wandelbots_api_client 26.3.0.dev29__py3-none-any.whl

wandelbots_api_client/v2/models/motion_command.py

@@ -0,0 +1,106 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, Field
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.limits_override import LimitsOverride
+from wandelbots_api_client.v2.models.motion_command_blending import MotionCommandBlending
+from wandelbots_api_client.v2.models.motion_command_path import MotionCommandPath
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+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
+    __properties: ClassVar[List[str]] = ["blending", "limits_override", "path"]
+
+    model_config = ConfigDict(
+        validate_by_name=True,
+        validate_by_alias=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True))
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the model using alias"""
+        return json.dumps(to_jsonable_python(self.to_dict()))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of MotionCommand from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        # override the default output from pydantic by calling `to_dict()` of blending
+        if self.blending:
+            _dict["blending"] = self.blending.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of limits_override
+        if self.limits_override:
+            _dict["limits_override"] = self.limits_override.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of path
+        if self.path:
+            _dict["path"] = self.path.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MotionCommand from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "blending": MotionCommandBlending.from_dict(obj["blending"]) if obj.get("blending") is not None else None,
+                "limits_override": LimitsOverride.from_dict(obj["limits_override"]) if obj.get("limits_override") is not None else None,
+                "path": MotionCommandPath.from_dict(obj["path"]) if obj.get("path") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/motion_command_blending.py

@@ -0,0 +1,164 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import json
+import pprint
+from pydantic import BaseModel, ConfigDict, Field, StrictStr, ValidationError, field_validator
+from typing import Any, List, Optional
+from wandelbots_api_client.v2.models.blending_auto import BlendingAuto
+from wandelbots_api_client.v2.models.blending_position import BlendingPosition
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+MOTIONCOMMANDBLENDING_ONE_OF_SCHEMAS = ["BlendingAuto", "BlendingPosition"]
+
+
+class MotionCommandBlending(BaseModel):
+    """
+    Blending alters the TCP path at the target point of a motion command to ensure that the velocity does not drop to zero between two motion commands.
+    """
+
+    # data type: BlendingAuto
+    oneof_schema_1_validator: Optional[BlendingAuto] = None
+    # data type: BlendingPosition
+    oneof_schema_2_validator: Optional[BlendingPosition] = None
+    actual_instance: Optional[Union[BlendingAuto, BlendingPosition]] = None
+    one_of_schemas: Set[str] = {"BlendingAuto", "BlendingPosition"}
+
+    model_config = ConfigDict(
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    discriminator_value_class_map: Dict[str, str] = {}
+
+    def __init__(self, *args, **kwargs) -> None:
+        if args:
+            if len(args) > 1:
+                raise ValueError("If a position argument is used, only 1 is allowed to set `actual_instance`")
+            if kwargs:
+                raise ValueError("If a position argument is used, keyword arguments cannot be used.")
+            super().__init__(actual_instance=args[0])
+        else:
+            super().__init__(**kwargs)
+
+    @field_validator("actual_instance")
+    def actual_instance_must_validate_oneof(cls, v):
+        instance = MotionCommandBlending.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: BlendingAuto
+        if not isinstance(v, BlendingAuto):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `BlendingAuto`")
+        else:
+            match += 1
+        # validate data type: BlendingPosition
+        if not isinstance(v, BlendingPosition):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `BlendingPosition`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in MotionCommandBlending with oneOf schemas: BlendingAuto, BlendingPosition. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in MotionCommandBlending with oneOf schemas: BlendingAuto, BlendingPosition. Details: "
+                + ", ".join(error_messages)
+            )
+        else:
+            return v
+
+    @classmethod
+    def from_dict(cls, obj: Union[str, Dict[str, Any]]) -> Self:
+        return cls.from_json(json.dumps(obj))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Returns the object represented by the json string"""
+        instance = cls.model_construct()
+        error_messages = []
+        match = 0
+
+        # use oneOf discriminator to lookup the data type
+        _data_type = json.loads(json_str).get("blending_name")
+        if not _data_type:
+            raise ValueError("Failed to lookup data type from the field `blending_name` in the input.")
+
+        # check if data type is `BlendingAuto`
+        if _data_type == "BlendingAuto":
+            instance.actual_instance = BlendingAuto.from_json(json_str)
+            return instance
+
+        # check if data type is `BlendingPosition`
+        if _data_type == "BlendingPosition":
+            instance.actual_instance = BlendingPosition.from_json(json_str)
+            return instance
+
+        # deserialize data into BlendingAuto
+        try:
+            instance.actual_instance = BlendingAuto.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into BlendingPosition
+        try:
+            instance.actual_instance = BlendingPosition.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when deserializing the JSON string into MotionCommandBlending with oneOf schemas: BlendingAuto, BlendingPosition. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into MotionCommandBlending with oneOf schemas: BlendingAuto, BlendingPosition. Details: "
+                + ", ".join(error_messages)
+            )
+        else:
+            return instance
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the actual instance"""
+        if self.actual_instance is None:
+            return "null"
+
+        if hasattr(self.actual_instance, "to_json") and callable(self.actual_instance.to_json):
+            return self.actual_instance.to_json()
+        else:
+            return json.dumps(self.actual_instance)
+
+    def to_dict(self) -> Optional[Union[Dict[str, Any], BlendingAuto, BlendingPosition]]:
+        """Returns the dict representation of the actual instance"""
+        if self.actual_instance is None:
+            return None
+
+        if hasattr(self.actual_instance, "to_dict") and callable(self.actual_instance.to_dict):
+            return self.actual_instance.to_dict()
+        else:
+            # primitive type
+            return self.actual_instance
+
+    def to_str(self) -> str:
+        """Returns the string representation of the actual instance"""
+        return pprint.pformat(self.model_dump())

