wandelbots_api_client 26.6.0.dev97__tar.gz → 26.6.0.dev99__tar.gz

{wandelbots_api_client-26.6.0.dev97 → wandelbots_api_client-26.6.0.dev99}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.6.0.dev97
+Version: 26.6.0.dev99
 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.dev97
+- Package version: 26.6.0.dev99
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.6.0.dev97 → wandelbots_api_client-26.6.0.dev99}/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.dev97
+- Package version: 26.6.0.dev99
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.6.0.dev97 → wandelbots_api_client-26.6.0.dev99}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots_api_client"
-version = "26.6.0.dev97"
+version = "26.6.0.dev99"
 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.dev97 → wandelbots_api_client-26.6.0.dev99}/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.dev97"
+__version__ = "26.6.0.dev99"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.6.0.dev97/wandelbots_api_client/v2_pydantic → wandelbots_api_client-26.6.0.dev99/wandelbots_api_client/v2}/api/__init__.py

@@ -1,6 +1,7 @@
 # flake8: noqa
 
 # import apis into api package
+from .action_chunk_streaming_api import ActionChunkStreamingApi
 from .application_api import ApplicationApi
 from .bus_inputs_outputs_api import BUSInputsOutputsApi
 from .cell_api import CellApi
@@ -29,6 +30,7 @@ from .virtual_controller_inputs_outputs_api import VirtualControllerInputsOutput
 
 
 __all__ = [
+    "ActionChunkStreamingApi",
     "ApplicationApi",
     "BUSInputsOutputsApi",
     "CellApi",

wandelbots_api_client-26.6.0.dev99/wandelbots_api_client/v2/api/action_chunk_streaming_api.py

