wandelbots_api_client 26.3.0.dev43__tar.gz → 26.3.0.dev46__tar.gz

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.3.0.dev43
+Version: 26.3.0.dev46
 Summary: Wandelbots Python Client: Interact with robots in an easy and intuitive way. 
 Author: Copyright (c) 2025 Wandelbots GmbH
 Author-email: Copyright (c) 2025 Wandelbots GmbH <contact@wandelbots.com>
@@ -31,7 +31,7 @@ Description-Content-Type: text/markdown
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 1.4.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.3.0.dev43
+- Package version: 26.3.0.dev46
 
 ## Requirements.
 Python >=3.11, Python < 4.0

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/README.md

@@ -2,7 +2,7 @@
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 1.4.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.3.0.dev43
+- Package version: 26.3.0.dev46
 
 ## Requirements.
 Python >=3.11, Python < 4.0

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots_api_client"
-version = "26.3.0.dev43"
+version = "26.3.0.dev46"
 description = "Wandelbots Python Client: Interact with robots in an easy and intuitive way. "
 authors = [{ name="Copyright (c) 2025 Wandelbots GmbH", email="contact@wandelbots.com" }]
 license = "Apache-2.0"

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/wandelbots_api_client/__init__.py

@@ -13,7 +13,7 @@ Generated by OpenAPI Generator (https://openapi-generator.tech)
 Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.3.0.dev43"
+__version__ = "26.3.0.dev46"
 
 from . import models
 from . import api

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/wandelbots_api_client/api_client.py

@@ -83,7 +83,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.3.0.dev43"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.3.0.dev46"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/wandelbots_api_client/configuration.py

@@ -512,7 +512,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 1.4.0 dev\n"
-            "SDK Package Version: 26.3.0.dev43".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.3.0.dev46".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/wandelbots_api_client/v2/__init__.py

@@ -13,7 +13,7 @@ Generated by OpenAPI Generator (https://openapi-generator.tech)
 Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.3.0.dev43"
+__version__ = "26.3.0.dev46"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/wandelbots_api_client/v2/api/trajectory_planning_api.py