wandelbots_api_client/v2/models/motion_command_path.py

@@ -0,0 +1,221 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import json
+import pprint
+from pydantic import BaseModel, ConfigDict, Field, StrictStr, ValidationError, field_validator
+from typing import Any, List, Optional
+from wandelbots_api_client.v2.models.path_cartesian_ptp import PathCartesianPTP
+from wandelbots_api_client.v2.models.path_circle import PathCircle
+from wandelbots_api_client.v2.models.path_cubic_spline import PathCubicSpline
+from wandelbots_api_client.v2.models.path_joint_ptp import PathJointPTP
+from wandelbots_api_client.v2.models.path_line import PathLine
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+MOTIONCOMMANDPATH_ONE_OF_SCHEMAS = ["PathCartesianPTP", "PathCircle", "PathCubicSpline", "PathJointPTP", "PathLine"]
+
+
+class MotionCommandPath(BaseModel):
+    """
+    MotionCommandPath
+    """
+
+    # data type: PathCartesianPTP
+    oneof_schema_1_validator: Optional[PathCartesianPTP] = None
+    # data type: PathCubicSpline
+    oneof_schema_2_validator: Optional[PathCubicSpline] = None
+    # data type: PathLine
+    oneof_schema_3_validator: Optional[PathLine] = None
+    # data type: PathCircle
+    oneof_schema_4_validator: Optional[PathCircle] = None
+    # data type: PathJointPTP
+    oneof_schema_5_validator: Optional[PathJointPTP] = None
+    actual_instance: Optional[Union[PathCartesianPTP, PathCircle, PathCubicSpline, PathJointPTP, PathLine]] = None
+    one_of_schemas: Set[str] = {"PathCartesianPTP", "PathCircle", "PathCubicSpline", "PathJointPTP", "PathLine"}
+
+    model_config = ConfigDict(
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    discriminator_value_class_map: Dict[str, str] = {}
+
+    def __init__(self, *args, **kwargs) -> None:
+        if args:
+            if len(args) > 1:
+                raise ValueError("If a position argument is used, only 1 is allowed to set `actual_instance`")
+            if kwargs:
+                raise ValueError("If a position argument is used, keyword arguments cannot be used.")
+            super().__init__(actual_instance=args[0])
+        else:
+            super().__init__(**kwargs)
+
+    @field_validator("actual_instance")
+    def actual_instance_must_validate_oneof(cls, v):
+        instance = MotionCommandPath.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: PathCartesianPTP
+        if not isinstance(v, PathCartesianPTP):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PathCartesianPTP`")
+        else:
+            match += 1
+        # validate data type: PathCubicSpline
+        if not isinstance(v, PathCubicSpline):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PathCubicSpline`")
+        else:
+            match += 1
+        # validate data type: PathLine
+        if not isinstance(v, PathLine):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PathLine`")
+        else:
+            match += 1
+        # validate data type: PathCircle
+        if not isinstance(v, PathCircle):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PathCircle`")
+        else:
+            match += 1
+        # validate data type: PathJointPTP
+        if not isinstance(v, PathJointPTP):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PathJointPTP`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in MotionCommandPath with oneOf schemas: PathCartesianPTP, PathCircle, PathCubicSpline, PathJointPTP, PathLine. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in MotionCommandPath with oneOf schemas: PathCartesianPTP, PathCircle, PathCubicSpline, PathJointPTP, PathLine. Details: "
+                + ", ".join(error_messages)
+            )
+        else:
+            return v
