wandelbots-api-client 26.1.0.dev54__tar.gz → 26.1.0.dev60__tar.gz

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.1.0.dev54
+Version: 26.1.0.dev60
 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.dev54
+- Package version: 26.1.0.dev60
 
 ## Requirements.
 Python >=3.11, Python < 4.0

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/README.md

@@ -2,7 +2,7 @@
 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.dev54
+- Package version: 26.1.0.dev60
 
 ## Requirements.
 Python >=3.11, Python < 4.0

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots_api_client"
-version = "26.1.0.dev54"
+version = "26.1.0.dev60"
 description = "Wandelbots Python Client: Interact with robots in an easy and intuitive way. "
 authors = [{ name="Copyright (c) 2025 Wandelbots GmbH", email="contact@wandelbots.com" }]
 license = "Apache-2.0"

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/setup.py

@@ -21,7 +21,7 @@ from setuptools import setup, find_packages  # noqa: H301
 # prerequisite: setuptools
 # http://pypi.python.org/pypi/setuptools
 NAME = "wandelbots-api-client"
-VERSION = "26.1.0.dev54"
+VERSION = "26.1.0.dev60"
 PYTHON_REQUIRES = ">= 3.9"
 REQUIRES = [
     "urllib3 >= 2.1.0, < 3.0.0",

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/wandelbots_api_client/__init__.py

@@ -13,7 +13,7 @@
     Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.1.0.dev54"
+__version__ = "26.1.0.dev60"
 
 from . import models
 from . import api

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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.dev54'
+        self.user_agent = 'Wandelbots-Nova-API-Python-Client/26.1.0.dev60'
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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.dev54".\
+               "SDK Package Version: 26.1.0.dev60".\
                format(env=sys.platform, pyversion=sys.version)
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/wandelbots_api_client/v2/__init__.py

@@ -13,7 +13,7 @@
     Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.1.0.dev54"
+__version__ = "26.1.0.dev60"
 
 from . import models
 from . import api

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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.dev54'
+        self.user_agent = 'Wandelbots-Nova-API-Python-Client/26.1.0.dev60'
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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.dev54".\
+               "SDK Package Version: 26.1.0.dev60".\
                format(env=sys.platform, pyversion=sys.version)
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/wandelbots_api_client/v2_pydantic/__init__.py

@@ -13,7 +13,7 @@
     Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.1.0.dev54"
+__version__ = "26.1.0.dev60"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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.dev54'
+        self.user_agent = 'Wandelbots-Nova-API-Python-Client/26.1.0.dev60'
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/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.dev54".\
+               "SDK Package Version: 26.1.0.dev60".\
                format(env=sys.platform, pyversion=sys.version)
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.1.0.dev54 → wandelbots_api_client-26.1.0.dev60}/wandelbots_api_client/v2_pydantic/models.py

@@ -1,6 +1,6 @@
 # generated by datamodel-codegen:
 #   filename:  public.openapi.yaml
-#   timestamp: 2026-01-10T18:10:27+00:00
+#   timestamp: 2026-01-14T18:13:19+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
@@ -3022,6 +3022,15 @@ 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 +3570,6 @@ 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.dev54 → wandelbots_api_client-26.1.0.dev60}/wandelbots_api_client.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.1.0.dev54
+Version: 26.1.0.dev60
 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.dev54
+- Package version: 26.1.0.dev60
 
 ## Requirements.
 Python >=3.11, Python < 4.0