wandelbots-api-client 25.9.0.dev19__py3-none-any.whl → 25.11.0.dev16__py3-none-any.whl

wandelbots_api_client/v2/models/list_trajectories_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.
@@ -26,7 +26,7 @@ class ListTrajectoriesResponse(BaseModel):
     """
     ListTrajectoriesResponse
     """ # noqa: E501
-    trajectories: Optional[List[StrictStr]] = Field(default=None, description="Identifiers of trajectories which are currently cached. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. ")
+    trajectories: Optional[List[StrictStr]] = Field(default=None, description="Identifiers of trajectories which are currently cached. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. ") 
     __properties: ClassVar[List[str]] = ["trajectories"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/manufacturer.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/midpoint_insertion_algorithm.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.
@@ -27,8 +27,8 @@ class MidpointInsertionAlgorithm(BaseModel):
     """
     MidpointInsertionAlgorithm
     """ # noqa: E501
-    algorithm_name: StrictStr = Field(description="Algorithm discriminator.  Midpoint insertion algorithm configuration for collision-free path planning. This algorithm adds a single midpoint between the start and target joint position to find collision-free paths. ")
-    max_iterations: Optional[Annotated[int, Field(strict=True, ge=1)]] = Field(default=1000, description="Maximum number of iterations for the midpoint insertion algorithm. Higher values increase likelyhood of success, but also computation time (linear). ")
+    algorithm_name: str = "MidpointInsertionAlgorithm"
+    max_iterations: Optional[Annotated[int, Field(strict=True, ge=1)]] = Field(default=1000, description="Maximum number of iterations for the midpoint insertion algorithm. Higher values increase likelyhood of success, but also computation time (linear). ") 
     __properties: ClassVar[List[str]] = ["algorithm_name", "max_iterations"]
 
     @field_validator('algorithm_name')

wandelbots_api_client/v2/models/modbus_io.py

@@ -0,0 +1,105 @@
+# coding: utf-8
+
+"""
+    Wandelbots NOVA API
+
+    Interact with robots in an easy and intuitive way. 
+
+    The version of the OpenAPI document: 2.1.0 dev
+    Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+    Do not edit the class manually.
+"""  # noqa: E501
+
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
+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 ModbusIO(BaseModel):
+    """
+    ModbusIO
+    """ # noqa: E501
+    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. ") 
+    io: StrictStr = Field(description="The unique identifier for the input/output value. Used to reference the input/output variable in the MODBUS device, e.g., NOVA's MODBUS service. ") 
+    __properties: ClassVar[List[str]] = ["description", "address", "type", "byte_order", "area", "io"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+        
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of ModbusIO from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([
+        ])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of ModbusIO from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({
+            "description": obj.get("description"),
+            "address": obj.get("address"),
+            "type": obj.get("type"),
+            "byte_order": obj.get("byte_order"),
+            "area": obj.get("area"),
+            "io": obj.get("io")
+        })
+        return _obj
+
+

wandelbots_api_client/v2/models/modbus_io_area.py

@@ -0,0 +1,40 @@
+# 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 ModbusIOArea(str, Enum):
+    """
+    Area of the MODBUS input/output variable. Is used to interpret the corresponding bits correctly. 
+    """
+
+    """
+    allowed enum values
+    """
+    MODBUS_IO_AREA_UNKNOWN = 'MODBUS_IO_AREA_UNKNOWN'
+    MODBUS_IO_AREA_COILS = 'MODBUS_IO_AREA_COILS'
+    MODBUS_IO_AREA_DISCRETE_INPUTS = 'MODBUS_IO_AREA_DISCRETE_INPUTS'
+    MODBUS_IO_AREA_HOLDING_REGISTERS = 'MODBUS_IO_AREA_HOLDING_REGISTERS'
+    MODBUS_IO_AREA_INPUT_REGISTERS = 'MODBUS_IO_AREA_INPUT_REGISTERS'
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of ModbusIOArea from a JSON string"""
+        return cls(json.loads(json_str))
+
+

wandelbots_api_client/v2/models/modbus_io_byte_order.py

@@ -0,0 +1,40 @@
+# 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 ModbusIOByteOrder(str, Enum):
+    """
+    Byte order of the MODBUS input/output variable. Used to interpret the corresponding bits correctly. 
+    """
+
+    """
+    allowed enum values
+    """
+    MODBUS_IO_BYTE_ORDER_UNKNOWN = 'MODBUS_IO_BYTE_ORDER_UNKNOWN'
+    MODBUS_IO_BYTE_ORDER_ABCD = 'MODBUS_IO_BYTE_ORDER_ABCD'
+    MODBUS_IO_BYTE_ORDER_BADC = 'MODBUS_IO_BYTE_ORDER_BADC'
+    MODBUS_IO_BYTE_ORDER_CDAB = 'MODBUS_IO_BYTE_ORDER_CDAB'
+    MODBUS_IO_BYTE_ORDER_DCBA = 'MODBUS_IO_BYTE_ORDER_DCBA'
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of ModbusIOByteOrder from a JSON string"""
+        return cls(json.loads(json_str))
+
+

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.
@@ -17,8 +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.collider import Collider
 from wandelbots_api_client.v2.models.dh_parameter import DHParameter
 from wandelbots_api_client.v2.models.operation_limits import OperationLimits
@@ -32,16 +33,16 @@ 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: 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[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.")
+    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(
@@ -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 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 = []

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(