wandelbots_api_client 26.6.0.dev69__py3-none-any.whl → 26.6.0.dev71__py3-none-any.whl

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__ = "26.6.0.dev69"
+__version__ = "26.6.0.dev71"
 
 from . import api
 from . import api_client

wandelbots_api_client/v2/api_client.py

@@ -85,7 +85,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev69"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev71"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

wandelbots_api_client/v2/configuration.py

@@ -512,7 +512,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 2.6.0 dev\n"
-            "SDK Package Version: 26.6.0.dev69".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.6.0.dev71".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

wandelbots_api_client/v2/models/__init__.py

@@ -396,6 +396,7 @@ from wandelbots_api_client.v2.models.service_status_status import ServiceStatusS
 from wandelbots_api_client.v2.models.session_response import SessionResponse
 from wandelbots_api_client.v2.models.set_io import SetIO
 from wandelbots_api_client.v2.models.settable_robot_system_mode import SettableRobotSystemMode
+from wandelbots_api_client.v2.models.singularity_handling import SingularityHandling
 from wandelbots_api_client.v2.models.singularity_type_enum import SingularityTypeEnum
 from wandelbots_api_client.v2.models.snap7_io import Snap7IO
 from wandelbots_api_client.v2.models.snap7_io_area import Snap7IOArea

wandelbots_api_client/v2/models/plan_trajectory_request.py

@@ -17,9 +17,10 @@ import re  # noqa: F401
 import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt
-from typing import Any, ClassVar, Dict, List, Union
+from typing import Any, ClassVar, Dict, List, Optional, Union
 from wandelbots_api_client.v2.models.motion_command import MotionCommand
 from wandelbots_api_client.v2.models.motion_group_setup import MotionGroupSetup
+from wandelbots_api_client.v2.models.singularity_handling import SingularityHandling
 from typing import Optional, Set
 from typing_extensions import Self
 from pydantic_core import to_jsonable_python
@@ -39,7 +40,11 @@ class PlanTrajectoryRequest(BaseModel):
     motion_commands: List[MotionCommand] = Field(
         description="List of motion commands. A command consists of a path definition (line, circle, joint_ptp, cartesian_ptp, cubic_spline), blending, and limits override. "
     )
-    __properties: ClassVar[List[str]] = ["motion_group_setup", "start_joint_position", "motion_commands"]
+    singularity_handling: Optional[SingularityHandling] = Field(
+        default=None,
+        description="<!-- theme: danger --> > > **Experimental**  Strategy used to deal with wrist singularities along a cartesian path. ",
+    )
+    __properties: ClassVar[List[str]] = ["motion_group_setup", "start_joint_position", "motion_commands", "singularity_handling"]
 
     model_config = ConfigDict(
         validate_by_name=True,
@@ -108,6 +113,7 @@ class PlanTrajectoryRequest(BaseModel):
                 "motion_commands": [MotionCommand.from_dict(_item) for _item in obj["motion_commands"]]
                 if obj.get("motion_commands") is not None
                 else None,
+                "singularity_handling": obj.get("singularity_handling"),
             }
         )
         return _obj

wandelbots_api_client/v2/models/singularity_handling.py

@@ -0,0 +1,35 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.6.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import json
+from enum import Enum
+from typing_extensions import Self
+
+
+class SingularityHandling(str, Enum):
+    """
+    <!-- theme: danger --> > > **Experimental**  Strategy used to deal with wrist singularities along a cartesian path.  > > - `NONE`: No special handling; a singularity ends the path. > - `PALLETIZING_WRIST`: When performing a palletizing motion, attempt to bridge a wrist singularity by flipping the wrist branch. >   A palletizing motion is a motion where the flange axis of rotation is alway parallel to the base axis of rotation. >   This flag is supported for all robots except FANUC CRX and ABB GoFa. > - `ADAPTIVE_SAMPLING`: Alternative cartesian solver that re-samples the path in proximity to a singularity.
+    """
+
+    """
+    allowed enum values
+    """
+    NONE = "NONE"
+    PALLETIZING_WRIST = "PALLETIZING_WRIST"
+    ADAPTIVE_SAMPLING = "ADAPTIVE_SAMPLING"
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of SingularityHandling from a JSON string"""
+        return cls(json.loads(json_str))