@@ -0,0 +1,115 @@
+# 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 furl import furl
+import json
+import humps
+import re
+import warnings
+import websockets
+from pydantic import validate_call, Field, StrictFloat, StrictStr, StrictInt
+from typing import Any, AsyncGenerator, Callable, Dict, List, Optional, Tuple, Union
+from typing_extensions import Annotated
+from urllib.parse import quote
+
+from pydantic import Field, StrictStr
+from typing_extensions import Annotated
+from wandelbots_api_client.v2.models.execute_action_chunks_request import ExecuteActionChunksRequest
+from wandelbots_api_client.v2.models.execute_action_chunks_response import ExecuteActionChunksResponse
+
+from wandelbots_api_client.v2.api_client import ApiClient, RequestSerialized
+from wandelbots_api_client.v2.api_response import ApiResponse
+from wandelbots_api_client.v2.rest import RESTResponseType
+
+
+class ActionChunkStreamingApi:
+    """NOTE: This class is auto generated by OpenAPI Generator
+    Ref: https://openapi-generator.tech
+
+    Do not edit the class manually.
+    """
+
+    def __init__(self, api_client=None) -> None:
+        if api_client is None:
+            api_client = ApiClient.get_default()
+        self.api_client = api_client
+
+    @validate_call
+    async def execute_action_chunks(
+        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[ExecuteActionChunksResponse, None]], AsyncGenerator[ExecuteActionChunksRequest, None]
+        ],
+    ) -> None:  # noqa: E501
+        """Execute Action Chunks  # noqa: E501
+
+        **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: danger -->  > **Experimental** > > This endpoint is experimental and its behavior may change in future releases.  > Websocket endpoint  Provides action chunk control for a motion group.  An action chunk is a queue of timed waypoints that the robot moves through by best effort. This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeActionChunksRequest` to configure the action chunk.  - Sets the robot controller mode to control mode. - Claims the motion group. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `ActionChunk`s to stream waypoints.  - The first message starts an internal clock. - Each waypoint carries a timestamp relative to that clock for when it should be reached. - Existing waypoints in the queue that are older than the first new timestamp are removed. - The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  #### 3. Stop the motion  - Send `PauseActionChunksRequest` to stop the motion.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeActionChunksResponse` after `InitializeActionChunksRequest`   - `ActionChunkResponse` after `ActionChunkRequest`   - `PauseActionChunksResponse` after `PauseActionChunksRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during moving.  ### Tips and Tricks  - Ensure that the websocket connection remains open until the action chunk motion is stopped to avoid unexpected stops.  ### Robot States  - The robot controller state is reported in the [streamRobotControllerState](#/operations/streamRobotControllerState) as JOGGING. - The meaning of the states is:   - `RUNNING`: The robot is moving through the waypoints. The clock (`execute.details.jogger_session_timestamp_ms`) is running.   - `PAUSED_BY_USER`: The robot is braking or in standstill due to a user request. The clock IS paused.   - `PAUSED_NEAR_JOINT_LIMIT`: The robot is braking due to a joint limit. The clock is NOT paused.   - `PAUSED_NEAR_COLLISION`: The robot is braking due to a collision. The clock is NOT paused.   - `PAUSED_NEAR_SINGULARITY`: The robot is braking due to a singularity. The clock is NOT paused.   - `PAUSED_NEAR_WORKSPACE_BOUNDARY`: The robot is braking due to a workspace boundary. The clock is NOT paused.   # noqa: E501
+        :param client_request_generator: An AsyncGenerator that yields request of type ExecuteActionChunksRequest and takes an AsyncGenerator of ExecuteActionChunksResponse as an input argument (required)
+        :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteActionChunksResponse, None])
+        :type AsyncGenerator[ExecuteActionChunksRequest, None]
+        """
+
+        def format_path_parameters(path):
+            # Find all substrings that are enclosed in brackets
+            bracket_contents = re.findall(r"\{(.*?)\}", path)
+
+            # For each found substring, alter it to match the python variable name
+            for content in bracket_contents:
+                content = "{" + content + "}"
+                modified_content = humps.dekebabize(content)
+                path = path.replace(content, modified_content)
+
+            return path
+
+        async def iterate_responses(ws) -> AsyncGenerator[ExecuteActionChunksResponse, None]:
+            async for response in ws:
+                if "Cancelled on the server side" in response:
+                    break
+                response_data = json.loads(response)
+                if "result" not in response_data:
+                    raise Exception(response_data)
+
+                yield ExecuteActionChunksResponse.model_validate(response_data["result"])
+
+        path = format_path_parameters("/experimental/cells/{cell}/controllers/{controller}/execution/action-chunk-streaming")
+        path = path.format(
+            cell=cell,
+            controller=controller,
+        )
+
+        headers = websockets.Headers()
+        tmp_host = self.api_client.configuration.host
+        if self.api_client.configuration.host.startswith("https://"):
+            # Basic Auth
+            if self.api_client.configuration.username:
+                tmp_host = self.api_client.configuration.host.replace("https://", "")
+                tmp_host = f"wss://{self.api_client.configuration.username}:{self.api_client.configuration.password}@{tmp_host}"
+
+            # OAuth2
+            elif self.api_client.configuration.access_token:
+                tmp_host = self.api_client.configuration.host.replace("https://", "")
+                tmp_host = f"wss://{tmp_host}"
+                headers = websockets.Headers([("Authorization", f"Bearer {self.api_client.configuration.access_token}")])
+        else:
+            tmp_host = tmp_host.replace("http://", "ws://")
+
+        full_url = furl(tmp_host + path)
+
+        async with websockets.connect(full_url.url, open_timeout=10, additional_headers=headers) as websocket:
+            try:
+                async for request in client_request_generator(iterate_responses(websocket)):
+                    await websocket.send(request.model_dump_json(exclude_none=True))
+            finally:
+                await websocket.close()

{wandelbots_api_client-26.6.0.dev97 → wandelbots_api_client-26.6.0.dev99}/wandelbots_api_client/v2/api/jogging_api.py

@@ -26,8 +26,6 @@ from pydantic import Field, StrictStr
 from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.execute_jogging_request import ExecuteJoggingRequest
 from wandelbots_api_client.v2.models.execute_jogging_response import ExecuteJoggingResponse
-from wandelbots_api_client.v2.models.execute_waypoint_jogging_request import ExecuteWaypointJoggingRequest
-from wandelbots_api_client.v2.models.execute_waypoint_jogging_response import ExecuteWaypointJoggingResponse
 
