wandelbots-api-client 26.9.0.dev115__tar.gz → 26.9.0.dev117__tar.gz

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.9.0.dev115
+Version: 26.9.0.dev117
 Summary: Wandelbots Python Client: Interact with robots in an easy and intuitive way. 
 Author: Copyright (c) 2025 Wandelbots GmbH
 Author-email: Copyright (c) 2025 Wandelbots GmbH <contact@wandelbots.com>
@@ -31,7 +31,7 @@ Description-Content-Type: text/markdown
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 2.9.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.9.0.dev115
+- Package version: 26.9.0.dev117
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/README.md

@@ -2,7 +2,7 @@
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 2.9.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.9.0.dev115
+- Package version: 26.9.0.dev117
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots_api_client"
-version = "26.9.0.dev115"
+version = "26.9.0.dev117"
 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-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/__init__.py

@@ -13,7 +13,7 @@ Generated by OpenAPI Generator (https://openapi-generator.tech)
 Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.9.0.dev115"
+__version__ = "26.9.0.dev117"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/api_client.py

@@ -106,7 +106,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.9.0.dev115"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.9.0.dev117"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/configuration.py

@@ -557,7 +557,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 2.9.0 dev\n"
-            "SDK Package Version: 26.9.0.dev115".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.9.0.dev117".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/add_trajectory_request.py

@@ -33,8 +33,15 @@ class AddTrajectoryRequest(BaseModel):
     trajectory: JointTrajectory = Field(
         description="The trajectory consisting of a list of joint positions and an equal number of corresponding timestamps. "
     )
-    tcp: Optional[StrictStr] = Field(default=None, description="Unique identifier of the tool the trajectory is planned for.")
-    __properties: ClassVar[List[str]] = ["motion_group", "trajectory", "tcp"]
+    tcp: Optional[StrictStr] = Field(
+        default=None,
+        description="Unique identifier of the tool the trajectory is planned for. If an external tool is configured this describes the transformation between the flange and the workpiece coordinate system. ",
+    )
+    external_tool_coordinate_system: Optional[StrictStr] = Field(
+        default=None,
+        description="Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation from the workpiece coordinate system attached to the robot and the fixed tool coordinate system. ",
+    )
+    __properties: ClassVar[List[str]] = ["motion_group", "trajectory", "tcp", "external_tool_coordinate_system"]
 
     model_config = ConfigDict(
         validate_by_name=True,
@@ -92,6 +99,7 @@ class AddTrajectoryRequest(BaseModel):
                 "motion_group": obj.get("motion_group"),
                 "trajectory": JointTrajectory.from_dict(obj["trajectory"]) if obj.get("trajectory") is not None else None,
                 "tcp": obj.get("tcp"),
+                "external_tool_coordinate_system": obj.get("external_tool_coordinate_system"),
             }
         )
         return _obj

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/configured_pose_inverse_request.py

@@ -37,6 +37,7 @@ class ConfiguredPoseInverseRequest(BaseModel):
     )
     tcp_poses: List[ConfiguredPose] = Field(description="List of TCP poses for which the inverse solutions are computed. ")
     tcp_offset: Optional[Pose] = None
+    external_tool_coordinate_system: Optional[Pose] = None
     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,
@@ -50,6 +51,7 @@ class ConfiguredPoseInverseRequest(BaseModel):
         "motion_group_model",
         "tcp_poses",
         "tcp_offset",
+        "external_tool_coordinate_system",
         "mounting",
         "joint_position_limits",
         "collision_setups",
@@ -102,6 +104,9 @@ class ConfiguredPoseInverseRequest(BaseModel):
         # override the default output from pydantic by calling `to_dict()` of tcp_offset
         if self.tcp_offset:
             _dict["tcp_offset"] = self.tcp_offset.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of external_tool_coordinate_system
+        if self.external_tool_coordinate_system:
+            _dict["external_tool_coordinate_system"] = self.external_tool_coordinate_system.to_dict()
         # override the default output from pydantic by calling `to_dict()` of mounting
         if self.mounting:
             _dict["mounting"] = self.mounting.to_dict()
@@ -135,6 +140,9 @@ class ConfiguredPoseInverseRequest(BaseModel):
                 "motion_group_model": obj.get("motion_group_model"),
                 "tcp_poses": [ConfiguredPose.from_dict(_item) for _item in obj["tcp_poses"]] if obj.get("tcp_poses") is not None else None,
                 "tcp_offset": Pose.from_dict(obj["tcp_offset"]) if obj.get("tcp_offset") is not None else None,
+                "external_tool_coordinate_system": Pose.from_dict(obj["external_tool_coordinate_system"])
+                if obj.get("external_tool_coordinate_system") is not None
+                else None,
                 "mounting": Pose.from_dict(obj["mounting"]) if obj.get("mounting") is not None else None,
                 "joint_position_limits": [LimitRange.from_dict(_item) for _item in obj["joint_position_limits"]]
                 if obj.get("joint_position_limits") is not None

