@wandelbots/nova-js/src/asyncapi.yaml

Official JS client for the Wandelbots API

info:
  title: Wandelbots NOVA Async API
  version: '2.0'
  license:
    name: Apache 2.0
    url: https://www.apache.org/licenses/LICENSE-2.0.html
  description: |
    Interact with robots in an easy and intuitive way.
  contact:
    name: Copyright (c) 2025 Wandelbots GmbH
    url: https://www.wandelbots.com
components:
  schemas:
    CellName:
      type: string
      description: |
        A unique name for the cell used as an identifier for addressing the cell in all API calls.
        It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
      pattern: ^[a-z][a-z0-9-]{0,30}[a-z0-9]$
      default: cell
    CellDescription:
      type: string
      maxLength: 200
      description: |
        A description of the cell.
    AbbController:
      title: AbbController
      description: |
        The configuration of a physical ABB robot controller has to contain IP address.
        Additionally an EGM server configuration has to be specified in order to control the robot.
        Deploying the server is a functionality of this API.
      type: object
      required:
        - kind
        - controller_ip
        - controller_port
        - egm_server
      properties:
        kind:
          type: string
          enum:
            - AbbController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
        controller_port:
          description: |
            Default values: 80, 443. If custom value is set, field is required.
          type: integer
          default: 80
        egm_server:
          description: The EGM server runs inside of the cell, thus its IP must be in the same network as the 'controller_ip'
          type: object
          required:
            - ip
            - port
          properties:
            ip:
              type: string
            port:
              type: integer
              default: 32112
    ControllerNetworkInterface:
      title: ControllerNetworkInterface
      description: |
        Optional dedicated network interface for a physical robot controller.