 from wandelbots_api_client.v2.api_client import ApiClient, RequestSerialized
 from wandelbots_api_client.v2.api_response import ApiResponse
@@ -113,73 +111,3 @@ class JoggingApi:
                     await websocket.send(request.model_dump_json(exclude_none=True))
             finally:
                 await websocket.close()
-
-    @validate_call
-    async def execute_waypoint_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[ExecuteWaypointJoggingResponse, None]], AsyncGenerator[ExecuteWaypointJoggingRequest, None]
-        ],
-    ) -> None:  # noqa: E501
-        """Execute Waypoint Jogging  # noqa: E501
-
-        **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: danger -->  > **Experimental** > > This endpoint is experimental and its behavior may change in future releases.  > Websocket endpoint  Provides waypoint-based jogging control for a motion group.  Instead of commanding target velocities (see [executeJogging](#/operations/executeJogging)), waypoint jogging streams a queue of timed waypoints that the robot moves through by best effort. This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  ### 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 `JointWaypointsRequest` or `PoseWaypointsRequest` to stream waypoints.  - The first waypoints message starts an internal clock. - Each waypoint carries a timestamp relative to that clock for when it should be reached. - Existing waypoints in the queue that are older than the first new timestamp are removed. - The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  #### 3. Stop the jogging motion  - Send `PauseJoggingRequest` to stop the motion.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointWaypointsResponse` after `JointWaypointsRequest`   - `PoseWaypointsResponse` after `PoseWaypointsRequest`   - `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](#/operations/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 ExecuteWaypointJoggingRequest and takes an AsyncGenerator of ExecuteWaypointJoggingResponse as an input argument (required)
-        :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteWaypointJoggingResponse, None])
-        :type AsyncGenerator[ExecuteWaypointJoggingRequest, None]
-        """
-
-        def format_path_parameters(path):
-            # Find all substrings that are enclosed in brackets
-            bracket_contents = re.findall(r"\{(.*?)\}", path)
-
-            # For each found substring, alter it to match the python variable name
-            for content in bracket_contents:
-                content = "{" + content + "}"
-                modified_content = humps.dekebabize(content)
-                path = path.replace(content, modified_content)
-
-            return path
-
-        async def iterate_responses(ws) -> AsyncGenerator[ExecuteWaypointJoggingResponse, None]:
-            async for response in ws:
-                if "Cancelled on the server side" in response:
-                    break
-                response_data = json.loads(response)
-                if "result" not in response_data:
-                    raise Exception(response_data)
-
-                yield ExecuteWaypointJoggingResponse.model_validate(response_data["result"])
-
-        path = format_path_parameters("/experimental/cells/{cell}/controllers/{controller}/execution/jogging")
-        path = path.format(
-            cell=cell,
-            controller=controller,
-        )
-
-        headers = websockets.Headers()
-        tmp_host = self.api_client.configuration.host
-        if self.api_client.configuration.host.startswith("https://"):
-            # Basic Auth
-            if self.api_client.configuration.username:
-                tmp_host = self.api_client.configuration.host.replace("https://", "")
-                tmp_host = f"wss://{self.api_client.configuration.username}:{self.api_client.configuration.password}@{tmp_host}"
-
-            # OAuth2
-            elif self.api_client.configuration.access_token:
-                tmp_host = self.api_client.configuration.host.replace("https://", "")
-                tmp_host = f"wss://{tmp_host}"
-                headers = websockets.Headers([("Authorization", f"Bearer {self.api_client.configuration.access_token}")])
-        else:
-            tmp_host = tmp_host.replace("http://", "ws://")
-
-        full_url = furl(tmp_host + path)
-
-        async with websockets.connect(full_url.url, open_timeout=10, additional_headers=headers) as websocket:
-            try:
-                async for request in client_request_generator(iterate_responses(websocket)):
-                    await websocket.send(request.model_dump_json(exclude_none=True))
-            finally:
-                await websocket.close()

{wandelbots_api_client-26.6.0.dev97 → wandelbots_api_client-26.6.0.dev99}/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.dev97"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev99"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.6.0.dev97 → wandelbots_api_client-26.6.0.dev99}/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.dev97".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.6.0.dev99".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.6.0.dev97 → wandelbots_api_client-26.6.0.dev99}/wandelbots_api_client/v2/models/__init__.py

