wandelbots_api_client 26.3.0.dev29__py3-none-any.whl

wandelbots_api_client/models/move_request.py

@@ -0,0 +1,162 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 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, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from wandelbots_api_client.models.pause_on_io import PauseOnIO
+from wandelbots_api_client.models.set_io import SetIO
+from wandelbots_api_client.models.start_on_io import StartOnIO
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+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](#/operations/stopExecution) 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. ",
+    )
+    __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(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of MoveRequest 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 each item in set_ios (list)
+        _items = []
+        if self.set_ios:
+            for _item in self.set_ios:
+                # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
+                #     to not drop empty elements in lists
+                if _item is not None:
+                    _items.append(_item.to_dict())
+                # <<< End modification
+            _dict["set_ios"] = _items
+        # override the default output from pydantic by calling `to_dict()` of start_on_io
+        if self.start_on_io:
+            _dict["start_on_io"] = self.start_on_io.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of pause_on_io
+        if self.pause_on_io:
+            _dict["pause_on_io"] = self.pause_on_io.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MoveRequest from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "motion": obj.get("motion"),
+                "playback_speed_in_percent": obj.get("playback_speed_in_percent"),
+                "response_rate": obj.get("response_rate"),
+                "response_coordinate_system": obj.get("response_coordinate_system"),
+                "start_location_on_trajectory": obj.get("start_location_on_trajectory"),
+                "set_ios": [
+                    # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
+                    #     to allow dicts in lists
+                    SetIO.from_dict(_item) if hasattr(SetIO, "from_dict") else _item
+                    # <<< End modification
+                    for _item in obj["set_ios"]
+                ]
+                if obj.get("set_ios") is not None
+                else None,
+                "start_on_io": StartOnIO.from_dict(obj["start_on_io"]) if obj.get("start_on_io") is not None else None,
+                "pause_on_io": PauseOnIO.from_dict(obj["pause_on_io"]) if obj.get("pause_on_io") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/move_response.py

@@ -0,0 +1,91 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 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, Union
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+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."
+    )
+    __properties: ClassVar[List[str]] = ["time_to_end", "current_location_on_trajectory"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of MoveResponse from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MoveResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {"time_to_end": obj.get("time_to_end"), "current_location_on_trajectory": obj.get("current_location_on_trajectory")}
+        )
+        return _obj

wandelbots_api_client/models/move_to_trajectory_via_joint_ptp_request.py

@@ -0,0 +1,107 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 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, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from wandelbots_api_client.models.limits_override import LimitsOverride
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+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](#/operations/streamMoveForward) or [streamMoveBackward](#/operations/streamMoveBackward) to move along the planned motion. Use the [stopExecution](#/operations/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. ",
+    )
+    __properties: ClassVar[List[str]] = ["motion", "location_on_trajectory", "limit_override", "response_coordinate_system"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of MoveToTrajectoryViaJointPTPRequest 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 limit_override
+        if self.limit_override:
+            _dict["limit_override"] = self.limit_override.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MoveToTrajectoryViaJointPTPRequest from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "motion": obj.get("motion"),
+                "location_on_trajectory": obj.get("location_on_trajectory"),
+                "limit_override": LimitsOverride.from_dict(obj["limit_override"]) if obj.get("limit_override") is not None else None,
+                "response_coordinate_system": obj.get("response_coordinate_system"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/movement.py

@@ -0,0 +1,90 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 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.models.movement_movement import MovementMovement
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+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
+    __properties: ClassVar[List[str]] = ["movement"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of Movement 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 movement
+        if self.movement:
+            _dict["movement"] = self.movement.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of Movement from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"movement": MovementMovement.from_dict(obj["movement"]) if obj.get("movement") is not None else None})
+        return _obj

wandelbots_api_client/models/movement_error.py

@@ -0,0 +1,90 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 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.models.movement_error_error import MovementErrorError
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+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
+    __properties: ClassVar[List[str]] = ["error"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of MovementError 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
+        if self.error:
+            _dict["error"] = self.error.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MovementError from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"error": MovementErrorError.from_dict(obj["error"]) if obj.get("error") is not None else None})
+        return _obj

wandelbots_api_client/models/movement_error_error.py

@@ -0,0 +1,86 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
+from typing import Any, ClassVar, Dict, List
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class MovementErrorError(BaseModel):
+    """
+    MovementErrorError
+    """  # noqa: E501
+
+    error_message: StrictStr = Field(description="Human-readable error details that describes the error. ")
+    __properties: ClassVar[List[str]] = ["error_message"]
+
+    model_config = ConfigDict(
+        populate_by_name=True,
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    def to_str(self) -> str:
+        """Returns the string representation of the model using alias"""
+        return pprint.pformat(self.model_dump(by_alias=True, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of MovementErrorError from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MovementErrorError from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"error_message": obj.get("error_message")})
+        return _obj