        When set, the controller is given its own network interface on the selected
        physical network port (`pf`) with the given `address`, so it can reach the
        robot network directly.
      type: object
      required:
        - address
        - pf
      properties:
        address:
          description: |
            IPv4 address in CIDR notation to assign to the controller's network
            interface, for example `192.168.1.10/24`. The value must be a valid IPv4
            address followed by a prefix length between 0 and 32.
          type: string
          pattern: ^(25[0-5]|2[0-4][0-9]|1[0-9][0-9]|[1-9]?[0-9])(\.(25[0-5]|2[0-4][0-9]|1[0-9][0-9]|[1-9]?[0-9])){3}/([0-9]|[12][0-9]|3[0-2])$
          example: 192.168.1.10/24
        pf:
          description: |
            Name of the node's physical network port that connects to the robot
            network, for example `enp10s0f0`. The controller's interface is provided
            from this port.
          type: string
          pattern: ^[A-Za-z0-9][A-Za-z0-9._-]{0,14}$
          example: enp10s0f0
    FanucController:
      title: FanucController
      description: The configuration of a physical FANUC robot controller has to contain IP address of the controller.
      type: object
      required:
        - kind
        - controller_ip
      properties:
        kind:
          type: string
          enum:
            - FanucController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
        network_interface:
          $ref: '#/components/schemas/ControllerNetworkInterface'
    KukaController:
      title: KukaController
      description: |
        The configuration of a physical KUKA robot controller has to contain an IP address.
        Additionally an RSI server configuration has to be specified in order to control the robot.
        Deploying the server is a functionality of this API.
      type: object
      required:
        - kind
        - controller_ip
        - controller_port
        - rsi_server
      properties:
        kind:
          type: string
          enum:
            - KukaController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
        controller_port:
          type: integer
          default: 54600
        rsi_server:
          description: The RSI server runs inside of the cell.
          type: object
          required:
            - ip
            - port
          properties:
            ip:
              type: string
              default: 0.0.0.0
            port:
              type: integer
              default: 30152
        slow_cycle_rate:
          type: boolean
          default: false
          description: |
            If true, uses slower cycle time of 12ms instead of 4ms.
    UniversalrobotsController:
      title: UniversalrobotsController
      description: The configuration of a physical Universal Robots controller has to contain IP address of the controller.
      type: object
      required:
        - kind
        - controller_ip
      properties:
        kind:
          type: string
          enum:
            - UniversalrobotsController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
    Manufacturer:
      type: string
      enum:
        - abb
        - fanuc
        - kuka
        - staubli
        - universalrobots
        - yaskawa
    MotionGroupModel:
      title: MotionGroupModel
      type: string
      description: |
        Identifies a single motion group model.
        See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
    MotionGroupFromType:
      title: Motion Group from Model
      type: object
      required:
        - motion_group_model
        - motion_group
      properties:
        motion_group:
          type: string
          description: Unique identifier for the motion group to be added.
        motion_group_model:
          $ref: '#/components/schemas/MotionGroupModel'
        initial_joint_position:
          type: string
          description: |
            Initial joint position of the added motion group.
            Provides the joint position as a JSON array of float values in radians. The array length
            must match the robot's degrees of freedom, e.g., `"[0, 0, 0, 0, 0, 0]"` for a 6-DOF robot.
            If the provided array length does not match the robot's DOF, the array will be adjusted; if it is longer, extra values will be truncated;
            if it is shorter, missing values will be filled with zeros.
    MotionGroupFromJson:
      title: Motion Group from JSON
      type: object
      required:
        - json_data
        - extracted_motion_group_id
        - motion_group
      properties:
        motion_group:
          type: string
          description: Unique identifier for the motion group to be added.
        json_data:
          type: string
          description: |
            JSON configuration of the virtual robot controller, can be obtained from the physical controller's configuration
            via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration).
        extracted_motion_group_id:
          type: string
          description: |
            The identifier of the motion group that needs to be extracted from the provided JSON configuration.
        initial_joint_position:
          type: string
          description: |
            Initial joint position of the added motion group.
            Provides the joint position as a JSON array of float values in radians. The array length
            must match the robot's degrees of freedom, e.g., `"[0, 0, 0, 0, 0, 0]"` for a 6-DOF robot.
            If the provided array length does not match the robot's DOF, the array will be adjusted: if it is longer, extra values will be truncated;
            if it is shorter, missing values will be filled with zeros.
    AddVirtualControllerMotionGroupRequest:
      title: AddVirtualControllerMotionGroupRequest
      description: |
        Request body wrapper for `addVirtualControllerMotionGroup`.
        Allow either referencing a predefined motion group model or
        uploading a JSON configuration that the backend converts into a
        motion group description.
      oneOf:
        - $ref: '#/components/schemas/MotionGroupFromType'
        - $ref: '#/components/schemas/MotionGroupFromJson'
    VirtualController:
      title: VirtualController
      description: |
        The configuration of a virtual robot controller has to contain the manufacturer string,
        an optional joint position string array, and either a preset `type` **or** the complete JSON configuration.
      type: object
      required:
        - kind
        - manufacturer
      properties:
        kind:
          type: string
          enum:
            - VirtualController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        manufacturer:
          $ref: '#/components/schemas/Manufacturer'
        type:
          type: string
          description: |
            Preset type of the virtual robot controller.
            See [getRobotConfigurations](#/operations/getRobotConfigurations) for supported types.
        json:
          type: string
          description: |
            Complete JSON configuration of the virtual robot controller.
            Can be obtained from the physical controller's configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration).
            If provided, the `type` field should not be used.
        initial_joint_position:
          type: string
          description: |
            Initial joint position of the first motion group from the virtual robot controller.
            Provides the joint position as a JSON array of float values in radians. The array length
            must match the robot's degrees of freedom, e.g., `"[0, 0, 0, 0, 0, 0]"` for a 6-DOF robot.
            If the provided array length does not match the robot's DOF, the array will be adjusted: if it is longer, extra values will be truncated;
            if it is shorter, missing values will be filled with zeros.
        motion_groups:
          type: array
          maxItems: 10
          description: |
            Adds a motion group configuration for the virtual robot controller.

            > **NOTE**
            >
            > Set only one of the two options, **motion_group_model**, or **json_data**