@@ -26,6 +26,8 @@ from pydantic import Field, StrictStr
 from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.merge_trajectories_request import MergeTrajectoriesRequest
 from wandelbots_api_client.v2.models.merge_trajectories_response import MergeTrajectoriesResponse
+from wandelbots_api_client.v2.models.multi_search_collision_free_request import MultiSearchCollisionFreeRequest
+from wandelbots_api_client.v2.models.multi_search_collision_free_response import MultiSearchCollisionFreeResponse
 from wandelbots_api_client.v2.models.plan_collision_free_request import PlanCollisionFreeRequest
 from wandelbots_api_client.v2.models.plan_collision_free_response import PlanCollisionFreeResponse
 from wandelbots_api_client.v2.models.plan_trajectory_request import PlanTrajectoryRequest
@@ -809,3 +811,257 @@ class TrajectoryPlanningApi:
             _host=_host,
             _request_auth=_request_auth,
         )
+
+    @validate_call
+    async def search_collision_free_multi_motion_group(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        multi_search_collision_free_request: MultiSearchCollisionFreeRequest,
+        _request_timeout: Union[
+            None, Annotated[StrictFloat, Field(gt=0)], Tuple[Annotated[StrictFloat, Field(gt=0)], Annotated[StrictFloat, Field(gt=0)]]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> MultiSearchCollisionFreeResponse:
+        """Search Collision-Free Trajectories for Multiple Motion Groups
+
+        **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  <!-- theme: danger -->  > **Experimental**  Searches collision-free trajectories for multiple motion groups simultaneously within a cell. This is the multi-robot variant of collision-free path search — it coordinates paths so that several motion groups, e.g., multiple robot arms, can move from start to target positions without colliding with each other or with the environment.  The caller provides per-motion-group setups (robot model, cycle time, mounting, TCP offset, limits, payload, collision geometry), per-motion-group point-to-point path definitions (start and target joint positions), optional cross-group collision setups defining which link-chain/tool colliders to consider between groups plus static environment colliders, and optional RRT-Connect algorithm settings (max iterations, step size, smoothing, blending).  On success the response contains a time-synchronized trajectory with joint positions per motion group at shared timestamps so their motions are temporally coordinated. On failure it returns feedback indicating why planning failed, e.g., max iterations exceeded.
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param multi_search_collision_free_request: (required)
+        :type multi_search_collision_free_request: MultiSearchCollisionFreeRequest
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """  # noqa: E501
+
+        _param = self._search_collision_free_multi_motion_group_serialize(
+            cell=cell,
+            multi_search_collision_free_request=multi_search_collision_free_request,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index,
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            "200": "MultiSearchCollisionFreeResponse",
+            "404": None,
+            "422": "MultiSearchCollisionFree422Response",
+            "500": None,
+        }
+
+        response_data = await self.api_client.call_api(*_param, _request_timeout=_request_timeout)
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        ).data
+
+    @validate_call
+    async def search_collision_free_multi_motion_group_with_http_info(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        multi_search_collision_free_request: MultiSearchCollisionFreeRequest,
+        _request_timeout: Union[
+            None, Annotated[StrictFloat, Field(gt=0)], Tuple[Annotated[StrictFloat, Field(gt=0)], Annotated[StrictFloat, Field(gt=0)]]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> ApiResponse[MultiSearchCollisionFreeResponse]:
+        """Search Collision-Free Trajectories for Multiple Motion Groups
+
+        **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  <!-- theme: danger -->  > **Experimental**  Searches collision-free trajectories for multiple motion groups simultaneously within a cell. This is the multi-robot variant of collision-free path search — it coordinates paths so that several motion groups, e.g., multiple robot arms, can move from start to target positions without colliding with each other or with the environment.  The caller provides per-motion-group setups (robot model, cycle time, mounting, TCP offset, limits, payload, collision geometry), per-motion-group point-to-point path definitions (start and target joint positions), optional cross-group collision setups defining which link-chain/tool colliders to consider between groups plus static environment colliders, and optional RRT-Connect algorithm settings (max iterations, step size, smoothing, blending).  On success the response contains a time-synchronized trajectory with joint positions per motion group at shared timestamps so their motions are temporally coordinated. On failure it returns feedback indicating why planning failed, e.g., max iterations exceeded.
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param multi_search_collision_free_request: (required)
+        :type multi_search_collision_free_request: MultiSearchCollisionFreeRequest
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """  # noqa: E501
