wandelbots_api_client 26.3.0.dev29__py3-none-any.whl

wandelbots_api_client/models/robot_state.py

@@ -0,0 +1,101 @@
+# 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, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from wandelbots_api_client.models.pyjectory_datatypes_core_pose import PyjectoryDatatypesCorePose
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class RobotState(BaseModel):
+    """
+    Collection of information on the current state of the robot
+    """  # noqa: E501
+
+    pose: PyjectoryDatatypesCorePose
+    joints: Optional[List[Union[StrictFloat, StrictInt]]] = None
+    __properties: ClassVar[List[str]] = ["pose", "joints"]
+
+    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 RobotState 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 pose
+        if self.pose:
+            _dict["pose"] = self.pose.to_dict()
+        # set to None if joints (nullable) is None
+        # and model_fields_set contains the field
+        if self.joints is None and "joints" in self.model_fields_set:
+            _dict["joints"] = None
+
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of RobotState from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "pose": PyjectoryDatatypesCorePose.from_dict(obj["pose"]) if obj.get("pose") is not None else None,
+                "joints": obj.get("joints"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/robot_system_mode.py

@@ -0,0 +1,37 @@
+# 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 json
+from enum import Enum
+from typing_extensions import Self
+
+
+class RobotSystemMode(str, Enum):
+    """
+    The system mode of the robot system.  ### ROBOT_SYSTEM_MODE_UNDEFINED  Indicates that the robot controller is currently performing a mode transition.  ### ROBOT_SYSTEM_MODE_DISCONNECT  There is no communication with the robot controller at all. All connections are closed. No command is sent to the robot controller while in this mode. No IO interaction is possible in this mode! All move requests will be rejected in this mode!  ### ROBOT_SYSTEM_MODE_MONITOR  A connection to the robot controller is established to only read the robot controller state. No command is sent to the robot controller while in this mode. It is possible to receive IO information. All move requests will be rejected in this mode!  ### ROBOT_SYSTEM_MODE_CONTROL  An active connection is established with the robot controller and the robot system is cyclic commanded to stay in its actual position. The robot controller state is received in the cycle time of the robot controller. Requests via the MotionService and JoggingService will be processed and executed in this mode. IO interaction is possible in this mode! **In this mode the robot system can be commanded to move.**  ### ROBOT_SYSTEM_MODE_FREE_DRIVE  Like ROBOT_SYSTEM_MODE_MONITOR, a connection to the robot controller is established to only read the robot controller state. The difference is that the motion groups can be moved by the user (Free Drive). Thus, the servo motors are turned on. All move requests will be rejected in this mode! **This mode is not supported by every robot!** Use [getSupportedModes](#/operations/getSupportedModes) to evaluate if the device supports free drive.
+    """
+
+    """
+    allowed enum values
+    """
+    ROBOT_SYSTEM_MODE_UNDEFINED = "ROBOT_SYSTEM_MODE_UNDEFINED"
+    ROBOT_SYSTEM_MODE_DISCONNECT = "ROBOT_SYSTEM_MODE_DISCONNECT"
+    ROBOT_SYSTEM_MODE_MONITOR = "ROBOT_SYSTEM_MODE_MONITOR"
+    ROBOT_SYSTEM_MODE_CONTROL = "ROBOT_SYSTEM_MODE_CONTROL"
+    ROBOT_SYSTEM_MODE_FREE_DRIVE = "ROBOT_SYSTEM_MODE_FREE_DRIVE"
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of RobotSystemMode from a JSON string"""
+        return cls(json.loads(json_str))

wandelbots_api_client/models/robot_tcp.py

@@ -0,0 +1,104 @@
+# 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, Optional
+from wandelbots_api_client.models.rotation_angles import RotationAngles
+from wandelbots_api_client.models.vector3d import Vector3d
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class RobotTcp(BaseModel):
+    """
+    RobotTcp
+    """  # noqa: E501
+
+    id: StrictStr = Field(description="Identifier of this tcp.")
+    readable_name: Optional[StrictStr] = Field(default=None, description="A readable and changeable name for frontend visualization.")
+    position: Vector3d
+    rotation: Optional[RotationAngles] = None
+    __properties: ClassVar[List[str]] = ["id", "readable_name", "position", "rotation"]
+
+    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 RobotTcp 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 position
+        if self.position:
+            _dict["position"] = self.position.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of rotation
+        if self.rotation:
+            _dict["rotation"] = self.rotation.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of RobotTcp from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "id": obj.get("id"),
+                "readable_name": obj.get("readable_name"),
+                "position": Vector3d.from_dict(obj["position"]) if obj.get("position") is not None else None,
+                "rotation": RotationAngles.from_dict(obj["rotation"]) if obj.get("rotation") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/robot_tcps.py

