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

wandelbots_api_client/v2/models/pause_movement_response.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.
@@ -17,18 +17,25 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict
-from typing import Any, ClassVar, Dict, List
-from wandelbots_api_client.v2.models.pause_movement_response_pause_response import PauseMovementResponsePauseResponse
+from pydantic import BaseModel, ConfigDict, Field, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Optional
 from typing import Optional, Set
 from typing_extensions import Self
 
 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). 
+    Acknowledgment 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
-    __properties: ClassVar[List[str]] = ["pause_response"]
+    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid PauseMovementResquest.") 
+    kind: str = "PAUSE_RECEIVED"
+    __properties: ClassVar[List[str]] = ["message", "kind"]
+
+    @field_validator('kind')
+    def kind_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(['PAUSE_RECEIVED']):
+            raise ValueError("must be one of enum values ('PAUSE_RECEIVED')")
+        return value
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -73,9 +80,6 @@ class PauseMovementResponse(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of pause_response
-        if self.pause_response:
-            _dict['pause_response'] = self.pause_response.to_dict()
         return _dict
 
     @classmethod
@@ -88,7 +92,8 @@ class PauseMovementResponse(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "pause_response": PauseMovementResponsePauseResponse.from_dict(obj["pause_response"]) if obj.get("pause_response") is not None else None
+            "message": obj.get("message"),
+            "kind": obj.get("kind")
         })
         return _obj
 

wandelbots_api_client/v2/models/pause_on_io.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.
@@ -20,7 +20,8 @@ import json
 from pydantic import BaseModel, ConfigDict, Field
 from typing import Any, ClassVar, Dict, List
 from wandelbots_api_client.v2.models.comparator import Comparator
-from wandelbots_api_client.v2.models.set_output_values_request_inner import SetOutputValuesRequestInner
+from wandelbots_api_client.v2.models.io_origin import IOOrigin
+from wandelbots_api_client.v2.models.io_value import IOValue
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -28,9 +29,10 @@ class PauseOnIO(BaseModel):
     """
     Defines an input/output that the motion will be paused for. The motion will stop gracefully on path.
     """ # noqa: E501
-    io: SetOutputValuesRequestInner
-    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"]
+    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_origin: IOOrigin 
+    __properties: ClassVar[List[str]] = ["io", "comparator", "io_origin"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -90,8 +92,9 @@ class PauseOnIO(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "io": SetOutputValuesRequestInner.from_dict(obj["io"]) if obj.get("io") is not None else None,
-            "comparator": obj.get("comparator")
+            "io": IOValue.from_dict(obj["io"]) if obj.get("io") is not None else None,
+            "comparator": obj.get("comparator"),
+            "io_origin": obj.get("io_origin")
         })
         return _obj
 

wandelbots_api_client/v2/models/payload.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.
@@ -27,10 +27,10 @@ class Payload(BaseModel):
     """
     Payload
     """ # noqa: E501
-    name: StrictStr
-    payload: Union[StrictFloat, StrictInt] = Field(description="Mass of payload in [kg].")
-    center_of_mass: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ")
-    moment_of_inertia: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ")
+    name: StrictStr 
+    payload: Union[StrictFloat, StrictInt] = Field(description="Mass of payload in [kg].") 
+    center_of_mass: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ") 
+    moment_of_inertia: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ") 
     __properties: ClassVar[List[str]] = ["name", "payload", "center_of_mass", "moment_of_inertia"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/{http_validation_error2.py → plan422_response.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.
@@ -19,15 +19,15 @@ import json
 
 from pydantic import BaseModel, ConfigDict
 from typing import Any, ClassVar, Dict, List, Optional
-from wandelbots_api_client.v2.models.validation_error2 import ValidationError2
+from wandelbots_api_client.v2.models.plan_validation_error import PlanValidationError
 from typing import Optional, Set
 from typing_extensions import Self
 
