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

wandelbots_api_client/v2/models/{planning_parameters.py → motion_group_description.py}

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -17,32 +17,33 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict, Field, StrictInt, StrictStr
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
 from typing import Any, ClassVar, Dict, List, Optional
+from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.collider import Collider
 from wandelbots_api_client.v2.models.dh_parameter import DHParameter
+from wandelbots_api_client.v2.models.operation_limits import OperationLimits
 from wandelbots_api_client.v2.models.payload import Payload
-from wandelbots_api_client.v2.models.planning_limits import PlanningLimits
 from wandelbots_api_client.v2.models.pose import Pose
 from wandelbots_api_client.v2.models.tcp_offset import TcpOffset
 from typing import Optional, Set
 from typing_extensions import Self
 
-class PlanningParameters(BaseModel):
+class MotionGroupDescription(BaseModel):
     """
     The configuration of a motion-group used for motion planning.
     """ # noqa: E501
-    motion_group_type: StrictStr = Field(description="String identifiying the model of a motion group.")
-    mounting: Pose = Field(description="The offset from the world frame to the motion group base.")
-    tcps: Dict[str, TcpOffset] = Field(description="Maps a TCP name to its offset relative to the flange coordinate system. Key must be a TCP identifier. Values are TcpOffsets. ")
-    safety_zones: Optional[Dict[str, Collider]] = Field(default=None, description="A collection of identifiable colliders.")
-    safety_link_colliders: Optional[List[Dict[str, Collider]]] = Field(default=None, description="The shape of the MotionGroups links to validate against safety zones. Indexed along the kinematic chain, starting with a static base shape before first joint. ")
-    safety_tool_colliders: Optional[Dict[str, Dict[str, Collider]]] = Field(default=None, description="Maps a TCP name to its tool collider. Key must be a TCP identifier. Values are ColliderDictionaries that make up the shape of one tool to validate against safety zones. ")
-    global_limits: PlanningLimits
-    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[StrictInt] = 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_type", "mounting", "tcps", "safety_zones", "safety_link_colliders", "safety_tool_colliders", "global_limits", "payloads", "cycle_time", "dh_parameters"]
+    motion_group_model: StrictStr = Field(description="String identifiying the model of a motion group.") 
+    mounting: Optional[Pose] = Field(default=None, description="The offset from the world frame to the motion group base.") 
+    tcps: Optional[Dict[str, TcpOffset]] = Field(default=None, description="Maps a TCP name to its offset relative to the flange coordinate system. Key must be a TCP identifier. Values are TcpOffsets. ") 
+    safety_zones: Optional[Dict[str, Collider]] = Field(default=None, description="A collection of identifiable colliders.") 
+    safety_link_colliders: Optional[List[Dict[str, Collider]]] = Field(default=None, description="The shape of the MotionGroups links to validate against safety zones. Indexed along the kinematic chain, starting with a static base shape before first joint. ") 
+    safety_tool_colliders: Optional[Dict[str, Dict[str, Collider]]] = Field(default=None, description="Maps a TCP name to its tool collider. Key must be a TCP identifier. Values are ColliderDictionaries that make up the shape of one tool to validate against safety zones. ") 
+    operation_limits: OperationLimits 
+    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"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -66,7 +67,7 @@ class PlanningParameters(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of PlanningParameters from a JSON string"""
+        """Create an instance of MotionGroupDescription from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -91,18 +92,20 @@ class PlanningParameters(BaseModel):
         if self.mounting:
             _dict['mounting'] = self.mounting.to_dict()
         # override the default output from pydantic by calling `to_dict()` of each value in tcps (dict)
-        _field_dict = {}
+        # >>> Modified from openapi template
         if self.tcps:
-            for _key in self.tcps:
+            _field_dict = {}
+            for _key, _value in self.tcps.items():
                 if self.tcps[_key]:
-                    _field_dict[_key] = self.tcps[_key].to_dict()
+                    _field_dict[_key] = _value.to_dict()
             _dict['tcps'] = _field_dict
         # override the default output from pydantic by calling `to_dict()` of each value in safety_zones (dict)
-        _field_dict = {}
+        # >>> Modified from openapi template
         if self.safety_zones:
-            for _key in self.safety_zones:
+            _field_dict = {}
+            for _key, _value in self.safety_zones.items():
                 if self.safety_zones[_key]:
-                    _field_dict[_key] = self.safety_zones[_key].to_dict()
+                    _field_dict[_key] = _value.to_dict()
             _dict['safety_zones'] = _field_dict
         # override the default output from pydantic by calling `to_dict()` of each item in safety_link_colliders (list)
         _items = []
@@ -114,21 +117,23 @@ class PlanningParameters(BaseModel):
                 # <<< End modification
             _dict['safety_link_colliders'] = _items
         # override the default output from pydantic by calling `to_dict()` of each value in safety_tool_colliders (dict)
-        _field_dict = {}
+        # >>> Modified from openapi template
         if self.safety_tool_colliders:
-            for _key in self.safety_tool_colliders:
+            _field_dict = {}
+            for _key, _value in self.safety_tool_colliders.items():
                 if self.safety_tool_colliders[_key]:
-                    _field_dict[_key] = self.safety_tool_colliders[_key].to_dict()
+                    _field_dict[_key] = {_nested_key: _nested_value.to_dict() for _nested_key, _nested_value in _value.items()}
             _dict['safety_tool_colliders'] = _field_dict
-        # override the default output from pydantic by calling `to_dict()` of global_limits
-        if self.global_limits:
-            _dict['global_limits'] = self.global_limits.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of operation_limits
+        if self.operation_limits:
+            _dict['operation_limits'] = self.operation_limits.to_dict()
         # override the default output from pydantic by calling `to_dict()` of each value in payloads (dict)
-        _field_dict = {}
+        # >>> Modified from openapi template
         if self.payloads:
-            for _key in self.payloads:
+            _field_dict = {}
+            for _key, _value in self.payloads.items():
                 if self.payloads[_key]:
-                    _field_dict[_key] = self.payloads[_key].to_dict()
+                    _field_dict[_key] = _value.to_dict()
             _dict['payloads'] = _field_dict
         # override the default output from pydantic by calling `to_dict()` of each item in dh_parameters (list)
         _items = []
@@ -144,7 +149,7 @@ class PlanningParameters(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of PlanningParameters from a dict"""
+        """Create an instance of MotionGroupDescription from a dict"""
         if obj is None:
             return None
 