+
+        _param = self._search_collision_free_multi_motion_group_serialize(
+            cell=cell,
+            multi_search_collision_free_request=multi_search_collision_free_request,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index,
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            "200": "MultiSearchCollisionFreeResponse",
+            "404": None,
+            "422": "MultiSearchCollisionFree422Response",
+            "500": None,
+        }
+
+        response_data = await self.api_client.call_api(*_param, _request_timeout=_request_timeout)
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        )
+
+    @validate_call
+    async def search_collision_free_multi_motion_group_without_preload_content(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        multi_search_collision_free_request: MultiSearchCollisionFreeRequest,
+        _request_timeout: Union[
+            None, Annotated[StrictFloat, Field(gt=0)], Tuple[Annotated[StrictFloat, Field(gt=0)], Annotated[StrictFloat, Field(gt=0)]]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> RESTResponseType:
+        """Search Collision-Free Trajectories for Multiple Motion Groups
+
+        **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  <!-- theme: danger -->  > **Experimental**  Searches collision-free trajectories for multiple motion groups simultaneously within a cell. This is the multi-robot variant of collision-free path search — it coordinates paths so that several motion groups, e.g., multiple robot arms, can move from start to target positions without colliding with each other or with the environment.  The caller provides per-motion-group setups (robot model, cycle time, mounting, TCP offset, limits, payload, collision geometry), per-motion-group point-to-point path definitions (start and target joint positions), optional cross-group collision setups defining which link-chain/tool colliders to consider between groups plus static environment colliders, and optional RRT-Connect algorithm settings (max iterations, step size, smoothing, blending).  On success the response contains a time-synchronized trajectory with joint positions per motion group at shared timestamps so their motions are temporally coordinated. On failure it returns feedback indicating why planning failed, e.g., max iterations exceeded.
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param multi_search_collision_free_request: (required)
+        :type multi_search_collision_free_request: MultiSearchCollisionFreeRequest
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """  # noqa: E501
+
+        _param = self._search_collision_free_multi_motion_group_serialize(
+            cell=cell,
+            multi_search_collision_free_request=multi_search_collision_free_request,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index,
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            "200": "MultiSearchCollisionFreeResponse",
+            "404": None,
+            "422": "MultiSearchCollisionFree422Response",
+            "500": None,
+        }
+
+        response_data = await self.api_client.call_api(*_param, _request_timeout=_request_timeout)
+        return response_data.response
+
+    def _search_collision_free_multi_motion_group_serialize(
+        self,
+        cell,
+        multi_search_collision_free_request,
+        _request_auth,
+        _content_type,
+        _headers,
+        _host_index,
+    ) -> RequestSerialized:
+
+        _host = None
+
+        _collection_formats: Dict[str, str] = {}
+
+        _path_params: Dict[str, str] = {}
+        _query_params: List[Tuple[str, str]] = []
+        _header_params: Dict[str, Optional[str]] = _headers or {}
+        _form_params: List[Tuple[str, str]] = []
+        _files: Dict[str, Union[str, bytes]] = {}
+        _body_params: Optional[bytes] = None
+
+        # process the path parameters
+        if cell is not None:
+            _path_params["cell"] = cell
+        # process the query parameters
+        # process the header parameters
+        # process the form parameters
+        # process the body parameter
+        if multi_search_collision_free_request is not None:
+            _body_params = multi_search_collision_free_request
+
+        # set the HTTP header `Accept`
+        _header_params["Accept"] = self.api_client.select_header_accept(["application/json"])
+
+        # set the HTTP header `Content-Type`
+        if _content_type:
+            _header_params["Content-Type"] = _content_type
+        else:
+            _default_content_type = self.api_client.select_header_content_type(["application/json"])
+            if _default_content_type is not None:
+                _header_params["Content-Type"] = _default_content_type
+
+        # authentication setting
+        _auth_settings: List[str] = ["BearerAuth"]
+
+        return self.api_client.param_serialize(
+            method="POST",
+            resource_path="/experimental/cells/{cell}/trajectory-planning/search-collision-free-multi-motion-group",
+            path_params=_path_params,
+            query_params=_query_params,
+            header_params=_header_params,
+            body=_body_params,
+            post_params=_form_params,
+            files=_files,
+            auth_settings=_auth_settings,
+            collection_formats=_collection_formats,
+            _host=_host,
+            _request_auth=_request_auth,
+        )