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__ = "26.6.0.dev69"
+__version__ = "26.6.0.dev71"
 
 from . import api
 from . import api_client

wandelbots_api_client/v2_pydantic/api_client.py

@@ -85,7 +85,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev69"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev71"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

wandelbots_api_client/v2_pydantic/configuration.py

@@ -512,7 +512,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 2.6.0 dev\n"
-            "SDK Package Version: 26.6.0.dev69".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.6.0.dev71".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

wandelbots_api_client/v2_pydantic/models/__init__.py

@@ -1,6 +1,6 @@
 # generated by datamodel-codegen:
-#   filename:  tmpcmecasqp
-#   timestamp: 2026-07-10T06:11:20+00:00
+#   filename:  tmp79xaghx7
+#   timestamp: 2026-07-10T11:19:37+00:00
 
 from __future__ import annotations
 
@@ -399,6 +399,7 @@ from .models import (
     SessionResponse,
     SetIO,
     SettableRobotSystemMode,
+    SingularityHandling,
     SingularityTypeEnum,
     Snap7IO,
     Snap7IOArea,
@@ -841,6 +842,7 @@ __all__ = [
     "SessionResponse",
     "SetIO",
     "SettableRobotSystemMode",
+    "SingularityHandling",
     "SingularityTypeEnum",
     "Snap7IO",
     "Snap7IOArea",

wandelbots_api_client/v2_pydantic/models/models.py

@@ -1,6 +1,6 @@
 # generated by datamodel-codegen:
 #   filename:  models.yaml
-#   timestamp: 2026-07-10T06:11:20+00:00
+#   timestamp: 2026-07-10T11:19:37+00:00
 
 from __future__ import annotations
 from pydantic import AnyUrl, AwareDatetime, BaseModel, EmailStr, Field, RootModel
@@ -3586,6 +3586,28 @@ class MotionCommand(BaseModel):
     ) = Field(..., discriminator="path_definition_name")
 
 
+class SingularityHandling(Enum):
+    """
+    <!-- theme: danger -->
+    >
+    > **Experimental**
+
+    Strategy used to deal with wrist singularities along a cartesian path.
+
+    >
+    > - `NONE`: No special handling; a singularity ends the path.
+    > - `PALLETIZING_WRIST`: When performing a palletizing motion, attempt to bridge a wrist singularity by flipping the wrist branch.
+    >   A palletizing motion is a motion where the flange axis of rotation is alway parallel to the base axis of rotation.
+    >   This flag is supported for all robots except FANUC CRX and ABB GoFa.
+    > - `ADAPTIVE_SAMPLING`: Alternative cartesian solver that re-samples the path in proximity to a singularity.
+
+    """
+
+    NONE = "NONE"
+    PALLETIZING_WRIST = "PALLETIZING_WRIST"
+    ADAPTIVE_SAMPLING = "ADAPTIVE_SAMPLING"
+
+
 class PlanTrajectoryRequest(BaseModel):
     motion_group_setup: MotionGroupSetup
     """
@@ -3605,6 +3627,15 @@ class PlanTrajectoryRequest(BaseModel):
     List of motion commands. A command consists of a path definition (line, circle, joint_ptp, cartesian_ptp, cubic_spline), blending, and limits override.
 
     """
+    singularity_handling: SingularityHandling = SingularityHandling.NONE
+    """
+    <!-- theme: danger -->
+    >
+    > **Experimental**
+
+    Strategy used to deal with wrist singularities along a cartesian path.
+
+    """
 
 
 class JointTrajectory(BaseModel):

{wandelbots_api_client-26.6.0.dev69.dist-info → wandelbots_api_client-26.6.0.dev71.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.6.0.dev69
+Version: 26.6.0.dev71
 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: 2.6.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.6.0.dev69
+- Package version: 26.6.0.dev71
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.6.0.dev69.dist-info → wandelbots_api_client-26.6.0.dev71.dist-info}/RECORD