            - **motion_group_model**: Identifies a single motion group. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types
            - **json_data**: JSON configuration of the virtual robot controller, can be obtained from the physical controller's configuration
                via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration)
            - **extracted_motion_group_id**: Motion group identifier to extract from the provided JSON configuration,  required when using json_data
            - **motion_group**: Unique identifier for the motion group
            - **initial_joint_position**: Specifies the initial joint position for the added motion group
          items:
            $ref: '#/components/schemas/AddVirtualControllerMotionGroupRequest'
    YaskawaController:
      title: YaskawaController
      description: The configuration of a physical Yaskawa robot controller has to contain IP address of the controller.
      type: object
      required:
        - kind
        - controller_ip
      properties:
        kind:
          type: string
          enum:
            - YaskawaController
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
        controller_ip:
          type: string
    RobotController:
      type: object
      description: The configuration of a physical or virtual robot controller.
      required:
        - name
        - configuration
      properties:
        name:
          description: |
            Unique name of controller within the cell.
            It must be a valid k8s label name as defined by [RFC 1035](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#rfc-1035-label-names).
          type: string
          pattern: ^[a-z][a-z0-9-]{0,61}[a-z0-9]$
        configuration:
          oneOf:
            - $ref: '#/components/schemas/AbbController'
            - $ref: '#/components/schemas/FanucController'
            - $ref: '#/components/schemas/KukaController'
            - $ref: '#/components/schemas/UniversalrobotsController'
            - $ref: '#/components/schemas/VirtualController'
            - $ref: '#/components/schemas/YaskawaController'
          discriminator: kind
          x-go-type-name: ControllerConfig
    ImageCredentials:
      type: object
      description: |
        User provided credentials for creating a secret to pull an image from a registry.
      required:
        - registry
        - user
        - password
      properties:
        registry:
          type: string
        user:
          type: string
        password:
          type: string
    ContainerImage:
      type: object
      description: |
        A user provided, custom container image and the required credentials to pull it from a registry.
      required:
        - image
      properties:
        image:
          description: The location of a container image in the form of `<registry>/<image>:<tag>`.
          type: string
          minLength: 1
        credentials:
          $ref: '#/components/schemas/ImageCredentials'
        secrets:
          type: array
          description: Known secrets for authentication with the container registry.
          items:
            type: object
            required:
              - name
            properties:
              name:
                type: string
    ContainerEnvironment:
      type: array
      description: |
        A list of environment variables with name and their value.
        These can be used to configure the containerized application, and turn features on or off.
      items:
        type: object
        required:
          - name
          - value
        properties:
          name:
            type: string
          value:
            type: string
    Capacity:
      type: string
      description: The amount of requested storage capacity.
      pattern: ^[0-9]+(\\.[0-9]+)?(Ki|Mi|Gi|Ti|Pi|Ei|B)?$
      example: 100Mi
    ContainerStorage:
      type: object
      description: |
        The path and capacity of a volume that retains data across application restarts.
        The maximal requestable capacity is 300Mi.
        If you need more capacity consider using [storeObject](#/operations/storeObject).
      required:
        - mount_path
        - capacity
      properties:
        mount_path:
          type: string
          format: path
          example: /data
        capacity:
          $ref: '#/components/schemas/Capacity'
          description: |
            The amount of local storage available for the application.

            **NOTE:** The capacity can NEVER be reduced!
    ContainerResources:
      type: object
      description: Additional resources that the application requires.
      properties:
        intel_gpu:
          type: integer
          description: Number of GPUs the application requires.
          minimum: 0
          maximum: 1
        memory_limit:
          type: string
          description: The maximum memory allocated to this application.
          example: 1000Mi
    App:
      type: object
      description: |
        An App is defined by a webserver, packed inside a container, serving a web-application.
      required:
        - name
        - app_icon
        - container_image
      properties:
        name:
          description: |
            The name of the provided application.
            The name must be unique within the cell and is used as an identifier for addressing the application in all API calls
            , e.g., when updating the application.

            It also defines where the application is reachable (/$cell/$name).

            It must be a valid k8s label name as defined by [RFC 1035](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#rfc-1035-label-names).
          type: string
          pattern: ^[a-z][a-z0-9-]{0,61}[a-z0-9]$
          minLength: 1
        app_icon:
          description: The path of the icon for the App (/$cell/$name/$app_icon).
          type: string
          minLength: 1
        container_image:
          $ref: '#/components/schemas/ContainerImage'
        port:
          description: The port the containerized webserver is listening on.
          type: integer
          default: 8080
        environment:
          $ref: '#/components/schemas/ContainerEnvironment'
        storage:
          $ref: '#/components/schemas/ContainerStorage'
        resources:
          $ref: '#/components/schemas/ContainerResources'
        health_path:
          description: |
            Defines the URL path suffix used to check the application's health status. The complete health check URL
            is constructed as `/$cell/$name/$health_path`. When the application is working as expected,
            the endpoint returns an HTTP 200 status code.

            If not specified, the system will default to using the application icon path suffix
            (the value of `app_icon`) as the health check endpoint, resulting in `/$cell/$name/$app_icon`.

            If the health check fails (no response or non-200 status code), the system will
            automatically restart the application container to restore service.
          type: string
        diagnosis_path:
          description: |
            Defines the URL path suffix used to provide an endpoint for diagnosis data collection.
            The complete diagnosis check URL is constructed as `/$cell/$name/$diagnosis_path`.

