wandelbots-api-client 25.11.0.dev12__py3-none-any.whl → 26.1.0.dev62__py3-none-any.whl

wandelbots_api_client/v2/models/kinematic_model.py

@@ -0,0 +1,110 @@
+# coding: utf-8
+
+"""
+    Wandelbots NOVA API
+
+    Interact with robots in an easy and intuitive way. 
+
+    The version of the OpenAPI document: 2.1.0 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, Field, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.dh_parameter import DHParameter
+from typing import Optional, Set
+from typing_extensions import Self
+
+class KinematicModel(BaseModel):
+    """
+    Kinematics model described by Denavit-Hartenberg parameters.
+    """ # noqa: E501
+    dh_parameters: Optional[List[DHParameter]] = None 
+    inverse_solver: Optional[StrictStr] = Field(default=None, description="Optional name of the inverse kinematics solver.") 
+    __properties: ClassVar[List[str]] = ["dh_parameters", "inverse_solver"]
+
+    model_config = ConfigDict(
+        populate_by_name=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, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+        
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of KinematicModel 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 each item in dh_parameters (list)
+        _items = []
+        if self.dh_parameters:
+            for _item in self.dh_parameters:
+                # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
+                #     to not drop empty elements in lists
+                if _item is not None:
+                    _items.append(_item.to_dict())
+                # <<< End modification
+            _dict['dh_parameters'] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of KinematicModel from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({
+            "dh_parameters": [
+                # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
+                #     to allow dicts in lists
+                DHParameter.from_dict(_item) if hasattr(DHParameter, 'from_dict') else _item
+                # <<< End modification
+                for _item in obj["dh_parameters"]
+            ] if obj.get("dh_parameters") is not None else None,
+            "inverse_solver": obj.get("inverse_solver")
+        })
+        return _obj
+
+

wandelbots_api_client/v2/models/motion_group_description.py

@@ -43,7 +43,8 @@ class MotionGroupDescription(BaseModel):
     payloads: Optional[Dict[str, Payload]] = Field(default=None, description="Maps a payload name to its configuration. Key must be a payload identifier. Values are payload objects. ") 
     cycle_time: Optional[Annotated[int, Field(le=2147483647, strict=True, ge=0)]] = Field(default=None, description="[ms] cycle time of the motion group controller. A trajectory for this motion group should be computed to this resolution.") 
     dh_parameters: Optional[List[DHParameter]] = Field(default=None, description="The DH parameters describing the motion group geometry, starting from base.") 
-    __properties: ClassVar[List[str]] = ["motion_group_model", "mounting", "tcps", "safety_zones", "safety_link_colliders", "safety_tool_colliders", "operation_limits", "payloads", "cycle_time", "dh_parameters"]
+    serial_number: Optional[StrictStr] = Field(default=None, description="The serial number of the motion group, if available. If not available, the serial number of the robot controller. If not available, empty. ") 
+    __properties: ClassVar[List[str]] = ["motion_group_model", "mounting", "tcps", "safety_zones", "safety_link_colliders", "safety_tool_colliders", "operation_limits", "payloads", "cycle_time", "dh_parameters", "serial_number"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -204,7 +205,8 @@ class MotionGroupDescription(BaseModel):
                 DHParameter.from_dict(_item) if hasattr(DHParameter, 'from_dict') else _item
                 # <<< End modification
                 for _item in obj["dh_parameters"]
-            ] if obj.get("dh_parameters") is not None else None
+            ] if obj.get("dh_parameters") is not None else None,
+            "serial_number": obj.get("serial_number")
         })
         return _obj
 

wandelbots_api_client/v2/models/virtual_controller.py

@@ -20,7 +20,6 @@ import json
 from pydantic import BaseModel, ConfigDict, Field, StrictStr, field_validator
 from typing import Any, ClassVar, Dict, List, Optional
 from wandelbots_api_client.v2.models.manufacturer import Manufacturer
-from wandelbots_api_client.v2.models.virtual_controller_types import VirtualControllerTypes
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -30,7 +29,7 @@ class VirtualController(BaseModel):
     """ # noqa: E501
     kind: str = "VirtualController"
     manufacturer: Manufacturer 
-    type: Optional[VirtualControllerTypes] = None 
+    type: Optional[StrictStr] = Field(default=None, description="Preset type of the virtual robot controller. See [getRobotConfigurations](getRobotConfigurations) for supported types. ") 
     var_json: Optional[StrictStr] = Field(default=None, description="Complete JSON configuration of the virtual robot controller. Can be obtained from the physical controller's configuration via [getVirtualControllerConfiguration](getVirtualControllerConfiguration). If provided, the `type` field should not be used. ", alias="json") 
     initial_joint_position: Optional[StrictStr] = Field(default=None, description="Initial joint position of the first motion group from the virtual robot controller. Provide the joint position as a JSON array containing 7 float values, each representing a joint position in radians, e.g., \"[0, 0, 0, 0, 0, 0, 0]\". If the robot has fewer than 7 joints, use \"0\" for each remaining position to ensure the array has exactly 7 values. ") 
     __properties: ClassVar[List[str]] = ["kind", "manufacturer", "type", "json", "initial_joint_position"]

wandelbots_api_client/v2/models/virtual_controller_types.py

@@ -3,7 +3,7 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way. 
+    Interact with robots in an easy and intuitive way.
 
     The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)

wandelbots_api_client/v2_pydantic/__init__.py

@@ -13,7 +13,7 @@
     Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "25.11.0.dev12"
+__version__ = "26.1.0.dev62"
 
 from . import api
 from . import api_client

wandelbots_api_client/v2_pydantic/api/__init__.py

@@ -12,6 +12,7 @@ from .license_api import LicenseApi
 from .motion_group_api import MotionGroupApi
 from .motion_group_models_api import MotionGroupModelsApi
 from .program_api import ProgramApi
+from .robot_configurations_api import RobotConfigurationsApi
 from .store_collision_components_api import StoreCollisionComponentsApi
 from .store_collision_setups_api import StoreCollisionSetupsApi
 from .store_object_api import StoreObjectApi
@@ -37,6 +38,7 @@ __all__ = [
     "MotionGroupApi", 
     "MotionGroupModelsApi", 
     "ProgramApi", 
+    "RobotConfigurationsApi", 
     "StoreCollisionComponentsApi", 
     "StoreCollisionSetupsApi", 
     "StoreObjectApi",