wandelbots_api_client 26.3.0.dev29__py3-none-any.whl

wandelbots_api_client/v2/models/plan_collision_free_response.py

@@ -0,0 +1,89 @@
+# 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
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.plan_collision_free_response_response import PlanCollisionFreeResponseResponse
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PlanCollisionFreeResponse(BaseModel):
+    """
+    Response from collision-free trajectory planning. Contains either a successful joint trajectory or failure information.
+    """  # noqa: E501
+
+    response: PlanCollisionFreeResponseResponse
+    __properties: ClassVar[List[str]] = ["response"]
+
+    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 PlanCollisionFreeResponse 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 response
+        if self.response:
+            _dict["response"] = self.response.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanCollisionFreeResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {"response": PlanCollisionFreeResponseResponse.from_dict(obj["response"]) if obj.get("response") is not None else None}
+        )
+        return _obj

wandelbots_api_client/v2/models/plan_collision_free_response_response.py

@@ -0,0 +1,147 @@
+# 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.joint_trajectory import JointTrajectory
+from wandelbots_api_client.v2.models.plan_collision_free_failed_response import PlanCollisionFreeFailedResponse
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+PLANCOLLISIONFREERESPONSERESPONSE_ONE_OF_SCHEMAS = ["JointTrajectory", "PlanCollisionFreeFailedResponse"]
+
+
+class PlanCollisionFreeResponseResponse(BaseModel):
+    """
+    PlanCollisionFreeResponseResponse
+    """
+
+    # data type: JointTrajectory
+    oneof_schema_1_validator: Optional[JointTrajectory] = None
+    # data type: PlanCollisionFreeFailedResponse
+    oneof_schema_2_validator: Optional[PlanCollisionFreeFailedResponse] = None
+    actual_instance: Optional[Union[JointTrajectory, PlanCollisionFreeFailedResponse]] = None
+    one_of_schemas: Set[str] = {"JointTrajectory", "PlanCollisionFreeFailedResponse"}
+
+    model_config = ConfigDict(
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    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 = PlanCollisionFreeResponseResponse.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: JointTrajectory
+        if not isinstance(v, JointTrajectory):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `JointTrajectory`")
+        else:
+            match += 1
+        # validate data type: PlanCollisionFreeFailedResponse
+        if not isinstance(v, PlanCollisionFreeFailedResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PlanCollisionFreeFailedResponse`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. 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
+
+        # deserialize data into JointTrajectory
+        try:
+            instance.actual_instance = JointTrajectory.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PlanCollisionFreeFailedResponse
+        try:
+            instance.actual_instance = PlanCollisionFreeFailedResponse.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 PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. 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], JointTrajectory, PlanCollisionFreeFailedResponse]]:
+        """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/plan_trajectory_failed_response.py

@@ -0,0 +1,105 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0 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, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from wandelbots_api_client.v2.models.joint_trajectory import JointTrajectory
+from wandelbots_api_client.v2.models.plan_trajectory_failed_response_error_feedback import PlanTrajectoryFailedResponseErrorFeedback
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PlanTrajectoryFailedResponse(BaseModel):
+    """
+    PlanTrajectoryFailedResponse
+    """  # noqa: E501
+
+    error_feedback: PlanTrajectoryFailedResponseErrorFeedback
+    error_location_on_trajectory: Union[StrictFloat, StrictInt] = Field(
+        description="- 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(
+        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 PlanTrajectoryFailedResponse 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 error_feedback
+        if self.error_feedback:
+            _dict["error_feedback"] = self.error_feedback.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of joint_trajectory
+        if self.joint_trajectory:
+            _dict["joint_trajectory"] = self.joint_trajectory.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanTrajectoryFailedResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "error_feedback": PlanTrajectoryFailedResponseErrorFeedback.from_dict(obj["error_feedback"])
+                if obj.get("error_feedback") is not None
+                else None,
+                "error_location_on_trajectory": obj.get("error_location_on_trajectory"),
+                "joint_trajectory": JointTrajectory.from_dict(obj["joint_trajectory"]) if obj.get("joint_trajectory") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/plan_trajectory_failed_response_error_feedback.py

