wandelbots-api-client 25.8.0.dev77__py3-none-any.whl → 25.11.0.dev12__py3-none-any.whl

wandelbots_api_client/v2/api/virtual_controller_behavior_api.py

@@ -3,15 +3,14 @@
 """
     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.
 """  # noqa: E501
 
-
 from furl import furl
 import json
 import humps
@@ -51,7 +50,7 @@ class VirtualControllerBehaviorApi:
     async def external_joints_stream(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], client_request_generator: Callable[[AsyncGenerator[List[ExternalJointStreamDatapoint], None]], AsyncGenerator[ExternalJointStreamRequest, None]]) -> None:  # noqa: E501
         """Stream Joint Configuration  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  This stream sends the commanded state (joint positions, velocities, accelerations, torques) for each motion group of the virtual controller and sets the joint configuration. Moving motion groups on virtual controllers can be executed by using Trajectory Planning and Trajectory Execution. Trajectory Execution commands the desired joint configuration to each motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! > **NOTE** > > This stream provides *commanded* joint states, it **doesn't provide actual joint states**.  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configuration. > **CAUTION** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller's joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Sends the **commanded** state, e.g., joint positions, velocities, accelerations, torques, for each motion group of the virtual controller and sets the joint configuration.  Use [planTrajectory](planTrajectory) and [executeTrajectory](executeTrajectory) to move motion groups on virtual controllers.  Learn more about the [movement behavior of virtual controllers in comparison to physical controllers](executeTrajectory#movement-behavior).  > **NOTE** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  #### Use cases  1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.\\     The stream only sends data to the robot controller if a motion is executed.\\     If the robot controller's joint configuration differs too much from the incoming joint configuration, a following error occurs.     Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic freedrive motions.     <!-- theme: danger -->      > **DANGER**     >     > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration     > will be executed with maximum speed regardless of safety zones and mechanical limits.   # noqa: E501
         :param client_request_generator: An AsyncGenerator that yields request of type ExternalJointsStreamRequest and takes an AsyncGenerator of List[ExternalJointStreamDatapoint] as an input argument (required)
         :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[List[ExternalJointStreamDatapoint], None])
         :type AsyncGenerator[ExternalJointsStreamRequest, None]
@@ -121,8 +120,11 @@ class VirtualControllerBehaviorApi:
         full_url = furl(tmp_host + path)
 
         async with websockets.connect(full_url.url, open_timeout=10, additional_headers=headers) as websocket:
-            async for request in client_request_generator(iterate_responses(websocket)):
-                await websocket.send(request.to_json())
+            try:
+                async for request in client_request_generator(iterate_responses(websocket)):
+                    await websocket.send(request.to_json())
+            finally:
+                await websocket.close()
 
 
     @validate_call
@@ -185,6 +187,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "CycleTime",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -257,6 +260,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "CycleTime",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -329,6 +333,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': "CycleTime",
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -421,7 +426,7 @@ class VirtualControllerBehaviorApi:
     ) -> Behavior:
         """Get Behavior
 
-        Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details. 
+        Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -494,7 +499,7 @@ class VirtualControllerBehaviorApi:
     ) -> ApiResponse[Behavior]:
         """Get Behavior
 
-        Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details. 
+        Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -567,7 +572,7 @@ class VirtualControllerBehaviorApi:
     ) -> RESTResponseType:
         """Get Behavior
 
-        Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details. 
+        Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -701,7 +706,7 @@ class VirtualControllerBehaviorApi:
     ) -> None:
         """Set Behavior
 
-        Set virtual controller behavior. 
+        Set virtual controller behavior.  See query parameters for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -744,6 +749,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -777,7 +783,7 @@ class VirtualControllerBehaviorApi:
     ) -> ApiResponse[None]:
         """Set Behavior
 
-        Set virtual controller behavior. 
+        Set virtual controller behavior.  See query parameters for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -820,6 +826,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -853,7 +860,7 @@ class VirtualControllerBehaviorApi:
     ) -> RESTResponseType:
         """Set Behavior
 
-        Set virtual controller behavior. 
+        Set virtual controller behavior.  See query parameters for details. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -896,6 +903,7 @@ class VirtualControllerBehaviorApi:
         _response_types_map: Dict[str, Optional[str]] = {
             '200': None,
             '400': "Error",
+            '404': "Error",
         }
         response_data = await self.api_client.call_api(
             *_param,

wandelbots_api_client/v2/api/virtual_controller_inputs_outputs_api.py

@@ -3,15 +3,14 @@
 """
     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.
 """  # noqa: E501
 
