wandelbots-api-client 25.6.0.dev7__py3-none-any.whl → 25.10.0rc2__py3-none-any.whl

wandelbots_api_client/models/path_circle.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,9 +27,9 @@ class PathCircle(BaseModel):
     """
     A circular constructs a circle in translative space from 1) the start position which is provided via position, and 2) the indicated target position. The orientation is calculated via a [bezier spline](https://en.wikipedia.org/wiki/B%C3%A9zier_curve) from start orientation to the indicated target orientation. The via point defines the control point for the bezier spline. Therefore, the control point will not be hit directly. 
     """ # noqa: E501
-    via_pose: Pose2
-    target_pose: Pose2
-    path_definition_name: StrictStr
+    via_pose: Pose2 
+    target_pose: Pose2 
+    path_definition_name: str = "PathCircle"
     __properties: ClassVar[List[str]] = ["via_pose", "target_pose", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/models/path_cubic_spline.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,8 +27,8 @@ class PathCubicSpline(BaseModel):
     """
     A [cubic spline](https://de.wikipedia.org/wiki/Spline-Interpolation) represents a cartesian cubic spline in translative and orientational space from start point to indicated target pose via control points. 
     """ # noqa: E501
-    parameters: List[CubicSplineParameter]
-    path_definition_name: StrictStr
+    parameters: List[CubicSplineParameter] 
+    path_definition_name: str = "PathCubicSpline"
     __properties: ClassVar[List[str]] = ["parameters", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/models/path_joint_ptp.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -26,8 +26,8 @@ class PathJointPTP(BaseModel):
     """
     A joint point-to-point represents a line in joint space. All joints will be moved synchronously. 
     """ # noqa: E501
-    target_joint_position: List[Union[StrictFloat, StrictInt]]
-    path_definition_name: StrictStr
+    target_joint_position: List[Union[StrictFloat, StrictInt]] 
+    path_definition_name: str = "PathJointPTP"
     __properties: ClassVar[List[str]] = ["target_joint_position", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/models/path_line.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,8 +27,8 @@ class PathLine(BaseModel):
     """
     A line represents a straight line from start position to indicated target position. The orientation is calculated via a quaternion [slerp](https://en.wikipedia.org/wiki/Slerp) from start orientation to indicated target orientation. 
     """ # noqa: E501
-    target_pose: Pose2
-    path_definition_name: StrictStr
+    target_pose: Pose2 
+    path_definition_name: str = "PathLine"
     __properties: ClassVar[List[str]] = ["target_pose", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/models/pause_movement_request.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -26,8 +26,8 @@ class PauseMovementRequest(BaseModel):
     """
     Request to pause the movement execution. Movement pauses as soon as a [Standstill](Standstill.yaml) is sent back to the client. Resume movement with StartMovementRequest. 
     """ # noqa: E501
-    message_type: Optional[StrictStr] = Field(default='PauseMovementRequest', description="Type specifier for server, set automatically. ")
-    send_response: Optional[StrictBool] = Field(default=True, description="Defaults to `true`. Set to true to get a response signalling successful initiation to pause the movement. ")
+    message_type: Optional[StrictStr] = Field(default='PauseMovementRequest', description="Type specifier for server, set automatically. ") 
+    send_response: Optional[StrictBool] = Field(default=True, description="Defaults to `true`. Set to true to get a response signalling successful initiation to pause the movement. ") 
     __properties: ClassVar[List[str]] = ["message_type", "send_response"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/pause_movement_response.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,7 +27,7 @@ class PauseMovementResponse(BaseModel):
     """
     Response for PauseMovementRequest message. ATTENTION: No confirmation that the movement was paused. Confirmation that the PauseMovementRequest was received and is processed.            End of movement execution is signalled by [StillstandResponse](StillstandResponse). 
