wandelbots-api-client 25.9.0.dev2__py3-none-any.whl → 25.10.0.dev47__py3-none-any.whl

wandelbots_api_client/v2/models/motion_group_description.py

@@ -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(

wandelbots_api_client/v2/models/motion_group_info.py

@@ -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

@@ -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

@@ -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(

wandelbots_api_client/v2/models/motion_group_state.py

@@ -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

@@ -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

@@ -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}

@@ -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
 

wandelbots_api_client/v2/models/{nan_value_nan_value.py → nan_value_error_nan_value.py}

@@ -22,11 +22,11 @@ from typing import Any, ClassVar, Dict, List, Optional, Union
 from typing import Optional, Set
 from typing_extensions import Self
 
-class NanValueNanValue(BaseModel):
+class NanValueErrorNanValue(BaseModel):
     """
     Requested joint position contains NaN values.
     """ # noqa: E501
-    joint_position: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint position that is out of its limits.")
+    joint_position: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint position that is out of its limits.") 
     __properties: ClassVar[List[str]] = ["joint_position"]
 
     model_config = ConfigDict(
@@ -51,7 +51,7 @@ class NanValueNanValue(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of NanValueNanValue from a JSON string"""
+        """Create an instance of NanValueErrorNanValue from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -76,7 +76,7 @@ class NanValueNanValue(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of NanValueNanValue from a dict"""
+        """Create an instance of NanValueErrorNanValue from a dict"""
         if obj is None:
             return None
 

wandelbots_api_client/v2/models/op_mode.py

@@ -27,7 +27,7 @@ class OpMode(BaseModel):
     """
     Controllers have two operating modes: AUTOMATIC and MANUAL. MANUAL mode is mainly used for teaching a robot application. To ensure safe operation the velocity of the robot is limited to 250 mm/s. Running the finished application is done in AUTOMATIC operating mode without the limited velocity of the MANUAL mode. 
     """ # noqa: E501
-    mode: OperationMode
+    mode: OperationMode 
     __properties: ClassVar[List[str]] = ["mode"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/operation_limits.py

@@ -27,10 +27,10 @@ class OperationLimits(BaseModel):
     """
     OperationLimits
     """ # noqa: E501
-    auto_limits: Optional[LimitSet] = None
-    manual_limits: Optional[LimitSet] = None
-    manual_t1_limits: Optional[LimitSet] = None
-    manual_t2_limits: Optional[LimitSet] = None
+    auto_limits: Optional[LimitSet] = None 
+    manual_limits: Optional[LimitSet] = None 
+    manual_t1_limits: Optional[LimitSet] = None 
+    manual_t2_limits: Optional[LimitSet] = None 
     __properties: ClassVar[List[str]] = ["auto_limits", "manual_limits", "manual_t1_limits", "manual_t2_limits"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/path_cartesian_ptp.py

@@ -27,8 +27,8 @@ class PathCartesianPTP(BaseModel):
     """
     A cartesian point-to-point is representing a joint point-to-point motion from start point to the indicated target pose. The target pose is a joint point-to-point given in cartesian space. The target joint configuration will be calculated to be in the same kinematic configuration as the start point is. If that is not possible, planning will fail. 
     """ # noqa: E501
-    target_pose: Pose
-    path_definition_name: StrictStr
+    target_pose: Pose 
+    path_definition_name: str = "PathCartesianPTP"
     __properties: ClassVar[List[str]] = ["target_pose", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/v2/models/path_circle.py

@@ -27,9 +27,9 @@ class PathCircle(BaseModel):
     """
     A circular constructs a circle in translative space from 1) the start position which is provided via position, and 2) the indicated target position. The orientation is calculated via a [bezier spline](https://en.wikipedia.org/wiki/B%C3%A9zier_curve) from start orientation to the indicated target orientation. The via point defines the control point for the bezier spline. Therefore, the control point will not be hit directly. 
     """ # noqa: E501
-    via_pose: Pose
-    target_pose: Pose
-    path_definition_name: StrictStr
+    via_pose: Pose 
+    target_pose: Pose 
+    path_definition_name: str = "PathCircle"
     __properties: ClassVar[List[str]] = ["via_pose", "target_pose", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/v2/models/path_cubic_spline.py