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/wandelbots_api_client/v2/api_client.py

@@ -85,7 +85,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.3.0.dev43"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.3.0.dev46"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/wandelbots_api_client/v2/configuration.py

@@ -512,7 +512,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 2.3.0 dev\n"
-            "SDK Package Version: 26.3.0.dev43".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.3.0.dev46".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.3.0.dev43 → wandelbots_api_client-26.3.0.dev46}/wandelbots_api_client/v2/models/__init__.py

@@ -82,6 +82,7 @@ from wandelbots_api_client.v2.models.collision import Collision
 from wandelbots_api_client.v2.models.collision_contact import CollisionContact
 from wandelbots_api_client.v2.models.collision_error import CollisionError
 from wandelbots_api_client.v2.models.collision_free_algorithm import CollisionFreeAlgorithm
+from wandelbots_api_client.v2.models.collision_motion_group import CollisionMotionGroup
 from wandelbots_api_client.v2.models.collision_setup import CollisionSetup
 from wandelbots_api_client.v2.models.comparator import Comparator
 from wandelbots_api_client.v2.models.configuration_archive_status import ConfigurationArchiveStatus
@@ -112,6 +113,7 @@ from wandelbots_api_client.v2.models.error_invalid_joint_count import ErrorInval
 from wandelbots_api_client.v2.models.error_joint_limit_exceeded import ErrorJointLimitExceeded
 from wandelbots_api_client.v2.models.error_joint_position_collision import ErrorJointPositionCollision
 from wandelbots_api_client.v2.models.error_max_iterations_exceeded import ErrorMaxIterationsExceeded
+from wandelbots_api_client.v2.models.error_motion_group_key_mismatch import ErrorMotionGroupKeyMismatch
 from wandelbots_api_client.v2.models.error_unsupported_operation import ErrorUnsupportedOperation
 from wandelbots_api_client.v2.models.execute import Execute
 from wandelbots_api_client.v2.models.execute_details import ExecuteDetails
@@ -123,13 +125,21 @@ from wandelbots_api_client.v2.models.external_joint_stream_datapoint import Exte
 from wandelbots_api_client.v2.models.external_joint_stream_request import ExternalJointStreamRequest
 from wandelbots_api_client.v2.models.fanuc_controller import FanucController
 from wandelbots_api_client.v2.models.feedback_collision import FeedbackCollision
+from wandelbots_api_client.v2.models.feedback_commands_missing import FeedbackCommandsMissing
+from wandelbots_api_client.v2.models.feedback_cubic_spline_is_not_increasing import FeedbackCubicSplineIsNotIncreasing
+from wandelbots_api_client.v2.models.feedback_cubic_spline_not_at_start_pose import FeedbackCubicSplineNotAtStartPose
 from wandelbots_api_client.v2.models.feedback_direction_constraint_no_solution_exists import FeedbackDirectionConstraintNoSolutionExists
 from wandelbots_api_client.v2.models.feedback_direction_constraint_not_met import FeedbackDirectionConstraintNotMet
 from wandelbots_api_client.v2.models.feedback_direction_constraint_not_normalized import FeedbackDirectionConstraintNotNormalized
+from wandelbots_api_client.v2.models.feedback_invalid_dof import FeedbackInvalidDof
+from wandelbots_api_client.v2.models.feedback_invalid_nan_value import FeedbackInvalidNanValue
+from wandelbots_api_client.v2.models.feedback_invalid_sampling_time import FeedbackInvalidSamplingTime
 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 wandelbots_api_client.v2.models.feedback_start_joints_missing import FeedbackStartJointsMissing
+from wandelbots_api_client.v2.models.feedback_torque_exceeded import FeedbackTorqueExceeded
 from wandelbots_api_client.v2.models.flag import Flag
 from wandelbots_api_client.v2.models.flange_payload import FlangePayload
 from wandelbots_api_client.v2.models.float_value import FloatValue
@@ -176,6 +186,7 @@ from wandelbots_api_client.v2.models.jogging_paused_on_io import JoggingPausedOn
 from wandelbots_api_client.v2.models.jogging_running import JoggingRunning
 from wandelbots_api_client.v2.models.joint_limit_exceeded_error import JointLimitExceededError
 from wandelbots_api_client.v2.models.joint_limits import JointLimits
+from wandelbots_api_client.v2.models.joint_ptp_motion import JointPTPMotion
 from wandelbots_api_client.v2.models.joint_trajectory import JointTrajectory
 from wandelbots_api_client.v2.models.joint_type_enum import JointTypeEnum
 from wandelbots_api_client.v2.models.joint_velocity_request import JointVelocityRequest
@@ -218,6 +229,19 @@ from wandelbots_api_client.v2.models.motion_group_setup import MotionGroupSetup
 from wandelbots_api_client.v2.models.motion_group_state import MotionGroupState
 from wandelbots_api_client.v2.models.motion_group_state_joint_limit_reached import MotionGroupStateJointLimitReached
 from wandelbots_api_client.v2.models.movement_error_response import MovementErrorResponse
+from wandelbots_api_client.v2.models.multi_collision_setup import MultiCollisionSetup
+from wandelbots_api_client.v2.models.multi_error_invalid_joint_count import MultiErrorInvalidJointCount
+from wandelbots_api_client.v2.models.multi_error_joint_limit_exceeded import MultiErrorJointLimitExceeded
+from wandelbots_api_client.v2.models.multi_error_joint_position_collision import MultiErrorJointPositionCollision
+from wandelbots_api_client.v2.models.multi_joint_trajectory import MultiJointTrajectory
+from wandelbots_api_client.v2.models.multi_search_collision_free422_response import MultiSearchCollisionFree422Response
+from wandelbots_api_client.v2.models.multi_search_collision_free_request import MultiSearchCollisionFreeRequest
+from wandelbots_api_client.v2.models.multi_search_collision_free_response import MultiSearchCollisionFreeResponse
+from wandelbots_api_client.v2.models.multi_search_collision_free_response_response import MultiSearchCollisionFreeResponseResponse
+from wandelbots_api_client.v2.models.multi_search_collision_free_validation_error import MultiSearchCollisionFreeValidationError
+from wandelbots_api_client.v2.models.multi_search_collision_free_validation_error_all_of_data import (
+    MultiSearchCollisionFreeValidationErrorAllOfData,
+)
 from wandelbots_api_client.v2.models.nan_value_error import NanValueError
 from wandelbots_api_client.v2.models.nan_value_error_nan_value import NanValueErrorNanValue
 from wandelbots_api_client.v2.models.network_device import NetworkDevice