@@ -1,6 +1,6 @@
 wandelbots_api_client/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 wandelbots_api_client/authorization.py,sha256=QNd828qdNPI-ctZ2hteyFgqLnd7zpIfEehxbfxJ75-U,7979
-wandelbots_api_client/v2/__init__.py,sha256=T67max_7BYrN8NH-EZ_Vfi2HVJAytOXyK_jxvMcB1Jg,1032
+wandelbots_api_client/v2/__init__.py,sha256=php4eSDAqNLT4STkFN3ME258ip1Wm1BNnLD1z00c4pA,1032
 wandelbots_api_client/v2/api/__init__.py,sha256=P0yGp2xWLeEPi0maOq33OfqhAM3pyWPwtc5AJpdTp8Y,1967
 wandelbots_api_client/v2/api/application_api.py,sha256=nVY1ZFCeazTJOou0UKhtAaFURbixCIFAl-AIAFvn4-8,69559
 wandelbots_api_client/v2/api/bus_inputs_outputs_api.py,sha256=3V_7OHnjzC0LnS-jAnEhb_Yv90TGnAP-egURffcUIcs,267414
@@ -27,11 +27,11 @@ wandelbots_api_client/v2/api/version_api.py,sha256=1dAhtFz73CmB6F8fMOgsLGjCWq4w6
 wandelbots_api_client/v2/api/virtual_controller_api.py,sha256=nQ_rkwRufKGKGHB3QIjm7i771tqKRJGlt8nGxWupMPI,291431
 wandelbots_api_client/v2/api/virtual_controller_behavior_api.py,sha256=ByeJFFto88jrhAu8LpXAuHosXXIKpks5rSY8ZOWUdG4,41046
 wandelbots_api_client/v2/api/virtual_controller_inputs_outputs_api.py,sha256=OcQg8mxoQqZLHpByvSY3iqWNLia8rsxlvdpwlc02wb0,42027
-wandelbots_api_client/v2/api_client.py,sha256=yZynmf1qptUWi7d-LmsPWOQXL1UongecCv08sFxXyD4,27803
+wandelbots_api_client/v2/api_client.py,sha256=F9ey2kIlav3b8y1Bc_KD4A0YvG4OL-KOlcKlvUM-E48,27803
 wandelbots_api_client/v2/api_response.py,sha256=WhxwYDSMm6wPixp9CegO8dJzjFxDz3JF1yCq9s0ZqKE,639
-wandelbots_api_client/v2/configuration.py,sha256=8P4UKzizUdPXBeFsNi632zyAqfXPae9K_dMhcGew-NA,18047
+wandelbots_api_client/v2/configuration.py,sha256=b0ADhyJyH3hsfbRWoBZ291_8H_Pe8jOuiFXTr_S2R-0,18047
 wandelbots_api_client/v2/exceptions.py,sha256=7XIPwMCrxI3N-TgSYabwGXMOROXRQdrJA2wOpyaRC1A,6393
-wandelbots_api_client/v2/models/__init__.py,sha256=xE9DzCj5bx5jSc_Y5Jt5BfI3CW8fUhyQy33Jh8M6esQ,36996
+wandelbots_api_client/v2/models/__init__.py,sha256=7Aj1zfex6MsLl_U0KSff_fIAA8vzHhEsuR_sJtPKdXk,37081
 wandelbots_api_client/v2/models/abb_confdata.py,sha256=lXK9rOsDRyCc2urbmVISftopF5LEbANjZ1R-1jXeLNg,3378
 wandelbots_api_client/v2/models/abb_configured_pose.py,sha256=Lg-eaUD80RzyQRshY3vm5BIq3_qFPZdz3kQk0ue9w_w,3144
 wandelbots_api_client/v2/models/abb_controller.py,sha256=P7QY_bKvz5fbW_nub4o2yROATVzb8xNr4cBetw5reSk,3741
@@ -330,7 +330,7 @@ wandelbots_api_client/v2/models/plan_collision_free_response.py,sha256=N3r3nnW4h
 wandelbots_api_client/v2/models/plan_collision_free_response_response.py,sha256=IbrBP_WO_r-ri0yehvvEse15_5eRphFe4wtNAUP7HMg,5916