@@ -18,6 +18,8 @@ from wandelbots_api_client.v2.models.abb_configured_pose import AbbConfiguredPos
 from wandelbots_api_client.v2.models.abb_controller import AbbController
 from wandelbots_api_client.v2.models.abb_controller_egm_server import AbbControllerEgmServer
 from wandelbots_api_client.v2.models.abb_pose import AbbPose
+from wandelbots_api_client.v2.models.action_chunk_request import ActionChunkRequest
+from wandelbots_api_client.v2.models.action_chunk_response import ActionChunkResponse
 from wandelbots_api_client.v2.models.activate_license_request import ActivateLicenseRequest
 from wandelbots_api_client.v2.models.add_trajectory_error import AddTrajectoryError
 from wandelbots_api_client.v2.models.add_trajectory_error_data import AddTrajectoryErrorData
@@ -145,13 +147,13 @@ from wandelbots_api_client.v2.models.error_max_iterations_exceeded import ErrorM
 from wandelbots_api_client.v2.models.error_motion_group_key_mismatch import ErrorMotionGroupKeyMismatch
 from wandelbots_api_client.v2.models.error_unsupported_operation import ErrorUnsupportedOperation
 from wandelbots_api_client.v2.models.execute import Execute
+from wandelbots_api_client.v2.models.execute_action_chunks_request import ExecuteActionChunksRequest
+from wandelbots_api_client.v2.models.execute_action_chunks_response import ExecuteActionChunksResponse
 from wandelbots_api_client.v2.models.execute_details import ExecuteDetails
 from wandelbots_api_client.v2.models.execute_jogging_request import ExecuteJoggingRequest
 from wandelbots_api_client.v2.models.execute_jogging_response import ExecuteJoggingResponse
 from wandelbots_api_client.v2.models.execute_trajectory_request import ExecuteTrajectoryRequest
 from wandelbots_api_client.v2.models.execute_trajectory_response import ExecuteTrajectoryResponse
-from wandelbots_api_client.v2.models.execute_waypoint_jogging_request import ExecuteWaypointJoggingRequest
-from wandelbots_api_client.v2.models.execute_waypoint_jogging_response import ExecuteWaypointJoggingResponse
 from wandelbots_api_client.v2.models.external_joint_stream_datapoint import ExternalJointStreamDatapoint
 from wandelbots_api_client.v2.models.external_joint_stream_request import ExternalJointStreamRequest
 from wandelbots_api_client.v2.models.fanuc_controller import FanucController
@@ -203,6 +205,8 @@ from wandelbots_api_client.v2.models.inconsistent_trajectory_size_error_inconsis
     InconsistentTrajectorySizeErrorInconsistentTrajectorySize,
 )
 from wandelbots_api_client.v2.models.inertia_tensor import InertiaTensor
+from wandelbots_api_client.v2.models.initialize_action_chunks_request import InitializeActionChunksRequest
+from wandelbots_api_client.v2.models.initialize_action_chunks_response import InitializeActionChunksResponse
 from wandelbots_api_client.v2.models.initialize_jogging_request import InitializeJoggingRequest
 from wandelbots_api_client.v2.models.initialize_jogging_response import InitializeJoggingResponse
 from wandelbots_api_client.v2.models.initialize_movement_request import InitializeMovementRequest
@@ -234,8 +238,6 @@ from wandelbots_api_client.v2.models.joint_type_enum import JointTypeEnum
 from wandelbots_api_client.v2.models.joint_velocity_request import JointVelocityRequest
 from wandelbots_api_client.v2.models.joint_velocity_response import JointVelocityResponse
 from wandelbots_api_client.v2.models.joint_waypoint import JointWaypoint
-from wandelbots_api_client.v2.models.joint_waypoints_request import JointWaypointsRequest
-from wandelbots_api_client.v2.models.joint_waypoints_response import JointWaypointsResponse