wandelbots_api_client-26.3.0.dev46/wandelbots_api_client/v2/models/collision_motion_group.py

@@ -0,0 +1,119 @@
+# 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, StrictBool
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.collider import Collider
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class CollisionMotionGroup(BaseModel):
+    """
+    CollisionMotionGroup
+    """  # noqa: E501
+
+    link_chain: Optional[List[Dict[str, Collider]]] = Field(
+        default=None,
+        description="The shape of the motion groups links to validate against colliders. Indexed along the kinematic chain, starting with a static base shape before first joint. The base of the motion group is not checked for collision against the environment. ",
+    )
+    tool: Optional[Dict[str, Collider]] = Field(default=None, description="Shape of the tool to validate against colliders. ")
+    self_collision_detection: Optional[StrictBool] = Field(
+        default=True,
+        description="If true, self-collision detection is enabled for the motion group.  Self-collision detection checks if links in the kinematic chain of the motion group collide with each other. Adjacent links in the kinematic chain of the motion group are not checked for mutual collision. The tool is treated like a link at the end of the kinematic chain. It is checked against all links except the last one.  Default is true. ",
+    )
+    __properties: ClassVar[List[str]] = ["link_chain", "tool", "self_collision_detection"]
+
+    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 CollisionMotionGroup 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 link_chain (list of dict)
+        _items = []
+        if self.link_chain:
+            for _item_link_chain in self.link_chain:
+                if _item_link_chain:
+                    _items.append({_inner_key: _inner_value.to_dict() for _inner_key, _inner_value in _item_link_chain.items()})
+            _dict["link_chain"] = _items
+        # override the default output from pydantic by calling `to_dict()` of each value in tool (dict)
+        _field_dict = {}
+        if self.tool:
+            for _key_tool in self.tool:
+                if self.tool[_key_tool]:
+                    _field_dict[_key_tool] = self.tool[_key_tool].to_dict()
+            _dict["tool"] = _field_dict
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of CollisionMotionGroup from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "link_chain": [
+                    {_inner_key: Collider.from_dict(_inner_value) for _inner_key, _inner_value in _item.items()}
+                    for _item in obj["link_chain"]
+                ]
+                if obj.get("link_chain") is not None
+                else None,
+                "tool": dict((_k, Collider.from_dict(_v)) for _k, _v in obj["tool"].items()) if obj.get("tool") is not None else None,
+                "self_collision_detection": obj.get("self_collision_detection")
+                if obj.get("self_collision_detection") is not None
+                else True,
+            }
+        )
+        return _obj

wandelbots_api_client-26.3.0.dev46/wandelbots_api_client/v2/models/error_motion_group_key_mismatch.py

@@ -0,0 +1,85 @@
+# 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, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class ErrorMotionGroupKeyMismatch(BaseModel):
+    """
+    ErrorMotionGroupKeyMismatch
+    """  # noqa: E501
+
+    invalid_motion_group_keys: Optional[List[StrictStr]] = Field(
+        default=None, description="Motion group keys that have no matching motion group setup. "
+    )
+    __properties: ClassVar[List[str]] = ["invalid_motion_group_keys"]
+
+    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 ErrorMotionGroupKeyMismatch 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 ErrorMotionGroupKeyMismatch from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"invalid_motion_group_keys": obj.get("invalid_motion_group_keys")})
+        return _obj