-class HTTPValidationError2(BaseModel):
+class Plan422Response(BaseModel):
     """
-    HTTPValidationError2
+    Plan422Response
     """ # noqa: E501
-    detail: Optional[List[ValidationError2]] = None
+    detail: Optional[List[PlanValidationError]] = None 
     __properties: ClassVar[List[str]] = ["detail"]
 
     model_config = ConfigDict(
@@ -52,7 +52,7 @@ class HTTPValidationError2(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of HTTPValidationError2 from a JSON string"""
+        """Create an instance of Plan422Response from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -87,7 +87,7 @@ class HTTPValidationError2(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of HTTPValidationError2 from a dict"""
+        """Create an instance of Plan422Response from a dict"""
         if obj is None:
             return None
 
@@ -98,7 +98,7 @@ class HTTPValidationError2(BaseModel):
             "detail": [
                 # >>> 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
-                ValidationError2.from_dict(_item) if hasattr(ValidationError2, 'from_dict') else _item
+                PlanValidationError.from_dict(_item) if hasattr(PlanValidationError, 'from_dict') else _item
                 # <<< End modification
                 for _item in obj["detail"]
             ] if obj.get("detail") is not None else None

wandelbots_api_client/v2/models/{movement.py → plan_collision_free_failed_response.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.
@@ -19,16 +19,16 @@ import json
 
 from pydantic import BaseModel, ConfigDict
 from typing import Any, ClassVar, Dict, List
-from wandelbots_api_client.v2.models.movement_movement import MovementMovement
+from wandelbots_api_client.v2.models.error_max_iterations_exceeded import ErrorMaxIterationsExceeded
 from typing import Optional, Set
 from typing_extensions import Self
 
-class Movement(BaseModel):
+class PlanCollisionFreeFailedResponse(BaseModel):
     """
-    Sent during trajectory movement, response-rate closest to the nearest multiple of controller step-rate but not exceeding the configured rate. 
+    Response when collision-free trajectory planning fails. Contains specific feedback about why the planning failed. 
     """ # noqa: E501
-    movement: MovementMovement
-    __properties: ClassVar[List[str]] = ["movement"]
+    error_feedback: ErrorMaxIterationsExceeded 
+    __properties: ClassVar[List[str]] = ["error_feedback"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -52,7 +52,7 @@ class Movement(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of Movement from a JSON string"""
+        """Create an instance of PlanCollisionFreeFailedResponse from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -73,14 +73,14 @@ class Movement(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of movement
-        if self.movement:
-            _dict['movement'] = self.movement.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of error_feedback
+        if self.error_feedback:
+            _dict['error_feedback'] = self.error_feedback.to_dict()
         return _dict
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of Movement from a dict"""
+        """Create an instance of PlanCollisionFreeFailedResponse from a dict"""
         if obj is None:
             return None
 
@@ -88,7 +88,7 @@ class Movement(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "movement": MovementMovement.from_dict(obj["movement"]) if obj.get("movement") is not None else None
+            "error_feedback": ErrorMaxIterationsExceeded.from_dict(obj["error_feedback"]) if obj.get("error_feedback") is not None else None
         })
         return _obj
 

wandelbots_api_client/v2/models/{jogging_response_jogging.py → plan_collision_free_request.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.
@@ -17,20 +17,22 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict
-from typing import Any, ClassVar, Dict, List
-from wandelbots_api_client.v2.models.jogging_state import JoggingState
-from wandelbots_api_client.v2.models.robot_controller_state import RobotControllerState
+from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Union
+from wandelbots_api_client.v2.models.collision_free_algorithm import CollisionFreeAlgorithm
+from wandelbots_api_client.v2.models.motion_group_setup import MotionGroupSetup
 from typing import Optional, Set
 from typing_extensions import Self
 