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/forward_kinematics_request.py

@@ -36,8 +36,15 @@ class ForwardKinematicsRequest(BaseModel):
         description="List of joint positions for which TCP poses are computed. The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm]. "
     )
     tcp_offset: Optional[Pose] = None
+    external_tool_coordinate_system: Optional[Pose] = None
     mounting: Optional[Pose] = Field(default=None, description="Offset from the world frame to the motion group base.")
-    __properties: ClassVar[List[str]] = ["motion_group_model", "joint_positions", "tcp_offset", "mounting"]
+    __properties: ClassVar[List[str]] = [
+        "motion_group_model",
+        "joint_positions",
+        "tcp_offset",
+        "external_tool_coordinate_system",
+        "mounting",
+    ]
 
     model_config = ConfigDict(
         validate_by_name=True,
@@ -79,6 +86,9 @@ class ForwardKinematicsRequest(BaseModel):
         # override the default output from pydantic by calling `to_dict()` of tcp_offset
         if self.tcp_offset:
             _dict["tcp_offset"] = self.tcp_offset.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of external_tool_coordinate_system
+        if self.external_tool_coordinate_system:
+            _dict["external_tool_coordinate_system"] = self.external_tool_coordinate_system.to_dict()
         # override the default output from pydantic by calling `to_dict()` of mounting
         if self.mounting:
             _dict["mounting"] = self.mounting.to_dict()
@@ -98,6 +108,9 @@ class ForwardKinematicsRequest(BaseModel):
                 "motion_group_model": obj.get("motion_group_model"),
                 "joint_positions": obj.get("joint_positions"),
                 "tcp_offset": Pose.from_dict(obj["tcp_offset"]) if obj.get("tcp_offset") is not None else None,
+                "external_tool_coordinate_system": Pose.from_dict(obj["external_tool_coordinate_system"])
+                if obj.get("external_tool_coordinate_system") is not None
+                else None,
                 "mounting": Pose.from_dict(obj["mounting"]) if obj.get("mounting") is not None else None,
             }
         )

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/get_trajectory_response.py

@@ -17,7 +17,7 @@ import re  # noqa: F401
 import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictStr
-from typing import Any, ClassVar, Dict, List
+from typing import Any, ClassVar, Dict, List, Optional
 from wandelbots_api_client.v2.models.joint_trajectory import JointTrajectory
 from typing import Optional, Set
 from typing_extensions import Self
@@ -33,8 +33,14 @@ class GetTrajectoryResponse(BaseModel):
     trajectory: JointTrajectory = Field(
         description="The trajectory consisting of a list of joint positions and an equal number of corresponding timestamps. "
     )
-    tcp: StrictStr = Field(description="Unique identifier of the tool the trajectory is planned for.")
-    __properties: ClassVar[List[str]] = ["motion_group", "trajectory", "tcp"]
+    tcp: StrictStr = Field(
+        description="Unique identifier of the tool the trajectory is planned for. If an external tool is configured this describes the transformation between the flange and the workpiece coordinate system. "
+    )
+    external_tool_coordinate_system: Optional[StrictStr] = Field(
+        default=None,
+        description="Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation from the workpiece coordinate system attached to the robot and the fixed tool coordinate system. ",
+    )
+    __properties: ClassVar[List[str]] = ["motion_group", "trajectory", "tcp", "external_tool_coordinate_system"]
 
     model_config = ConfigDict(
         validate_by_name=True,
@@ -92,6 +98,7 @@ class GetTrajectoryResponse(BaseModel):
                 "motion_group": obj.get("motion_group"),
                 "trajectory": JointTrajectory.from_dict(obj["trajectory"]) if obj.get("trajectory") is not None else None,
                 "tcp": obj.get("tcp"),
+                "external_tool_coordinate_system": obj.get("external_tool_coordinate_system"),
             }
         )
         return _obj

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/initialize_action_chunks_request.py