-
 from furl import furl
 import json
 import humps
@@ -368,7 +367,7 @@ class VirtualControllerInputsOutputsApi:
     ) -> List[IODescription]:
         """List Descriptions
 
-        Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned. 
+        Lists the input/output descriptions of the virtual robot controller.   The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the virtual robot controller.\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -457,7 +456,7 @@ class VirtualControllerInputsOutputsApi:
     ) -> ApiResponse[List[IODescription]]:
         """List Descriptions
 
-        Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned. 
+        Lists the input/output descriptions of the virtual robot controller.   The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the virtual robot controller.\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -546,7 +545,7 @@ class VirtualControllerInputsOutputsApi:
     ) -> RESTResponseType:
         """List Descriptions
 
-        Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned. 
+        Lists the input/output descriptions of the virtual robot controller.   The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the virtual robot controller.\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

wandelbots_api_client/v2/api_client.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.
@@ -21,6 +21,7 @@ import mimetypes
 import os
 import re
 import tempfile
+import uuid
 
 from urllib.parse import quote
 from typing import Tuple, Optional, List, Dict, Union
@@ -90,7 +91,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = 'Wandelbots-Nova-API-Python-Client/25.8.0.dev77'
+        self.user_agent = 'Wandelbots-Nova-API-Python-Client/25.11.0.dev12'
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):
@@ -359,6 +360,8 @@ class ApiClient:
             return obj.get_secret_value()
         elif isinstance(obj, self.PRIMITIVE_TYPES):
             return obj
+        elif isinstance(obj, uuid.UUID):
+            return str(obj)
         elif isinstance(obj, list):
             return [
                 self.sanitize_for_serialization(sub_obj) for sub_obj in obj
@@ -385,6 +388,10 @@ class ApiClient:
             else:
                 obj_dict = obj.__dict__
 
+        if isinstance(obj_dict, list):
+            # here we handle instances that can either be a list or something else, and only became a real list by calling to_dict()
+            return self.sanitize_for_serialization(obj_dict)
+
         return {
             key: self.sanitize_for_serialization(val)
             for key, val in obj_dict.items()
@@ -407,7 +414,7 @@ class ApiClient:
                 data = json.loads(response_text)
             except ValueError:
                 data = response_text
-        elif re.match(r'^application/(json|[\w!#$&.+-^_]+\+json)\s*(;|$)', content_type, re.IGNORECASE):
+        elif re.match(r'^application/(json|[\w!#$&.+\-^_]+\+json)\s*(;|$)', content_type, re.IGNORECASE):
             if response_text == "":
                 data = ""
             else:
@@ -456,13 +463,13 @@ class ApiClient:
 
         if klass in self.PRIMITIVE_TYPES:
             return self.__deserialize_primitive(data, klass)
-        elif klass == object:
+        elif klass is object:
             return self.__deserialize_object(data)
-        elif klass == datetime.date:
+        elif klass is datetime.date:
             return self.__deserialize_date(data)
-        elif klass == datetime.datetime:
+        elif klass is datetime.datetime:
             return self.__deserialize_datetime(data)
-        elif klass == decimal.Decimal:
+        elif klass is decimal.Decimal:
             return decimal.Decimal(data)
         elif issubclass(klass, Enum):
             return self.__deserialize_enum(data, klass)

wandelbots_api_client/v2/configuration.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.
@@ -17,7 +17,7 @@ import http.client as httplib
 import logging
 from logging import FileHandler
 import sys
-from typing import Any, ClassVar, Dict, List, Literal, Optional, TypedDict
+from typing import Any, ClassVar, Dict, List, Literal, Optional, TypedDict, Union
 from typing_extensions import NotRequired, Self
 
 import urllib3
@@ -161,6 +161,10 @@ class Configuration:
     :param ssl_ca_cert: str - the path to a file of concatenated CA certificates
       in PEM format.
     :param retries: Number of retries for API requests.
+    :param ca_cert_data: verify the peer using concatenated CA certificate data
+      in PEM (str) or DER (bytes) format.
+    :param cert_file: the path to a client certificate file, for mTLS.
+    :param key_file: the path to a client key file, for mTLS. 
 