 wandelbots_api_client/v2/models/plan_trajectory_failed_response.py,sha256=7D4vlDg9oRZ8WnBSCdQ6bDycz23gRenFxU1zUS5Qgzk,4239
 wandelbots_api_client/v2/models/plan_trajectory_failed_response_error_feedback.py,sha256=i-V3WE-uT20WkWLI_7ceBeag6IWgZbG10U77KK2YhfE,25052
-wandelbots_api_client/v2/models/plan_trajectory_request.py,sha256=Qqrsg6GUq7rApUa3y4cw60Jsgb1Ohd0b99i0EuqdNQI,4801
+wandelbots_api_client/v2/models/plan_trajectory_request.py,sha256=RGxbdGYVT_AHxfB1XUejAN2t-ELzzQR9-4RPyrmazvA,5226
 wandelbots_api_client/v2/models/plan_trajectory_response.py,sha256=DQ-WQEiv6WO7iprGr_JAyU7FDrhW9peIeeBaqrdg09s,2825
 wandelbots_api_client/v2/models/plan_trajectory_response_response.py,sha256=REHbF0rEVT1gMjR0lUz1i_QAg2lL_9G2GDODr01iCJs,5840
 wandelbots_api_client/v2/models/plan_validation_error.py,sha256=sQAXKliWURJdvcYLEeBNYza2qgmbG6tEsdAzCQ4lDNc,3587
@@ -393,6 +393,7 @@ wandelbots_api_client/v2/models/service_status_status.py,sha256=qpd5-LwxzR7StK4d
 wandelbots_api_client/v2/models/session_response.py,sha256=PkwBB5o5GBjvOaQkmmS_IIpIB689Fx0Fkzbwcs6tMvQ,4465
 wandelbots_api_client/v2/models/set_io.py,sha256=JQxpqmBtscpJPRANit5SJO8KbaizwAYeflIBLmQgBUs,3117
 wandelbots_api_client/v2/models/settable_robot_system_mode.py,sha256=c4Cl2oe5eL-DeA_WLkNbDWLA22_Jd-qzUzVy4R_ZZjs,1014
+wandelbots_api_client/v2/models/singularity_handling.py,sha256=Kp4iwl0ls5SAe-v6J-2ceHScdFGIHzJ79B0yVcPN0ak,1363
 wandelbots_api_client/v2/models/singularity_type_enum.py,sha256=HBdyzZW69iEgGOgKTPsGLgFHMYhtfj-jVeH-w37bdMw,729
 wandelbots_api_client/v2/models/snap7_io.py,sha256=HwMmy5eKySMPFEZxMfEtLi8_dvHDmHVjFN4Rk5iggtg,4023
 wandelbots_api_client/v2/models/snap7_io_area.py,sha256=rndBhEDFIJ9eNNsLbuFJtFekFiNu0eM7uQDAMeK48Q0,975
@@ -441,7 +442,7 @@ wandelbots_api_client/v2/models/zod_validation_error_error_details_inner.py,sha2
 wandelbots_api_client/v2/models/zod_validation_error_error_details_inner_path_inner.py,sha256=BJFV1ZqYKcQauiUfZ10UhbRxVhOL0DjQyHzHhlQ-hUA,5652
 wandelbots_api_client/v2/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 wandelbots_api_client/v2/rest.py,sha256=pzalGbo_80nNBxbupQKYjZjOpOgPbYrEJtCfm236vL4,7253
-wandelbots_api_client/v2_pydantic/__init__.py,sha256=e6SMTQuRakCngnUo0JBzvQQVf5SnCfuCefltgsx1Sr0,1041
+wandelbots_api_client/v2_pydantic/__init__.py,sha256=ZppzeOaJ32XWoaPGSrj0C0U2krXf9N7De0v5VGNV2ic,1041
 wandelbots_api_client/v2_pydantic/api/__init__.py,sha256=P0yGp2xWLeEPi0maOq33OfqhAM3pyWPwtc5AJpdTp8Y,1967