@@ -27,8 +27,8 @@ class PathCubicSpline(BaseModel):
     """
     A [cubic spline](https://de.wikipedia.org/wiki/Spline-Interpolation) represents a cartesian cubic spline in translative and orientational space from start point to indicated target pose via control points. 
     """ # noqa: E501
-    parameters: List[CubicSplineParameter]
-    path_definition_name: StrictStr
+    parameters: List[CubicSplineParameter] 
+    path_definition_name: str = "PathCubicSpline"
     __properties: ClassVar[List[str]] = ["parameters", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/v2/models/path_joint_ptp.py

@@ -26,8 +26,8 @@ class PathJointPTP(BaseModel):
     """
     A joint point-to-point represents a line in joint space. All joints will be moved synchronously. 
     """ # noqa: E501
-    target_joint_position: List[Union[StrictFloat, StrictInt]]
-    path_definition_name: StrictStr
+    target_joint_position: List[Union[StrictFloat, StrictInt]] 
+    path_definition_name: str = "PathJointPTP"
     __properties: ClassVar[List[str]] = ["target_joint_position", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/v2/models/path_line.py

@@ -27,8 +27,8 @@ class PathLine(BaseModel):
     """
     A line represents a straight line from start position to indicated target position. The orientation is calculated via a quaternion [slerp](https://en.wikipedia.org/wiki/Slerp) from start orientation to indicated target orientation. 
     """ # noqa: E501
-    target_pose: Pose
-    path_definition_name: StrictStr
+    target_pose: Pose 
+    path_definition_name: str = "PathLine"
     __properties: ClassVar[List[str]] = ["target_pose", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/v2/models/pause_jogging_request.py

@@ -18,7 +18,7 @@ import re  # noqa: F401
 import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictStr, field_validator
-from typing import Any, ClassVar, Dict, List, Optional
+from typing import Any, ClassVar, Dict, List
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -26,15 +26,12 @@ class PauseJoggingRequest(BaseModel):
     """
     Request to pause jogging. If successful, `execute` jogging state in [MotionGroupState](MotionGroupState.yaml) is set to `PAUSED_BY_USER`. 
     """ # noqa: E501
-    message_type: Optional[StrictStr] = Field(default='PauseJoggingRequest', description="Type specifier for server, set automatically. ")
+    message_type: str = "PauseJoggingRequest"
     __properties: ClassVar[List[str]] = ["message_type"]
 
     @field_validator('message_type')
     def message_type_validate_enum(cls, value):
         """Validates the enum"""
-        if value is None:
-            return value
-
         if value not in set(['PauseJoggingRequest']):
             raise ValueError("must be one of enum values ('PauseJoggingRequest')")
         return value
@@ -94,7 +91,7 @@ class PauseJoggingRequest(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "message_type": obj.get("message_type") if obj.get("message_type") is not None else 'PauseJoggingRequest'
+            "message_type": obj.get("message_type")
         })
         return _obj
 

wandelbots_api_client/v2/models/pause_jogging_response.py

@@ -26,8 +26,8 @@ class PauseJoggingResponse(BaseModel):
     """
     Acknowledgment to a PauseJoggingRequest. 
     """ # noqa: E501
-    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid PauseJoggingRequest.")
-    kind: StrictStr
+    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid PauseJoggingRequest.") 
+    kind: str = "PAUSE_RECEIVED"
     __properties: ClassVar[List[str]] = ["message", "kind"]
 