@@ -32,9 +32,13 @@ class InitializeActionChunksRequest(BaseModel):
     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. ",
+        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. If an external tool is configured this describes the transformation between the flange and the workpiece coordinate system. ",
     )
-    __properties: ClassVar[List[str]] = ["message_type", "motion_group", "tcp"]
+    external_tool_coordinate_system: Optional[StrictStr] = Field(
+        default=None,
+        description="Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation from the workpiece coordinate system attached to the robot and the fixed tool coordinate system. ",
+    )
+    __properties: ClassVar[List[str]] = ["message_type", "motion_group", "tcp", "external_tool_coordinate_system"]
 
     @field_validator("message_type")
     def message_type_validate_enum(cls, value):
@@ -91,5 +95,12 @@ class InitializeActionChunksRequest(BaseModel):
         if not isinstance(obj, dict):
             return cls.model_validate(obj)
 
-        _obj = cls.model_validate({"message_type": obj.get("message_type"), "motion_group": obj.get("motion_group"), "tcp": obj.get("tcp")})
+        _obj = cls.model_validate(
+            {
+                "message_type": obj.get("message_type"),
+                "motion_group": obj.get("motion_group"),
+                "tcp": obj.get("tcp"),
+                "external_tool_coordinate_system": obj.get("external_tool_coordinate_system"),
+            }
+        )
         return _obj

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/initialize_jogging_request.py

@@ -32,9 +32,13 @@ class InitializeJoggingRequest(BaseModel):
     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. ",
+        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. If an external tool is configured this describes the transformation between the flange and the workpiece coordinate system. ",
     )
-    __properties: ClassVar[List[str]] = ["message_type", "motion_group", "tcp"]
+    external_tool_coordinate_system: Optional[StrictStr] = Field(
+        default=None,
+        description="Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation from the workpiece coordinate system attached to the robot and the fixed tool coordinate system. ",
+    )
+    __properties: ClassVar[List[str]] = ["message_type", "motion_group", "tcp", "external_tool_coordinate_system"]
 
     @field_validator("message_type")
     def message_type_validate_enum(cls, value):
@@ -91,5 +95,12 @@ class InitializeJoggingRequest(BaseModel):
         if not isinstance(obj, dict):
             return cls.model_validate(obj)
 
-        _obj = cls.model_validate({"message_type": obj.get("message_type"), "motion_group": obj.get("motion_group"), "tcp": obj.get("tcp")})
+        _obj = cls.model_validate(
+            {
+                "message_type": obj.get("message_type"),
+                "motion_group": obj.get("motion_group"),
+                "tcp": obj.get("tcp"),
+                "external_tool_coordinate_system": obj.get("external_tool_coordinate_system"),
+            }
+        )
         return _obj

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/inverse_kinematics_request.py

@@ -36,6 +36,7 @@ class InverseKinematicsRequest(BaseModel):
     )
     tcp_poses: List[Pose] = Field(description="List of TCP poses for which the inverse solutions are computed. ")
     tcp_offset: Optional[Pose] = None
+    external_tool_coordinate_system: Optional[Pose] = None
     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,
@@ -53,6 +54,7 @@ class InverseKinematicsRequest(BaseModel):
         "motion_group_model",
         "tcp_poses",
         "tcp_offset",
+        "external_tool_coordinate_system",
         "mounting",
         "joint_position_limits",
         "collision_setups",
@@ -106,6 +108,9 @@ class InverseKinematicsRequest(BaseModel):
         # override the default output from pydantic by calling `to_dict()` of tcp_offset
         if self.tcp_offset:
             _dict["tcp_offset"] = self.tcp_offset.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of external_tool_coordinate_system
+        if self.external_tool_coordinate_system:
+            _dict["external_tool_coordinate_system"] = self.external_tool_coordinate_system.to_dict()
         # override the default output from pydantic by calling `to_dict()` of mounting
         if self.mounting:
             _dict["mounting"] = self.mounting.to_dict()
@@ -139,6 +144,9 @@ class InverseKinematicsRequest(BaseModel):
                 "motion_group_model": obj.get("motion_group_model"),
                 "tcp_poses": [Pose.from_dict(_item) for _item in obj["tcp_poses"]] if obj.get("tcp_poses") is not None else None,
                 "tcp_offset": Pose.from_dict(obj["tcp_offset"]) if obj.get("tcp_offset") is not None else None,
+                "external_tool_coordinate_system": Pose.from_dict(obj["external_tool_coordinate_system"])
+                if obj.get("external_tool_coordinate_system") is not None
+                else None,
                 "mounting": Pose.from_dict(obj["mounting"]) if obj.get("mounting") is not None else None,
                 "joint_position_limits": [LimitRange.from_dict(_item) for _item in obj["joint_position_limits"]]
                 if obj.get("joint_position_limits") is not None

