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

wandelbots_api_client/models/limit_settings.py

@@ -28,18 +28,18 @@ class LimitSettings(BaseModel):
     """
     NOTE: if a joint or Cartesian limit is not set or present for the corresponding device, then the value is not present (in the list or the optional value is null). The unit depends on the kind of axis (rotational or linear).
     """ # noqa: E501
-    joint_position_limits: Optional[List[JointLimit]] = Field(default=None, description="Joint position limits in [rad or mm], configured in the safety setup, starting at base.")
-    joint_velocity_limits: Optional[List[SingleJointLimit]] = Field(default=None, description="Max allowed velocity for joints in [rad/s or mm/s] of the safety setup, starting at base.")
-    joint_acceleration_limits: Optional[List[SingleJointLimit]] = Field(default=None, description="Max allowed acceleration for joints in [rad/s^2 or mm/s^2] of the safety setup, starting at base.")
-    joint_torque_limits: Optional[List[SingleJointLimit]] = Field(default=None, description="Max allowed torque for joints in [Nm or N] of the safety setup, starting at base.")
-    tcp_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s] max. allowed velocity at the TCP, 1-dimensional.")
-    tcp_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s^2] max. allowed acceleration at the TCP, 1-dimensional.")
-    tcp_orientation_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[rad/s] max. allowed orientation velocity at the TCP, 1-dimensional.")
-    tcp_orientation_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[rad/s^2] max. allowed orientation acceleration at the TCP, 1-dimensional.")
-    tcp_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[N] max. allowed force at the TCP, 1-dimensional.")
-    elbow_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s] max. allowed velocity at the elbow, 1-dimensional.")
-    elbow_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s^2] max. allowed acceleration at the elbow, 1-dimensional.")
-    elbow_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[N] max. allowed force at the elbow, 1-dimensional.")
+    joint_position_limits: Optional[List[JointLimit]] = Field(default=None, description="Joint position limits in [rad or mm], configured in the safety setup, starting at base.") 
+    joint_velocity_limits: Optional[List[SingleJointLimit]] = Field(default=None, description="Max allowed velocity for joints in [rad/s or mm/s] of the safety setup, starting at base.") 
+    joint_acceleration_limits: Optional[List[SingleJointLimit]] = Field(default=None, description="Max allowed acceleration for joints in [rad/s^2 or mm/s^2] of the safety setup, starting at base.") 
+    joint_torque_limits: Optional[List[SingleJointLimit]] = Field(default=None, description="Max allowed torque for joints in [Nm or N] of the safety setup, starting at base.") 
+    tcp_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s] max. allowed velocity at the TCP, 1-dimensional.") 
+    tcp_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s^2] max. allowed acceleration at the TCP, 1-dimensional.") 
+    tcp_orientation_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[rad/s] max. allowed orientation velocity at the TCP, 1-dimensional.") 
+    tcp_orientation_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[rad/s^2] max. allowed orientation acceleration at the TCP, 1-dimensional.") 
+    tcp_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[N] max. allowed force at the TCP, 1-dimensional.") 
+    elbow_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s] max. allowed velocity at the elbow, 1-dimensional.") 
+    elbow_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s^2] max. allowed acceleration at the elbow, 1-dimensional.") 
+    elbow_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[N] max. allowed force at the elbow, 1-dimensional.") 
     __properties: ClassVar[List[str]] = ["joint_position_limits", "joint_velocity_limits", "joint_acceleration_limits", "joint_torque_limits", "tcp_velocity_limit", "tcp_acceleration_limit", "tcp_orientation_velocity_limit", "tcp_orientation_acceleration_limit", "tcp_force_limit", "elbow_velocity_limit", "elbow_acceleration_limit", "elbow_force_limit"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/limits_override.py

