wandelbots_api_client 26.6.0.dev70__tar.gz → 26.6.0.dev72__tar.gz

{wandelbots_api_client-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.6.0.dev70
+Version: 26.6.0.dev72
 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.dev70
+- Package version: 26.6.0.dev72
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/README.md

@@ -2,7 +2,7 @@
 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.dev70
+- Package version: 26.6.0.dev72
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots_api_client"
-version = "26.6.0.dev70"
+version = "26.6.0.dev72"
 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-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/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.dev70"
+__version__ = "26.6.0.dev72"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/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.dev70"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev72"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/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.dev70".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.6.0.dev72".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/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-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/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-26.6.0.dev72/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-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/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.dev70"
+__version__ = "26.6.0.dev72"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/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.dev70"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev72"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/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.dev70".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.6.0.dev72".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/wandelbots_api_client/v2_pydantic/models/__init__.py

@@ -1,6 +1,6 @@
 # generated by datamodel-codegen:
-#   filename:  tmps4or0_rz
-#   timestamp: 2026-07-10T10:28:20+00:00
+#   filename:  tmpp8ur0wkf
+#   timestamp: 2026-07-10T13:07:20+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-26.6.0.dev70 → wandelbots_api_client-26.6.0.dev72}/wandelbots_api_client/v2_pydantic/models/models.py

@@ -1,6 +1,6 @@
 # generated by datamodel-codegen:
 #   filename:  models.yaml
-#   timestamp: 2026-07-10T10:28:20+00:00
+#   timestamp: 2026-07-10T13:07:20+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):