     @field_validator('kind')

wandelbots_api_client/v2/models/pause_movement_request.py

@@ -18,7 +18,7 @@ import re  # noqa: F401
 import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictStr, field_validator
-from typing import Any, ClassVar, Dict, List, Optional
+from typing import Any, ClassVar, Dict, List
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -26,15 +26,12 @@ class PauseMovementRequest(BaseModel):
     """
     Request to pause the movement execution. Movement pauses as soon as a [Standstill](Standstill.yaml) is sent back to the client. Resume movement with StartMovementRequest. 
     """ # noqa: E501
-    message_type: Optional[StrictStr] = Field(default='PauseMovementRequest', description="Type specifier for server, set automatically. ")
+    message_type: str = "PauseMovementRequest"
     __properties: ClassVar[List[str]] = ["message_type"]
 
     @field_validator('message_type')
     def message_type_validate_enum(cls, value):
         """Validates the enum"""
-        if value is None:
-            return value
-
         if value not in set(['PauseMovementRequest']):
             raise ValueError("must be one of enum values ('PauseMovementRequest')")
         return value
@@ -94,7 +91,7 @@ class PauseMovementRequest(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "message_type": obj.get("message_type") if obj.get("message_type") is not None else 'PauseMovementRequest'
+            "message_type": obj.get("message_type")
         })
         return _obj
 

wandelbots_api_client/v2/models/pause_movement_response.py

@@ -26,8 +26,8 @@ class PauseMovementResponse(BaseModel):
     """
     Acknowledgment for PauseMovementRequest message. ATTENTION: No confirmation that the movement was paused. Confirmation that the PauseMovementRequest was received and is processed.            End of movement execution is signalled by [StillstandResponse](StillstandResponse). 
     """ # noqa: E501
-    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid PauseMovementResquest.")
-    kind: StrictStr
+    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid PauseMovementResquest.") 
+    kind: str = "PAUSE_RECEIVED"
     __properties: ClassVar[List[str]] = ["message", "kind"]
 
     @field_validator('kind')

wandelbots_api_client/v2/models/pause_on_io.py

@@ -29,9 +29,9 @@ class PauseOnIO(BaseModel):
     """
     Defines an input/output that the motion will be paused for. The motion will stop gracefully on path.
     """ # noqa: E501
-    io: IOValue
-    comparator: Comparator = Field(description="Comparator for the comparison of two values. Use the measured I/O as the base value (a) and the expected input/output value as the comparator (b): e.g., a > b. ")
-    io_origin: IOOrigin
+    io: IOValue 
+    comparator: Comparator = Field(description="Comparator for the comparison of two values. Use the measured I/O as the base value (a) and the expected input/output value as the comparator (b): e.g., a > b. ") 
+    io_origin: IOOrigin 
     __properties: ClassVar[List[str]] = ["io", "comparator", "io_origin"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/payload.py

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

wandelbots_api_client/v2/models/plan422_response.py

@@ -27,7 +27,7 @@ class Plan422Response(BaseModel):
     """
     Plan422Response
     """ # noqa: E501
-    detail: Optional[List[PlanValidationError]] = None
+    detail: Optional[List[PlanValidationError]] = None 
     __properties: ClassVar[List[str]] = ["detail"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/plan_collision_free_failed_response.py

@@ -27,7 +27,7 @@ class PlanCollisionFreeFailedResponse(BaseModel):
     """
     Response when collision-free trajectory planning fails. Contains specific feedback about why the planning failed. 
     """ # noqa: E501
-    error_feedback: ErrorMaxIterationsExceeded
+    error_feedback: ErrorMaxIterationsExceeded 
     __properties: ClassVar[List[str]] = ["error_feedback"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/plan_collision_free_request.py

@@ -28,10 +28,10 @@ class PlanCollisionFreeRequest(BaseModel):
     """
     PlanCollisionFreeRequest
     """ # noqa: E501
-    motion_group_setup: MotionGroupSetup = Field(description="The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) endpoint.")
-    start_joint_position: List[Union[StrictFloat, StrictInt]]
-    target: List[Union[StrictFloat, StrictInt]]
-    algorithm: CollisionFreeAlgorithm
+    motion_group_setup: MotionGroupSetup = Field(description="The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) endpoint.") 
+    start_joint_position: List[Union[StrictFloat, StrictInt]] 
+    target: List[Union[StrictFloat, StrictInt]] 
+    algorithm: CollisionFreeAlgorithm 
     __properties: ClassVar[List[str]] = ["motion_group_setup", "start_joint_position", "target", "algorithm"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/plan_collision_free_response.py