@@ -27,12 +27,12 @@ class LimitsOverride(BaseModel):
     """
     If a limit is not set, the default value will be used.
     """ # noqa: E501
-    joint_velocity_limits: Optional[Joints] = Field(default=None, description="Maximum joint velocity in [rad/s] for each joint. Either leave this field empty or set a value for each joint. ")
-    joint_acceleration_limits: Optional[Joints] = Field(default=None, description="Maximum joint acceleration in [rad/s^2] for each joint. Either leave this field empty or set a value for each joint. ")
-    tcp_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Maximum allowed TCP velocity in [mm/s]. ")
-    tcp_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Maximum allowed TCP acceleration in [mm/s^2]. ")
-    tcp_orientation_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Maximum allowed TCP rotation velocity in [rad/s]. ")
-    tcp_orientation_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Maximum allowed TCP rotation acceleration in [rad/s^2]. ")
+    joint_velocity_limits: Optional[Joints] = Field(default=None, description="Maximum joint velocity in [rad/s] for each joint. Either leave this field empty or set a value for each joint. ") 
+    joint_acceleration_limits: Optional[Joints] = Field(default=None, description="Maximum joint acceleration in [rad/s^2] for each joint. Either leave this field empty or set a value for each joint. ") 
+    tcp_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Maximum allowed TCP velocity in [mm/s]. ") 
+    tcp_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Maximum allowed TCP acceleration in [mm/s^2]. ") 
+    tcp_orientation_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Maximum allowed TCP rotation velocity in [rad/s]. ") 
+    tcp_orientation_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Maximum allowed TCP rotation acceleration in [rad/s^2]. ") 
     __properties: ClassVar[List[str]] = ["joint_velocity_limits", "joint_acceleration_limits", "tcp_velocity_limit", "tcp_acceleration_limit", "tcp_orientation_velocity_limit", "tcp_orientation_acceleration_limit"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/list_io_descriptions_response.py

@@ -27,7 +27,7 @@ class ListIODescriptionsResponse(BaseModel):
     """
     Array of I/O description values.
     """ # noqa: E501
-    io_descriptions: List[IODescription]
+    io_descriptions: List[IODescription] 
     __properties: ClassVar[List[str]] = ["io_descriptions"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/list_io_values_response.py

@@ -27,7 +27,7 @@ class ListIOValuesResponse(BaseModel):
     """
     Array of I/O values.
     """ # noqa: E501
-    io_values: List[IOValue]
+    io_values: List[IOValue] 
     __properties: ClassVar[List[str]] = ["io_values"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/list_payloads_response.py

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

wandelbots_api_client/models/list_program_metadata_response.py

@@ -27,7 +27,7 @@ class ListProgramMetadataResponse(BaseModel):
     """
     List of all the stored programs, represented by their metadata.
     """ # noqa: E501
-    programs: List[ProgramMetadata]
+    programs: List[ProgramMetadata] 
     __properties: ClassVar[List[str]] = ["programs"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/list_recipe_metadata_response.py

@@ -27,7 +27,7 @@ class ListRecipeMetadataResponse(BaseModel):
     """
     List of all the stored recipes, represented by their metadata.
     """ # noqa: E501
-    recipes: List[RecipeMetadata]
+    recipes: List[RecipeMetadata] 
     __properties: ClassVar[List[str]] = ["recipes"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/list_response.py

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

wandelbots_api_client/models/list_tcps_response.py

@@ -27,7 +27,7 @@ class ListTcpsResponse(BaseModel):
     """
     ListTcpsResponse
     """ # noqa: E501
-    tcps: Optional[List[RobotTcp]] = Field(default=None, description="Represents the tcp offset from the device flange (in other words the absolute transformation from flange to the tcp).")
+    tcps: Optional[List[RobotTcp]] = Field(default=None, description="Represents the tcp offset from the device flange (in other words the absolute transformation from flange to the tcp).") 
     __properties: ClassVar[List[str]] = ["tcps"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/mode_change_response.py

@@ -27,10 +27,10 @@ class ModeChangeResponse(BaseModel):
     """
     Mode change example: * Client sends [jointJogging](jointJogging)](cell=\"..\",...) * Server responds with *current_robot_mode: ROBOT_SYSTEM_MODE_UNDEFINED, by_client_request: true* at the beginning of the transition. * Server responds with *current_robot_mode: ROBOT_SYSTEM_MODE_CONTROL, by_client_request: true* when transition is done.  In case an error happens during execution, e.g. a path would lead to a joint limit violation: * Server responds with *current_robot_mode: ROBOT_SYSTEM_MODE_UNDEFINED, by_client_request: false* * Server responds with *current_robot_mode: ROBOT_SYSTEM_MODE_MONITOR, by_client_request: false*  In case an error happens during connection, e.g. the robot is not reachable: * Client sends [setDefaultMode](setDefaultMode)(mode: MODE_CONTROL) * Server responds with *current_robot_mode:ROBOT_SYSTEM_MODE_UNDEFINED, by_client_request: true* * Server responds with *current_robot_mode:ROBOT_SYSTEM_MODE_DISCONNECT, by_client_request: false* 
     """ # noqa: E501
-    current_robot_mode: RobotSystemMode
-    by_client_request: StrictBool = Field(description="True if mode change was requested by client.")
-    previous_robot_mode: RobotSystemMode
-    cause_of_change: StrictStr = Field(description="Details about cause of mode change.")
+    current_robot_mode: RobotSystemMode 
+    by_client_request: StrictBool = Field(description="True if mode change was requested by client.") 
+    previous_robot_mode: RobotSystemMode 
+    cause_of_change: StrictStr = Field(description="Details about cause of mode change.") 
     __properties: ClassVar[List[str]] = ["current_robot_mode", "by_client_request", "previous_robot_mode", "cause_of_change"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/motion_command.py