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/motion_group_setup.py

@@ -44,7 +44,7 @@ class MotionGroupSetup(BaseModel):
         default=None,
         description="Specifies a tool coordinate system relative to the robot flange. If no external tool offset is given, all cartesian poses are interpreted with regards to the world coordinate system. Recommended for movements of the robot tool relative to a stationary workpiece. ",
     )
-    external_tool_offset: Optional[Pose] = Field(
+    external_tool_coordinate_system: Optional[Pose] = Field(
         default=None,
         description="Specifies an external tool coordinate system relative to the world coordinate system. If specified, all cartesian poses are interpreted with regards to the TCP coordinate system defined by the robot flange and TCP offset. Recommended for movements of a workpiece attached to the robot relative to a stationary tool. ",
     )
@@ -59,7 +59,7 @@ class MotionGroupSetup(BaseModel):
         "cycle_time",
         "mounting",
         "tcp_offset",
-        "external_tool_offset",
+        "external_tool_coordinate_system",
         "global_limits",
         "payload",
         "collision_setups",
@@ -108,9 +108,9 @@ class MotionGroupSetup(BaseModel):
         # override the default output from pydantic by calling `to_dict()` of tcp_offset
         if self.tcp_offset:
             _dict["tcp_offset"] = self.tcp_offset.to_dict()
-        # override the default output from pydantic by calling `to_dict()` of external_tool_offset
-        if self.external_tool_offset:
-            _dict["external_tool_offset"] = self.external_tool_offset.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of external_tool_coordinate_system
+        if self.external_tool_coordinate_system:
+            _dict["external_tool_coordinate_system"] = self.external_tool_coordinate_system.to_dict()
         # override the default output from pydantic by calling `to_dict()` of global_limits
         if self.global_limits:
             _dict["global_limits"] = self.global_limits.to_dict()
@@ -141,8 +141,8 @@ class MotionGroupSetup(BaseModel):
                 "cycle_time": obj.get("cycle_time"),
                 "mounting": Pose.from_dict(obj["mounting"]) if obj.get("mounting") is not None else None,
                 "tcp_offset": Pose.from_dict(obj["tcp_offset"]) if obj.get("tcp_offset") is not None else None,
-                "external_tool_offset": Pose.from_dict(obj["external_tool_offset"])
-                if obj.get("external_tool_offset") is not None
+                "external_tool_coordinate_system": Pose.from_dict(obj["external_tool_coordinate_system"])
+                if obj.get("external_tool_coordinate_system") is not None
                 else None,
                 "global_limits": LimitSet.from_dict(obj["global_limits"]) if obj.get("global_limits") is not None else None,
                 "payload": Payload.from_dict(obj["payload"]) if obj.get("payload") is not None else None,

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/motion_group_state.py

@@ -66,6 +66,9 @@ class MotionGroupState(BaseModel):
         default=None,
         description="Unique identifier addressing the active TCP. Might not be returned for positioners as some do not support TCPs, depending on the model. ",
     )
+    external_tool_coordinate_system: Optional[StrictStr] = Field(
+        default=None, description="Unique identifier of the external tool coordinate system. "
+    )
     tcp_pose: Optional[Pose] = Field(
         default=None,
         description="Pose of the TCP selected on the robot control panel. Positions are in [mm]. Orientations are in [rad]. The pose is relative to the response coordinate system specified in the request. Might not be returned for positioners as some do not support TCPs, depending on the model. ",
@@ -104,6 +107,7 @@ class MotionGroupState(BaseModel):
         "flange_pose",
         "flange_velocity",
         "tcp",
+        "external_tool_coordinate_system",
         "tcp_pose",
         "tcp_velocity",
         "coordinate_system",
@@ -194,6 +198,7 @@ class MotionGroupState(BaseModel):
                 "flange_pose": Pose.from_dict(obj["flange_pose"]) if obj.get("flange_pose") is not None else None,
                 "flange_velocity": CartesianVelocity.from_dict(obj["flange_velocity"]) if obj.get("flange_velocity") is not None else None,
                 "tcp": obj.get("tcp"),
+                "external_tool_coordinate_system": obj.get("external_tool_coordinate_system"),
                 "tcp_pose": Pose.from_dict(obj["tcp_pose"]) if obj.get("tcp_pose") is not None else None,
                 "tcp_velocity": CartesianVelocity.from_dict(obj["tcp_velocity"]) if obj.get("tcp_velocity") is not None else None,
                 "coordinate_system": obj.get("coordinate_system"),