            The endpoint is called when a diagnosis package is requested via the diagnosis API.
            The endpoint needs to return the data within a zip file `application/zip` response.
          type: string
    Cell:
      type: object
      description: |
        To create a robot cell, only a valid name is required.
        Once created, a robot cell provides access to the Wandelbots NOVA foundation services.
        The configuration can be customized, e.g., robot controllers, also within apps.
      required:
        - name
      additionalProperties: {}
      properties:
        name:
          $ref: '#/components/schemas/CellName'
          default: cell
        version:
          description: |
            Wandelbots NOVA version of the cell.
            This version must not exceed the current system version.
          type: string
        description:
          $ref: '#/components/schemas/CellDescription'
        controllers:
          type: array
          items:
            $ref: '#/components/schemas/RobotController'
        apps:
          type: array
          items:
            $ref: '#/components/schemas/App'
    ProgramRunState:
      title: ProgramRunState
      description: The state of a program run.
      type: string
      format: enum
      enum:
        - PREPARING
        - RUNNING
        - COMPLETED
        - FAILED
        - STOPPED
    ProgramStatus:
      title: ProgramStatus
      type: object
      required:
        - app
        - program
        - run
        - state
        - timestamp
      properties:
        app:
          type: string
          description: The app name where the program is hosted.
        program:
          type: string
          description: Unique identifier of the program.
        run:
          type: string
          description: Unique identifier of the program run.
        state:
          $ref: '#/components/schemas/ProgramRunState'
          description: State of the program run.
        error:
          type: string
          description: Error message if the program run failed.
        start_time:
          type: string
          format: date-time
          description: RFC3339 timestamp when the program run started.
        end_time:
          type: string
          format: date-time
          description: RFC3339 timestamp when the program run ended.
        timestamp:
          type: string
          format: date-time
          description: RFC3339 timestamp when the program run ended.
    ServiceGroup:
      type: string
      enum:
        - SystemService
        - CellService
        - RobotController
        - App
    ServiceStatusSeverity:
      type: string
      enum:
        - INFO
        - WARNING
        - ERROR
    ServiceStatusPhase:
      type: string
      enum:
        - Terminating
        - Initialized
        - Running
        - NoReady
        - Completed
        - ContainerCreating
        - PodInitializing
        - Unknown
        - CrashLoopBackOff
        - Error
        - ImagePullBackOff
        - OOMKilled
        - Pending
        - Evicted
    ServiceStatus:
      type: object
      required:
        - service
        - group
        - status
      properties:
        service:
          type: string
        group:
          $ref: '#/components/schemas/ServiceGroup'
        status:
          type: object
          required:
            - severity
            - code
          properties:
            severity:
              $ref: '#/components/schemas/ServiceStatusSeverity'
            code:
              $ref: '#/components/schemas/ServiceStatusPhase'
            reason:
              type: string
    ServiceStatusList:
      type: array
      items:
        $ref: '#/components/schemas/ServiceStatus'
    CellCycleEvent:
      title: CellCycleEvent
      description: |
        Lifecycle event for a cell cycle.
      type: object
      required:
        - event_type
        - id
        - cycle_id
        - timestamp
        - cell
      properties:
        event_type:
          type: string
          description: Type of the cycle event.
          enum:
            - cycle_started
            - cycle_finished
            - cycle_failed
        id:
          type: string
          description: Unique identifier of this cycle event.
        cycle_id:
          type: string
          description: Unique identifier of the cycle this event belongs to.
        timestamp:
          type: string
          description: Timestamp when the cycle event occurred, in ISO 8601 format.
        cell:
          type: string
          description: Unique identifier of the cell the event belongs to.
        extra:
          type: object
          description: Additional event-specific data. May be empty.
          additionalProperties: true
        duration_ms:
          type: integer
          description: Duration of the cycle in milliseconds.
        reason:
          type: string
          description: Reason for cycle failure.
    Sphere:
      title: Sphere
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - sphere
        radius:
          type: number
          format: double
          description: The radius of the sphere in [mm].
      required:
        - shape_type
        - radius
      description: Defines a spherical shape centred around the origin.
    Box:
      title: Box
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - box
        size_x:
          type: number
          format: double
          description: The dimension in x-direction in [mm].
        size_y:
          type: number
          format: double
          description: The dimension in y-direction in [mm].
        size_z:
          type: number
          format: double
          description: The dimension in z-direction in [mm].
        box_type:
          type: string
          enum:
            - HOLLOW
            - FULL
          default: FULL
          description: The box type defines if the box is hollow or full.
      required:
        - shape_type
        - size_x
        - size_y
        - size_z
        - box_type
      description: |
        Defines a cuboid shape centred around an origin.

        If a margin is applied to the box type full, it is added to all size values. The shape will keep its edges.
        The hollow box type consists of thin boxes that make up its walls.
        If a margin is applied to the box type hollow, its size values are reduced by the margin.
    Rectangle:
      title: Rectangle
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - rectangle
        size_x:
          type: number
          format: double
          description: The dimension in x-direction in [mm].
        size_y:
          type: number
          format: double
          description: The dimension in y-direction in [mm].
      required:
        - shape_type
        - size_x
        - size_y
      description: Defines an x/y-plane with finite size. Centred around the z-axis.
    Plane:
      title: Plane
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - plane
      required:
        - shape_type
      description: Defines an x/y-plane with infinite size.
    Cylinder:
      title: Cylinder
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - cylinder
        radius:
          type: number
          format: double
          description: The radius of the cylinder in [mm].
        height:
          type: number
          format: double
          description: The height of the cylinder in [mm].
      required:
        - shape_type
        - radius
        - height
      description: |
        Defines a cylindrical shape.
        Centred around origin, symmetric around z-axis.