     :Example:
 
@@ -191,13 +195,16 @@ conf = wandelbots_api_client.v2.Configuration(
         username: Optional[str]=None,
         password: Optional[str]=None,
         access_token: Optional[str]=None,
-        server_index: Optional[int]=None, 
+        server_index: Optional[int]=None,
         server_variables: Optional[ServerVariablesT]=None,
         server_operation_index: Optional[Dict[int, int]]=None,
         server_operation_variables: Optional[Dict[int, ServerVariablesT]]=None,
         ignore_operation_servers: bool=False,
         ssl_ca_cert: Optional[str]=None,
         retries: Optional[int] = None,
+        ca_cert_data: Optional[Union[str, bytes]] = None,
+        cert_file: Optional[str]=None,
+        key_file: Optional[str]=None,
         *,
         debug: Optional[bool] = None,
     ) -> None:
@@ -275,10 +282,14 @@ conf = wandelbots_api_client.v2.Configuration(
         self.ssl_ca_cert = ssl_ca_cert
         """Set this to customize the certificate file to verify the peer.
         """
-        self.cert_file = None
+        self.ca_cert_data = ca_cert_data
+        """Set this to verify the peer using PEM (str) or DER (bytes)
+           certificate data.
+        """
+        self.cert_file = cert_file
         """client certificate file
         """
-        self.key_file = None
+        self.key_file = key_file
         """client key file
         """
         self.assert_hostname = None
@@ -523,8 +534,8 @@ conf = wandelbots_api_client.v2.Configuration(
         return "Python SDK Debug Report:\n"\
                "OS: {env}\n"\
                "Python Version: {pyversion}\n"\
-               "Version of the API: 2.0.0 beta\n"\
-               "SDK Package Version: 25.8.0.dev77".\
+               "Version of the API: 2.1.0 dev\n"\
+               "SDK Package Version: 25.11.0.dev12".\
                format(env=sys.platform, pyversion=sys.version)
 
     def get_host_settings(self) -> List[HostSetting]:

wandelbots_api_client/v2/exceptions.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/__init__.py

@@ -4,15 +4,14 @@
 """
     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.
 """  # noqa: E501
 