@@ -152,7 +157,7 @@ class PlanningParameters(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "motion_group_type": obj.get("motion_group_type"),
+            "motion_group_model": obj.get("motion_group_model"),
             "mounting": Pose.from_dict(obj["mounting"]) if obj.get("mounting") is not None else None,
             "tcps": dict(
                 (_k, TcpOffset.from_dict(_v))
@@ -185,7 +190,7 @@ class PlanningParameters(BaseModel):
             )
             if obj.get("safety_tool_colliders") is not None
             else None,
-            "global_limits": PlanningLimits.from_dict(obj["global_limits"]) if obj.get("global_limits") is not None else None,
+            "operation_limits": OperationLimits.from_dict(obj["operation_limits"]) if obj.get("operation_limits") is not None else None,
             "payloads": dict(
                 (_k, Payload.from_dict(_v))
                 for _k, _v in obj["payloads"].items()

wandelbots_api_client/v2/models/motion_group_info.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -17,8 +17,9 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict, Field, StrictInt, StrictStr
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
 from typing import Any, ClassVar, Dict, List
+from typing_extensions import Annotated
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -26,9 +27,9 @@ class MotionGroupInfo(BaseModel):
     """
     MotionGroupInfo
     """ # noqa: E501
-    motion_group: StrictStr = Field(description="The unique identifier of the motion group. Use it to refer to the motion group in other calls. ")
-    name: StrictStr = Field(description="The name of the motion group for display purposes. ")
-    dof: StrictInt = Field(description="The number of joints aka degrees of freedom in the motion group. ")
+    motion_group: StrictStr = Field(description="The unique identifier of the motion group. Use it to refer to the motion group in other calls. ") 
+    name: StrictStr = Field(description="The name of the motion group for display purposes. ") 
+    dof: Annotated[int, Field(le=2147483647, strict=True, ge=0)] = Field(description="The number of joints aka degrees of freedom in the motion group. ") 
     __properties: ClassVar[List[str]] = ["motion_group", "name", "dof"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/motion_group_joints.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -26,10 +26,10 @@ class MotionGroupJoints(BaseModel):
     """
     Ensure to provide one value for each joint. See [getMotionGroups](getMotionGroups) for the number of joints. Everything but positions is optional.
     """ # noqa: E501
-    positions: List[Union[StrictFloat, StrictInt]] = Field(description="The joint positions of the motion group. ")
-    velocities: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint velocities of the motion group. ")
-    accelerations: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint accelerations of the motion group. ")
-    torques: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint torques of the motion group. ")
+    positions: List[Union[StrictFloat, StrictInt]] = Field(description="The joint positions of the motion group. ") 
+    velocities: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint velocities of the motion group. ") 
+    accelerations: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint accelerations of the motion group. ") 
+    torques: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint torques of the motion group. ") 
     __properties: ClassVar[List[str]] = ["positions", "velocities", "accelerations", "torques"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/{robot_setup.py → motion_group_setup.py}