        If a margin is applied, it is added to radius and height. The shape will keep its edges.
    Capsule:
      title: Capsule
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - capsule
        radius:
          type: number
          format: double
          description: The radius of the cylinder and semi-spheres in [mm].
        cylinder_height:
          type: number
          format: double
          description: The height of the inner cylinder in [mm].
      required:
        - shape_type
        - radius
        - cylinder_height
      description: |
        Defines a cylindrical shape with 2 semi-spheres on the top and bottom.
        Centred around origin, symmetric around z-axis.
    RectangularCapsule:
      title: RectangularCapsule
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - rectangular_capsule
        radius:
          type: number
          format: double
          description: The radius of the inner spheres in [mm].
        sphere_center_distance_x:
          type: number
          format: double
          description: The distance of the sphere center in x-direction in [mm].
        sphere_center_distance_y:
          type: number
          format: double
          description: The distance of the sphere center in y-direction in [mm].
      required:
        - shape_type
        - radius
        - sphere_center_distance_x
        - sphere_center_distance_y
      description: |
        Convex hull around four spheres. Sphere center points in x/y-plane, offset by either combination "+/- sizeX" or "+/- sizeY".

        Alternative description: Rectangle in x/y-plane with a 3D padding.
    Vector3d:
      title: Vector3d
      type: array
      maxItems: 3
      minItems: 3
      items:
        type: number
        format: double
      description: |
        A three-dimensional vector [x, y, z] with double precision.
    ConvexHull:
      title: ConvexHull
      type: object
      properties:
        shape_type:
          type: string
          enum:
            - convex_hull
        vertices:
          type: array
          items:
            $ref: '#/components/schemas/Vector3d'
          description: The list of encapsulated points.
      required:
        - shape_type
        - vertices
      description: Defines a convex hull encapsulating a set of vertices.
    RotationVector:
      title: RotationVector
      type: array
      maxItems: 3
      minItems: 3
      items:
        type: number
        format: double
      description: |
        Defines a rotation in 3D space.
        A three-dimensional Vector [rx, ry, rz] with double precision.
        Rotation is applied around the vector.
        The angle of rotation equals the length of the vector.
    Pose:
      title: Pose
      type: object
      properties:
        position:
          $ref: '#/components/schemas/Vector3d'
        orientation:
          $ref: '#/components/schemas/RotationVector'
      default:
        position:
          - 0
          - 0
          - 0
        orientation:
          - 0
          - 0
          - 0
      description: |
        Defines a pose in 3D space.
        A pose is a combination of a position and an orientation.
        The position is applied before the orientation.
    Collider:
      title: Collider
      type: object
      description: |
        Defines a collider with a single shape.

        A collider is an object that is used for collision detection.
        It defines the `shape` that is attached with the offset of `pose` to a reference frame.

        Use colliders to:
        - Define the shape of a workpiece. The reference frame is the scene origin.
        - Define the shape of a link in a motion group. The reference frame is the link coordinate system.
        - Define the shape of a tool. The reference frame is the flange coordinate system.
      properties:
        shape:
          oneOf:
            - $ref: '#/components/schemas/Sphere'
            - $ref: '#/components/schemas/Box'
            - $ref: '#/components/schemas/Rectangle'
            - $ref: '#/components/schemas/Plane'
            - $ref: '#/components/schemas/Cylinder'
            - $ref: '#/components/schemas/Capsule'
            - $ref: '#/components/schemas/RectangularCapsule'
            - $ref: '#/components/schemas/ConvexHull'
          discriminator: shape_type
        pose:
          $ref: '#/components/schemas/Pose'
        margin:
          type: number
          description: Increases the shape's size in all dimensions. Applied in [mm]. Can be used to keep a safe distance to the shape.
          format: float
          default: 0
      required:
        - shape
    ColliderDictionary:
      type: object
      title: ColliderDictionary
      description: A collection of identifiable colliders.
      additionalProperties:
        $ref: '#/components/schemas/Collider'
    Link:
      type: object
      title: Collision Motion Group Link
      additionalProperties:
        $ref: '#/components/schemas/Collider'
    LinkChain:
      title: Link Chain
      type: array
      description: |
        A link chain is a kinematic chain of links that is connected via joints.
        A motion group can be used to control the motion of the joints in a link chain.

        A link is a group of colliders that is attached to the link reference frame.

        The reference frame of a link is obtained after applying all sets of Denavit-Hartenberg-parameters from base to (including) the link index.