@@ -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/models/motion_group_behavior_getter.py

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

wandelbots_api_client/models/motion_group_info.py

@@ -26,9 +26,9 @@ class MotionGroupInfo(BaseModel):
     """
     MotionGroupInfo
     """ # noqa: E501
-    id: StrictInt = 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. ")
+    id: StrictInt = 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. ") 
     __properties: ClassVar[List[str]] = ["id", "name", "dof"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/motion_group_infos.py

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

wandelbots_api_client/models/motion_group_instance.py

@@ -26,11 +26,11 @@ class MotionGroupInstance(BaseModel):
     """
     The data type describes the physically connected motion groups on a robot controller, e.g. a robot arm.
     """ # noqa: E501
-    motion_group: StrictStr = Field(description="Identifier of the motion group.")
-    controller: StrictStr = Field(description="Identifier of the robot controller the motion group is attached to.")
-    name_from_controller: StrictStr = Field(description="The name of the motion group has on the robot controller.")
-    model_from_controller: StrictStr = Field(description="The robot controller model if available. Usable for frontend 3D visualization. ")
-    serial_number: Optional[StrictStr] = Field(default=None, description="The serial number of the motion group if available. If not available, the serial number of the robot controller. if available. If not available, then empty. ")
+    motion_group: StrictStr = Field(description="Identifier of the motion group.") 
+    controller: StrictStr = Field(description="Identifier of the robot controller the motion group is attached to.") 
+    name_from_controller: StrictStr = Field(description="The name of the motion group has on the robot controller.") 
+    model_from_controller: StrictStr = Field(description="The robot controller model if available. Usable for frontend 3D visualization. ") 
+    serial_number: Optional[StrictStr] = Field(default=None, description="The serial number of the motion group if available. If not available, the serial number of the robot controller. if available. If not available, then empty. ") 
     __properties: ClassVar[List[str]] = ["motion_group", "controller", "name_from_controller", "model_from_controller", "serial_number"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/motion_group_instance_list.py

@@ -27,7 +27,7 @@ class MotionGroupInstanceList(BaseModel):
     """
     A list of motion groups.
     """ # noqa: E501
-    instances: List[MotionGroupInstance]
+    instances: List[MotionGroupInstance] 
     __properties: ClassVar[List[str]] = ["instances"]
 
     model_config = ConfigDict(

wandelbots_api_client/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/models/motion_group_physical.py

@@ -26,11 +26,11 @@ class MotionGroupPhysical(BaseModel):
     """
     The data type describes the physically connected motion groups on a robot controller. 
     """ # noqa: E501
-    motion_group: StrictStr = Field(description="The unique identifier to address a motion group.")
-    name_from_controller: StrictStr = Field(description="The name the motion group has on the robot controller.")
-    active: StrictBool = Field(description="True if this motion group is active. When a request for a motion group is made, the motion group will be activated and remain activated. The robot controller provides the current state and data for all active motion groups. See [getCurrentMotionGroupState](getCurrentMotionGroupState). To deactivate a motion group, use [deactivateMotionGroup](deactivateMotionGroup). ")
-    model_from_controller: Optional[StrictStr] = Field(default=None, description="The robot controller model if available. Usable for frontend 3D visualization.")
-    serial_number: Optional[StrictStr] = Field(default=None, description="The serial number of the motion group if available. If not available, the serial number of the robot controller. if available. If not available, then empty. ")
+    motion_group: StrictStr = Field(description="The unique identifier to address a motion group.") 
+    name_from_controller: StrictStr = Field(description="The name the motion group has on the robot controller.") 
+    active: StrictBool = Field(description="True if this motion group is active. When a request for a motion group is made, the motion group will be activated and remain activated. The robot controller provides the current state and data for all active motion groups. See [getCurrentMotionGroupState](getCurrentMotionGroupState). To deactivate a motion group, use [deactivateMotionGroup](deactivateMotionGroup). ") 
+    model_from_controller: Optional[StrictStr] = Field(default=None, description="The robot controller model if available. Usable for frontend 3D visualization.") 
+    serial_number: Optional[StrictStr] = Field(default=None, description="The serial number of the motion group if available. If not available, the serial number of the robot controller. if available. If not available, then empty. ") 
     __properties: ClassVar[List[str]] = ["motion_group", "name_from_controller", "active", "model_from_controller", "serial_number"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/motion_group_specification.py