@@ -27,7 +27,7 @@ class PlanCollisionFreeResponse(BaseModel):
     """
     Response from collision-free trajectory planning. Contains either a successful joint trajectory or failure information. 
     """ # noqa: E501
-    response: PlanCollisionFreeResponseResponse
+    response: PlanCollisionFreeResponseResponse 
     __properties: ClassVar[List[str]] = ["response"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/plan_trajectory_failed_response.py

@@ -28,9 +28,9 @@ class PlanTrajectoryFailedResponse(BaseModel):
     """
     PlanTrajectoryFailedResponse
     """ # noqa: E501
-    error_feedback: PlanTrajectoryFailedResponseErrorFeedback
-    error_location_on_trajectory: Union[StrictFloat, StrictInt] = Field(description="Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g. in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path ")
-    joint_trajectory: Optional[JointTrajectory] = Field(default=None, description="The joint trajectory from the start joint position to the error. ")
+    error_feedback: PlanTrajectoryFailedResponseErrorFeedback 
+    error_location_on_trajectory: Union[StrictFloat, StrictInt] = Field(description="Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g., in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path ") 
+    joint_trajectory: Optional[JointTrajectory] = Field(default=None, description="The joint trajectory from the start joint position to the error. ") 
     __properties: ClassVar[List[str]] = ["error_feedback", "error_location_on_trajectory", "joint_trajectory"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/plan_trajectory_request.py

@@ -28,9 +28,9 @@ class PlanTrajectoryRequest(BaseModel):
     """
     PlanTrajectoryRequest
     """ # noqa: E501
-    motion_group_setup: MotionGroupSetup = Field(description="The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) endpoint.")
-    start_joint_position: List[Union[StrictFloat, StrictInt]]
-    motion_commands: List[MotionCommand] = Field(description="List of motion commands. A command consists of a path definition (line, circle, joint_ptp, cartesian_ptp, cubic_spline), blending, and limits override. ")
+    motion_group_setup: MotionGroupSetup = Field(description="The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) endpoint.") 
+    start_joint_position: List[Union[StrictFloat, StrictInt]] 
+    motion_commands: List[MotionCommand] = Field(description="List of motion commands. A command consists of a path definition (line, circle, joint_ptp, cartesian_ptp, cubic_spline), blending, and limits override. ") 
     __properties: ClassVar[List[str]] = ["motion_group_setup", "start_joint_position", "motion_commands"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/plan_trajectory_response.py

@@ -27,7 +27,7 @@ class PlanTrajectoryResponse(BaseModel):
     """
     PlanTrajectoryResponse
     """ # noqa: E501
-    response: PlanTrajectoryResponseResponse
+    response: PlanTrajectoryResponseResponse 
     __properties: ClassVar[List[str]] = ["response"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/plan_validation_error.py

@@ -28,11 +28,11 @@ class PlanValidationError(BaseModel):
     """
     PlanValidationError
     """ # noqa: E501
-    loc: List[ValidationErrorLocInner]
-    msg: StrictStr
-    type: StrictStr
-    input: Dict[str, Any]
-    data: Optional[PlanValidationErrorAllOfData] = None
+    loc: List[ValidationErrorLocInner] 
+    msg: StrictStr 
+    type: StrictStr 
+    input: Dict[str, Any] 
+    data: Optional[PlanValidationErrorAllOfData] = None 
     __properties: ClassVar[List[str]] = ["loc", "msg", "type", "input", "data"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/plane.py

@@ -26,7 +26,7 @@ class Plane(BaseModel):
     """
     Defines an x/y-plane with infinite size.
     """ # noqa: E501
-    shape_type: StrictStr
+    shape_type: str = "plane"
     __properties: ClassVar[List[str]] = ["shape_type"]
 
     @field_validator('shape_type')