsFLXPhB4EImrlyxlo1beGvw03TOIV7WPk,130450
 wandelbots_api_client/v2_pydantic/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 wandelbots_api_client/v2_pydantic/rest.py,sha256=327QB3WHUdmmKw_FBmYUGS3syi216LaW-BiTY40rgik,7272
 wandelbots_api_client/v2_pydantic/virtual_controller_types.py,sha256=luk6nO5VP4f8NmaHVrgzWmcw4TaFyNXD3B9WoECdID8,5225
@@ -619,11 +620,11 @@ wandelbots_api_client/v2_pydantic/api/bus_inputs_outputs_api.py,sha256=uBneLeJ_d
 wandelbots_api_client/v2_pydantic/api/cell_api.py,sha256=ZuEkqo4PbqsPdiP_vRAUO32mTl__udMCvn0aj6mvbGY,76914
 wandelbots_api_client/v2_pydantic/api/controller_api.py,sha256=XuNsMaKF1ZIaukuDuoscKBs_3JTEHKT5POu2Jqmwx7M,164728
 wandelbots_api_client/v2_pydantic/api/controller_inputs_outputs_api.py,sha256=JxmyAT8obJnn1JAvFJUuvhS9hfkRb3nF4TW1oLYLS18,62010
-wandelbots_api_client/v2_pydantic/api/jogging_api.py,sha256=Ak70H8bwTPG5U54Ph3usbAtSH6aX7C9WJvPh4u4AWzo,7809
+wandelbots_api_client/v2_pydantic/api/jogging_api.py,sha256=cwflHND9jdF0Vh6Yzsklla5IzC3un9OpFdewW9wiplA,7963
 wandelbots_api_client/v2_pydantic/api/kinematics_api.py,sha256=OXNrHmtZx1y5L2sMIGRbDAqG6KLcf84IikY9Ilcdufc,25444
 wandelbots_api_client/v2_pydantic/api/license_api.py,sha256=jzArFEw0b2VJtpVQRa-74GpycDW0twntJllFTcFrHPI,40836
 wandelbots_api_client/v2_pydantic/api/motion_group_api.py,sha256=kXWHsnHrahohagR2dpMnLIWKxXqD9LonauK6xNCQnFE,32884
-wandelbots_api_client/v2_pydantic/api/motion_group_models_api.py,sha256=LU1iiOV4qmRaB6gfDJz293Dyyfl8cn42sJwNQ-Kmu8c,47551
+wandelbots_api_client/v2_pydantic/api/motion_group_models_api.py,sha256=SsN6bOCIjvsFLrwGToZ4BVl8ZuKd3W2yaITuSwcmvdI,59465
 wandelbots_api_client/v2_pydantic/api/program_api.py,sha256=9ZJbfSiHmdgtGMYP909ujoTPPlFjDbH35gY4lrjbBD0,46123
 wandelbots_api_client/v2_pydantic/api/robot_configurations_api.py,sha256=Y7N04NmEN83_mB31BXtQEKZbafPSdqN3O9wcp9XlOtU,11065
 wandelbots_api_client/v2_pydantic/api/store_collision_components_api.py,sha256=DbBliWnZAeo5wjKwWTccnp825o4KBS-eCjYFha7f8eQ,165856
@@ -637,8 +638,8 @@ wandelbots_api_client/v2_pydantic/api/version_api.py,sha256=Wzp7Jj-lKy0QAzPddcsd
 wandelbots_api_client/v2_pydantic/api/virtual_controller_api.py,sha256=iayURe8F_4IK-12f9ZeQYxWGNmkwFcAnpn3S_J9s8Ag,207225
 wandelbots_api_client/v2_pydantic/api/virtual_controller_behavior_api.py,sha256=YykdkLQQc3zje8MBRog6sjELorPG4Q36GfJAeiBocc4,42312
 wandelbots_api_client/v2_pydantic/api/virtual_controller_inputs_outputs_api.py,sha256=1gYa5YfRF70oNBJFsDpfQCXQt6gEM1-S49mNSNmaMzE,42587
-wandelbots_api_client-26.1.0.dev53.dist-info/licenses/LICENSE,sha256=PJyUaZgTVC0_nJmhRpcbnOcXvmTqJGE6axeSifngIGY,11344
-wandelbots_api_client-26.1.0.dev53.dist-info/METADATA,sha256=7Q7MewantPzEDqOJqOYJgvnkVq35gHuHDrLwv31w7kM,1726
-wandelbots_api_client-26.1.0.dev53.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
-wandelbots_api_client-26.1.0.dev53.dist-info/top_level.txt,sha256=eCDsV95XWqVBSMDe4MRzyOj53-TK-o5WU1Qv_yv493M,22
-wandelbots_api_client-26.1.0.dev53.dist-info/RECORD,,
+wandelbots_api_client-26.1.0.dev63.dist-info/licenses/LICENSE,sha256=PJyUaZgTVC0_nJmhRpcbnOcXvmTqJGE6axeSifngIGY,11344
+wandelbots_api_client-26.1.0.dev63.dist-info/METADATA,sha256=d0cVH3UHjPHn5_4M4rdHG2sHF3Il3m-zdGLSshRmNyQ,1726
+wandelbots_api_client-26.1.0.dev63.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+wandelbots_api_client-26.1.0.dev63.dist-info/top_level.txt,sha256=eCDsV95XWqVBSMDe4MRzyOj53-TK-o5WU1Qv_yv493M,22
+wandelbots_api_client-26.1.0.dev63.dist-info/RECORD,,