wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/v2/models/joint_ptp_motion.py

@@ -0,0 +1,99 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from wandelbots_api_client.v2.models.limits_override import LimitsOverride
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class JointPTPMotion(BaseModel):
+    """
+    JointPTPMotion
+    """  # noqa: E501
+
+    start_joint_position: List[Union[StrictFloat, StrictInt]] = Field(
+        description="Starting joint position for the collision-free motion. Must contain exactly the same number of values as joints in the motion group. To retrieve the current joint position, use the endpoint [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState). "
+    )
+    target_joint_position: List[Union[StrictFloat, StrictInt]] = Field(
+        description="The target joint position of the motion. Must contain exactly the same number of values as joints in the motion group. To compute target joint position from a TCP pose, use the endpoint [inverseKinematics](#/operations/inverseKinematics). "
+    )
+    limits_override: Optional[LimitsOverride] = None
+    __properties: ClassVar[List[str]] = ["start_joint_position", "target_joint_position", "limits_override"]
+
+    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 JointPTPMotion 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 limits_override
+        if self.limits_override:
+            _dict["limits_override"] = self.limits_override.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of JointPTPMotion from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "start_joint_position": obj.get("start_joint_position"),
+                "target_joint_position": obj.get("target_joint_position"),
+                "limits_override": LimitsOverride.from_dict(obj["limits_override"]) if obj.get("limits_override") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/joint_trajectory.py

@@ -0,0 +1,89 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+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
+from pydantic_core import to_jsonable_python
+
+
+class JointTrajectory(BaseModel):
+    """
+    JointTrajectory
+    """  # noqa: E501
+
+    joint_positions: List[List[Union[StrictFloat, StrictInt]]] = Field(
+        description="List of joint positions for each sample. The number of samples must match the number of timestamps provided in the times field. The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm]. "
+    )
+    times: List[Union[StrictFloat, StrictInt]] = Field(description="Timestamp for each sample [s].")
+    locations: List[Union[StrictFloat, StrictInt]]
+    __properties: ClassVar[List[str]] = ["joint_positions", "times", "locations"]
+
+    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 JointTrajectory 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 JointTrajectory from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {"joint_positions": obj.get("joint_positions"), "times": obj.get("times"), "locations": obj.get("locations")}
+        )
+        return _obj

wandelbots_api_client/v2/models/joint_type_enum.py

@@ -0,0 +1,34 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+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 JointTypeEnum(str, Enum):
+    """
+    JointTypeEnum
+    """
+
+    """
+    allowed enum values
+    """
+    REVOLUTE_JOINT = "REVOLUTE_JOINT"
+    PRISMATIC_JOINT = "PRISMATIC_JOINT"
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of JointTypeEnum from a JSON string"""
+        return cls(json.loads(json_str))

wandelbots_api_client/v2/models/joint_velocity_request.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: 2.3.0
+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, field_validator
+from typing import Any, ClassVar, Dict, List, Union
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class JointVelocityRequest(BaseModel):
+    """
+    Sets target joint velocities for jogging a motion group.
+    """  # noqa: E501
+
+    message_type: StrictStr = Field(description="Type specifier for server, set automatically.")
+    velocity: List[Union[StrictFloat, StrictInt]] = Field(description="in [rad/s]")
+    __properties: ClassVar[List[str]] = ["message_type", "velocity"]
+
+    @field_validator("message_type")
+    def message_type_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["JointVelocityRequest"]):
+            raise ValueError("must be one of enum values ('JointVelocityRequest')")
+        return value
+
+    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 JointVelocityRequest 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 JointVelocityRequest from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"message_type": obj.get("message_type"), "velocity": obj.get("velocity")})
+        return _obj

wandelbots_api_client/v2/models/joint_velocity_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: 2.3.0
+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, field_validator
+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 JointVelocityResponse(BaseModel):
+    """
+    Acknowledgment to a JointVelocityRequest.
+    """  # noqa: E501
+
+    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid JointVelocityRequest.")
+    kind: StrictStr
+    __properties: ClassVar[List[str]] = ["message", "kind"]
+
+    @field_validator("kind")
+    def kind_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["JOINT_VELOCITY_RECEIVED"]):
+            raise ValueError("must be one of enum values ('JOINT_VELOCITY_RECEIVED')")
+        return value
+
+    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 JointVelocityResponse 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 JointVelocityResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"message": obj.get("message"), "kind": obj.get("kind")})
+        return _obj