@@ -28,8 +28,8 @@ class MotionGroupSpecification(BaseModel):
     """
     Holding static properties of the motion group.
     """ # noqa: E501
-    dh_parameters: Optional[List[DHParameter]] = Field(default=None, description="A list of DH (Denavit-Hartenberg) parameters. An element in this list contains a set of DH parameters that describe the relation of two cartesian reference frames. Every joint of a serial motion group has an associated cartesian reference frame located in the rotation axis of the joint. A set of DH parameters is applied in the following order: theta, d, a, alpha. ")
-    mechanical_joint_limits: Optional[List[JointLimit]] = Field(default=None, description="Mechanical joint limits in [rad/mm], starting with the first joint in the motion group base. For every joint there is a minimum and maximum value. Those are defined by the motion group manufacturer and can be found in its data sheet. If a mechanical joint limit is exceeded, the motion group stops immediately. The stop is triggered by the physical robot controller. This should be prevented by using proper soft joint limits. ")
+    dh_parameters: Optional[List[DHParameter]] = Field(default=None, description="A list of DH (Denavit-Hartenberg) parameters. An element in this list contains a set of DH parameters that describe the relation of two cartesian reference frames. Every joint of a serial motion group has an associated cartesian reference frame located in the rotation axis of the joint. A set of DH parameters is applied in the following order: theta, d, a, alpha. ") 
+    mechanical_joint_limits: Optional[List[JointLimit]] = Field(default=None, description="Mechanical joint limits in [rad/mm], starting with the first joint in the motion group base. For every joint there is a minimum and maximum value. Those are defined by the motion group manufacturer and can be found in its data sheet. If a mechanical joint limit is exceeded, the motion group stops immediately. The stop is triggered by the physical robot controller. This should be prevented by using proper soft joint limits. ") 
     __properties: ClassVar[List[str]] = ["dh_parameters", "mechanical_joint_limits"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/motion_group_state.py

@@ -32,18 +32,18 @@ class MotionGroupState(BaseModel):
     """
     Presents the current state of the motion group.
     """ # noqa: E501
-    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: Joints = Field(description="Current joint position of each joint in [rad] ")
-    joint_velocity: Joints = Field(description="Current joint velocity of each joint in [rad/s] ")
-    joint_torque: Optional[Joints] = Field(default=None, description="Current joint torque of each joint in [Nm]. Is only available if the robot controller supports it (e.g. available for UR Controllers). ")
-    flange_pose: Optional[Pose] = Field(default=None, description="Current position of the Flange (last point of the motion group before the endeffector starts) in [mm]. The position is relative to the response_coordinate_system that is 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_pose: TcpPose = Field(description="Current position of the TCP currently selected on the robot control panel. Attention: This TCP is not necessarily the same as specified as `tcp` in the request. If you need the information for the specified TCP, use the tcp_pose in the outer response. Position is in [mm]. The position is relative to the response_coordinate_system that is specified in the request. ")
-    velocity: MotionVector = Field(description="Current velocity at TCP in [mm/s]. If `tcp` is not specified, the velocity at the flange is returned. The velocity is relative to the response_coordinate_system specified in the request. ")
-    force: Optional[ForceVector] = Field(default=None, description="Current Force at TCP in [N]. Is only available if the robot controller supports it, e.g. available for UR Controllers. The velocity is relative to the response_coordinate_system specified in the request. ")
-    joint_limit_reached: MotionGroupStateJointLimitReached = Field(description="Indicates whether the joint is in a limit for all joints of the motion group. ")
-    joint_current: Optional[Joints] = Field(default=None, description="Current Current at TCP in [A]. Is only available if the robot controller supports it, e.g. available for UR Controllers. ")
-    sequence_number: StrictStr = 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. It is of type string to represent uint64 values, which is not supported by OpenAPI. ")
+    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: Joints = Field(description="Current joint position of each joint in [rad] ") 
+    joint_velocity: Joints = Field(description="Current joint velocity of each joint in [rad/s] ") 
+    joint_torque: Optional[Joints] = Field(default=None, description="Current joint torque of each joint in [Nm]. Is only available if the robot controller supports it (e.g. available for UR Controllers). ") 
+    flange_pose: Optional[Pose] = Field(default=None, description="Current position of the Flange (last point of the motion group before the endeffector starts) in [mm]. The position is relative to the response_coordinate_system that is 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_pose: TcpPose = Field(description="Current position of the TCP currently selected on the robot control panel. Attention: This TCP is not necessarily the same as specified as `tcp` in the request. If you need the information for the specified TCP, use the tcp_pose in the outer response. Position is in [mm]. The position is relative to the response_coordinate_system that is specified in the request. ") 
+    velocity: MotionVector = Field(description="Current velocity at TCP in [mm/s]. If `tcp` is not specified, the velocity at the flange is returned. The velocity is relative to the response_coordinate_system specified in the request. ") 
+    force: Optional[ForceVector] = Field(default=None, description="Current Force at TCP in [N]. Is only available if the robot controller supports it, e.g. available for UR Controllers. The velocity is relative to the response_coordinate_system specified in the request. ") 
+    joint_limit_reached: MotionGroupStateJointLimitReached = Field(description="Indicates whether the joint is in a limit for all joints of the motion group. ") 
+    joint_current: Optional[Joints] = Field(default=None, description="Current Current at TCP in [A]. Is only available if the robot controller supports it, e.g. available for UR Controllers. ") 
+    sequence_number: StrictStr = 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. It is of type string to represent uint64 values, which is not supported by OpenAPI. ") 
     __properties: ClassVar[List[str]] = ["motion_group", "controller", "joint_position", "joint_velocity", "joint_torque", "flange_pose", "tcp_pose", "velocity", "force", "joint_limit_reached", "joint_current", "sequence_number"]
 