-class JoggingResponseJogging(BaseModel):
+class PlanCollisionFreeRequest(BaseModel):
     """
-    JoggingResponseJogging
+    PlanCollisionFreeRequest
     """ # noqa: E501
-    jogging_state: JoggingState
-    robot_controller_state: RobotControllerState
-    __properties: ClassVar[List[str]] = ["jogging_state", "robot_controller_state"]
+    motion_group_setup: MotionGroupSetup = Field(description="The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) endpoint.") 
+    start_joint_position: List[Union[StrictFloat, StrictInt]] 
+    target: List[Union[StrictFloat, StrictInt]] 
+    algorithm: CollisionFreeAlgorithm 
+    __properties: ClassVar[List[str]] = ["motion_group_setup", "start_joint_position", "target", "algorithm"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -54,7 +56,7 @@ class JoggingResponseJogging(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of JoggingResponseJogging from a JSON string"""
+        """Create an instance of PlanCollisionFreeRequest from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -75,17 +77,17 @@ class JoggingResponseJogging(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of jogging_state
-        if self.jogging_state:
-            _dict['jogging_state'] = self.jogging_state.to_dict()
-        # override the default output from pydantic by calling `to_dict()` of robot_controller_state
-        if self.robot_controller_state:
-            _dict['robot_controller_state'] = self.robot_controller_state.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of motion_group_setup
+        if self.motion_group_setup:
+            _dict['motion_group_setup'] = self.motion_group_setup.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of algorithm
+        if self.algorithm:
+            _dict['algorithm'] = self.algorithm.to_dict()
         return _dict
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of JoggingResponseJogging from a dict"""
+        """Create an instance of PlanCollisionFreeRequest from a dict"""
         if obj is None:
             return None
 
@@ -93,8 +95,10 @@ class JoggingResponseJogging(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "jogging_state": JoggingState.from_dict(obj["jogging_state"]) if obj.get("jogging_state") is not None else None,
-            "robot_controller_state": RobotControllerState.from_dict(obj["robot_controller_state"]) if obj.get("robot_controller_state") is not None else None
+            "motion_group_setup": MotionGroupSetup.from_dict(obj["motion_group_setup"]) if obj.get("motion_group_setup") is not None else None,
+            "start_joint_position": obj.get("start_joint_position"),
+            "target": obj.get("target"),
+            "algorithm": CollisionFreeAlgorithm.from_dict(obj["algorithm"]) if obj.get("algorithm") is not None else None
         })
         return _obj
 

wandelbots_api_client/v2/models/{standstill.py → plan_collision_free_response.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.
@@ -19,16 +19,16 @@ import json
 
 from pydantic import BaseModel, ConfigDict
 from typing import Any, ClassVar, Dict, List
-from wandelbots_api_client.v2.models.standstill_standstill import StandstillStandstill
+from wandelbots_api_client.v2.models.plan_collision_free_response_response import PlanCollisionFreeResponseResponse
 from typing import Optional, Set
 from typing_extensions import Self
 
-class Standstill(BaseModel):
+class PlanCollisionFreeResponse(BaseModel):
     """
-    The response will be sent one time at the end of every execution signalling that the motion group has stopped moving.
+    Response from collision-free trajectory planning. Contains either a successful joint trajectory or failure information. 
     """ # noqa: E501
-    standstill: StandstillStandstill
-    __properties: ClassVar[List[str]] = ["standstill"]
+    response: PlanCollisionFreeResponseResponse 
+    __properties: ClassVar[List[str]] = ["response"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -52,7 +52,7 @@ class Standstill(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of Standstill from a JSON string"""
+        """Create an instance of PlanCollisionFreeResponse from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -73,14 +73,14 @@ class Standstill(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of standstill
-        if self.standstill:
-            _dict['standstill'] = self.standstill.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of response
+        if self.response:
+            _dict['response'] = self.response.to_dict()
         return _dict
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of Standstill from a dict"""
+        """Create an instance of PlanCollisionFreeResponse from a dict"""
         if obj is None:
             return None
 