 wandelbots_api_client/v2_pydantic/api/application_api.py,sha256=vU-xA4SdVSJuXu7EAO7tTK9yJjSkMR1Y5_76RZdBp-E,69591
 wandelbots_api_client/v2_pydantic/api/bus_inputs_outputs_api.py,sha256=CKmqk0PsMcT0Cp-2zEQDIS65dTWJJonJ83vkCAWEjn8,267356
@@ -468,14 +469,14 @@ wandelbots_api_client/v2_pydantic/api/version_api.py,sha256=TTJwo3cWTBgxpeDO2S-S
 wandelbots_api_client/v2_pydantic/api/virtual_controller_api.py,sha256=rdrD4YOLnKKg_ILuzc37Ku_VMMJh2MUsR2a8frZraXc,291365
 wandelbots_api_client/v2_pydantic/api/virtual_controller_behavior_api.py,sha256=3mNzqQUb8JM_E7iZ4MJGg7rnEGdL9VFFqjLlrMa6bss,41027
 wandelbots_api_client/v2_pydantic/api/virtual_controller_inputs_outputs_api.py,sha256=LItWYQPUCu8mh2XAA9gOudhYTNMzIjtzY1ijXoV4w2E,42039
-wandelbots_api_client/v2_pydantic/api_client.py,sha256=-qMx9oGw3aXairxxSBAUuwKWOl1lFke79fO5SvVNYGQ,27857
+wandelbots_api_client/v2_pydantic/api_client.py,sha256=FxL4qUmoD7xAhnkBHX3zl2pL_u2wnPvIJ9S6otIgIEc,27857
 wandelbots_api_client/v2_pydantic/api_response.py,sha256=WhxwYDSMm6wPixp9CegO8dJzjFxDz3JF1yCq9s0ZqKE,639
-wandelbots_api_client/v2_pydantic/configuration.py,sha256=nhQTk0mmt-wf_0I-9MzJhe6Vg5_oEzQVWz_byzUGLR0,18056
+wandelbots_api_client/v2_pydantic/configuration.py,sha256=BdA4888R5USGD5JJQ7domvpO55jiPGaS2hk3w37Hn8w,18056
 wandelbots_api_client/v2_pydantic/exceptions.py,sha256=7XIPwMCrxI3N-TgSYabwGXMOROXRQdrJA2wOpyaRC1A,6393
-wandelbots_api_client/v2_pydantic/models/__init__.py,sha256=vRFXpIdD-YpxIdbd7yuguWH4YsG24y95oM55ipnAPQI,22719
-wandelbots_api_client/v2_pydantic/models/models.py,sha256=5JEgm9g9RYN2Mikb4pHOgglxayOqRuZz1oK2KwzGvRc,213415
+wandelbots_api_client/v2_pydantic/models/__init__.py,sha256=YdMk5uEwPmx97xgK9blWZL5oXi4C8Lw9ClCr46dY6nY,22771
+wandelbots_api_client/v2_pydantic/models/models.py,sha256=Xeqam_0mP5JzpRFdTwMd9eAUfR4WFCrbU9zfWWoPX3Q,214450
 wandelbots_api_client/v2_pydantic/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 wandelbots_api_client/v2_pydantic/rest.py,sha256=EDM0lK-GKehCIR2PgMyO_5a5MGlOHws5c7Ue3j0FeSc,7262
-wandelbots_api_client-26.6.0.dev69.dist-info/WHEEL,sha256=WvwXFgRajeoYkfRVmDhkP4Qlqo31Mk687zIO2QQoFmw,80
-wandelbots_api_client-26.6.0.dev69.dist-info/METADATA,sha256=8o4HxuM5BMNLed3Am55YyDD6ka8puPED-P9ZLrCpNEg,1411
-wandelbots_api_client-26.6.0.dev69.dist-info/RECORD,,
+wandelbots_api_client-26.6.0.dev71.dist-info/WHEEL,sha256=WvwXFgRajeoYkfRVmDhkP4Qlqo31Mk687zIO2QQoFmw,80
+wandelbots_api_client-26.6.0.dev71.dist-info/METADATA,sha256=kV_uJYRZztQX6ZSEmCmyEBuruQznH2k2o2r5QLc3GtE,1411
+wandelbots_api_client-26.6.0.dev71.dist-info/RECORD,,