     model_config = ConfigDict(

wandelbots_api_client/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/models/motion_group_state_response.py

@@ -28,8 +28,8 @@ class MotionGroupStateResponse(BaseModel):
     """
     MotionGroupStateResponse
     """ # noqa: E501
-    state: MotionGroupState = Field(description="Current state of the motion group. ")
-    tcp_pose: Optional[TcpPose] = Field(default=None, description="Current position of the TCP specified as `tcp` in the request. Attention: This TCP is not necessarily the same the one currently selected on the robot control panel. If you need the information for the currently selected TCP, use the state.tcp_pose in the response. If `tcp` is not specified in the request, this field will be omitted in the response. Position is in [mm]. The position is relative to the response_coordinate_system specified in the request. ")
+    state: MotionGroupState = Field(description="Current state of the motion group. ") 
+    tcp_pose: Optional[TcpPose] = Field(default=None, description="Current position of the TCP specified as `tcp` in the request. Attention: This TCP is not necessarily the same the one currently selected on the robot control panel. If you need the information for the currently selected TCP, use the state.tcp_pose in the response. If `tcp` is not specified in the request, this field will be omitted in the response. Position is in [mm]. The position is relative to the response_coordinate_system specified in the request. ") 
     __properties: ClassVar[List[str]] = ["state", "tcp_pose"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/motion_id.py

@@ -26,7 +26,7 @@ class MotionId(BaseModel):
     """
     MotionId
     """ # noqa: E501
-    motion: StrictStr = Field(description="This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.")
+    motion: StrictStr = Field(description="This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.") 
     __properties: ClassVar[List[str]] = ["motion"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/motion_ids_list_response.py

@@ -26,7 +26,7 @@ class MotionIdsListResponse(BaseModel):
     """
     MotionIdsListResponse
     """ # noqa: E501
-    motions: Optional[List[StrictStr]] = Field(default=None, description="-| Identifiers of all motions which are currently cached. Use [planMotion](planMotion) to add a new motion. Motions are deleted if corresponding motion group or controller is disconnected.")
+    motions: Optional[List[StrictStr]] = Field(default=None, description="-| Identifiers of all motions which are currently cached. Use [planMotion](planMotion) to add a new motion. Motions are deleted if corresponding motion group or controller is disconnected.") 
     __properties: ClassVar[List[str]] = ["motions"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/motion_vector.py

