wandelbots-api-client 25.8.0.dev23__py3-none-any.whl → 25.10.0rc2__py3-none-any.whl

wandelbots_api_client/v2/models/{http_validation_error2.py → modbus_io_data.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, Optional
-from wandelbots_api_client.v2.models.validation_error import ValidationError
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
+from typing import Any, ClassVar, Dict, List
+from typing_extensions import Annotated
+from wandelbots_api_client.v2.models.modbus_io_area import ModbusIOArea
+from wandelbots_api_client.v2.models.modbus_io_byte_order import ModbusIOByteOrder
+from wandelbots_api_client.v2.models.modbus_io_type_enum import ModbusIOTypeEnum
 from typing import Optional, Set
 from typing_extensions import Self
 
-class HTTPValidationError2(BaseModel):
+class ModbusIOData(BaseModel):
     """
-    HTTPValidationError2
+    ModbusIOData
     """ # noqa: E501
-    detail: Optional[List[ValidationError]] = None
-    __properties: ClassVar[List[str]] = ["detail"]
+    description: StrictStr = Field(description="Descriptive name or note for the input/output variable. ") 
+    address: Annotated[int, Field(le=65535, strict=True, ge=0)] = Field(description="The byte address of the input/output variable in the MODBUS device, e.g., NOVA's MODBUS service. Used to locate the input/output variable within the device's memory or data structure. ") 
+    type: ModbusIOTypeEnum 
+    byte_order: ModbusIOByteOrder = Field(description="The byte sequence of the input/output variable, indicating the order of bytes in memory for the MODBUS device, e.g., NOVA's MODBUS service. ") 
+    area: ModbusIOArea = Field(description="The area of the input/output variable, indicating the memory region it belongs to for the MODBUS device, e.g., NOVA's MODBUS service. ") 
+    __properties: ClassVar[List[str]] = ["description", "address", "type", "byte_order", "area"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -52,7 +59,7 @@ 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 ModbusIOData from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -73,21 +80,11 @@ class HTTPValidationError2(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of each item in detail (list)
-        _items = []
-        if self.detail:
-            for _item in self.detail:
-                # >>> 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['detail'] = _items
         return _dict
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of HTTPValidationError2 from a dict"""
+        """Create an instance of ModbusIOData from a dict"""
         if obj is None:
             return None
 
@@ -95,13 +92,11 @@ class HTTPValidationError2(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "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
-                ValidationError.from_dict(_item) if hasattr(ValidationError, 'from_dict') else _item
-                # <<< End modification
-                for _item in obj["detail"]
-            ] if obj.get("detail") is not None else None
+            "description": obj.get("description"),
+            "address": obj.get("address"),
+            "type": obj.get("type"),
+            "byte_order": obj.get("byte_order"),
+            "area": obj.get("area")
         })
         return _obj
 

wandelbots_api_client/v2/models/modbus_io_type_enum.py

@@ -0,0 +1,39 @@
+# 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 json
+from enum import Enum
+from typing_extensions import Self
+
+
+class ModbusIOTypeEnum(str, Enum):
+    """
+    Value type of the MODBUS input/output variable. Used to interpret the corresponding bits correctly. 
+    """
+
+    """
+    allowed enum values
+    """
+    MODBUS_IO_TYPE_UNKNOWN = 'MODBUS_IO_TYPE_UNKNOWN'
+    MODBUS_IO_TYPE_BOOL = 'MODBUS_IO_TYPE_BOOL'
+    MODBUS_IO_TYPE_UINT16 = 'MODBUS_IO_TYPE_UINT16'
+    MODBUS_IO_TYPE_FLOAT32 = 'MODBUS_IO_TYPE_FLOAT32'
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of ModbusIOTypeEnum from a JSON string"""
+        return cls(json.loads(json_str))
+
+