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -17,27 +17,28 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict, Field, StrictInt, StrictStr
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
 from typing import Any, ClassVar, Dict, List, Optional
+from typing_extensions import Annotated
+from wandelbots_api_client.v2.models.collision_setup import CollisionSetup
+from wandelbots_api_client.v2.models.limit_set import LimitSet
 from wandelbots_api_client.v2.models.payload import Payload
-from wandelbots_api_client.v2.models.planning_limits import PlanningLimits
 from wandelbots_api_client.v2.models.pose import Pose
-from wandelbots_api_client.v2.models.single_motion_group_collision_scene import SingleMotionGroupCollisionScene
 from typing import Optional, Set
 from typing_extensions import Self
 
-class RobotSetup(BaseModel):
+class MotionGroupSetup(BaseModel):
     """
-    RobotSetup
+    MotionGroupSetup
     """ # noqa: E501
-    motion_group_model: StrictStr = Field(description="String identifiying the model of a motion group.")
-    cycle_time: StrictInt = Field(description="[ms] cycle time of the motion group controller. A trajectory for this motion group should be computed to this resolution.")
-    mounting: Optional[Pose] = Field(default=None, description="The offset from the world frame to the motion group base.")
-    tcp_offset: Optional[Pose] = None
-    global_limits: Optional[PlanningLimits] = None
-    payload: Optional[Payload] = None
-    collision_scenes: Optional[List[SingleMotionGroupCollisionScene]] = Field(default=None, description="Collision scenes to be respected by the motion planner. Each contains the single motion group which is planned for. Every scene is checked individually along the trajectory and independent of the other scenes. To respect the safety zones of the controller, fetch the safety zones, link and tool shapes from the controller and add one scene made up of those. ")
-    __properties: ClassVar[List[str]] = ["motion_group_model", "cycle_time", "mounting", "tcp_offset", "global_limits", "payload", "collision_scenes"]
+    motion_group_model: StrictStr = Field(description="String identifiying the model of a motion group.") 
+    cycle_time: Annotated[int, Field(le=2147483647, strict=True, ge=0)] = Field(description="[ms] cycle time of the motion group controller. A trajectory for this motion group should be computed to this resolution.") 
+    mounting: Optional[Pose] = Field(default=None, description="The offset from the world frame to the motion group base.") 
+    tcp_offset: Optional[Pose] = None 
+    global_limits: Optional[LimitSet] = None 
+    payload: Optional[Payload] = None 
+    collision_setups: Optional[Dict[str, CollisionSetup]] = Field(default=None, description="Collision layers to be respected by the motion planner when planning for a single motion group. Each setup represents one layer, e.g., the safety zones and shapes or a fine grained tool and workpiece model. Layers are checked individually along the trajectory and independently of other layers.  To respect the safety zones of the controller and check for collision: 1. Fetch the safety zones, link and tool shapes from the controller. 2. Add the fetched zones, links and tools to a layer. 3. Create other layers from your own 3D data as needed. 4. Plan trajectory. 5. The response highlights the layer in which a collision was detected by key. ") 
+    __properties: ClassVar[List[str]] = ["motion_group_model", "cycle_time", "mounting", "tcp_offset", "global_limits", "payload", "collision_setups"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -61,7 +62,7 @@ class RobotSetup(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of RobotSetup from a JSON string"""
+        """Create an instance of MotionGroupSetup from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -94,21 +95,19 @@ class RobotSetup(BaseModel):
         # override the default output from pydantic by calling `to_dict()` of payload
         if self.payload:
             _dict['payload'] = self.payload.to_dict()
-        # override the default output from pydantic by calling `to_dict()` of each item in collision_scenes (list)
-        _items = []
-        if self.collision_scenes:
-            for _item in self.collision_scenes:
-                # >>> 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['collision_scenes'] = _items
+        # override the default output from pydantic by calling `to_dict()` of each value in collision_setups (dict)
+        # >>> Modified from openapi template
+        if self.collision_setups:
+            _field_dict = {}
+            for _key, _value in self.collision_setups.items():
+                if self.collision_setups[_key]:
+                    _field_dict[_key] = _value.to_dict()
+            _dict['collision_setups'] = _field_dict
         return _dict
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of RobotSetup from a dict"""
+        """Create an instance of MotionGroupSetup from a dict"""
         if obj is None:
             return None
 
