wandelbots_api_client 26.3.0.dev29__py3-none-any.whl

wandelbots_api_client/models/movement_movement.py

@@ -0,0 +1,98 @@
+# 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 wandelbots_api_client.models.robot_controller_state import RobotControllerState
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+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.")
+    __properties: ClassVar[List[str]] = ["time_to_end", "current_location", "state"]
+
+    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 MovementMovement 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 state
+        if self.state:
+            _dict["state"] = self.state.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MovementMovement 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": obj.get("current_location"),
+                "state": RobotControllerState.from_dict(obj["state"]) if obj.get("state") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/op_mode.py

@@ -0,0 +1,93 @@
+# 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, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+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
+    __properties: ClassVar[List[str]] = ["mode"]
+
+    @field_validator("mode")
+    def mode_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["OPERATION_MODE_MANUAL", "OPERATION_MODE_AUTO"]):
+            raise ValueError("must be one of enum values ('OPERATION_MODE_MANUAL', 'OPERATION_MODE_AUTO')")
+        return value
+
+    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 OpMode 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 OpMode from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"mode": obj.get("mode")})
+        return _obj

wandelbots_api_client/models/opcua_node_value_trigger_config.py

@@ -0,0 +1,100 @@
+# 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 wandelbots_api_client.models.opcua_node_value_trigger_config_node_value import OpcuaNodeValueTriggerConfigNodeValue
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+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
+    __properties: ClassVar[List[str]] = ["host", "node_id", "node_value"]
+
+    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 OpcuaNodeValueTriggerConfig 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 node_value
+        if self.node_value:
+            _dict["node_value"] = self.node_value.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of OpcuaNodeValueTriggerConfig from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "host": obj.get("host"),
+                "node_id": obj.get("node_id"),
+                "node_value": OpcuaNodeValueTriggerConfigNodeValue.from_dict(obj["node_value"])
+                if obj.get("node_value") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/opcua_node_value_trigger_config_node_value.py

@@ -0,0 +1,159 @@
+# 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
+from inspect import getfullargspec
+import json
+import pprint
+import re  # noqa: F401
+from pydantic import BaseModel, ConfigDict, Field, StrictBool, StrictFloat, StrictInt, StrictStr, ValidationError, field_validator
+from typing import Optional, Union
+from typing import Union, Any, List, Set, TYPE_CHECKING, Optional, Dict
+from typing_extensions import Literal, Self
+from pydantic import Field
+
+OPCUANODEVALUETRIGGERCONFIGNODEVALUE_ANY_OF_SCHEMAS = ["bool", "float", "str"]
+
+
+class OpcuaNodeValueTriggerConfigNodeValue(BaseModel):
+    """
+    Value to trigger the program when matched.
+    """
+
+    # data type: str
+    anyof_schema_1_validator: Optional[StrictStr] = None
+    # data type: float
+    anyof_schema_2_validator: Optional[Union[StrictFloat, StrictInt]] = None
+    # data type: bool
+    anyof_schema_3_validator: Optional[StrictBool] = None
+    if TYPE_CHECKING:
+        actual_instance: Optional[Union[bool, float, str]] = None
+    else:
+        actual_instance: Any = None
+    any_of_schemas: Set[str] = {"bool", "float", "str"}
+
+    model_config = {
+        "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_anyof(cls, v):
+        instance = OpcuaNodeValueTriggerConfigNodeValue.model_construct()
+        error_messages = []
+        # validate data type: str
+        try:
+            instance.anyof_schema_1_validator = v
+            return v
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # validate data type: float
+        try:
+            instance.anyof_schema_2_validator = v
+            return v
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # validate data type: bool
+        try:
+            instance.anyof_schema_3_validator = v
+            return v
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        if error_messages:
+            # no match
+            raise ValueError(
+                "No match found when setting the actual_instance in OpcuaNodeValueTriggerConfigNodeValue with anyOf schemas: bool, float, str. Details: "
+                + ", ".join(error_messages)
+            )
+        else:
+            return v
+
+    @classmethod
+    def from_dict(cls, obj: 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 = []
+        # deserialize data into str
+        try:
+            # validation
+            instance.anyof_schema_1_validator = json.loads(json_str)
+            # assign value to actual_instance
+            instance.actual_instance = instance.anyof_schema_1_validator
+            return instance
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into float
+        try:
+            # validation
+            instance.anyof_schema_2_validator = json.loads(json_str)
+            # assign value to actual_instance
+            instance.actual_instance = instance.anyof_schema_2_validator
+            return instance
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into bool
+        try:
+            # validation
+            instance.anyof_schema_3_validator = json.loads(json_str)
+            # assign value to actual_instance
+            instance.actual_instance = instance.anyof_schema_3_validator
+            return instance
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+
+        if error_messages:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into OpcuaNodeValueTriggerConfigNodeValue with anyOf schemas: bool, float, str. 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], bool, float, str]]:
+        """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:
+            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/models/optimizer_setup.py