@@ -27,9 +27,9 @@ class MotionVector(BaseModel):
     """
     MotionVector
     """ # noqa: E501
-    linear: Optional[Vector3d] = None
-    angular: Optional[Vector3d] = None
-    coordinate_system: Optional[StrictStr] = Field(default=None, description="optional, unique name of base coordinate system, if empty world is used")
+    linear: Optional[Vector3d] = None 
+    angular: Optional[Vector3d] = None 
+    coordinate_system: Optional[StrictStr] = Field(default=None, description="optional, unique name of base coordinate system, if empty world is used") 
     __properties: ClassVar[List[str]] = ["linear", "angular", "coordinate_system"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/mounting.py

@@ -27,8 +27,8 @@ class Mounting(BaseModel):
     """
     Mounting of a motion group.
     """ # noqa: E501
-    coordinate_system: StrictStr = Field(description="Identifier of mounting coordinate system. The motion group is based on the origin of this coordinate system. ")
-    pose: Pose = Field(description="The pose offset based on world coordinate system of the mounting.")
+    coordinate_system: StrictStr = Field(description="Identifier of mounting coordinate system. The motion group is based on the origin of this coordinate system. ") 
+    pose: Pose = Field(description="The pose offset based on world coordinate system of the mounting.") 
     __properties: ClassVar[List[str]] = ["coordinate_system", "pose"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/move_request.py

@@ -29,14 +29,14 @@ class MoveRequest(BaseModel):
     """
     Moves the motion group forward or backward along a previously planned motion.  Once started, you can stop a motion using the [stop](StreamStop) endpoint.  Prerequisite, before starting the motion execution:   - The motion group is currently at the endpoint of the planned motion. 
     """ # noqa: E501
-    motion: StrictStr = Field(description="This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.")
-    playback_speed_in_percent: StrictInt = Field(description="Set the velocity for executed movements of the motion in percent. A percentage of 100% means that the robot moves as fast as possible without violating the limits. Setting this value does not affect the overall shape of the velocity profile. Everything is slowed down by the same factor. Therefore, this should only be used for teaching and trajectory evaluation purposes. If the process requires a certain velocity, the respective limits should be set when planning the motion. This will not change the velocity override of the controller. The controller velocity override value shall be 100% to ensure controllability of the motion group. ")
-    response_rate: Optional[StrictInt] = Field(default=None, description="Update rate for the response message in milliseconds (ms). Default is 200 ms. We recommend to use the step rate of the controller or a multiple of the step rate as NOVA updates the state in the controller's step rate as well. Minimal response rate is the step rate of controller. ")
-    response_coordinate_system: Optional[StrictStr] = Field(default=None, description="Unique identifier addressing a coordinate system in which the responses should be converted. If not set, world coordinate system is used. ")
-    start_location_on_trajectory: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Location the motion is requested to start at. The default value is the begin of the trajectory. 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. ")
-    set_ios: Optional[List[SetIO]] = Field(default=None, description="Define an arb I/O that is listened to during the motion. If the defined comparator evaluates to true the execution is started. ")
-    start_on_io: Optional[StartOnIO] = Field(default=None, description="Defines an I/O that is listened to during the motion. If the defined comparator evaluates to true the execution is started. ")
-    pause_on_io: Optional[PauseOnIO] = Field(default=None, description="Defines an I/O that is listened to during the motion. If the defined comparator evaluates to true the execution is paused. ")
+    motion: StrictStr = Field(description="This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.") 
+    playback_speed_in_percent: StrictInt = Field(description="Set the velocity for executed movements of the motion in percent. A percentage of 100% means that the robot moves as fast as possible without violating the limits. Setting this value does not affect the overall shape of the velocity profile. Everything is slowed down by the same factor. Therefore, this should only be used for teaching and trajectory evaluation purposes. If the process requires a certain velocity, the respective limits should be set when planning the motion. This will not change the velocity override of the controller. The controller velocity override value shall be 100% to ensure controllability of the motion group. ") 
+    response_rate: Optional[StrictInt] = Field(default=None, description="Update rate for the response message in milliseconds (ms). Default is 200 ms. We recommend to use the step rate of the controller or a multiple of the step rate as NOVA updates the state in the controller's step rate as well. Minimal response rate is the step rate of controller. ") 
+    response_coordinate_system: Optional[StrictStr] = Field(default=None, description="Unique identifier addressing a coordinate system in which the responses should be converted. If not set, world coordinate system is used. ") 
+    start_location_on_trajectory: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="Location the motion is requested to start at. The default value is the begin of the trajectory. 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. ") 
+    set_ios: Optional[List[SetIO]] = Field(default=None, description="Define an arb I/O that is listened to during the motion. If the defined comparator evaluates to true the execution is started. ") 
+    start_on_io: Optional[StartOnIO] = Field(default=None, description="Defines an I/O that is listened to during the motion. If the defined comparator evaluates to true the execution is started. ") 
+    pause_on_io: Optional[PauseOnIO] = Field(default=None, description="Defines an I/O that is listened to during the motion. If the defined comparator evaluates to true the execution is paused. ") 
     __properties: ClassVar[List[str]] = ["motion", "playback_speed_in_percent", "response_rate", "response_coordinate_system", "start_location_on_trajectory", "set_ios", "start_on_io", "pause_on_io"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/move_response.py