wandelbots_api_client/v2/models/motion_command.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.
@@ -29,9 +29,9 @@ class MotionCommand(BaseModel):
     """
     MotionCommand
     """ # noqa: E501
-    blending: Optional[MotionCommandBlending] = None
-    limits_override: Optional[LimitsOverride] = Field(default=None, description="Limits override is used to override the global limits of the motion group for this segment of the motion. ")
-    path: MotionCommandPath
+    blending: Optional[MotionCommandBlending] = None 
+    limits_override: Optional[LimitsOverride] = Field(default=None, description="Limits override is used to override the global limits of the motion group for this segment of the motion. ") 
+    path: MotionCommandPath 
     __properties: ClassVar[List[str]] = ["blending", "limits_override", "path"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/motion_command_blending.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/motion_command_path.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/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.
@@ -17,11 +17,12 @@ 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.limit_config import LimitConfig
+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.pose import Pose
 from wandelbots_api_client.v2.models.tcp_offset import TcpOffset
@@ -32,17 +33,17 @@ class MotionGroupDescription(BaseModel):
     """
     The configuration of a motion-group used for motion planning.
     """ # noqa: E501
-    motion_group_model: 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: LimitConfig
-    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_model", "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,
@@ -91,18 +92,20 @@ class MotionGroupDescription(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 MotionGroupDescription(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 = []
@@ -185,7 +190,7 @@ class MotionGroupDescription(BaseModel):
             )
             if obj.get("safety_tool_colliders") is not None
             else None,
-            "global_limits": LimitConfig.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/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.
@@ -17,8 +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, 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
@@ -30,13 +31,13 @@ class MotionGroupSetup(BaseModel):
     """
     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[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. ")
+    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(
@@ -95,11 +96,12 @@ class MotionGroupSetup(BaseModel):
         if self.payload:
             _dict['payload'] = self.payload.to_dict()
         # override the default output from pydantic by calling `to_dict()` of each value in collision_setups (dict)
-        _field_dict = {}
+        # >>> Modified from openapi template
         if self.collision_setups:
-            for _key in self.collision_setups:
+            _field_dict = {}
+            for _key, _value in self.collision_setups.items():
                 if self.collision_setups[_key]:
-                    _field_dict[_key] = self.collision_setups[_key].to_dict()
+                    _field_dict[_key] = _value.to_dict()
             _dict['collision_setups'] = _field_dict
         return _dict
 

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.
@@ -20,6 +20,7 @@ import json
 from datetime import datetime
 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.pose import Pose
@@ -30,21 +31,21 @@ class MotionGroupState(BaseModel):
     """
     Presents the current state of the motion group.
     """ # noqa: E501
-    timestamp: datetime = Field(description="Timestamp for when data 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: 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. ")
+    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(

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

@@ -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.
@@ -26,8 +26,8 @@ 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: StrictStr
+    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')

wandelbots_api_client/v2/models/{nan_value.py → nan_value_error.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.nan_value_nan_value import NanValueNanValue
+from wandelbots_api_client.v2.models.nan_value_error_nan_value import NanValueErrorNanValue
 from typing import Optional, Set
 from typing_extensions import Self
 
-class NanValue(BaseModel):
+class NanValueError(BaseModel):
     """
-    NanValue
+    NanValueError
     """ # noqa: E501
-    nan_value: Optional[NanValueNanValue] = None
+    nan_value: Optional[NanValueErrorNanValue] = None 
     __properties: ClassVar[List[str]] = ["nan_value"]
 
     model_config = ConfigDict(
@@ -52,7 +52,7 @@ class NanValue(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of NanValue from a JSON string"""
+        """Create an instance of NanValueError from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -80,7 +80,7 @@ class NanValue(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of NanValue from a dict"""
+        """Create an instance of NanValueError from a dict"""
         if obj is None:
             return None
 
@@ -88,7 +88,7 @@ class NanValue(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "nan_value": NanValueNanValue.from_dict(obj["nan_value"]) if obj.get("nan_value") is not None else None
+            "nan_value": NanValueErrorNanValue.from_dict(obj["nan_value"]) if obj.get("nan_value") is not None else None
         })
         return _obj