wandelbots_api_client/v2/models/kinematic_model.py

@@ -0,0 +1,118 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+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.v2.models.dh_parameter import DHParameter
+from wandelbots_api_client.v2.models.pose import Pose
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class KinematicModel(BaseModel):
+    """
+    Kinematics model described by Denavit-Hartenberg parameters.
+    """  # noqa: E501
+
+    dh_parameters: Optional[List[DHParameter]] = None
+    kinematic_chain_offset: Optional[Pose] = Field(
+        default=None,
+        description="Constant coordinate transformation between the motion group base frame and the start of the kinematic chain modeled by Denavit-Hartenberg parameters.",
+    )
+    flange_offset: Optional[Pose] = Field(
+        default=None,
+        description="Constant coordinate transformation between the end of the kinematic chain modelled by Denavit-Hartenberg parameters and the flange frame. This can be used, e.g., to ensure that the flange frame has a certain orientation. ",
+    )
+    inverse_solver: Optional[StrictStr] = Field(default=None, description="Optional name of the inverse kinematics solver.")
+    __properties: ClassVar[List[str]] = ["dh_parameters", "kinematic_chain_offset", "flange_offset", "inverse_solver"]
+
+    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 KinematicModel 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 dh_parameters (list)
+        _items = []
+        if self.dh_parameters:
+            for _item_dh_parameters in self.dh_parameters:
+                if _item_dh_parameters:
+                    _items.append(_item_dh_parameters.to_dict())
+            _dict["dh_parameters"] = _items
+        # override the default output from pydantic by calling `to_dict()` of kinematic_chain_offset
+        if self.kinematic_chain_offset:
+            _dict["kinematic_chain_offset"] = self.kinematic_chain_offset.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of flange_offset
+        if self.flange_offset:
+            _dict["flange_offset"] = self.flange_offset.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of KinematicModel from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "dh_parameters": [DHParameter.from_dict(_item) for _item in obj["dh_parameters"]]
+                if obj.get("dh_parameters") is not None
+                else None,
+                "kinematic_chain_offset": Pose.from_dict(obj["kinematic_chain_offset"])
+                if obj.get("kinematic_chain_offset") is not None
+                else None,
+                "flange_offset": Pose.from_dict(obj["flange_offset"]) if obj.get("flange_offset") is not None else None,
+                "inverse_solver": obj.get("inverse_solver"),
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/kuka_controller.py

@@ -0,0 +1,106 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+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, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.kuka_controller_rsi_server import KukaControllerRsiServer
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class KukaController(BaseModel):
+    """
+    The configuration of a physical KUKA robot controller has to contain an IP address. Additionally an RSI server configuration has to be specified in order to control the robot. Deploying the server is a functionality of this API.
+    """  # noqa: E501
+
+    kind: StrictStr
+    controller_ip: StrictStr
+    controller_port: StrictInt
+    rsi_server: KukaControllerRsiServer
+    slow_cycle_rate: Optional[StrictBool] = Field(default=False, description="If true, uses slower cycle time of 12ms instead of 4ms. ")
+    __properties: ClassVar[List[str]] = ["kind", "controller_ip", "controller_port", "rsi_server", "slow_cycle_rate"]
+
+    @field_validator("kind")
+    def kind_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["KukaController"]):
+            raise ValueError("must be one of enum values ('KukaController')")
+        return value
+
+    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 KukaController 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 rsi_server
+        if self.rsi_server:
+            _dict["rsi_server"] = self.rsi_server.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of KukaController from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "kind": obj.get("kind"),
+                "controller_ip": obj.get("controller_ip"),
+                "controller_port": obj.get("controller_port") if obj.get("controller_port") is not None else 54600,
+                "rsi_server": KukaControllerRsiServer.from_dict(obj["rsi_server"]) if obj.get("rsi_server") is not None else None,
+                "slow_cycle_rate": obj.get("slow_cycle_rate") if obj.get("slow_cycle_rate") is not None else False,
+            }
+        )
+        return _obj