wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/v2/models/merge_trajectories_request.py

@@ -0,0 +1,107 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 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
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.merge_trajectories_segment import MergeTrajectoriesSegment
+from wandelbots_api_client.v2.models.motion_group_setup import MotionGroupSetup
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class MergeTrajectoriesRequest(BaseModel):
+    """
+    MergeTrajectoriesRequest
+    """  # noqa: E501
+
+    motion_group_setup: MotionGroupSetup = Field(description="The motion group setup required for collision checking and timescaling.")
+    trajectory_segments: List[MergeTrajectoriesSegment] = Field(
+        description="List of trajectory segments to merge together. Each segment contains a trajectory with its own limits override, blending configuration and collision setup. "
+    )
+    __properties: ClassVar[List[str]] = ["motion_group_setup", "trajectory_segments"]
+
+    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 MergeTrajectoriesRequest 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 motion_group_setup
+        if self.motion_group_setup:
+            _dict["motion_group_setup"] = self.motion_group_setup.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of each item in trajectory_segments (list)
+        _items = []
+        if self.trajectory_segments:
+            for _item_trajectory_segments in self.trajectory_segments:
+                if _item_trajectory_segments:
+                    _items.append(_item_trajectory_segments.to_dict())
+            _dict["trajectory_segments"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MergeTrajectoriesRequest 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_setup": MotionGroupSetup.from_dict(obj["motion_group_setup"])
+                if obj.get("motion_group_setup") is not None
+                else None,
+                "trajectory_segments": [MergeTrajectoriesSegment.from_dict(_item) for _item in obj["trajectory_segments"]]
+                if obj.get("trajectory_segments") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/merge_trajectories_response.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: 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
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.joint_trajectory import JointTrajectory
+from wandelbots_api_client.v2.models.merge_trajectories_response_feedback_inner import MergeTrajectoriesResponseFeedbackInner
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class MergeTrajectoriesResponse(BaseModel):
+    """
+    MergeTrajectoriesResponse
+    """  # noqa: E501
+
+    joint_trajectory: Optional[JointTrajectory] = Field(
+        default=None,
+        description="The merged joint trajectory. If a blending was requested on a segment but could not be applied, the trajectory is merged without blending. The feedback will contain further information on why blending could not be applied. ",
+    )
+    feedback: Optional[List[MergeTrajectoriesResponseFeedbackInner]] = Field(
+        default=None,
+        description="For each blending, feedback will either contain the section in which the trajectory deviates from the original path, or an error message stating why blending could not be applied. The response will include `trajectory_segments` - 1 elements. If no blending was requested at the corresponding segment, the feedback will be a null section where `start_location == end_location`. ",
+    )
+    __properties: ClassVar[List[str]] = ["joint_trajectory", "feedback"]
+
+    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 MergeTrajectoriesResponse 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 joint_trajectory
+        if self.joint_trajectory:
+            _dict["joint_trajectory"] = self.joint_trajectory.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of each item in feedback (list)
+        _items = []
+        if self.feedback:
+            for _item_feedback in self.feedback:
+                if _item_feedback:
+                    _items.append(_item_feedback.to_dict())
+            _dict["feedback"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MergeTrajectoriesResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "joint_trajectory": JointTrajectory.from_dict(obj["joint_trajectory"]) if obj.get("joint_trajectory") is not None else None,
+                "feedback": [MergeTrajectoriesResponseFeedbackInner.from_dict(_item) for _item in obj["feedback"]]
+                if obj.get("feedback") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/merge_trajectories_response_feedback_inner.py

@@ -0,0 +1,147 @@
+# 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
+import pprint
+from pydantic import BaseModel, ConfigDict, Field, StrictStr, ValidationError, field_validator
+from typing import Any, List, Optional
+from wandelbots_api_client.v2.models.merge_trajectories_error import MergeTrajectoriesError
+from wandelbots_api_client.v2.models.trajectory_section import TrajectorySection
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+MERGETRAJECTORIESRESPONSEFEEDBACKINNER_ONE_OF_SCHEMAS = ["MergeTrajectoriesError", "TrajectorySection"]
+
+
+class MergeTrajectoriesResponseFeedbackInner(BaseModel):
+    """
+    MergeTrajectoriesResponseFeedbackInner
+    """
+
+    # data type: MergeTrajectoriesError
+    oneof_schema_1_validator: Optional[MergeTrajectoriesError] = None
+    # data type: TrajectorySection
+    oneof_schema_2_validator: Optional[TrajectorySection] = None
+    actual_instance: Optional[Union[MergeTrajectoriesError, TrajectorySection]] = None
+    one_of_schemas: Set[str] = {"MergeTrajectoriesError", "TrajectorySection"}
+
+    model_config = ConfigDict(
+        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_oneof(cls, v):
+        instance = MergeTrajectoriesResponseFeedbackInner.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: MergeTrajectoriesError
+        if not isinstance(v, MergeTrajectoriesError):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `MergeTrajectoriesError`")
+        else:
+            match += 1
+        # validate data type: TrajectorySection
+        if not isinstance(v, TrajectorySection):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `TrajectorySection`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in MergeTrajectoriesResponseFeedbackInner with oneOf schemas: MergeTrajectoriesError, TrajectorySection. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in MergeTrajectoriesResponseFeedbackInner with oneOf schemas: MergeTrajectoriesError, TrajectorySection. Details: "
+                + ", ".join(error_messages)
+            )
+        else:
+            return v
+
+    @classmethod
+    def from_dict(cls, obj: Union[str, 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 = []
+        match = 0
+
+        # deserialize data into MergeTrajectoriesError
+        try:
+            instance.actual_instance = MergeTrajectoriesError.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into TrajectorySection
+        try:
+            instance.actual_instance = TrajectorySection.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when deserializing the JSON string into MergeTrajectoriesResponseFeedbackInner with oneOf schemas: MergeTrajectoriesError, TrajectorySection. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into MergeTrajectoriesResponseFeedbackInner with oneOf schemas: MergeTrajectoriesError, TrajectorySection. 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], MergeTrajectoriesError, TrajectorySection]]:
+        """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:
+            # primitive type
+            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/v2/models/merge_trajectories_segment.py

