Handle expired JSON web tokens

CHANGELOG.md

@@ -1,5 +1,11 @@
 # Changelog
 
+## 0.9.27 (2026-01-14)
+
+### Changes
+
+- When a request response is 401 Unauthorized and a JSON Web Token was used for the request, clear the token and retry the request to fetch a new token via basic auth.
+
 ## 0.9.26 (2025-12-11)
 
 ### Changes

python/mujinwebstackclient/controllerwebclientraw.py

@@ -291,6 +291,14 @@ def Request(
 
         response = self._session.request(method=method, url=url, timeout=timeout, headers=headers, **kwargs)
 
+        # if the response is 401 and JSON web token was used, it is possible that the token has expired
+        if response.status_code == 401 and isinstance(self._session.auth, JSONWebTokenAuth):
+            if self._session.auth._jsonWebToken is not None:
+                log.debug('request %s %s received unauthorized error, clearing cached json web token and retrying', method, url)
+                # clear the token and retry the request to fetch a new token via basic auth
+                self._session.auth._jsonWebToken = None
+                response = self._session.request(method=method, url=url, timeout=timeout, headers=headers, **kwargs)
+
         # in verbose logging, log the caller
         if log.isEnabledFor(5):  # logging.VERBOSE might not be available in the system
             log.verbose('request %s %s response %s took %.03f seconds:\n%s', method, url, response.status_code, response.elapsed.total_seconds(), '\n'.join([line.strip() for line in traceback.format_stack()[:-1]]))

python/mujinwebstackclient/version.py

@@ -1,3 +1,3 @@
-__version__ = '0.9.26'
+__version__ = '0.9.27'
 
 # Do not forget to update CHANGELOG.md