wandelbots_api_client 26.6.0.dev90__tar.gz → 26.6.0.dev91__tar.gz

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.6.0.dev90
+Version: 26.6.0.dev91
 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.dev90
+- Package version: 26.6.0.dev91
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/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.dev90
+- Package version: 26.6.0.dev91
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots_api_client"
-version = "26.6.0.dev90"
+version = "26.6.0.dev91"
 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.dev90 → wandelbots_api_client-26.6.0.dev91}/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.dev90"
+__version__ = "26.6.0.dev91"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/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.dev90"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev91"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/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.dev90".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.6.0.dev91".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/wandelbots_api_client/v2/models/__init__.py

@@ -414,6 +414,8 @@ from wandelbots_api_client.v2.models.sphere import Sphere
 from wandelbots_api_client.v2.models.start_movement_request import StartMovementRequest
 from wandelbots_api_client.v2.models.start_movement_response import StartMovementResponse
 from wandelbots_api_client.v2.models.start_on_io import StartOnIO
+from wandelbots_api_client.v2.models.staubli_controller import StaubliController
+from wandelbots_api_client.v2.models.staubli_controller_rti_server import StaubliControllerRtiServer
 from wandelbots_api_client.v2.models.storage_key import StorageKey
 from wandelbots_api_client.v2.models.stream_io_values_response import StreamIOValuesResponse
 from wandelbots_api_client.v2.models.tcp_offset import TcpOffset

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/wandelbots_api_client/v2/models/fanuc_controller.py

@@ -16,7 +16,7 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict, StrictStr, field_validator
+from pydantic import BaseModel, ConfigDict, Field, StrictBool, StrictStr, field_validator
 from typing import Any, ClassVar, Dict, List, Optional
 from wandelbots_api_client.v2.models.controller_network_interface import ControllerNetworkInterface
 from typing import Optional, Set
@@ -32,7 +32,11 @@ class FanucController(BaseModel):
     kind: StrictStr
     controller_ip: StrictStr
     network_interface: Optional[ControllerNetworkInterface] = None
-    __properties: ClassVar[List[str]] = ["kind", "controller_ip", "network_interface"]
+    stream_motion: Optional[StrictBool] = Field(
+        default=False,
+        description="Enable the FANUC Stream Motion interface. When enabled, the GCI server communicates with the controller via the Stream Motion interface. ",
+    )
+    __properties: ClassVar[List[str]] = ["kind", "controller_ip", "network_interface", "stream_motion"]
 
     @field_validator("kind")
     def kind_validate_enum(cls, value):
@@ -99,6 +103,7 @@ class FanucController(BaseModel):
                 "network_interface": ControllerNetworkInterface.from_dict(obj["network_interface"])
                 if obj.get("network_interface") is not None
                 else None,
+                "stream_motion": obj.get("stream_motion") if obj.get("stream_motion") is not None else False,
             }
         )
         return _obj

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/wandelbots_api_client/v2/models/robot_controller_configuration.py

@@ -20,6 +20,7 @@ from wandelbots_api_client.v2.models.abb_controller import AbbController
 from wandelbots_api_client.v2.models.bostondynamics_controller import BostondynamicsController
 from wandelbots_api_client.v2.models.fanuc_controller import FanucController
 from wandelbots_api_client.v2.models.kuka_controller import KukaController
+from wandelbots_api_client.v2.models.staubli_controller import StaubliController
 from wandelbots_api_client.v2.models.unitree_controller import UnitreeController
 from wandelbots_api_client.v2.models.universalrobots_controller import UniversalrobotsController
 from wandelbots_api_client.v2.models.virtual_controller import VirtualController
@@ -33,6 +34,7 @@ ROBOTCONTROLLERCONFIGURATION_ONE_OF_SCHEMAS = [
     "BostondynamicsController",
     "FanucController",
     "KukaController",
+    "StaubliController",
     "UnitreeController",
     "UniversalrobotsController",
     "VirtualController",
@@ -51,22 +53,25 @@ class RobotControllerConfiguration(BaseModel):
     oneof_schema_2_validator: Optional[FanucController] = None
     # data type: KukaController
     oneof_schema_3_validator: Optional[KukaController] = None
+    # data type: StaubliController
+    oneof_schema_4_validator: Optional[StaubliController] = None
     # data type: UniversalrobotsController
-    oneof_schema_4_validator: Optional[UniversalrobotsController] = None
+    oneof_schema_5_validator: Optional[UniversalrobotsController] = None
     # data type: VirtualController
-    oneof_schema_5_validator: Optional[VirtualController] = None
+    oneof_schema_6_validator: Optional[VirtualController] = None
     # data type: YaskawaController
-    oneof_schema_6_validator: Optional[YaskawaController] = None
+    oneof_schema_7_validator: Optional[YaskawaController] = None
     # data type: BostondynamicsController
-    oneof_schema_7_validator: Optional[BostondynamicsController] = None
+    oneof_schema_8_validator: Optional[BostondynamicsController] = None
     # data type: UnitreeController
-    oneof_schema_8_validator: Optional[UnitreeController] = None
+    oneof_schema_9_validator: Optional[UnitreeController] = None
     actual_instance: Optional[
         Union[
             AbbController,
             BostondynamicsController,
             FanucController,
             KukaController,
+            StaubliController,
             UnitreeController,
             UniversalrobotsController,
             VirtualController,
@@ -78,6 +83,7 @@ class RobotControllerConfiguration(BaseModel):
         "BostondynamicsController",
         "FanucController",
         "KukaController",
+        "StaubliController",
         "UnitreeController",
         "UniversalrobotsController",
         "VirtualController",
@@ -121,6 +127,11 @@ class RobotControllerConfiguration(BaseModel):
             error_messages.append(f"Error! Input type `{type(v)}` is not `KukaController`")
         else:
             match += 1
+        # validate data type: StaubliController
+        if not isinstance(v, StaubliController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `StaubliController`")
+        else:
+            match += 1
         # validate data type: UniversalrobotsController
         if not isinstance(v, UniversalrobotsController):
             error_messages.append(f"Error! Input type `{type(v)}` is not `UniversalrobotsController`")
@@ -149,13 +160,13 @@ class RobotControllerConfiguration(BaseModel):
         if match > 1:
             # more than 1 match
             raise ValueError(
-                "Multiple matches found when setting `actual_instance` in RobotControllerConfiguration with oneOf schemas: AbbController, BostondynamicsController, FanucController, KukaController, UnitreeController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
+                "Multiple matches found when setting `actual_instance` in RobotControllerConfiguration with oneOf schemas: AbbController, BostondynamicsController, FanucController, KukaController, StaubliController, UnitreeController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
                 + ", ".join(error_messages)
             )
         elif match == 0:
             # no match
             raise ValueError(
-                "No match found when setting `actual_instance` in RobotControllerConfiguration with oneOf schemas: AbbController, BostondynamicsController, FanucController, KukaController, UnitreeController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
+                "No match found when setting `actual_instance` in RobotControllerConfiguration with oneOf schemas: AbbController, BostondynamicsController, FanucController, KukaController, StaubliController, UnitreeController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
                 + ", ".join(error_messages)
             )
         else:
@@ -197,6 +208,11 @@ class RobotControllerConfiguration(BaseModel):
             instance.actual_instance = KukaController.from_json(json_str)
             return instance
 