@@ -0,0 +1,126 @@
+# 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
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.blending_position import BlendingPosition
+from wandelbots_api_client.v2.models.collision_setup import CollisionSetup
+from wandelbots_api_client.v2.models.joint_trajectory import JointTrajectory
+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 MergeTrajectoriesSegment(BaseModel):
+    """
+    MergeTrajectoriesSegment
+    """  # noqa: E501
+
+    trajectory: JointTrajectory = Field(
+        description="The trajectory segment to merge. Both the time and location arrays must start at 0 and be strictly increasing. "
+    )
+    limits_override: Optional[LimitsOverride] = Field(
+        default=None,
+        description="Limits override is used to override the global limits of the motion group for the blending at the end of this segment. ",
+    )
+    blending: Optional[BlendingPosition] = Field(
+        default=None,
+        description="Blending configuration for merging this trajectory segment with the next one. Specifies how the end of this trajectory should be blended with the start of the next trajectory. Ignored for the last segment. ",
+    )
+    collision_setups: Optional[Dict[str, CollisionSetup]] = Field(
+        default=None,
+        description="Collision setups set here override the collsion setups of the Motion Group Configuration. Collisions are checked only on the trajectory section that deviates from the original path due to blending. ",
+    )
+    __properties: ClassVar[List[str]] = ["trajectory", "limits_override", "blending", "collision_setups"]
+
+    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 MergeTrajectoriesSegment 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 trajectory
+        if self.trajectory:
+            _dict["trajectory"] = self.trajectory.to_dict()
+        # 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()
+        # override the default output from pydantic by calling `to_dict()` of blending
+        if self.blending:
+            _dict["blending"] = self.blending.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of each value in collision_setups (dict)
+        _field_dict = {}
+        if self.collision_setups:
+            for _key_collision_setups in self.collision_setups:
+                if self.collision_setups[_key_collision_setups]:
+                    _field_dict[_key_collision_setups] = self.collision_setups[_key_collision_setups].to_dict()
+            _dict["collision_setups"] = _field_dict
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MergeTrajectoriesSegment from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "trajectory": JointTrajectory.from_dict(obj["trajectory"]) if obj.get("trajectory") is not None else None,
+                "limits_override": LimitsOverride.from_dict(obj["limits_override"]) if obj.get("limits_override") is not None else None,
+                "blending": BlendingPosition.from_dict(obj["blending"]) if obj.get("blending") is not None else None,
+                "collision_setups": dict((_k, CollisionSetup.from_dict(_v)) for _k, _v in obj["collision_setups"].items())
+                if obj.get("collision_setups") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/merge_trajectories_validation_error.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: 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.error_invalid_joint_count import ErrorInvalidJointCount
+from wandelbots_api_client.v2.models.location1_inner import Location1Inner
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class MergeTrajectoriesValidationError(BaseModel):
+    """
+    MergeTrajectoriesValidationError
+    """  # noqa: E501
+
+    loc: List[Location1Inner]
+    msg: StrictStr
+    type: StrictStr
+    input: Dict[str, Any]
+    data: Optional[ErrorInvalidJointCount] = Field(
+        default=None, description="Optional data further specifying the merge validation error. "
+    )
+    __properties: ClassVar[List[str]] = ["loc", "msg", "type", "input", "data"]
+
+    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 MergeTrajectoriesValidationError 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 loc (list)
+        _items = []
+        if self.loc:
+            for _item_loc in self.loc:
+                if _item_loc:
+                    _items.append(_item_loc.to_dict())
+            _dict["loc"] = _items
+        # override the default output from pydantic by calling `to_dict()` of data
+        if self.data:
+            _dict["data"] = self.data.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MergeTrajectoriesValidationError from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "loc": [Location1Inner.from_dict(_item) for _item in obj["loc"]] if obj.get("loc") is not None else None,
+                "msg": obj.get("msg"),
+                "type": obj.get("type"),
+                "input": obj.get("input"),
+                "data": ErrorInvalidJointCount.from_dict(obj["data"]) if obj.get("data") is not None else None,
+            }
+        )
+        return _obj