@@ -88,7 +88,7 @@ class Standstill(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "standstill": StandstillStandstill.from_dict(obj["standstill"]) if obj.get("standstill") is not None else None
+            "response": PlanCollisionFreeResponseResponse.from_dict(obj["response"]) if obj.get("response") is not None else None
         })
         return _obj
 

wandelbots_api_client/{models/create_trigger_request_config.py → v2/models/plan_collision_free_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: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -17,21 +17,24 @@ import json
 import pprint
 from pydantic import BaseModel, ConfigDict, Field, StrictStr, ValidationError, field_validator
 from typing import Any, List, Optional
-from wandelbots_api_client.models.opcua_node_value_trigger_config import OpcuaNodeValueTriggerConfig
+from wandelbots_api_client.v2.models.joint_trajectory import JointTrajectory
+from wandelbots_api_client.v2.models.plan_collision_free_failed_response import PlanCollisionFreeFailedResponse
 from pydantic import StrictStr, Field
 from typing import Union, List, Set, Optional, Dict
 from typing_extensions import Literal, Self
 
-CREATETRIGGERREQUESTCONFIG_ONE_OF_SCHEMAS = ["OpcuaNodeValueTriggerConfig"]
+PLANCOLLISIONFREERESPONSERESPONSE_ONE_OF_SCHEMAS = ["JointTrajectory", "PlanCollisionFreeFailedResponse"]
 
-class CreateTriggerRequestConfig(BaseModel):
+class PlanCollisionFreeResponseResponse(BaseModel):
     """
-    CreateTriggerRequestConfig
+    PlanCollisionFreeResponseResponse
     """
-    # data type: OpcuaNodeValueTriggerConfig
-    oneof_schema_1_validator: Optional[OpcuaNodeValueTriggerConfig] = None
-    actual_instance: Optional[Union[OpcuaNodeValueTriggerConfig]] = None
-    one_of_schemas: Set[str] = { "OpcuaNodeValueTriggerConfig" }
+    # data type: JointTrajectory
+    oneof_schema_1_validator: Optional[JointTrajectory] = None
+    # data type: PlanCollisionFreeFailedResponse
+    oneof_schema_2_validator: Optional[PlanCollisionFreeFailedResponse] = None
+    actual_instance: Optional[Union[JointTrajectory, PlanCollisionFreeFailedResponse]] = None
+    one_of_schemas: Set[str] = { "JointTrajectory", "PlanCollisionFreeFailedResponse" }
 
     model_config = ConfigDict(
         validate_assignment=True,
@@ -51,20 +54,25 @@ class CreateTriggerRequestConfig(BaseModel):
 
     @field_validator('actual_instance')
     def actual_instance_must_validate_oneof(cls, v):
-        instance = CreateTriggerRequestConfig.model_construct()
+        instance = PlanCollisionFreeResponseResponse.model_construct()
         error_messages = []
         match = 0
-        # validate data type: OpcuaNodeValueTriggerConfig
-        if not isinstance(v, OpcuaNodeValueTriggerConfig):
-            error_messages.append(f"Error! Input type `{type(v)}` is not `OpcuaNodeValueTriggerConfig`")
+        # validate data type: JointTrajectory
+        if not isinstance(v, JointTrajectory):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `JointTrajectory`")
+        else:
+            match += 1
+        # validate data type: PlanCollisionFreeFailedResponse
+        if not isinstance(v, PlanCollisionFreeFailedResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PlanCollisionFreeFailedResponse`")
         else:
             match += 1
         if match > 1:
             # more than 1 match
-            raise ValueError("Multiple matches found when setting `actual_instance` in CreateTriggerRequestConfig with oneOf schemas: OpcuaNodeValueTriggerConfig. Details: " + ", ".join(error_messages))
+            raise ValueError("Multiple matches found when setting `actual_instance` in PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. Details: " + ", ".join(error_messages))
         elif match == 0:
             # no match
-            raise ValueError("No match found when setting `actual_instance` in CreateTriggerRequestConfig with oneOf schemas: OpcuaNodeValueTriggerConfig. Details: " + ", ".join(error_messages))
+            raise ValueError("No match found when setting `actual_instance` in PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. Details: " + ", ".join(error_messages))
         else:
             return v
 
@@ -79,19 +87,25 @@ class CreateTriggerRequestConfig(BaseModel):
         error_messages = []
         match = 0
 