+        # check if data type is `StaubliController`
+        if _data_type == "StaubliController":
+            instance.actual_instance = StaubliController.from_json(json_str)
+            return instance
+
         # check if data type is `UnitreeController`
         if _data_type == "UnitreeController":
             instance.actual_instance = UnitreeController.from_json(json_str)
@@ -235,6 +251,12 @@ class RobotControllerConfiguration(BaseModel):
             match += 1
         except (ValidationError, ValueError) as e:
             error_messages.append(str(e))
+        # deserialize data into StaubliController
+        try:
+            instance.actual_instance = StaubliController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
         # deserialize data into UniversalrobotsController
         try:
             instance.actual_instance = UniversalrobotsController.from_json(json_str)
@@ -269,13 +291,13 @@ class RobotControllerConfiguration(BaseModel):
         if match > 1:
             # more than 1 match
             raise ValueError(
-                "Multiple matches found when deserializing the JSON string into RobotControllerConfiguration with oneOf schemas: AbbController, BostondynamicsController, FanucController, KukaController, UnitreeController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
+                "Multiple matches found when deserializing the JSON string into RobotControllerConfiguration with oneOf schemas: AbbController, BostondynamicsController, FanucController, KukaController, StaubliController, UnitreeController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
                 + ", ".join(error_messages)
             )
         elif match == 0:
             # no match
             raise ValueError(
-                "No match found when deserializing the JSON string into RobotControllerConfiguration with oneOf schemas: AbbController, BostondynamicsController, FanucController, KukaController, UnitreeController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
+                "No match found when deserializing the JSON string into RobotControllerConfiguration with oneOf schemas: AbbController, BostondynamicsController, FanucController, KukaController, StaubliController, UnitreeController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
                 + ", ".join(error_messages)
             )
         else:
@@ -300,6 +322,7 @@ class RobotControllerConfiguration(BaseModel):
             BostondynamicsController,
             FanucController,
             KukaController,
+            StaubliController,
             UnitreeController,
             UniversalrobotsController,
             VirtualController,

wandelbots_api_client-26.6.0.dev91/wandelbots_api_client/v2/models/staubli_controller.py

@@ -0,0 +1,106 @@
+# 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 pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.staubli_controller_rti_server import StaubliControllerRtiServer
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class StaubliController(BaseModel):
+    """
+    The configuration of a physical STÄUBLI robot controller has to contain an IP address. Additionally, an RTI server configuration has to be specified in order to control the robot. Deploying the server is a functionality of this API.
+    """  # noqa: E501
+
+    kind: StrictStr
+    controller_ip: StrictStr
+    controller_port: StrictInt
+    command_port: StrictInt
+    rti_server: StaubliControllerRtiServer
+    __properties: ClassVar[List[str]] = ["kind", "controller_ip", "controller_port", "command_port", "rti_server"]
+
+    @field_validator("kind")
+    def kind_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["StaubliController"]):
+            raise ValueError("must be one of enum values ('StaubliController')")
+        return value
+
+    model_config = ConfigDict(
+        validate_by_name=True,
+        validate_by_alias=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))
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the model using alias"""
+        return json.dumps(to_jsonable_python(self.to_dict()))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of StaubliController 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 rti_server
+        if self.rti_server:
+            _dict["rti_server"] = self.rti_server.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of StaubliController from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "kind": obj.get("kind"),
+                "controller_ip": obj.get("controller_ip"),
+                "controller_port": obj.get("controller_port") if obj.get("controller_port") is not None else 4021,
+                "command_port": obj.get("command_port") if obj.get("command_port") is not None else 30150,
+                "rti_server": StaubliControllerRtiServer.from_dict(obj["rti_server"]) if obj.get("rti_server") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client-26.6.0.dev91/wandelbots_api_client/v2/models/staubli_controller_rti_server.py

@@ -0,0 +1,84 @@
+# 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 pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, StrictInt, StrictStr
+from typing import Any, ClassVar, Dict, List
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class StaubliControllerRtiServer(BaseModel):
+    """
+    The RTI server runs inside of the cell.
+    """  # noqa: E501
+
+    ip: StrictStr
+    port: StrictInt
+    __properties: ClassVar[List[str]] = ["ip", "port"]
+
+    model_config = ConfigDict(
+        validate_by_name=True,
+        validate_by_alias=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))
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the model using alias"""
+        return json.dumps(to_jsonable_python(self.to_dict()))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of StaubliControllerRtiServer 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,
+        )
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of StaubliControllerRtiServer from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"ip": obj.get("ip"), "port": obj.get("port") if obj.get("port") is not None else 30152})
+        return _obj

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/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.dev90"
+__version__ = "26.6.0.dev91"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/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.dev90"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev91"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/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.dev90".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.6.0.dev91".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/wandelbots_api_client/v2_pydantic/models/__init__.py