 from wandelbots_api_client.v2.models.kinematic_branch import KinematicBranch
 from wandelbots_api_client.v2.models.kinematic_branch_elbow import KinematicBranchElbow
 from wandelbots_api_client.v2.models.kinematic_branch_shoulder import KinematicBranchShoulder
@@ -317,6 +319,8 @@ from wandelbots_api_client.v2.models.path_direction_constrained_cartesian_ptp im
 from wandelbots_api_client.v2.models.path_direction_constrained_joint_ptp import PathDirectionConstrainedJointPTP
 from wandelbots_api_client.v2.models.path_joint_ptp import PathJointPTP
 from wandelbots_api_client.v2.models.path_line import PathLine
+from wandelbots_api_client.v2.models.pause_action_chunks_request import PauseActionChunksRequest
+from wandelbots_api_client.v2.models.pause_action_chunks_response import PauseActionChunksResponse
 from wandelbots_api_client.v2.models.pause_jogging_request import PauseJoggingRequest
 from wandelbots_api_client.v2.models.pause_jogging_response import PauseJoggingResponse
 from wandelbots_api_client.v2.models.pause_movement_request import PauseMovementRequest
@@ -340,8 +344,6 @@ from wandelbots_api_client.v2.models.playback_speed_request import PlaybackSpeed
 from wandelbots_api_client.v2.models.playback_speed_response import PlaybackSpeedResponse
 from wandelbots_api_client.v2.models.pose import Pose
 from wandelbots_api_client.v2.models.pose_waypoint import PoseWaypoint
-from wandelbots_api_client.v2.models.pose_waypoints_request import PoseWaypointsRequest
-from wandelbots_api_client.v2.models.pose_waypoints_response import PoseWaypointsResponse
 from wandelbots_api_client.v2.models.profinet_description import ProfinetDescription
 from wandelbots_api_client.v2.models.profinet_io import ProfinetIO
 from wandelbots_api_client.v2.models.profinet_io_data import ProfinetIOData
@@ -416,6 +418,8 @@ from wandelbots_api_client.v2.models.start_movement_response import StartMovemen
 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.stop_action_chunks_request import StopActionChunksRequest
+from wandelbots_api_client.v2.models.stop_action_chunks_response import StopActionChunksResponse
 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
@@ -439,6 +443,8 @@ from wandelbots_api_client.v2.models.trajectory_wait_for_io import TrajectoryWai
 from wandelbots_api_client.v2.models.unit_type import UnitType
 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.unpause_action_chunks_request import UnpauseActionChunksRequest
+from wandelbots_api_client.v2.models.unpause_action_chunks_response import UnpauseActionChunksResponse
 from wandelbots_api_client.v2.models.update_cell_version_request import UpdateCellVersionRequest
 from wandelbots_api_client.v2.models.update_nova_version_request import UpdateNovaVersionRequest
 from wandelbots_api_client.v2.models.user import User
@@ -447,6 +453,8 @@ from wandelbots_api_client.v2.models.validation_error2 import ValidationError2
 from wandelbots_api_client.v2.models.virtual_controller import VirtualController
 from wandelbots_api_client.v2.models.virtual_robot_configuration import VirtualRobotConfiguration
 from wandelbots_api_client.v2.models.wait_for_io_event_request import WaitForIOEventRequest
+from wandelbots_api_client.v2.models.waypoint import Waypoint
+from wandelbots_api_client.v2.models.waypoint_coordinates import WaypointCoordinates
 from wandelbots_api_client.v2.models.yaskawa_controller import YaskawaController
 from wandelbots_api_client.v2.models.zod_validation_error import ZodValidationError
 from wandelbots_api_client.v2.models.zod_validation_error_error import ZodValidationErrorError