     """ # noqa: E501
-    pause_response: PauseMovementResponsePauseResponse
+    pause_response: PauseMovementResponsePauseResponse 
     __properties: ClassVar[List[str]] = ["pause_response"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/pause_movement_response_pause_response.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -26,8 +26,8 @@ class PauseMovementResponsePauseResponse(BaseModel):
     """
     PauseMovementResponsePauseResponse
     """ # noqa: E501
-    succeeded: StrictBool = Field(description="Indicates if PauseMovementRequest can be executed.")
-    error_message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid PauseMovementRequest or failure while claiming motion. ")
+    succeeded: StrictBool = Field(description="Indicates if PauseMovementRequest can be executed.") 
+    error_message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid PauseMovementRequest or failure while claiming motion. ") 
     __properties: ClassVar[List[str]] = ["succeeded", "error_message"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/pause_on_io.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -28,8 +28,8 @@ class PauseOnIO(BaseModel):
     """
     Defines an I/O that the motion will be paused for. The motion will stop gracefully on path.
     """ # noqa: E501
-    io: IOValue
-    comparator: Comparator = Field(description="Comparator for the comparison of two values. Use the measured I/O as the base value (a) and the expected input/output value as the comparator (b): e.g., a > b. ")
+    io: IOValue 
+    comparator: Comparator = Field(description="Comparator for the comparison of two values. Use the measured I/O as the base value (a) and the expected input/output value as the comparator (b): e.g., a > b. ") 
     __properties: ClassVar[List[str]] = ["io", "comparator"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/payload.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,10 +27,10 @@ class Payload(BaseModel):
     """
     Payload
     """ # noqa: E501
-    name: StrictStr = Field(description="Unique identifier of the payload.")
-    payload: Union[StrictFloat, StrictInt] = Field(description="Mass of payload in [kg].")
-    center_of_mass: Optional[Vector3d] = None
-    moment_of_inertia: Optional[Vector3d] = None
+    name: StrictStr = Field(description="Unique identifier of the payload.") 
+    payload: Union[StrictFloat, StrictInt] = Field(description="Mass of payload in [kg].") 
+    center_of_mass: Optional[Vector3d] = None 
+    moment_of_inertia: Optional[Vector3d] = None 
     __properties: ClassVar[List[str]] = ["name", "payload", "center_of_mass", "moment_of_inertia"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/plan_collision_free_ptp_request.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -30,11 +30,11 @@ class PlanCollisionFreePTPRequest(BaseModel):
     """
     PlanCollisionFreePTPRequest
     """ # noqa: E501
-    robot_setup: OptimizerSetup = Field(description="The robot setup as returned from [getOptimizerConfiguration](getOptimizerConfiguration) endpoint.")
-    start_joint_position: List[Union[StrictFloat, StrictInt]]
-    target: PlanCollisionFreePTPRequestTarget
-    static_colliders: Optional[Dict[str, Collider]] = Field(default=None, description="A collection of identifiable colliders.")
-    collision_motion_group: Optional[CollisionMotionGroup] = Field(default=None, description="Collision motion group considered during the motion planning. ")
+    robot_setup: OptimizerSetup = Field(description="The robot setup as returned from [getOptimizerConfiguration](getOptimizerConfiguration) endpoint.") 
+    start_joint_position: List[Union[StrictFloat, StrictInt]] 
+    target: PlanCollisionFreePTPRequestTarget 
+    static_colliders: Optional[Dict[str, Collider]] = Field(default=None, description="A collection of identifiable colliders.") 
+    collision_motion_group: Optional[CollisionMotionGroup] = Field(default=None, description="Collision motion group considered during the motion planning. ") 
     __properties: ClassVar[List[str]] = ["robot_setup", "start_joint_position", "target", "static_colliders", "collision_motion_group"]
 