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/project_joint_position_direction_constraint_request.py

@@ -40,6 +40,7 @@ class ProjectJointPositionDirectionConstraintRequest(BaseModel):
     )
     constraint: DirectionConstraint
     tcp_offset: Optional[Pose] = None
+    external_tool_coordinate_system: Optional[Pose] = None
     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,
@@ -54,6 +55,7 @@ class ProjectJointPositionDirectionConstraintRequest(BaseModel):
         "joint_positions",
         "constraint",
         "tcp_offset",
+        "external_tool_coordinate_system",
         "mounting",
         "joint_position_limits",
         "collision_setups",
@@ -102,6 +104,9 @@ class ProjectJointPositionDirectionConstraintRequest(BaseModel):
         # override the default output from pydantic by calling `to_dict()` of tcp_offset
         if self.tcp_offset:
             _dict["tcp_offset"] = self.tcp_offset.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of external_tool_coordinate_system
+        if self.external_tool_coordinate_system:
+            _dict["external_tool_coordinate_system"] = self.external_tool_coordinate_system.to_dict()
         # override the default output from pydantic by calling `to_dict()` of mounting
         if self.mounting:
             _dict["mounting"] = self.mounting.to_dict()
@@ -136,6 +141,9 @@ class ProjectJointPositionDirectionConstraintRequest(BaseModel):
                 "joint_positions": obj.get("joint_positions"),
                 "constraint": DirectionConstraint.from_dict(obj["constraint"]) if obj.get("constraint") is not None else None,
                 "tcp_offset": Pose.from_dict(obj["tcp_offset"]) if obj.get("tcp_offset") is not None else None,
+                "external_tool_coordinate_system": Pose.from_dict(obj["external_tool_coordinate_system"])
+                if obj.get("external_tool_coordinate_system") is not None
+                else None,
                 "mounting": Pose.from_dict(obj["mounting"]) if obj.get("mounting") is not None else None,
                 "joint_position_limits": [LimitRange.from_dict(_item) for _item in obj["joint_position_limits"]]
                 if obj.get("joint_position_limits") is not None

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2/models/trajectory_data.py

@@ -34,8 +34,15 @@ class TrajectoryData(BaseModel):
     data: JointTrajectory = Field(
         description="The trajectory consisting of a list of joint positions and an equal number of corresponding timestamps. "
     )
-    tcp: Optional[StrictStr] = Field(default=None, description="Unique identifier of the tool the trajectory is planned for.")
-    __properties: ClassVar[List[str]] = ["message_type", "motion_group", "data", "tcp"]
+    tcp: Optional[StrictStr] = Field(
+        default=None,
+        description="Unique identifier of the tool the trajectory is planned for. If an external tool is configured this describes the transformation between the flange and the workpiece coordinate system. ",
+    )
+    external_tool_coordinate_system: Optional[StrictStr] = Field(
+        default=None,
+        description="Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation from the workpiece coordinate system attached to the robot and the fixed tool coordinate system. ",
+    )
+    __properties: ClassVar[List[str]] = ["message_type", "motion_group", "data", "tcp", "external_tool_coordinate_system"]
 
     @field_validator("message_type")
     def message_type_validate_enum(cls, value):
@@ -101,6 +108,7 @@ class TrajectoryData(BaseModel):
                 "motion_group": obj.get("motion_group"),
                 "data": JointTrajectory.from_dict(obj["data"]) if obj.get("data") is not None else None,
                 "tcp": obj.get("tcp"),
+                "external_tool_coordinate_system": obj.get("external_tool_coordinate_system"),
             }
         )
         return _obj

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2_pydantic/__init__.py

@@ -13,7 +13,7 @@ Generated by OpenAPI Generator (https://openapi-generator.tech)
 Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.9.0.dev115"
+__version__ = "26.9.0.dev117"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2_pydantic/api_client.py

@@ -106,7 +106,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.9.0.dev115"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.9.0.dev117"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2_pydantic/configuration.py

@@ -557,7 +557,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 2.9.0 dev\n"
-            "SDK Package Version: 26.9.0.dev115".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.9.0.dev117".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.9.0.dev115 → wandelbots_api_client-26.9.0.dev117}/wandelbots_api_client/v2_pydantic/models/models.py

@@ -2370,6 +2370,11 @@ class MotionGroupState(BaseModel):
     Unique identifier addressing the active TCP.
     Might not be returned for positioners as some do not support TCPs, depending on the model.
 