@@ -120,15 +119,14 @@ class RobotSetup(BaseModel):
             "cycle_time": obj.get("cycle_time"),
             "mounting": Pose.from_dict(obj["mounting"]) if obj.get("mounting") is not None else None,
             "tcp_offset": Pose.from_dict(obj["tcp_offset"]) if obj.get("tcp_offset") is not None else None,
-            "global_limits": PlanningLimits.from_dict(obj["global_limits"]) if obj.get("global_limits") is not None else None,
+            "global_limits": LimitSet.from_dict(obj["global_limits"]) if obj.get("global_limits") is not None else None,
             "payload": Payload.from_dict(obj["payload"]) if obj.get("payload") is not None else None,
-            "collision_scenes": [
-                # >>> 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
-                SingleMotionGroupCollisionScene.from_dict(_item) if hasattr(SingleMotionGroupCollisionScene, 'from_dict') else _item
-                # <<< End modification
-                for _item in obj["collision_scenes"]
-            ] if obj.get("collision_scenes") is not None else None
+            "collision_setups": dict(
+                (_k, CollisionSetup.from_dict(_v))
+                for _k, _v in obj["collision_setups"].items()
+            )
+            if obj.get("collision_setups") is not None
+            else None
         })
         return _obj
 

wandelbots_api_client/v2/models/motion_group_state.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -18,35 +18,35 @@ import re  # noqa: F401
 import json
 
 from datetime import datetime
-from pydantic import BaseModel, ConfigDict, Field, StrictInt, StrictStr
-from typing import Any, ClassVar, Dict, List, Optional
-from wandelbots_api_client.v2.models.joints import Joints
+from pydantic import BaseModel, ConfigDict, Field, StrictBool, StrictFloat, StrictInt, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from typing_extensions import Annotated
+from wandelbots_api_client.v2.models.execute import Execute
 from wandelbots_api_client.v2.models.motion_group_state_joint_limit_reached import MotionGroupStateJointLimitReached
-from wandelbots_api_client.v2.models.motion_vector import MotionVector
 from wandelbots_api_client.v2.models.pose import Pose
 from typing import Optional, Set
 from typing_extensions import Self
 