     model_config = ConfigDict(
@@ -87,11 +87,12 @@ class PlanCollisionFreePTPRequest(BaseModel):
         if self.target:
             _dict['target'] = self.target.to_dict()
         # override the default output from pydantic by calling `to_dict()` of each value in static_colliders (dict)
-        _field_dict = {}
+        # >>> Modified from openapi template
         if self.static_colliders:
-            for _key in self.static_colliders:
+            _field_dict = {}
+            for _key, _value in self.static_colliders.items():
                 if self.static_colliders[_key]:
-                    _field_dict[_key] = self.static_colliders[_key].to_dict()
+                    _field_dict[_key] = _value.to_dict()
             _dict['static_colliders'] = _field_dict
         # override the default output from pydantic by calling `to_dict()` of collision_motion_group
         if self.collision_motion_group:

wandelbots_api_client/models/plan_collision_free_ptp_request_target.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/plan_failed_on_trajectory_response.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -32,15 +32,15 @@ class PlanFailedOnTrajectoryResponse(BaseModel):
     """
     The planning failed. The motion can be executed until the defected command part starts.
     """ # noqa: E501
-    motion: Optional[StrictStr] = Field(default=None, description="Identifier of the motion until the error.")
-    description: Optional[StrictStr] = None
-    last_valid_joint_position: Optional[Joints] = None
-    last_valid_tcp_pose: Optional[Pose] = None
-    error_location_on_trajectory: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Location on the trajectory where the error occurred. The location is defined as a floating point range from 0 to n, where 0 is the start of the trajectory and n is the end of the trajectory. n is the number commands. The decimal places represent the percentage of the defective command.")
-    joint_limit_exceeded: Optional[JointLimitExceeded] = None
-    singularity: Optional[Singularity] = None
-    safety_zone_violation: Optional[SafetyZoneViolation] = None
-    out_of_workspace: Optional[OutOfWorkspace] = None
+    motion: Optional[StrictStr] = Field(default=None, description="Identifier of the motion until the error.") 
+    description: Optional[StrictStr] = None 
+    last_valid_joint_position: Optional[Joints] = None 
+    last_valid_tcp_pose: Optional[Pose] = None 
+    error_location_on_trajectory: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Location on the trajectory where the error occurred. The location is defined as a floating point range from 0 to n, where 0 is the start of the trajectory and n is the end of the trajectory. n is the number commands. The decimal places represent the percentage of the defective command.") 
+    joint_limit_exceeded: Optional[JointLimitExceeded] = None 
+    singularity: Optional[Singularity] = None 
+    safety_zone_violation: Optional[SafetyZoneViolation] = None 
+    out_of_workspace: Optional[OutOfWorkspace] = None 
     __properties: ClassVar[List[str]] = ["motion", "description", "last_valid_joint_position", "last_valid_tcp_pose", "error_location_on_trajectory", "joint_limit_exceeded", "singularity", "safety_zone_violation", "out_of_workspace"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/plan_failed_response.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -30,13 +30,13 @@ class PlanFailedResponse(BaseModel):
     """
     Starting point of motion is invalid. Therefore, planning a motion is not possible.
     """ # noqa: E501
-    description: Optional[StrictStr] = None
-    start_joints_missing: Optional[Dict[str, Any]] = Field(default=None, description="Error in case no start joint position was provided. Every motion needs to start with a joint position as reference to uniquely define the kinematic configuration of the motion-group at the start the motion.")
-    commands_missing: Optional[Dict[str, Any]] = Field(default=None, description="Error in case no motion commands were provided. Every planning needs to have at least one motion command to describe the path to be followed.")
-    joint_limit_exceeded: Optional[JointLimitExceeded] = None
-    singularity: Optional[Singularity] = None
-    safety_zone_violation: Optional[SafetyZoneViolation] = None
-    out_of_workspace: Optional[OutOfWorkspace] = None
+    description: Optional[StrictStr] = None 
+    start_joints_missing: Optional[Dict[str, Any]] = Field(default=None, description="Error in case no start joint position was provided. Every motion needs to start with a joint position as reference to uniquely define the kinematic configuration of the motion-group at the start the motion.") 
+    commands_missing: Optional[Dict[str, Any]] = Field(default=None, description="Error in case no motion commands were provided. Every planning needs to have at least one motion command to describe the path to be followed.") 
+    joint_limit_exceeded: Optional[JointLimitExceeded] = None 
+    singularity: Optional[Singularity] = None 
+    safety_zone_violation: Optional[SafetyZoneViolation] = None 
+    out_of_workspace: Optional[OutOfWorkspace] = None 
     __properties: ClassVar[List[str]] = ["description", "start_joints_missing", "commands_missing", "joint_limit_exceeded", "singularity", "safety_zone_violation", "out_of_workspace"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/plan_request.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -28,11 +28,11 @@ class PlanRequest(BaseModel):
     """
     PlanRequest
     """ # noqa: E501
-    motion_group: StrictStr = Field(description="Identifier of the motion group.")
-    start_joint_position: Joints = Field(description="-| To define a motion the start joints have to be indicated. Cartesian movements will be in the same kinematic configuration as the start joint position until the first joint point to point motion. Motions can only be executed, if the start joint position is the current joint position of the motion group. To retrieve the current joint position use the endpoint [getCurrentMotionGroupState](getCurrentMotionGroupState). To move the robot to the start joint position, use the endpoint [streamMoveToTrajectoryViaJointP2P](streamMoveToTrajectoryViaJointP2P).")
-    commands: List[Command] = Field(description="List of motion commands. A command consists of a motion command (line, circle, joint_ptp, cartesian_ptp, cubic_spline) and corresponding settings (blending, limits override).")
-    tcp: Optional[StrictStr] = Field(default=None, description="Tool identifier. If not set the current tool is used.")
-    payload: Optional[StrictStr] = Field(default=None, description="Payload identifier. If unset the currently set payload is used.")