-
 # import models into model package
 from .abb_controller import AbbController
 from .abb_controller_egm_server import AbbControllerEgmServer
@@ -21,12 +20,19 @@ from .add_trajectory_error import AddTrajectoryError
 from .add_trajectory_error_data import AddTrajectoryErrorData
 from .add_trajectory_request import AddTrajectoryRequest
 from .add_trajectory_response import AddTrajectoryResponse
+from .api_version import ApiVersion
 from .app import App
 from .behavior import Behavior
 from .blending_auto import BlendingAuto
 from .blending_position import BlendingPosition
 from .boolean_value import BooleanValue
 from .box import Box
+from .bus_io_description import BusIODescription
+from .bus_io_modbus_client import BusIOModbusClient
+from .bus_io_modbus_server import BusIOModbusServer
+from .bus_io_modbus_tcp_client import BusIOModbusTCPClient
+from .bus_io_modbus_tcp_server import BusIOModbusTCPServer
+from .bus_io_modbus_virtual import BusIOModbusVirtual
 from .bus_io_profinet import BusIOProfinet
 from .bus_io_profinet_default_route import BusIOProfinetDefaultRoute
 from .bus_io_profinet_ip_config import BusIOProfinetIpConfig
@@ -91,27 +97,26 @@ from .forward_kinematics_response import ForwardKinematicsResponse
 from .forward_kinematics_validation_error import ForwardKinematicsValidationError
 from .get_trajectory_response import GetTrajectoryResponse
 from .http_validation_error import HTTPValidationError
-from .http_validation_error2 import HTTPValidationError2
 from .io_boolean_value import IOBooleanValue
+from .io_boundary import IOBoundary
 from .io_description import IODescription
-from .io_description2 import IODescription2
-from .io_description_min import IODescriptionMin
 from .io_direction import IODirection
 from .io_float_value import IOFloatValue
 from .io_integer_value import IOIntegerValue
+from .io_origin import IOOrigin
 from .io_value import IOValue
 from .io_value_type import IOValueType
 from .image_credentials import ImageCredentials
-from .inconsitent_trajectory_size import InconsitentTrajectorySize
-from .inconsitent_trajectory_size_inconsistent_trajectory_size import InconsitentTrajectorySizeInconsistentTrajectorySize
+from .inconsistent_trajectory_size_error import InconsistentTrajectorySizeError
+from .inconsistent_trajectory_size_error_inconsistent_trajectory_size import InconsistentTrajectorySizeErrorInconsistentTrajectorySize
 from .initialize_jogging_request import InitializeJoggingRequest
 from .initialize_jogging_response import InitializeJoggingResponse
 from .initialize_movement_request import InitializeMovementRequest
 from .initialize_movement_request_trajectory import InitializeMovementRequestTrajectory
 from .initialize_movement_response import InitializeMovementResponse
 from .integer_value import IntegerValue
-from .invalid_dof import InvalidDof
-from .invalid_dof_invalid_dof import InvalidDofInvalidDof
+from .invalid_dof_error import InvalidDofError
+from .invalid_dof_error_invalid_dof import InvalidDofErrorInvalidDof
 from .inverse_kinematics422_response import InverseKinematics422Response
 from .inverse_kinematics_request import InverseKinematicsRequest
 from .inverse_kinematics_response import InverseKinematicsResponse
@@ -124,7 +129,7 @@ from .jogging_paused_near_collision import JoggingPausedNearCollision
 from .jogging_paused_near_joint_limit import JoggingPausedNearJointLimit
 from .jogging_paused_on_io import JoggingPausedOnIO
 from .jogging_running import JoggingRunning
-from .joint_limit_exceeded import JointLimitExceeded
+from .joint_limit_exceeded_error import JointLimitExceededError
 from .joint_limits import JointLimits
 from .joint_trajectory import JointTrajectory
 from .joint_velocity_request import JointVelocityRequest
@@ -140,6 +145,11 @@ from .limits_override import LimitsOverride
 from .list_trajectories_response import ListTrajectoriesResponse
 from .manufacturer import Manufacturer
 from .midpoint_insertion_algorithm import MidpointInsertionAlgorithm
+from .modbus_io import ModbusIO
+from .modbus_io_area import ModbusIOArea
+from .modbus_io_byte_order import ModbusIOByteOrder
+from .modbus_io_data import ModbusIOData
+from .modbus_io_type_enum import ModbusIOTypeEnum
 from .motion_command import MotionCommand
 from .motion_command_blending import MotionCommandBlending
 from .motion_command_path import MotionCommandPath
@@ -150,8 +160,8 @@ from .motion_group_setup import MotionGroupSetup
 from .motion_group_state import MotionGroupState
 from .motion_group_state_joint_limit_reached import MotionGroupStateJointLimitReached
 from .movement_error_response import MovementErrorResponse
-from .nan_value import NanValue
-from .nan_value_nan_value import NanValueNanValue
+from .nan_value_error import NanValueError
+from .nan_value_error_nan_value import NanValueErrorNanValue
 from .op_mode import OpMode
 from .operating_state import OperatingState
 from .operation_limits import OperationLimits
@@ -222,11 +232,11 @@ from .start_movement_response import StartMovementResponse
 from .start_on_io import StartOnIO
 from .stream_io_values_response import StreamIOValuesResponse
 from .tcp_offset import TcpOffset
-from .tcp_required import TcpRequired
+from .tcp_required_error import TcpRequiredError
 from .tcp_velocity_request import TcpVelocityRequest
 from .tcp_velocity_response import TcpVelocityResponse
-from .torque_exceeded import TorqueExceeded
-from .torque_exceeded_torque_exceeded import TorqueExceededTorqueExceeded
+from .torque_exceeded_error import TorqueExceededError
+from .torque_exceeded_error_torque_exceeded import TorqueExceededErrorTorqueExceeded
 from .trajectory_data import TrajectoryData
 from .trajectory_details import TrajectoryDetails
 from .trajectory_details_state import TrajectoryDetailsState
@@ -256,12 +266,19 @@ __all__ = [
     "AddTrajectoryErrorData", 
     "AddTrajectoryRequest", 
     "AddTrajectoryResponse", 
+    "ApiVersion", 
     "App", 
     "Behavior", 
     "BlendingAuto", 
     "BlendingPosition", 
     "BooleanValue", 
     "Box", 
+    "BusIODescription", 
+    "BusIOModbusClient", 
+    "BusIOModbusServer", 
+    "BusIOModbusTCPClient", 
+    "BusIOModbusTCPServer", 
+    "BusIOModbusVirtual", 
     "BusIOProfinet", 
     "BusIOProfinetDefaultRoute", 
     "BusIOProfinetIpConfig", 
@@ -326,27 +343,26 @@ __all__ = [
     "ForwardKinematicsValidationError", 
     "GetTrajectoryResponse", 
     "HTTPValidationError", 
-    "HTTPValidationError2", 
     "IOBooleanValue", 
+    "IOBoundary", 
     "IODescription", 
-    "IODescription2", 
-    "IODescriptionMin", 
     "IODirection", 
     "IOFloatValue", 
     "IOIntegerValue", 
+    "IOOrigin", 
     "IOValue", 
     "IOValueType", 
     "ImageCredentials", 
-    "InconsitentTrajectorySize", 
-    "InconsitentTrajectorySizeInconsistentTrajectorySize", 
+    "InconsistentTrajectorySizeError", 
+    "InconsistentTrajectorySizeErrorInconsistentTrajectorySize", 
     "InitializeJoggingRequest", 
     "InitializeJoggingResponse", 
     "InitializeMovementRequest", 
     "InitializeMovementRequestTrajectory", 
     "InitializeMovementResponse", 
     "IntegerValue", 
-    "InvalidDof", 
-    "InvalidDofInvalidDof", 
+    "InvalidDofError", 
+    "InvalidDofErrorInvalidDof", 
     "InverseKinematics422Response", 
     "InverseKinematicsRequest", 
     "InverseKinematicsResponse", 
@@ -359,7 +375,7 @@ __all__ = [
     "JoggingPausedNearJointLimit", 
     "JoggingPausedOnIO", 
     "JoggingRunning", 
-    "JointLimitExceeded", 
+    "JointLimitExceededError", 
     "JointLimits", 
     "JointTrajectory", 
     "JointVelocityRequest", 
@@ -375,6 +391,11 @@ __all__ = [
     "ListTrajectoriesResponse", 
     "Manufacturer", 
     "MidpointInsertionAlgorithm", 
+    "ModbusIO", 
+    "ModbusIOArea", 
+    "ModbusIOByteOrder", 
+    "ModbusIOData", 
+    "ModbusIOTypeEnum", 
     "MotionCommand", 
     "MotionCommandBlending", 
     "MotionCommandPath", 
@@ -385,8 +406,8 @@ __all__ = [
     "MotionGroupState", 
     "MotionGroupStateJointLimitReached", 
     "MovementErrorResponse", 
-    "NanValue", 
-    "NanValueNanValue", 
+    "NanValueError", 
+    "NanValueErrorNanValue", 
     "OpMode", 
     "OperatingState", 
     "OperationLimits", 
@@ -457,11 +478,11 @@ __all__ = [
     "StartOnIO", 
     "StreamIOValuesResponse", 
     "TcpOffset", 
-    "TcpRequired", 
+    "TcpRequiredError", 
     "TcpVelocityRequest", 
     "TcpVelocityResponse", 
-    "TorqueExceeded", 
-    "TorqueExceededTorqueExceeded", 
+    "TorqueExceededError", 
+    "TorqueExceededErrorTorqueExceeded", 
     "TrajectoryData", 
     "TrajectoryDetails", 
     "TrajectoryDetailsState", 