@@ -1,6 +1,6 @@
 # generated by datamodel-codegen:
-#   filename:  tmpj3pp3fli
-#   timestamp: 2026-07-20T09:50:42+00:00
+#   filename:  tmpyqgakqek
+#   timestamp: 2026-07-21T15:35:41+00:00
 
 from __future__ import annotations
 
@@ -382,6 +382,7 @@ from .models import (
     RobotType,
     RotationVector,
     RsiServer,
+    RtiServer,
     SafetyGeometry,
     SafetyGeometryBox,
     SafetyGeometryCapsule,
@@ -416,6 +417,7 @@ from .models import (
     StartMovementResponse,
     StartOnIO,
     Status,
+    StaubliController,
     StorageKey,
     StreamIOValuesResponse,
     TcpOffset,
@@ -829,6 +831,7 @@ __all__ = [
     "RobotType",
     "RotationVector",
     "RsiServer",
+    "RtiServer",
     "SafetyGeometry",
     "SafetyGeometryBox",
     "SafetyGeometryCapsule",
@@ -863,6 +866,7 @@ __all__ = [
     "StartMovementResponse",
     "StartOnIO",
     "Status",
+    "StaubliController",
     "StorageKey",
     "StreamIOValuesResponse",
     "TcpOffset",

{wandelbots_api_client-26.6.0.dev90 → wandelbots_api_client-26.6.0.dev91}/wandelbots_api_client/v2_pydantic/models/models.py

@@ -1,9 +1,9 @@
 # generated by datamodel-codegen:
 #   filename:  models.yaml
-#   timestamp: 2026-07-20T09:50:42+00:00
+#   timestamp: 2026-07-21T15:35:41+00:00
 
 from __future__ import annotations
-from pydantic import AnyUrl, AwareDatetime, BaseModel, EmailStr, Field, RootModel
+from pydantic import AnyUrl, AwareDatetime, BaseModel, ConfigDict, EmailStr, Field, RootModel
 from typing import Any, Literal
 from enum import Enum
 from pathlib import Path
@@ -135,6 +135,12 @@ class FanucController(BaseModel):
     kind: Literal["FanucController"] = "FanucController"
     controller_ip: str
     network_interface: ControllerNetworkInterface | None = None
+    stream_motion: bool = False
+    """
+    Enable the FANUC Stream Motion interface. When enabled, the GCI server
+    communicates with the controller via the Stream Motion interface.
+
+    """
 
 
 class RsiServer(BaseModel):
@@ -168,6 +174,33 @@ class KukaController(BaseModel):
     """
 
 
+class RtiServer(BaseModel):
+    """
+    The RTI server runs inside of the cell.
+    """
+
+    ip: str
+    port: int = 30152
+
+
+class StaubliController(BaseModel):
+    """
+    The configuration of a physical STÄUBLI robot controller has to contain an IP address.
+    Additionally, an RTI server configuration has to be specified in order to control the robot.
+    Deploying the server is a functionality of this API.
+
+    """
+
+    kind: Literal["StaubliController"] = "StaubliController"
+    controller_ip: str
+    controller_port: int = 4021
+    command_port: int = 30150
+    rti_server: RtiServer
+    """
+    The RTI server runs inside of the cell.
+    """
+
+
 class UniversalrobotsController(BaseModel):
     """
     The configuration of a physical Universal Robots controller has to contain IP address of the controller.
@@ -268,7 +301,7 @@ class VirtualController(BaseModel):
     type: str | None = Field(
         None,
         examples=[
-            "abb-irb1200_7",
+            "abb-irb1200_07_7",
             "abb-irb1010_037_15",
             "abb-irb2600ID_200_8",
             "fanuc-arc_mate_120iD12L",
@@ -427,6 +460,7 @@ class RobotController(BaseModel):
         AbbController
         | FanucController
         | KukaController
+        | StaubliController
         | UniversalrobotsController
         | VirtualController
         | YaskawaController
@@ -612,6 +646,9 @@ class Cell(BaseModel):
 
     """
 
+    model_config = ConfigDict(
+        extra="allow",
+    )
     name: CellName = Field("cell", validate_default=True)
     version: str | None = None
     """