 class MotionGroupState(BaseModel):
     """
-    MotionGroupState
+    Presents the current state of the motion group.
     """ # noqa: E501
-    timestamp: Optional[datetime] = Field(default=None, description="Timestamp indicating when the represented information was received from the robot controller.")
-    sequence_number: StrictInt = Field(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. ")
-    motion_group: StrictStr = Field(description="Identifier of the motion group.")
-    controller: StrictStr = Field(description="Convenience: Identifier of the robot controller the motion group is attached to.")
-    joint_position: Joints = Field(description="Current joint position of each joint in [rad] ")
-    joint_limit_reached: MotionGroupStateJointLimitReached = Field(description="Indicates whether the joint is in a limit for all joints of the motion group. ")
-    joint_velocity: Joints = Field(description="Current joint velocity of each joint in [rad/s] ")
-    joint_torque: Optional[Joints] = Field(default=None, description="Current joint torque of each joint in [Nm]. Is only available if the robot controller supports it (e.g. available for UR Controllers). ")
-    joint_current: Optional[Joints] = Field(default=None, description="Current Current at TCP in [A]. Is only available if the robot controller supports it, e.g. available for UR Controllers. ")
-    flange_pose: Optional[Pose] = Field(default=None, description="Pose of the Flange (last point of the motion group before the endeffector starts). Positions are in [mm]. Oriantations are in [rad]. The pose is relative to the response_coordinate_system that is specified in the request. For robot arms a flange pose is always returned, for positioners the flange might not be available, depending on the model. ")
-    tcp: StrictStr = Field(description="Unique identifier addressing the TCP currently set. ")
-    tcp_pose: Pose = Field(description="Pose of the TCP currently selected on the robot control panel. Positions are in [mm]. Oriantations are in [rad]. The pose is relative to the response_coordinate_system that is specified in the request. ")
-    tcp_velocity: MotionVector = Field(description="Current velocity at TCP in [mm/s]. If `tcp` is not specified, the velocity at the flange is returned. The velocity is relative to the response_coordinate_system specified in the request. ")
-    coordinate_system: StrictStr = Field(description="Unique identifier addressing the reference coordinate system of the cartesian data. Default is the world coordinate system of corresponding controller. ")
-    payload: Optional[StrictStr] = Field(default=None, description="Unique identifier addressing the Payload currently set. Only fetchable via GET endpoint, not available in WebSocket. ")
-    __properties: ClassVar[List[str]] = ["timestamp", "sequence_number", "motion_group", "controller", "joint_position", "joint_limit_reached", "joint_velocity", "joint_torque", "joint_current", "flange_pose", "tcp", "tcp_pose", "tcp_velocity", "coordinate_system", "payload"]
+    timestamp: datetime = Field(description="Timestamp for when data was received from the robot controller.") 
+    sequence_number: Annotated[int, Field(le=4294967295, strict=True, ge=0)] = Field(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. ") 
+    motion_group: StrictStr = Field(description="Identifier of the motion group.") 
+    controller: StrictStr = Field(description="Convenience: Identifier of the robot controller the motion group is attached to.") 
+    joint_position: List[Union[StrictFloat, StrictInt]] = Field(description="This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.  Float precision is the default. ") 
+    joint_limit_reached: MotionGroupStateJointLimitReached = Field(description="Indicates whether the joint is in a limit for all joints of the motion group. ") 
+    joint_torque: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.  Float precision is the default. ") 
+    joint_current: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.  Float precision is the default. ") 
+    flange_pose: Optional[Pose] = Field(default=None, description="Pose of the flange. Positions are in [mm]. Oriantations are in [rad]. The pose is relative to the response_coordinate_system specified in the request. For robot arms a flange pose is always returned, for positioners the flange might not be available, depending on the model. ") 
+    tcp: Optional[StrictStr] = Field(default=None, description="Unique identifier addressing the active TCP. Might not be returned for positioners as some do not support TCPs, depending on the model. ") 
+    tcp_pose: Optional[Pose] = Field(default=None, description="Pose of the TCP selected on the robot control panel. Positions are in [mm]. Oriantations are in [rad]. The pose is relative to the response_coordinate_system specified in the request. Might not be returned for positioners as some do not support TCPs, depending on the model. ") 
+    coordinate_system: Optional[StrictStr] = Field(default=None, description="Unique identifier addressing the reference coordinate system of the cartesian data. Might not be returned for positioners as some do not support TCPs, depending on the model. Default: world coordinate system of corresponding controller. ") 
+    payload: Optional[StrictStr] = Field(default=None, description="Unique identifier addressing the active payload. Only fetchable via GET endpoint, not available in WebSocket. ") 
+    standstill: StrictBool = Field(description="Indicates whether the motion group is in standstill. Convenience: Signals that NOVA treats measured joint velocities as 0. ") 
+    execute: Optional[Execute] = Field(default=None, description="Data that was commanded to the motion group. Includes additional data on NOVA's execution components for executing trajectories and jogging. This is a convenience field to indicate the last command sent to the motion group. It is not available in all cases, e.g., if the motion group is not moved by NOVA. ") 
+    __properties: ClassVar[List[str]] = ["timestamp", "sequence_number", "motion_group", "controller", "joint_position", "joint_limit_reached", "joint_torque", "joint_current", "flange_pose", "tcp", "tcp_pose", "coordinate_system", "payload", "standstill", "execute"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -91,30 +91,18 @@ class MotionGroupState(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of joint_position
-        if self.joint_position:
-            _dict['joint_position'] = self.joint_position.to_dict()
         # override the default output from pydantic by calling `to_dict()` of joint_limit_reached
         if self.joint_limit_reached:
             _dict['joint_limit_reached'] = self.joint_limit_reached.to_dict()
-        # override the default output from pydantic by calling `to_dict()` of joint_velocity
-        if self.joint_velocity:
-            _dict['joint_velocity'] = self.joint_velocity.to_dict()
-        # override the default output from pydantic by calling `to_dict()` of joint_torque
-        if self.joint_torque:
-            _dict['joint_torque'] = self.joint_torque.to_dict()
-        # override the default output from pydantic by calling `to_dict()` of joint_current
-        if self.joint_current:
-            _dict['joint_current'] = self.joint_current.to_dict()
         # override the default output from pydantic by calling `to_dict()` of flange_pose
         if self.flange_pose:
             _dict['flange_pose'] = self.flange_pose.to_dict()
         # override the default output from pydantic by calling `to_dict()` of tcp_pose
         if self.tcp_pose:
             _dict['tcp_pose'] = self.tcp_pose.to_dict()
-        # override the default output from pydantic by calling `to_dict()` of tcp_velocity
-        if self.tcp_velocity:
-            _dict['tcp_velocity'] = self.tcp_velocity.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of execute
+        if self.execute:
+            _dict['execute'] = self.execute.to_dict()
         return _dict
 