+    motion_group: StrictStr = Field(description="Identifier of the motion group.") 
+    start_joint_position: Joints = Field(description="-| To define a motion the start joints have to be indicated. Cartesian movements will be in the same kinematic configuration as the start joint position until the first joint point to point motion. Motions can only be executed, if the start joint position is the current joint position of the motion group. To retrieve the current joint position use the endpoint [getCurrentMotionGroupState](getCurrentMotionGroupState). To move the robot to the start joint position, use the endpoint [streamMoveToTrajectoryViaJointP2P](streamMoveToTrajectoryViaJointP2P).") 
+    commands: List[Command] = Field(description="List of motion commands. A command consists of a motion command (line, circle, joint_ptp, cartesian_ptp, cubic_spline) and corresponding settings (blending, limits override).") 
+    tcp: Optional[StrictStr] = Field(default=None, description="Tool identifier. If not set the current tool is used.") 
+    payload: Optional[StrictStr] = Field(default=None, description="Payload identifier. If unset the currently set payload is used.") 
     __properties: ClassVar[List[str]] = ["motion_group", "start_joint_position", "commands", "tcp", "payload"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/plan_response.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -29,9 +29,9 @@ class PlanResponse(BaseModel):
     """
     -| The plan response signals if the planned motion is executable, partially executable or not executable. If the motion is executable or partially executable, the response contains an unique identifier for the motion and the end joint position. To execute the motion use the unique identifier for calling move endpoints [streamMoveForward](streamMoveForward) or [streamMoveBackward](streamMoveBackward). Use the unique identifier within the endpoints [getMotionTrajectory](getMotionTrajectory) and [getMotionTrajectorySample](getMotionTrajectorySample) to retrieve information about the motion. Use the end joint position to plan and concatenate the next motion. If an error occurred, the response contains feedback including the reason for failure and the location where the failure occurred.
     """ # noqa: E501
-    plan_successful_response: Optional[PlanSuccessfulResponse] = None
-    plan_failed_on_trajectory_response: Optional[PlanFailedOnTrajectoryResponse] = None
-    plan_failed_response: Optional[PlanFailedResponse] = None
+    plan_successful_response: Optional[PlanSuccessfulResponse] = None 
+    plan_failed_on_trajectory_response: Optional[PlanFailedOnTrajectoryResponse] = None 
+    plan_failed_response: Optional[PlanFailedResponse] = None 
     __properties: ClassVar[List[str]] = ["plan_successful_response", "plan_failed_on_trajectory_response", "plan_failed_response"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/plan_successful_response.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,8 +27,8 @@ class PlanSuccessfulResponse(BaseModel):
     """
     The motion can be executed entirely.
     """ # noqa: E501
-    motion: StrictStr = Field(description="Unique identifier of the motion. Use as reference to execute the motion or to retrieve information on the motion.")
-    end_joint_position: Joints = Field(description="The final joint position. Use this position as a start joint position to concatenate motions.")
+    motion: StrictStr = Field(description="Unique identifier of the motion. Use as reference to execute the motion or to retrieve information on the motion.") 
+    end_joint_position: Joints = Field(description="The final joint position. Use this position as a start joint position to concatenate motions.") 
     __properties: ClassVar[List[str]] = ["motion", "end_joint_position"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/plan_trajectory_failed_response.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -28,9 +28,9 @@ class PlanTrajectoryFailedResponse(BaseModel):
     """
     PlanTrajectoryFailedResponse
     """ # noqa: E501
-    error_feedback: PlanTrajectoryFailedResponseErrorFeedback
-    error_location_on_trajectory: Optional[Union[StrictFloat, StrictInt]] = None
-    joint_trajectory: Optional[JointTrajectory] = Field(default=None, description="The joint trajectory from the start joint position to the error. ")
+    error_feedback: PlanTrajectoryFailedResponseErrorFeedback 
+    error_location_on_trajectory: Optional[Union[StrictFloat, StrictInt]] = None 
+    joint_trajectory: Optional[JointTrajectory] = Field(default=None, description="The joint trajectory from the start joint position to the error. ") 
     __properties: ClassVar[List[str]] = ["error_feedback", "error_location_on_trajectory", "joint_trajectory"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/plan_trajectory_failed_response_error_feedback.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/plan_trajectory_request.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -30,11 +30,11 @@ class PlanTrajectoryRequest(BaseModel):
     """
     PlanTrajectoryRequest
     """ # noqa: E501
-    robot_setup: OptimizerSetup = Field(description="The robot setup as returned from [getOptimizerConfiguration](getOptimizerConfiguration) endpoint.")
-    start_joint_position: List[Union[StrictFloat, StrictInt]]
-    motion_commands: List[MotionCommand] = Field(description="List of motion commands. A command consists of a path definition (line, circle, joint_ptp, cartesian_ptp, cubic_spline), blending, and limits override. ")
-    static_colliders: Optional[Dict[str, Collider]] = Field(default=None, description="A collection of identifiable colliders.")
-    collision_motion_group: Optional[CollisionMotionGroup] = Field(default=None, description="Collision motion group considered during the motion planning. ")
+    robot_setup: OptimizerSetup = Field(description="The robot setup as returned from [getOptimizerConfiguration](getOptimizerConfiguration) endpoint.") 
+    start_joint_position: List[Union[StrictFloat, StrictInt]] 
+    motion_commands: List[MotionCommand] = Field(description="List of motion commands. A command consists of a path definition (line, circle, joint_ptp, cartesian_ptp, cubic_spline), blending, and limits override. ") 
+    static_colliders: Optional[Dict[str, Collider]] = Field(default=None, description="A collection of identifiable colliders.") 
+    collision_motion_group: Optional[CollisionMotionGroup] = Field(default=None, description="Collision motion group considered during the motion planning. ") 
     __properties: ClassVar[List[str]] = ["robot_setup", "start_joint_position", "motion_commands", "static_colliders", "collision_motion_group"]
 