        This means that the reference frame of the link is on the rotation axis of the next joint in the kinematic chain.
        Example: For a motion group with 2 joints, the collider reference frame (CRF) for link 1 is on the rotation axis of joint 2. The chain looks like:
        - Origin >> Mounting >> Base >> (CRF Base) Joint 0 >> Link 0 >> (CRF Link 0) Joint 1 >> Link 1 >> (CRF Link 1) Flange (CRF Tool) >> TCP

        Adjacent links in the kinematic chain of the motion group are not checked for mutual collision.
      items:
        $ref: '#/components/schemas/Link'
    Tool:
      type: object
      title: Collision Motion Group Tool
      description: |
        Defines the shape of a tool.

        A tool is a dictionary of colliders.

        All colliders that make up a tool are attached to the flange frame of the motion group.
      additionalProperties:
        $ref: '#/components/schemas/Collider'
    CollisionSetup:
      title: CollisionSetup
      type: object
      properties:
        colliders:
          $ref: '#/components/schemas/ColliderDictionary'
          description: |
            Colliders are checked against links and tool.
        link_chain:
          $ref: '#/components/schemas/LinkChain'
          description: |
            The shape of the motion groups links to validate against colliders.
            Indexed along the kinematic chain, starting with a static base shape before first joint.
            The base of the motion group is not checked for collision against the environment.
        tool:
          $ref: '#/components/schemas/Tool'
          description: |
            Shape of the tool to validate against colliders.
        self_collision_detection:
          type: boolean
          description: |
            If true, self-collision detection is enabled for the motion group.

            Self-collision detection checks if links in the kinematic chain of the motion group collide with each other.
            Adjacent links in the kinematic chain of the motion group are not checked for mutual collision.
            The tool is treated like a link at the end of the kinematic chain. It is checked against all links except the last one.

            Default is true.
          default: true
    BusIOsStateEnum:
      enum:
        - BUS_IOS_STATE_UNKNOWN
        - BUS_IOS_STATE_INITIALIZING
        - BUS_IOS_STATE_CONNECTED
        - BUS_IOS_STATE_DISCONNECTED
      type: string
      format: enum
      description: |
        Current state of the BUS input/output service.
    BusIOsState:
      type: object
      required:
        - state
      properties:
        state:
          $ref: '#/components/schemas/BusIOsStateEnum'
        message:
          type: string
          description: |
            A message providing additional information on the input/output service, e.g., BUS service status, encountered errors.
            May be empty if no additional information is available.
    IOBooleanValue:
      title: IOBooleanValue
      required:
        - io
        - value
        - value_type
      type: object
      properties:
        io:
          type: string
          description: Unique identifier of the input/output.
        value:
          type: boolean
          description: |
            Value of a digital input/output.
        value_type:
          type: string
          enum:
            - boolean
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
      description: Input/Output boolean value representation.
    IOIntegerValue:
      required:
        - value_type
        - io
        - value
      type: object
      properties:
        io:
          type: string
          description: Unique identifier of the input/output.
        value:
          type: string
          description: |
            Value of an input/output with integer representation.

            > The integral value is transmitted as a string to avoid precision loss during conversion to JSON.
            > Recommended: Use int64 in your implementation. If you want to interact with int64 in numbers,
            > JS bigint libraries can help you to parse the string into an integral value.
        value_type:
          type: string
          enum:
            - integer
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
      title: IOIntegerValue
    IOFloatValue:
      required:
        - value_type
        - io
        - value
      type: object
      properties:
        io:
          type: string
          description: Unique identifier of the input/output.
        value:
          type: number
          description: |
            Value of an analog input/output in floating number representation.
          format: double
        value_type:
          type: string
          enum:
            - float
          x-go-type-skip-optional-pointer: true
          x-is-discriminator: true
      title: IOFloatValue
    IOValue:
      oneOf:
        - $ref: '#/components/schemas/IOBooleanValue'
        - $ref: '#/components/schemas/IOIntegerValue'
        - $ref: '#/components/schemas/IOFloatValue'
      discriminator: value_type
    ListIOValuesResponse:
      type: array
      items:
        $ref: '#/components/schemas/IOValue'
      description: Array of input/output values.
      example:
        - io: io1
          value: true
          value_type: boolean
        - io: io2
          value: '42'
          value_type: integer
        - io: io3
          value: 3.14
          value_type: float
    Error:
      type: object
      required:
        - message
      properties:
        code:
          type: string
        message:
          type: string
    SelectIOs:
      type: object
      required:
        - ios
      properties:
        ios:
          type: array
          description: Array of input/output identifiers to retrieve the values for.
          items:
            type: string
        update_type:
          type: string
          description: |
            Type of update.
                - changes: Only send updates when the value changes.
                - full: Send the full list of values at the update rate.
          default: full
          enum:
            - changes
            - full
    StreamIOValuesResponse:
      required:
        - io_values
        - timestamp
        - sequence_number
      type: object
      properties:
        io_values:
          type: array
          items:
            $ref: '#/components/schemas/IOValue'
        timestamp:
          type: string
          format: date-time
          description: Timestamp indicating when the represented information was received from the robot controller.
        sequence_number:
          type: integer
          format: int64
          minimum: 0
          maximum: 4294967295
          description: |
            Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller.
            The sequence number is reset when the connection to the physical controller is closed and re-established.
      description: Array of input/output values.
      example:
        io_values:
          - io: io1
            value: true
            value_type: boolean
          - io: io2
            value: '42'
            value_type: integer
          - io: io3
            value: 3.14
            value_type: float
    RobotSystemMode:
      enum:
        - MODE_CONTROLLER_NOT_CONFIGURED
        - MODE_INITIALIZING
        - MODE_MONITOR
        - MODE_CONTROL
        - MODE_FREE_DRIVE
      type: string
      description: |
        Defines the current system mode of the robot system, including NOVA communicating with the robot controller.