@@ -0,0 +1,109 @@
+# 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.robot_tcp import RobotTcp
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class RobotTcps(BaseModel):
+    """
+    RobotTcps
+    """  # noqa: E501
+
+    tcps: List[RobotTcp]
+    __properties: ClassVar[List[str]] = ["tcps"]
+
+    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 RobotTcps 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 tcps (list)
+        _items = []
+        if self.tcps:
+            for _item in self.tcps:
+                # >>> 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["tcps"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of RobotTcps from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "tcps": [
+                    # >>> 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
+                    RobotTcp.from_dict(_item) if hasattr(RobotTcp, "from_dict") else _item
+                    # <<< End modification
+                    for _item in obj["tcps"]
+                ]
+                if obj.get("tcps") is not None
+                else None
+            }
+        )
+        return _obj

wandelbots_api_client/models/rotation_angle_types.py

@@ -0,0 +1,58 @@
+# 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 json
+from enum import Enum
+from typing_extensions import Self
+
+
+class RotationAngleTypes(str, Enum):
+    """
+    The type of rotation description that is used to specify the rotation.  **Quaternion notation**  * The rotation is represented using a quaternion: [x, y, z, w]. * The vector part [x, y, z] is the imaginary part of the quaternion, and the scalar part [w] is the real part.  **Rotation Vector notation**  * The rotation is represented using an axis-angle representation: > axis = Vector[0:2] > angle = |axis| in [rad] > axis.normalized * angle  **Euler notation**  * *extrinsic* fixed external reference system * *intrinsic* reference system fixed to rotation body > angles = Vector[0:2] in [rad]. * ZYX, ZXZ,...   - mapping of the given angles values to the (either intrinsic     or extrinsic) axes in the stated order.  > Example ZYX: Z = Vector[0], Y = Vector[1], X = Vector[2].
+    """
+
+    """
+    allowed enum values
+    """
+    QUATERNION = "QUATERNION"
+    ROTATION_VECTOR = "ROTATION_VECTOR"
+    EULER_ANGLES_INTRINSIC_ZXZ = "EULER_ANGLES_INTRINSIC_ZXZ"
+    EULER_ANGLES_INTRINSIC_XYX = "EULER_ANGLES_INTRINSIC_XYX"
+    EULER_ANGLES_INTRINSIC_YZY = "EULER_ANGLES_INTRINSIC_YZY"
+    EULER_ANGLES_INTRINSIC_ZYZ = "EULER_ANGLES_INTRINSIC_ZYZ"
+    EULER_ANGLES_INTRINSIC_XZX = "EULER_ANGLES_INTRINSIC_XZX"
+    EULER_ANGLES_INTRINSIC_YXY = "EULER_ANGLES_INTRINSIC_YXY"
+    EULER_ANGLES_INTRINSIC_XYZ = "EULER_ANGLES_INTRINSIC_XYZ"
+    EULER_ANGLES_INTRINSIC_YZX = "EULER_ANGLES_INTRINSIC_YZX"
+    EULER_ANGLES_INTRINSIC_ZXY = "EULER_ANGLES_INTRINSIC_ZXY"
+    EULER_ANGLES_INTRINSIC_XZY = "EULER_ANGLES_INTRINSIC_XZY"
+    EULER_ANGLES_INTRINSIC_ZYX = "EULER_ANGLES_INTRINSIC_ZYX"
+    EULER_ANGLES_INTRINSIC_YXZ = "EULER_ANGLES_INTRINSIC_YXZ"
+    EULER_ANGLES_EXTRINSIC_ZXZ = "EULER_ANGLES_EXTRINSIC_ZXZ"
+    EULER_ANGLES_EXTRINSIC_XYX = "EULER_ANGLES_EXTRINSIC_XYX"
+    EULER_ANGLES_EXTRINSIC_YZY = "EULER_ANGLES_EXTRINSIC_YZY"
+    EULER_ANGLES_EXTRINSIC_ZYZ = "EULER_ANGLES_EXTRINSIC_ZYZ"
+    EULER_ANGLES_EXTRINSIC_XZX = "EULER_ANGLES_EXTRINSIC_XZX"
+    EULER_ANGLES_EXTRINSIC_YXY = "EULER_ANGLES_EXTRINSIC_YXY"
+    EULER_ANGLES_EXTRINSIC_ZYX = "EULER_ANGLES_EXTRINSIC_ZYX"
+    EULER_ANGLES_EXTRINSIC_XZY = "EULER_ANGLES_EXTRINSIC_XZY"
+    EULER_ANGLES_EXTRINSIC_YXZ = "EULER_ANGLES_EXTRINSIC_YXZ"
+    EULER_ANGLES_EXTRINSIC_YZX = "EULER_ANGLES_EXTRINSIC_YZX"
+    EULER_ANGLES_EXTRINSIC_XYZ = "EULER_ANGLES_EXTRINSIC_XYZ"
+    EULER_ANGLES_EXTRINSIC_ZXY = "EULER_ANGLES_EXTRINSIC_ZXY"
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of RotationAngleTypes from a JSON string"""
+        return cls(json.loads(json_str))

wandelbots_api_client/models/rotation_angles.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_extensions import Annotated
+from wandelbots_api_client.models.rotation_angle_types import RotationAngleTypes
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class RotationAngles(BaseModel):
+    """
+    Defines rotation angles and their interpretation. Except of QUATERNION the angles are in [rad]. Rotation Vector order: X = Vector[0], Y = Vector[1], Z = Vector[2], W = Vector[3].
+    """  # noqa: E501
+
+    angles: Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=4)] = Field(
+        description="The values for the rotation notation."
+    )
+    type: RotationAngleTypes
+    __properties: ClassVar[List[str]] = ["angles", "type"]
+
+    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 RotationAngles 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 RotationAngles from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"angles": obj.get("angles"), "type": obj.get("type")})
+        return _obj