wandelbots_api_client/v2/models/abb_controller.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.
@@ -18,7 +18,7 @@ import re  # noqa: F401
 import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictInt, StrictStr, field_validator
-from typing import Any, ClassVar, Dict, List, Optional
+from typing import Any, ClassVar, Dict, List
 from wandelbots_api_client.v2.models.abb_controller_egm_server import AbbControllerEgmServer
 from typing import Optional, Set
 from typing_extensions import Self
@@ -27,18 +27,15 @@ class AbbController(BaseModel):
     """
     The configuration of a physical ABB robot controller has to contain IP address. Additionally an EGM server configuration has to be specified in order to control the robot. Deploying the server is a functionality of this API. 
     """ # noqa: E501
-    kind: Optional[StrictStr] = 'AbbController'
-    controller_ip: StrictStr
-    controller_port: StrictInt = Field(description="Default values: 80, 443. If custom value is set, field is required. ")
-    egm_server: AbbControllerEgmServer
+    kind: str = "AbbController"
+    controller_ip: StrictStr 
+    controller_port: StrictInt = Field(description="Default values: 80, 443. If custom value is set, field is required. ") 
+    egm_server: AbbControllerEgmServer 
     __properties: ClassVar[List[str]] = ["kind", "controller_ip", "controller_port", "egm_server"]
 
     @field_validator('kind')
     def kind_validate_enum(cls, value):
         """Validates the enum"""
-        if value is None:
-            return value
-
         if value not in set(['AbbController']):
             raise ValueError("must be one of enum values ('AbbController')")
         return value
@@ -101,7 +98,7 @@ class AbbController(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "kind": obj.get("kind") if obj.get("kind") is not None else 'AbbController',
+            "kind": obj.get("kind"),
             "controller_ip": obj.get("controller_ip"),
             "controller_port": obj.get("controller_port") if obj.get("controller_port") is not None else 80,
             "egm_server": AbbControllerEgmServer.from_dict(obj["egm_server"]) if obj.get("egm_server") is not None else None

wandelbots_api_client/v2/models/abb_controller_egm_server.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 AbbControllerEgmServer(BaseModel):
     """
     The EGM server runs inside of the cell, thus its IP must be in the same network as the 'controller_ip'
     """ # noqa: E501
-    ip: StrictStr
-    port: StrictInt
+    ip: StrictStr 
+    port: StrictInt 
     __properties: ClassVar[List[str]] = ["ip", "port"]
 
     model_config = ConfigDict(