        ### MODE_CONTROLLER_NOT_CONFIGURED

        No controller with the specified identifier is configured. Call [addRobotController](#/operations/addRobotController) to register a controller.

        ### MODE_INITIALIZING

        Indicates that a connection to the robot controller is established or reestablished in case of a disconnect.
        On success, the controller is set to MODE_MONITOR.
        On failure, the initialization process is retried until successful or cancelled by the user.

        ### MODE_MONITOR

        Read-only mode with an active controller connection.
        - Receives robot state and I/O signals
        - Move requests are rejected
        - No commands are sent to the controller

        ### MODE_CONTROL

        Active control mode.

        **Movement is possible in this mode**

        The robot is cyclically commanded to hold its current position.
        The robot state is received in sync with the controller cycle.
        Motion and jogging requests are accepted and executed.
        Input/Output interaction is enabled.

        ### MODE_FREE_DRIVE

        Read-only mode with servo motors enabled for manual movement (Free Drive).

        Move requests are rejected.

        Not supported by all robots: Use [getSupportedModes](#/operations/getSupportedModes) to check Free Drive availability.
      format: enum
    OperationMode:
      enum:
        - OPERATION_MODE_UNKNOWN
        - OPERATION_MODE_NO_CONTROLLER
        - OPERATION_MODE_DISCONNECTED
        - OPERATION_MODE_POWER_ON
        - OPERATION_MODE_PENDING
        - OPERATION_MODE_MANUAL
        - OPERATION_MODE_MANUAL_T1
        - OPERATION_MODE_MANUAL_T2
        - OPERATION_MODE_AUTO
        - OPERATION_MODE_RECOVERY
      type: string
      format: enum
      description: |
        Current operation mode of the configured robot controller.
        Operation modes in which the attached motion groups can be moved are:
        - OPERATION_MODE_MANUAL (if enabling switch is pressed)
        - OPERATION_MODE_MANUAL_T1 (if enabling switch is pressed)
        - OPERATION_MODE_MANUAL_T2 (if enabling switch is pressed)
        - OPERATION_MODE_AUTO (without needing to press enabling switch)
        All other modes are considered as non-operational.
    SafetyStateType:
      enum:
        - SAFETY_STATE_UNKNOWN
        - SAFETY_STATE_FAULT
        - SAFETY_STATE_NORMAL
        - SAFETY_STATE_MASTERING
        - SAFETY_STATE_CONFIRM_SAFETY
        - SAFETY_STATE_OPERATOR_SAFETY
        - SAFETY_STATE_PROTECTIVE_STOP
        - SAFETY_STATE_REDUCED
        - SAFETY_STATE_STOP
        - SAFETY_STATE_STOP_0
        - SAFETY_STATE_STOP_1
        - SAFETY_STATE_STOP_2
        - SAFETY_STATE_RECOVERY
        - SAFETY_STATE_DEVICE_EMERGENCY_STOP
        - SAFETY_STATE_ROBOT_EMERGENCY_STOP
        - SAFETY_STATE_VIOLATION
      type: string
      format: enum
      description: |
        Current safety state of the configured robot controller.
        Operation modes in which the attached motion groups can be moved are:
        - SAFETY_STATE_NORMAL
        - SAFETY_STATE_REDUCED
        All other modes are considered as non-operational.
    Joints:
      type: array
      items:
        type: number
        format: double
      description: |
        This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.