     model_config = ConfigDict(
@@ -94,11 +94,12 @@ class PlanTrajectoryRequest(BaseModel):
                 # <<< End modification
             _dict['motion_commands'] = _items
         # override the default output from pydantic by calling `to_dict()` of each value in static_colliders (dict)
-        _field_dict = {}
+        # >>> Modified from openapi template
         if self.static_colliders:
-            for _key in self.static_colliders:
+            _field_dict = {}
+            for _key, _value in self.static_colliders.items():
                 if self.static_colliders[_key]:
-                    _field_dict[_key] = self.static_colliders[_key].to_dict()
+                    _field_dict[_key] = _value.to_dict()
             _dict['static_colliders'] = _field_dict
         # override the default output from pydantic by calling `to_dict()` of collision_motion_group
         if self.collision_motion_group:

wandelbots_api_client/models/plan_trajectory_response.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,7 +27,7 @@ class PlanTrajectoryResponse(BaseModel):
     """
     PlanTrajectoryResponse
     """ # noqa: E501
-    response: PlanTrajectoryResponseResponse
+    response: PlanTrajectoryResponseResponse 
     __properties: ClassVar[List[str]] = ["response"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/plan_trajectory_response_response.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.

wandelbots_api_client/models/plane2.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -26,7 +26,7 @@ class Plane2(BaseModel):
     """
     Defines an x/y-plane with infinite size.
     """ # noqa: E501
-    shape_type: StrictStr
+    shape_type: str = "plane"
     __properties: ClassVar[List[str]] = ["shape_type"]
 
     @field_validator('shape_type')

wandelbots_api_client/models/plane3.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -26,7 +26,7 @@ class Plane3(BaseModel):
     """
     XY-plane.
     """ # noqa: E501
-    shape_type: StrictStr
+    shape_type: str = "plane"
     __properties: ClassVar[List[str]] = ["shape_type"]
 
     @field_validator('shape_type')