@@ -0,0 +1,252 @@
+# 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.feedback_collision import FeedbackCollision
+from wandelbots_api_client.v2.models.feedback_joint_limit_exceeded import FeedbackJointLimitExceeded
+from wandelbots_api_client.v2.models.feedback_no_solution_in_current_configuration import FeedbackNoSolutionInCurrentConfiguration
+from wandelbots_api_client.v2.models.feedback_out_of_workspace import FeedbackOutOfWorkspace
+from wandelbots_api_client.v2.models.feedback_singularity import FeedbackSingularity
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+PLANTRAJECTORYFAILEDRESPONSEERRORFEEDBACK_ONE_OF_SCHEMAS = [
+    "FeedbackCollision",
+    "FeedbackJointLimitExceeded",
+    "FeedbackNoSolutionInCurrentConfiguration",
+    "FeedbackOutOfWorkspace",
+    "FeedbackSingularity",
+]
+
+
+class PlanTrajectoryFailedResponseErrorFeedback(BaseModel):
+    """
+    PlanTrajectoryFailedResponseErrorFeedback
+    """
+
+    # data type: FeedbackOutOfWorkspace
+    oneof_schema_1_validator: Optional[FeedbackOutOfWorkspace] = None
+    # data type: FeedbackNoSolutionInCurrentConfiguration
+    oneof_schema_2_validator: Optional[FeedbackNoSolutionInCurrentConfiguration] = None
+    # data type: FeedbackSingularity
+    oneof_schema_3_validator: Optional[FeedbackSingularity] = None
+    # data type: FeedbackJointLimitExceeded
+    oneof_schema_4_validator: Optional[FeedbackJointLimitExceeded] = None
+    # data type: FeedbackCollision
+    oneof_schema_5_validator: Optional[FeedbackCollision] = None
+    actual_instance: Optional[
+        Union[
+            FeedbackCollision,
+            FeedbackJointLimitExceeded,
+            FeedbackNoSolutionInCurrentConfiguration,
+            FeedbackOutOfWorkspace,
+            FeedbackSingularity,
+        ]
+    ] = None
+    one_of_schemas: Set[str] = {
+        "FeedbackCollision",
+        "FeedbackJointLimitExceeded",
+        "FeedbackNoSolutionInCurrentConfiguration",
+        "FeedbackOutOfWorkspace",
+        "FeedbackSingularity",
+    }
+
+    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 = PlanTrajectoryFailedResponseErrorFeedback.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: FeedbackOutOfWorkspace
+        if not isinstance(v, FeedbackOutOfWorkspace):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackOutOfWorkspace`")
+        else:
+            match += 1
+        # validate data type: FeedbackNoSolutionInCurrentConfiguration
+        if not isinstance(v, FeedbackNoSolutionInCurrentConfiguration):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackNoSolutionInCurrentConfiguration`")
+        else:
+            match += 1
+        # validate data type: FeedbackSingularity
+        if not isinstance(v, FeedbackSingularity):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackSingularity`")
+        else:
+            match += 1
+        # validate data type: FeedbackJointLimitExceeded
+        if not isinstance(v, FeedbackJointLimitExceeded):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackJointLimitExceeded`")
+        else:
+            match += 1
+        # validate data type: FeedbackCollision
+        if not isinstance(v, FeedbackCollision):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackCollision`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackJointLimitExceeded, FeedbackNoSolutionInCurrentConfiguration, FeedbackOutOfWorkspace, FeedbackSingularity. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackJointLimitExceeded, FeedbackNoSolutionInCurrentConfiguration, FeedbackOutOfWorkspace, FeedbackSingularity. 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("error_feedback_name")
+        if not _data_type:
+            raise ValueError("Failed to lookup data type from the field `error_feedback_name` in the input.")
+
+        # check if data type is `FeedbackCollision`
+        if _data_type == "FeedbackCollision":
+            instance.actual_instance = FeedbackCollision.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackJointLimitExceeded`
+        if _data_type == "FeedbackJointLimitExceeded":
+            instance.actual_instance = FeedbackJointLimitExceeded.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackNoSolutionInCurrentConfiguration`
+        if _data_type == "FeedbackNoSolutionInCurrentConfiguration":
+            instance.actual_instance = FeedbackNoSolutionInCurrentConfiguration.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackOutOfWorkspace`
+        if _data_type == "FeedbackOutOfWorkspace":
+            instance.actual_instance = FeedbackOutOfWorkspace.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackSingularity`
+        if _data_type == "FeedbackSingularity":
+            instance.actual_instance = FeedbackSingularity.from_json(json_str)
+            return instance
+
+        # deserialize data into FeedbackOutOfWorkspace
+        try:
+            instance.actual_instance = FeedbackOutOfWorkspace.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackNoSolutionInCurrentConfiguration
+        try:
+            instance.actual_instance = FeedbackNoSolutionInCurrentConfiguration.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackSingularity
+        try:
+            instance.actual_instance = FeedbackSingularity.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackJointLimitExceeded
+        try:
+            instance.actual_instance = FeedbackJointLimitExceeded.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackCollision
+        try:
+            instance.actual_instance = FeedbackCollision.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 PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackJointLimitExceeded, FeedbackNoSolutionInCurrentConfiguration, FeedbackOutOfWorkspace, FeedbackSingularity. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackJointLimitExceeded, FeedbackNoSolutionInCurrentConfiguration, FeedbackOutOfWorkspace, FeedbackSingularity. 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],
+            FeedbackCollision,
+            FeedbackJointLimitExceeded,
+            FeedbackNoSolutionInCurrentConfiguration,
+            FeedbackOutOfWorkspace,
+            FeedbackSingularity,
+        ]
+    ]:
+        """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())