+
+    @classmethod
+    def from_dict(cls, obj: Union[str, Dict[str, Any]]) -> Self:
+        return cls.from_json(json.dumps(obj))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Returns the object represented by the json string"""
+        instance = cls.model_construct()
+        error_messages = []
+        match = 0
+
+        # use oneOf discriminator to lookup the data type
+        _data_type = json.loads(json_str).get("path_definition_name")
+        if not _data_type:
+            raise ValueError("Failed to lookup data type from the field `path_definition_name` in the input.")
+
+        # check if data type is `PathCartesianPTP`
+        if _data_type == "PathCartesianPTP":
+            instance.actual_instance = PathCartesianPTP.from_json(json_str)
+            return instance
+
+        # check if data type is `PathCircle`
+        if _data_type == "PathCircle":
+            instance.actual_instance = PathCircle.from_json(json_str)
+            return instance
+
+        # check if data type is `PathCubicSpline`
+        if _data_type == "PathCubicSpline":
+            instance.actual_instance = PathCubicSpline.from_json(json_str)
+            return instance
+
+        # check if data type is `PathJointPTP`
+        if _data_type == "PathJointPTP":
+            instance.actual_instance = PathJointPTP.from_json(json_str)
+            return instance
+
+        # check if data type is `PathLine`
+        if _data_type == "PathLine":
+            instance.actual_instance = PathLine.from_json(json_str)
+            return instance
+
+        # deserialize data into PathCartesianPTP
+        try:
+            instance.actual_instance = PathCartesianPTP.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PathCubicSpline
+        try:
+            instance.actual_instance = PathCubicSpline.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PathLine
+        try:
+            instance.actual_instance = PathLine.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PathCircle
+        try:
+            instance.actual_instance = PathCircle.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PathJointPTP
+        try:
+            instance.actual_instance = PathJointPTP.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when deserializing the JSON string into MotionCommandPath with oneOf schemas: PathCartesianPTP, PathCircle, PathCubicSpline, PathJointPTP, PathLine. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into MotionCommandPath with oneOf schemas: PathCartesianPTP, PathCircle, PathCubicSpline, PathJointPTP, PathLine. Details: "
+                + ", ".join(error_messages)
+            )
+        else:
+            return instance
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the actual instance"""
+        if self.actual_instance is None:
+            return "null"
+
+        if hasattr(self.actual_instance, "to_json") and callable(self.actual_instance.to_json):
+            return self.actual_instance.to_json()
+        else:
+            return json.dumps(self.actual_instance)
+
+    def to_dict(self) -> Optional[Union[Dict[str, Any], PathCartesianPTP, PathCircle, PathCubicSpline, PathJointPTP, PathLine]]:
+        """Returns the dict representation of the actual instance"""
+        if self.actual_instance is None:
+            return None
+
+        if hasattr(self.actual_instance, "to_dict") and callable(self.actual_instance.to_dict):
+            return self.actual_instance.to_dict()
+        else:
+            # primitive type
+            return self.actual_instance
+
+    def to_str(self) -> str:
+        """Returns the string representation of the actual instance"""
+        return pprint.pformat(self.model_dump())