wandelbots_api_client/models/planned_motion.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,11 +27,11 @@ class PlannedMotion(BaseModel):
     """
     PlannedMotion
     """ # noqa: E501
-    motion_group: StrictStr = Field(description="Identifier of the motion group.")
-    times: List[Union[StrictFloat, StrictInt]] = Field(description="Timestamp for each sample [s].")
-    joint_positions: List[Joints] = Field(description="List of Joint Positions [rad] for eache sample. The number of samples must match the number of timestamps provided in the times field. ")
-    locations: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="Location for each sample, scalar value defining a position along a path. Typical range: 0 to `n`, `n` denoting the number of motion commands. Each integer value of the location corresponds to a specific motion command. If provided, the number of samples must match the number of timestamps provided in the times field. ")
-    tcp: Optional[StrictStr] = Field(default=None, description="Tool identifier for which this sequence was calculated. Relevant for validation of the tcp-velocities. If not set, the current tool is assumed. ")
+    motion_group: StrictStr = Field(description="Identifier of the motion group.") 
+    times: List[Union[StrictFloat, StrictInt]] = Field(description="Timestamp for each sample [s].") 
+    joint_positions: List[Joints] = Field(description="List of Joint Positions [rad] for eache sample. The number of samples must match the number of timestamps provided in the times field. ") 
+    locations: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="Location for each sample, scalar value defining a position along a path. Typical range: 0 to `n`, `n` denoting the number of motion commands. Each integer value of the location corresponds to a specific motion command. If provided, the number of samples must match the number of timestamps provided in the times field. ") 
+    tcp: Optional[StrictStr] = Field(default=None, description="Tool identifier for which this sequence was calculated. Relevant for validation of the tcp-velocities. If not set, the current tool is assumed. ") 
     __properties: ClassVar[List[str]] = ["motion_group", "times", "joint_positions", "locations", "tcp"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/planner_pose.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -28,8 +28,8 @@ class PlannerPose(BaseModel):
     """
     PlannerPose
     """ # noqa: E501
-    position: Optional[Vector3d] = None
-    orientation: Optional[Quaternion] = None
+    position: Optional[Vector3d] = None 
+    orientation: Optional[Quaternion] = None 
     __properties: ClassVar[List[str]] = ["position", "orientation"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/planning_limits.py

@@ -5,7 +5,7 @@
 
     Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 1.0.0 beta
+    The version of the OpenAPI document: 1.1.0
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,18 +27,18 @@ class PlanningLimits(BaseModel):
     """
     All known joint and cartesian limits of a motion-group. Used for motion planning.
     """ # noqa: E501
-    joint_position_limits: Optional[List[PlanningLimitsLimitRange]] = Field(default=None, description="Joint position limits in [rad], configured in the safety setup, starting at base. ")
-    joint_velocity_limits: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="Maximum allowed velocity for joints in [rad/s or mm/s] of the safety setup, starting at base. ")
-    joint_acceleration_limits: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="Maximum allowed acceleration for joints in [rad/s^2 or mm/s^2] of the safety setup, starting at base. ")
-    joint_torque_limits: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="Maximum allowed torque for joints in [Nm or N] of the safety setup, starting at base. ")
-    tcp_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional velocity in [mm/s] at TCP allowed. ")
-    tcp_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional acceleration in [mm/s^2] at TCP allowed. ")
-    tcp_orientation_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional orientation velocity in [rad/s] at TCP allowed. ")
-    tcp_orientation_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional orientation acceleration in [rad/s^2] at TCP allowed. ")
-    tcp_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional force in [N] at TCP allowed. ")
-    elbow_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional velocity in [mm/s] at the elbow allowed. ")
-    elbow_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional acceleration in [mm/s^2] at the elbow allowed. ")
-    elbow_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional force in [N] at the elbow allowed. ")
+    joint_position_limits: Optional[List[PlanningLimitsLimitRange]] = Field(default=None, description="Joint position limits in [rad], configured in the safety setup, starting at base. ") 
+    joint_velocity_limits: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="Maximum allowed velocity for joints in [rad/s or mm/s] of the safety setup, starting at base. ") 
+    joint_acceleration_limits: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="Maximum allowed acceleration for joints in [rad/s^2 or mm/s^2] of the safety setup, starting at base. ") 
+    joint_torque_limits: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="Maximum allowed torque for joints in [Nm or N] of the safety setup, starting at base. ") 
+    tcp_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional velocity in [mm/s] at TCP allowed. ") 
+    tcp_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional acceleration in [mm/s^2] at TCP allowed. ") 
+    tcp_orientation_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional orientation velocity in [rad/s] at TCP allowed. ") 
+    tcp_orientation_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional orientation acceleration in [rad/s^2] at TCP allowed. ") 
+    tcp_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional force in [N] at TCP allowed. ") 
+    elbow_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional velocity in [mm/s] at the elbow allowed. ") 
+    elbow_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional acceleration in [mm/s^2] at the elbow allowed. ") 
+    elbow_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="At maximum one dimensional force in [N] at the elbow allowed. ") 
     __properties: ClassVar[List[str]] = ["joint_position_limits", "joint_velocity_limits", "joint_acceleration_limits", "joint_torque_limits", "tcp_velocity_limit", "tcp_acceleration_limit", "tcp_orientation_velocity_limit", "tcp_orientation_acceleration_limit", "tcp_force_limit", "elbow_velocity_limit", "elbow_acceleration_limit", "elbow_force_limit"]
 
     model_config = ConfigDict(