+    """
+    external_tool_coordinate_system: str | None = None
+    """
+    Unique identifier of the external tool coordinate system.
+
     """
     tcp_pose: Pose | None = None
     """
@@ -3000,7 +3005,7 @@ class MotionGroupSetup(BaseModel):
     are interpreted with regards to the world coordinate system. Recommended for movements of the robot tool relative to a stationary workpiece.
 
     """
-    external_tool_offset: Pose | None = None
+    external_tool_coordinate_system: Pose | None = None
     """
     Specifies an external tool coordinate system relative to the world coordinate system. If specified,
     all cartesian poses are interpreted with regards to the TCP coordinate system defined by the robot flange and TCP offset.
@@ -4571,6 +4576,7 @@ class InverseKinematicsRequest(BaseModel):
 
     """
     tcp_offset: Pose | None = None
+    external_tool_coordinate_system: Pose | None = None
     mounting: Pose | None = None
     """
     Offset from the world frame to the motion group base.
@@ -4629,6 +4635,7 @@ class ConfiguredPoseInverseRequest(BaseModel):
 
     """
     tcp_offset: Pose | None = None
+    external_tool_coordinate_system: Pose | None = None
     mounting: Pose | None = None
     """
     Offset from the world frame to the motion group base.
@@ -4815,6 +4822,7 @@ class ForwardKinematicsRequest(BaseModel):
 
     """
     tcp_offset: Pose | None = None
+    external_tool_coordinate_system: Pose | None = None
     mounting: Pose | None = None
     """
     Offset from the world frame to the motion group base.
@@ -4879,6 +4887,7 @@ class ProjectJointPositionDirectionConstraintRequest(BaseModel):
     """
     constraint: DirectionConstraint
     tcp_offset: Pose | None = None
+    external_tool_coordinate_system: Pose | None = None
     mounting: Pose | None = None
     """
     Offset from the world frame to the motion group base.
@@ -4950,7 +4959,15 @@ class AddTrajectoryRequest(BaseModel):
     """
     tcp: str | None = None
     """
-    Unique identifier of the tool the trajectory is planned for.
+    Unique identifier of the tool the trajectory is planned for. If an external tool is configured this describes
+    the transformation between the flange and the workpiece coordinate system.
+
+    """
+    external_tool_coordinate_system: str | None = None
+    """
+    Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation
+    from the workpiece coordinate system attached to the robot and the fixed tool coordinate system.
+
     """
 
 
@@ -5099,7 +5116,15 @@ class GetTrajectoryResponse(BaseModel):
     """
     tcp: str
     """
-    Unique identifier of the tool the trajectory is planned for.
+    Unique identifier of the tool the trajectory is planned for. If an external tool is configured this describes
+    the transformation between the flange and the workpiece coordinate system.
+
+    """
+    external_tool_coordinate_system: str | None = None
+    """
+    Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation
+    from the workpiece coordinate system attached to the robot and the fixed tool coordinate system.
+
     """
 
 
@@ -5134,7 +5159,15 @@ class TrajectoryData(BaseModel):
     """
     tcp: str | None = None
     """
-    Unique identifier of the tool the trajectory is planned for.
+    Unique identifier of the tool the trajectory is planned for. If an external tool is configured this describes
+    the transformation between the flange and the workpiece coordinate system.
+
+    """
+    external_tool_coordinate_system: str | None = None
+    """
+    Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation
+    from the workpiece coordinate system attached to the robot and the fixed tool coordinate system.
+
     """
 
 
@@ -5432,6 +5465,13 @@ class InitializeJoggingRequest(BaseModel):
     tcp: str | None = None
     """
     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.
+    If an external tool is configured this describes the transformation between the flange and the workpiece coordinate system.
+
+    """
+    external_tool_coordinate_system: str | None = None
+    """
+    Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation
+    from the workpiece coordinate system attached to the robot and the fixed tool coordinate system.
 
     """
 
@@ -5574,6 +5614,13 @@ class InitializeActionChunksRequest(BaseModel):
     tcp: str | None = None
     """
     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.
+    If an external tool is configured this describes the transformation between the flange and the workpiece coordinate system.
+
+    """
+    external_tool_coordinate_system: str | None = None
+    """
+    Unique identifier of the external tool coordinate system the trajectory is planned for. When set, all cartesian poses describe the transformation
+    from the workpiece coordinate system attached to the robot and the fixed tool coordinate system.
 
     """