@@ -26,8 +26,8 @@ class MoveResponse(BaseModel):
     """
     MoveResponse
     """ # noqa: E501
-    time_to_end: StrictInt = Field(description="Remaining time in milliseconds (ms) to reach the end of the motion.")
-    current_location_on_trajectory: Union[StrictFloat, StrictInt] = Field(description="Refers to the current location of motion group on the trajectory.")
+    time_to_end: StrictInt = Field(description="Remaining time in milliseconds (ms) to reach the end of the motion.") 
+    current_location_on_trajectory: Union[StrictFloat, StrictInt] = Field(description="Refers to the current location of motion group on the trajectory.") 
     __properties: ClassVar[List[str]] = ["time_to_end", "current_location_on_trajectory"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/move_to_trajectory_via_joint_ptp_request.py

@@ -27,10 +27,10 @@ class MoveToTrajectoryViaJointPTPRequest(BaseModel):
     """
     Request to move the motion group via joint point-to-point to a given location on a planned motion. You must use this endpoint in order to start moving from an arbritrary location of the trajectory. Afterwards, you are able to call [streamMoveForward](streamMoveForward) or [streamMoveBackward](streamMoveBackward) to move along planned motion. Use the [stopExecution](stopExecution) endpoint to stop the motion gracefully. 
     """ # noqa: E501
-    motion: StrictStr = Field(description="This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.")
-    location_on_trajectory: Union[StrictFloat, StrictInt] = Field(description="Gets the target location the robot should move to via joint point-to-point (moveJ). 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. ")
-    limit_override: Optional[LimitsOverride] = None
-    response_coordinate_system: Optional[StrictStr] = Field(default=None, description="Unique identifier addressing a coordinate system in which the responses should be converted. If not set, world coordinate system is used. ")
+    motion: StrictStr = Field(description="This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.") 
+    location_on_trajectory: Union[StrictFloat, StrictInt] = Field(description="Gets the target location the robot should move to via joint point-to-point (moveJ). 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. ") 
+    limit_override: Optional[LimitsOverride] = None 
+    response_coordinate_system: Optional[StrictStr] = Field(default=None, description="Unique identifier addressing a coordinate system in which the responses should be converted. If not set, world coordinate system is used. ") 
     __properties: ClassVar[List[str]] = ["motion", "location_on_trajectory", "limit_override", "response_coordinate_system"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/movement.py

@@ -27,7 +27,7 @@ class Movement(BaseModel):
     """
     Sent during movement, response-rate closest to the nearest multiple of controller step-rate but not exceeding the configured rate.
     """ # noqa: E501
-    movement: MovementMovement
+    movement: MovementMovement 
     __properties: ClassVar[List[str]] = ["movement"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/movement_error.py

@@ -27,7 +27,7 @@ class MovementError(BaseModel):
     """
     Response signalling an error during trajectory execution. This response is sent in case of an unexpected error , e.g. controller disconnects. The error details are described in the error_message field. 
     """ # noqa: E501
-    error: MovementErrorError
+    error: MovementErrorError 
     __properties: ClassVar[List[str]] = ["error"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/movement_error_error.py

@@ -26,7 +26,7 @@ class MovementErrorError(BaseModel):
     """
     MovementErrorError
     """ # noqa: E501
-    error_message: StrictStr = Field(description="Human-readable error details that describes the error. ")
+    error_message: StrictStr = Field(description="Human-readable error details that describes the error. ") 
     __properties: ClassVar[List[str]] = ["error_message"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/movement_movement.py