@@ -0,0 +1,145 @@
+# 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, StrictInt, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.models.dh_parameter import DHParameter
+from wandelbots_api_client.models.payload import Payload
+from wandelbots_api_client.models.planner_pose import PlannerPose
+from wandelbots_api_client.models.safety_configuration import SafetyConfiguration
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+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."
+    )
+    __properties: ClassVar[List[str]] = ["motion_group_type", "mounting", "tcp", "safety_setup", "payload", "cycle_time", "dh_parameters"]
+
+    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 OptimizerSetup 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 mounting
+        if self.mounting:
+            _dict["mounting"] = self.mounting.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of tcp
+        if self.tcp:
+            _dict["tcp"] = self.tcp.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of safety_setup
+        if self.safety_setup:
+            _dict["safety_setup"] = self.safety_setup.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of payload
+        if self.payload:
+            _dict["payload"] = self.payload.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of each item in dh_parameters (list)
+        _items = []
+        if self.dh_parameters:
+            for _item in self.dh_parameters:
+                # >>> 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["dh_parameters"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of OptimizerSetup from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "motion_group_type": obj.get("motion_group_type"),
+                "mounting": PlannerPose.from_dict(obj["mounting"]) if obj.get("mounting") is not None else None,
+                "tcp": PlannerPose.from_dict(obj["tcp"]) if obj.get("tcp") is not None else None,
+                "safety_setup": SafetyConfiguration.from_dict(obj["safety_setup"]) if obj.get("safety_setup") is not None else None,
+                "payload": Payload.from_dict(obj["payload"]) if obj.get("payload") is not None else None,
+                "cycle_time": obj.get("cycle_time"),
+                "dh_parameters": [
+                    # >>> 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
+                    DHParameter.from_dict(_item) if hasattr(DHParameter, "from_dict") else _item
+                    # <<< End modification
+                    for _item in obj["dh_parameters"]
+                ]
+                if obj.get("dh_parameters") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/out_of_workspace.py

@@ -0,0 +1,92 @@
+# 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, Optional
+from wandelbots_api_client.models.pose import Pose
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class OutOfWorkspace(BaseModel):
+    """
+    Requested TCP pose is outside of motion group's workspace.
+    """  # noqa: E501
+
+    invalid_tcp_pose: Optional[Pose] = None
+    __properties: ClassVar[List[str]] = ["invalid_tcp_pose"]
+
+    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 OutOfWorkspace 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 invalid_tcp_pose
+        if self.invalid_tcp_pose:
+            _dict["invalid_tcp_pose"] = self.invalid_tcp_pose.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of OutOfWorkspace from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {"invalid_tcp_pose": Pose.from_dict(obj["invalid_tcp_pose"]) if obj.get("invalid_tcp_pose") is not None else None}
+        )
+        return _obj