wandelbots_api_client-26.6.0.dev97/wandelbots_api_client/v2/models/pose_waypoints_request.py → wandelbots_api_client-26.6.0.dev99/wandelbots_api_client/v2/models/action_chunk_request.py

@@ -18,26 +18,26 @@ import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictStr, field_validator
 from typing import Any, ClassVar, Dict, List
-from wandelbots_api_client.v2.models.pose_waypoint import PoseWaypoint
+from wandelbots_api_client.v2.models.waypoint import Waypoint
 from typing import Optional, Set
 from typing_extensions import Self
 from pydantic_core import to_jsonable_python
 
 
-class PoseWaypointsRequest(BaseModel):
+class ActionChunkRequest(BaseModel):
     """
-    Adds pose waypoints to the jogging queue. The robot will try to move through each waypoint by best effort. Existing waypoints in the queue that are older than the first new timestamp will be removed. The first message of this kind starts an internal clock. The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  > **NOTE** > > This jogging type is experimental and its behavior may change in future releases.
+    Adds waypoints to the action chunk queue. The robot will try to move through each waypoint by best effort. Existing waypoints in the queue that are older than the first new timestamp will be removed. The first message of this kind starts an internal clock. The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  > **NOTE** > > Action chunk streaming is experimental and its behavior may change in future releases.
     """  # noqa: E501
 
     message_type: StrictStr = Field(description="Type specifier for server, set automatically. ")
-    waypoints: List[PoseWaypoint] = Field(description="List of pose waypoints. ")
+    waypoints: List[Waypoint] = Field(description="List of waypoints. ")
     __properties: ClassVar[List[str]] = ["message_type", "waypoints"]
 
     @field_validator("message_type")
     def message_type_validate_enum(cls, value):
         """Validates the enum"""
-        if value not in set(["PoseWaypointsRequest"]):
-            raise ValueError("must be one of enum values ('PoseWaypointsRequest')")
+        if value not in set(["ActionChunkRequest"]):
+            raise ValueError("must be one of enum values ('ActionChunkRequest')")
         return value
 
     model_config = ConfigDict(
@@ -57,7 +57,7 @@ class PoseWaypointsRequest(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of PoseWaypointsRequest from a JSON string"""
+        """Create an instance of ActionChunkRequest from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -88,7 +88,7 @@ class PoseWaypointsRequest(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of PoseWaypointsRequest from a dict"""
+        """Create an instance of ActionChunkRequest from a dict"""
         if obj is None:
             return None
 
@@ -98,7 +98,7 @@ class PoseWaypointsRequest(BaseModel):
         _obj = cls.model_validate(
             {
                 "message_type": obj.get("message_type"),
-                "waypoints": [PoseWaypoint.from_dict(_item) for _item in obj["waypoints"]] if obj.get("waypoints") is not None else None,
+                "waypoints": [Waypoint.from_dict(_item) for _item in obj["waypoints"]] if obj.get("waypoints") is not None else None,
             }
         )
         return _obj

wandelbots_api_client-26.6.0.dev97/wandelbots_api_client/v2/models/pose_waypoints_response.py → wandelbots_api_client-26.6.0.dev99/wandelbots_api_client/v2/models/action_chunk_response.py

@@ -23,20 +23,20 @@ from typing_extensions import Self
 from pydantic_core import to_jsonable_python
 
 
-class PoseWaypointsResponse(BaseModel):
+class ActionChunkResponse(BaseModel):
     """
-    Acknowledgment to a PoseWaypointsRequest.
+    Acknowledgment to an ActionChunkRequest.
     """  # noqa: E501
 
-    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid PoseWaypointsRequest.")
+    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid ActionChunkRequest.")
     kind: StrictStr
     __properties: ClassVar[List[str]] = ["message", "kind"]
 
     @field_validator("kind")
     def kind_validate_enum(cls, value):
         """Validates the enum"""
-        if value not in set(["POSE_WAYPOINTS_RECEIVED"]):
-            raise ValueError("must be one of enum values ('POSE_WAYPOINTS_RECEIVED')")
+        if value not in set(["ACTION_CHUNK_RECEIVED"]):
+            raise ValueError("must be one of enum values ('ACTION_CHUNK_RECEIVED')")
         return value
 
     model_config = ConfigDict(
@@ -56,7 +56,7 @@ class PoseWaypointsResponse(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of PoseWaypointsResponse from a JSON string"""
+        """Create an instance of ActionChunkResponse from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -80,7 +80,7 @@ class PoseWaypointsResponse(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of PoseWaypointsResponse from a dict"""
+        """Create an instance of ActionChunkResponse from a dict"""
         if obj is None:
             return None
 

{wandelbots_api_client-26.6.0.dev97 → wandelbots_api_client-26.6.0.dev99}/wandelbots_api_client/v2/models/execute.py

@@ -26,7 +26,7 @@ from pydantic_core import to_jsonable_python
 
 class Execute(BaseModel):
     """
-    Details about the state of the motion execution. The details are either for a jogging or a trajectory. If NOVA is not controlling this motion group at the moment, this field is omitted.
+    Details about the state of the motion execution. The details are either for a jogging, a trajectory, or an action chunk. If NOVA is not controlling this motion group at the moment, this field is omitted.
     """  # noqa: E501
 
     joint_position: List[Union[StrictFloat, StrictInt]] = Field(