@@ -27,9 +27,9 @@ class MovementMovement(BaseModel):
     """
     MovementMovement
     """ # noqa: E501
-    time_to_end: StrictInt = Field(description="Remaining time in milliseconds (ms) to reach the end of the motion.")
-    current_location: Union[StrictFloat, StrictInt] = Field(description="Current location of motion group on the trajectory.")
-    state: RobotControllerState = Field(description="Current state of the robot controller and moving motion group.")
+    time_to_end: StrictInt = Field(description="Remaining time in milliseconds (ms) to reach the end of the motion.") 
+    current_location: Union[StrictFloat, StrictInt] = Field(description="Current location of motion group on the trajectory.") 
+    state: RobotControllerState = Field(description="Current state of the robot controller and moving motion group.") 
     __properties: ClassVar[List[str]] = ["time_to_end", "current_location", "state"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/op_mode.py

@@ -26,7 +26,7 @@ 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: StrictStr
+    mode: StrictStr 
     __properties: ClassVar[List[str]] = ["mode"]
 
     @field_validator('mode')

wandelbots_api_client/models/opcua_node_value_trigger_config.py

@@ -27,9 +27,9 @@ class OpcuaNodeValueTriggerConfig(BaseModel):
     """
     Configuration for an OPC UA node value trigger. When the specified node has the specified value the trigger condition is met and the program is executed. 
     """ # noqa: E501
-    host: StrictStr = Field(description="Url of the OPC UA server.")
-    node_id: StrictStr = Field(description="Identifier of the OPC UA node to monitor.")
-    node_value: OpcuaNodeValueTriggerConfigNodeValue
+    host: StrictStr = Field(description="Url of the OPC UA server.") 
+    node_id: StrictStr = Field(description="Identifier of the OPC UA node to monitor.") 
+    node_value: OpcuaNodeValueTriggerConfigNodeValue 
     __properties: ClassVar[List[str]] = ["host", "node_id", "node_value"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/optimizer_setup.py

@@ -30,13 +30,13 @@ class OptimizerSetup(BaseModel):
     """
     The configuration of a motion-group used for motion planning.
     """ # noqa: E501
-    motion_group_type: StrictStr = Field(description="String identifiying the exact motion group model (robot model).")
-    mounting: PlannerPose = Field(description="The offset from the world frame to the motion group base.")
-    tcp: PlannerPose = Field(description="The offset from the motion group flange to the TCP.")
-    safety_setup: SafetyConfiguration = Field(description="The limits, safety zones and safety zone collision models of the motion group and tool.")
-    payload: Optional[Payload] = Field(default=None, description="The dynamic parameters (mass, inertias, center of gravity) of the payload attached at the flange.")
-    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_type: StrictStr = Field(description="String identifiying the exact motion group model (robot model).") 
+    mounting: PlannerPose = Field(description="The offset from the world frame to the motion group base.") 
+    tcp: PlannerPose = Field(description="The offset from the motion group flange to the TCP.") 
+    safety_setup: SafetyConfiguration = Field(description="The limits, safety zones and safety zone collision models of the motion group and tool.") 
+    payload: Optional[Payload] = Field(default=None, description="The dynamic parameters (mass, inertias, center of gravity) of the payload attached at the flange.") 
+    cycle_time: Optional[StrictInt] = Field(default=None, description="[ms] cycle time of the motion group controller. A trajectory for this motion group should be computed to this resolution.") 
+    dh_parameters: Optional[List[DHParameter]] = Field(default=None, description="The DH parameters describing the motion group geometry, starting from base.") 
     __properties: ClassVar[List[str]] = ["motion_group_type", "mounting", "tcp", "safety_setup", "payload", "cycle_time", "dh_parameters"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/out_of_workspace.py

@@ -27,7 +27,7 @@ class OutOfWorkspace(BaseModel):
     """
     Requested TCP pose is outside of motion group's workspace.
     """ # noqa: E501
-    invalid_tcp_pose: Optional[Pose] = None
+    invalid_tcp_pose: Optional[Pose] = None 
     __properties: ClassVar[List[str]] = ["invalid_tcp_pose"]
 
     model_config = ConfigDict(

wandelbots_api_client/models/path.py

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

wandelbots_api_client/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: Pose2
-    path_definition_name: StrictStr
+    target_pose: Pose2 
+    path_definition_name: str = "PathCartesianPTP"
     __properties: ClassVar[List[str]] = ["target_pose", "path_definition_name"]
 
     @field_validator('path_definition_name')

wandelbots_api_client/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: Pose2
-    target_pose: Pose2
-    path_definition_name: StrictStr
+    via_pose: Pose2 
+    target_pose: Pose2 
+    path_definition_name: str = "PathCircle"
     __properties: ClassVar[List[str]] = ["via_pose", "target_pose", "path_definition_name"]
 
     @field_validator('path_definition_name')