        Float precision is the default.
    MotionGroupState_JointLimitReached:
      type: object
      required:
        - limit_reached
      properties:
        limit_reached:
          type: array
          items:
            type: boolean
          description: If true, operational (soft) jointLimit is reached for specific joint.
      description: |
        Indicates which joint of the motion group is in a limit.
        If a joint is in its limit, only this joint can be moved. Movements that affect any other joints are not executed.
    JoggingRunning:
      title: JoggingRunning
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - RUNNING
      description: |
        Jogging is active.
    JoggingPausedByUser:
      title: JoggingPausedByUser
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - PAUSED_BY_USER
      description: |
        User has paused jogging.
    JoggingPausedOnIO:
      title: JoggingPausedOnIO
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - PAUSED_ON_IO
      description: |
        Jogging was paused because of an I/O event.
    JoggingPausedNearJointLimit:
      title: JoggingPausedNearJointLimit
      type: object
      required:
        - kind
        - joint_indices
      properties:
        kind:
          type: string
          enum:
            - PAUSED_NEAR_JOINT_LIMIT
        joint_indices:
          type: array
          items:
            type: integer
            format: int32
            minimum: 0
            maximum: 2147483647
      description: |
        Jogging was paused because a joint is near its limit.
    JoggingPausedNearCollision:
      title: JoggingPausedNearCollision
      type: object
      required:
        - kind
        - description
      properties:
        kind:
          type: string
          enum:
            - PAUSED_NEAR_COLLISION
        description:
          type: string
      description: |
        Jogging was paused because the motion group neared a collision.
    JoggingPausedNearSingularity:
      title: JoggingPausedNearSingularity
      type: object
      required:
        - kind
        - description
      properties:
        kind:
          type: string
          enum:
            - PAUSED_NEAR_SINGULARITY
        description:
          type: string
      description: |
        Jogging was paused because the motion group neared a singularity or the workspace boundary.
    JoggingDetails:
      title: JoggingDetails
      type: object
      required:
        - state
        - kind
      properties:
        state:
          oneOf:
            - $ref: '#/components/schemas/JoggingRunning'
            - $ref: '#/components/schemas/JoggingPausedByUser'
            - $ref: '#/components/schemas/JoggingPausedOnIO'
            - $ref: '#/components/schemas/JoggingPausedNearJointLimit'
            - $ref: '#/components/schemas/JoggingPausedNearCollision'
            - $ref: '#/components/schemas/JoggingPausedNearSingularity'
          discriminator: kind
        jogger_session_timestamp_ms:
          type: integer
          format: int64
          minimum: 0
          maximum: 9223372036854776000
          description: |
            Timestamp of the current jogger session in milliseconds.
            Only waypoint sessions are supported. Other sessions return 0.

            > **NOTE**
            >
            > This field is experimental and its behavior may change in future releases.
        kind:
          type: string
          enum:
            - JOGGING
      description: |
        State of jogging execution.
        This state is sent during jogging movement, response-rate closest to the nearest multiple of controller step-rate but not exceeding the configured rate.
        The jogging state can be one of the following:
        - RUNNING: Jogging is active.
        - PAUSED_BY_USER: User has paused jogging.
        - PAUSED_NEAR_JOINT_LIMIT: Jogging was paused because a joint is near its limit.
        - PAUSED_NEAR_COLLISION: Jogging was paused because the motion group neared a collision.
        - PAUSED_NEAR_SINGULARITY: Jogging was paused because the motion group neared a singularity or the workspace boundary.
        - PAUSED_ON_IO: Jogging was paused because of an I/O event.
    Location:
      type: number
      format: double
      description: |
        - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,
          where `n` denotes the number of motion commands
        - Each integer value of the location corresponds to a specific motion command,
          while non-integer values interpolate positions within the segments.
        - The location is calculated from the joint path
    TrajectoryRunning:
      title: TrajectoryRunning
      type: object
      required:
        - kind
        - time_to_end
      properties:
        kind:
          type: string
          enum:
            - RUNNING
        time_to_end:
          type: integer
          description: Remaining time in milliseconds (ms) to reach the end of the motion.
          format: int64
          minimum: 0
          maximum: 4294967295
      description: |
        Trajectory is being executed.
    TrajectoryPausedByUser:
      title: TrajectoryPausedByUser
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - PAUSED_BY_USER
      description: |
        User has paused execution.
    TrajectoryEnded:
      title: TrajectoryEnded
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - END_OF_TRAJECTORY
      description: |
        First or last sample (depending on direction) of trajectory has been sent.
    TrajectoryWaitForIO:
      title: TrajectoryWaitForIO
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - WAIT_FOR_IO
      description: |
        Waiting for an I/O event to start execution.
    TrajectoryPausedOnIO:
      title: TrajectoryPausedOnIO
      type: object
      required:
        - kind
      properties:
        kind:
          type: string
          enum:
            - PAUSED_ON_IO
      description: |
        Execution was paused because of an I/O event.
    TrajectoryDetails:
      title: TrajectoryDetails
      type: object
      required:
        - trajectory
        - location
        - state
        - kind
      properties:
        trajectory:
          type: str