     @classmethod
@@ -131,17 +119,17 @@ class MotionGroupState(BaseModel):
             "sequence_number": obj.get("sequence_number"),
             "motion_group": obj.get("motion_group"),
             "controller": obj.get("controller"),
-            "joint_position": Joints.from_dict(obj["joint_position"]) if obj.get("joint_position") is not None else None,
+            "joint_position": obj.get("joint_position"),
             "joint_limit_reached": MotionGroupStateJointLimitReached.from_dict(obj["joint_limit_reached"]) if obj.get("joint_limit_reached") is not None else None,
-            "joint_velocity": Joints.from_dict(obj["joint_velocity"]) if obj.get("joint_velocity") is not None else None,
-            "joint_torque": Joints.from_dict(obj["joint_torque"]) if obj.get("joint_torque") is not None else None,
-            "joint_current": Joints.from_dict(obj["joint_current"]) if obj.get("joint_current") is not None else None,
+            "joint_torque": obj.get("joint_torque"),
+            "joint_current": obj.get("joint_current"),
             "flange_pose": Pose.from_dict(obj["flange_pose"]) if obj.get("flange_pose") is not None else None,
             "tcp": obj.get("tcp"),
             "tcp_pose": Pose.from_dict(obj["tcp_pose"]) if obj.get("tcp_pose") is not None else None,
-            "tcp_velocity": MotionVector.from_dict(obj["tcp_velocity"]) if obj.get("tcp_velocity") is not None else None,
             "coordinate_system": obj.get("coordinate_system"),
-            "payload": obj.get("payload")
+            "payload": obj.get("payload"),
+            "standstill": obj.get("standstill"),
+            "execute": Execute.from_dict(obj["execute"]) if obj.get("execute") is not None else None
         })
         return _obj
 

wandelbots_api_client/v2/models/motion_group_state_joint_limit_reached.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -26,7 +26,7 @@ class MotionGroupStateJointLimitReached(BaseModel):
     """
     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. 
     """ # noqa: E501
-    limit_reached: List[StrictBool] = Field(description="If true, operational (soft) jointLimit is reached for specific joint.")
+    limit_reached: List[StrictBool] = Field(description="If true, operational (soft) jointLimit is reached for specific joint.") 
     __properties: ClassVar[List[str]] = ["limit_reached"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/movement_error_response.py

@@ -0,0 +1,100 @@
+# 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, field_validator
+from typing import Any, ClassVar, Dict, List
+from typing import Optional, Set
+from typing_extensions import Self
+
+class MovementErrorResponse(BaseModel):
+    """
+    Error message in case an error occurs during movement execution. 
+    """ # noqa: E501
+    message: StrictStr = Field(description="Detailed error message describing the issue encountered during movement execution.") 
+    kind: str = "MOTION_ERROR"
+    __properties: ClassVar[List[str]] = ["message", "kind"]
+
+    @field_validator('kind')
+    def kind_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(['MOTION_ERROR']):
+            raise ValueError("must be one of enum values ('MOTION_ERROR')")
+        return value
+
+    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 MovementErrorResponse 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,
+        )
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MovementErrorResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({
+            "message": obj.get("message"),
+            "kind": obj.get("kind")
+        })
+        return _obj
+
+