-        # deserialize data into OpcuaNodeValueTriggerConfig
+        # deserialize data into JointTrajectory
+        try:
+            instance.actual_instance = JointTrajectory.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PlanCollisionFreeFailedResponse
         try:
-            instance.actual_instance = OpcuaNodeValueTriggerConfig.from_json(json_str)
+            instance.actual_instance = PlanCollisionFreeFailedResponse.from_json(json_str)
             match += 1
         except (ValidationError, ValueError) as e:
             error_messages.append(str(e))
 
         if match > 1:
             # more than 1 match
-            raise ValueError("Multiple matches found when deserializing the JSON string into CreateTriggerRequestConfig with oneOf schemas: OpcuaNodeValueTriggerConfig. Details: " + ", ".join(error_messages))
+            raise ValueError("Multiple matches found when deserializing the JSON string into PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. Details: " + ", ".join(error_messages))
         elif match == 0:
             # no match
-            raise ValueError("No match found when deserializing the JSON string into CreateTriggerRequestConfig with oneOf schemas: OpcuaNodeValueTriggerConfig. Details: " + ", ".join(error_messages))
+            raise ValueError("No match found when deserializing the JSON string into PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. Details: " + ", ".join(error_messages))
         else:
             return instance
 
@@ -105,7 +119,7 @@ class CreateTriggerRequestConfig(BaseModel):
         else:
             return json.dumps(self.actual_instance)
 
-    def to_dict(self) -> Optional[Union[Dict[str, Any], OpcuaNodeValueTriggerConfig]]:
+    def to_dict(self) -> Optional[Union[Dict[str, Any], JointTrajectory, PlanCollisionFreeFailedResponse]]:
         """Returns the dict representation of the actual instance"""
         if self.actual_instance is None:
             return None

wandelbots_api_client/v2/models/plan_trajectory_failed_response.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.
@@ -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: Union[StrictFloat, StrictInt] = Field(description="Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g., in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - 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 ") 
+    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/v2/models/plan_trajectory_failed_response_error_feedback.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.

wandelbots_api_client/v2/models/plan_trajectory_request.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.
@@ -20,7 +20,7 @@ import json
 from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt
 from typing import Any, ClassVar, Dict, List, Union
 from wandelbots_api_client.v2.models.motion_command import MotionCommand
-from wandelbots_api_client.v2.models.robot_setup import RobotSetup
+from wandelbots_api_client.v2.models.motion_group_setup import MotionGroupSetup
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -28,10 +28,10 @@ class PlanTrajectoryRequest(BaseModel):
     """
     PlanTrajectoryRequest
     """ # noqa: E501
-    robot_setup: RobotSetup = Field(description="The data to assemble the robot setup can be retrieved from [getPlanningParameters](getPlanningParameters) 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. ")
-    __properties: ClassVar[List[str]] = ["robot_setup", "start_joint_position", "motion_commands"]
+    motion_group_setup: MotionGroupSetup = Field(description="The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) 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. ") 
+    __properties: ClassVar[List[str]] = ["motion_group_setup", "start_joint_position", "motion_commands"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -76,9 +76,9 @@ class PlanTrajectoryRequest(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of robot_setup
-        if self.robot_setup:
-            _dict['robot_setup'] = self.robot_setup.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of motion_group_setup
+        if self.motion_group_setup:
+            _dict['motion_group_setup'] = self.motion_group_setup.to_dict()
         # override the default output from pydantic by calling `to_dict()` of each item in motion_commands (list)
         _items = []
         if self.motion_commands:
@@ -101,7 +101,7 @@ class PlanTrajectoryRequest(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "robot_setup": RobotSetup.from_dict(obj["robot_setup"]) if obj.get("robot_setup") is not None else None,
+            "motion_group_setup": MotionGroupSetup.from_dict(obj["motion_group_setup"]) if obj.get("motion_group_setup") is not None else None,
             "start_joint_position": obj.get("start_joint_position"),
             "motion_commands": [
                 # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache