wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/v2/models/multi_error_invalid_joint_count.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: 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
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.error_invalid_joint_count import ErrorInvalidJointCount
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class MultiErrorInvalidJointCount(BaseModel):
+    """
+    The provided joint data does not match the expected number of joints for the respective motion group.
+    """  # noqa: E501
+
+    invalid_joint_count_errors_by_motion_group_key: Optional[Dict[str, ErrorInvalidJointCount]] = None
+    __properties: ClassVar[List[str]] = ["invalid_joint_count_errors_by_motion_group_key"]
+
+    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 MultiErrorInvalidJointCount 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 value in invalid_joint_count_errors_by_motion_group_key (dict)
+        _field_dict = {}
+        if self.invalid_joint_count_errors_by_motion_group_key:
+            for _key_invalid_joint_count_errors_by_motion_group_key in self.invalid_joint_count_errors_by_motion_group_key:
+                if self.invalid_joint_count_errors_by_motion_group_key[_key_invalid_joint_count_errors_by_motion_group_key]:
+                    _field_dict[_key_invalid_joint_count_errors_by_motion_group_key] = self.invalid_joint_count_errors_by_motion_group_key[
+                        _key_invalid_joint_count_errors_by_motion_group_key
+                    ].to_dict()
+            _dict["invalid_joint_count_errors_by_motion_group_key"] = _field_dict
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MultiErrorInvalidJointCount from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "invalid_joint_count_errors_by_motion_group_key": dict(
+                    (_k, ErrorInvalidJointCount.from_dict(_v)) for _k, _v in obj["invalid_joint_count_errors_by_motion_group_key"].items()
+                )
+                if obj.get("invalid_joint_count_errors_by_motion_group_key") is not None
+                else None
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/multi_error_joint_limit_exceeded.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: 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
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.error_joint_limit_exceeded import ErrorJointLimitExceeded
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class MultiErrorJointLimitExceeded(BaseModel):
+    """
+    A reference joint position (start or target) exceeds the configured joint limits of the respective motion group.
+    """  # noqa: E501
+
+    joint_limit_exceeded_errors_by_motion_group_key: Optional[Dict[str, ErrorJointLimitExceeded]] = None
+    __properties: ClassVar[List[str]] = ["joint_limit_exceeded_errors_by_motion_group_key"]
+
+    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 MultiErrorJointLimitExceeded 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 value in joint_limit_exceeded_errors_by_motion_group_key (dict)
+        _field_dict = {}
+        if self.joint_limit_exceeded_errors_by_motion_group_key:
+            for _key_joint_limit_exceeded_errors_by_motion_group_key in self.joint_limit_exceeded_errors_by_motion_group_key:
+                if self.joint_limit_exceeded_errors_by_motion_group_key[_key_joint_limit_exceeded_errors_by_motion_group_key]:
+                    _field_dict[_key_joint_limit_exceeded_errors_by_motion_group_key] = (
+                        self.joint_limit_exceeded_errors_by_motion_group_key[_key_joint_limit_exceeded_errors_by_motion_group_key].to_dict()
+                    )
+            _dict["joint_limit_exceeded_errors_by_motion_group_key"] = _field_dict
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MultiErrorJointLimitExceeded from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "joint_limit_exceeded_errors_by_motion_group_key": dict(
+                    (_k, ErrorJointLimitExceeded.from_dict(_v)) for _k, _v in obj["joint_limit_exceeded_errors_by_motion_group_key"].items()
+                )
+                if obj.get("joint_limit_exceeded_errors_by_motion_group_key") is not None
+                else None
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/multi_error_joint_position_collision.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.collision import Collision
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class MultiErrorJointPositionCollision(BaseModel):
+    """
+    A reference joint position, e.g., start or target joint position, results in collisions that prevent processing.
+    """  # noqa: E501
+
+    collisions: Optional[List[Collision]] = None
+    joint_positions_by_motion_group_key: Optional[Dict[str, List[Union[StrictFloat, StrictInt]]]] = Field(
+        default=None, description="The joint positions of all motion groups as the collision occurs. "
+    )
+    __properties: ClassVar[List[str]] = ["collisions", "joint_positions_by_motion_group_key"]
+
+    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 MultiErrorJointPositionCollision 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 collisions (list)
+        _items = []
+        if self.collisions:
+            for _item_collisions in self.collisions:
+                if _item_collisions:
+                    _items.append(_item_collisions.to_dict())
+            _dict["collisions"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MultiErrorJointPositionCollision from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "collisions": [Collision.from_dict(_item) for _item in obj["collisions"]] if obj.get("collisions") is not None else None,
+                "joint_positions_by_motion_group_key": obj.get("joint_positions_by_motion_group_key"),
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/multi_joint_trajectory.py

@@ -0,0 +1,93 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 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 MultiJointTrajectory(BaseModel):
+    """
+    MultiJointTrajectory
+    """  # noqa: E501
+
+    joint_positions_by_motion_group_key: Dict[str, List[List[Union[StrictFloat, StrictInt]]]] = Field(
+        description="For each motion group, this dictionary contains a 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_by_motion_group_key", "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 MultiJointTrajectory 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 MultiJointTrajectory 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_by_motion_group_key": obj.get("joint_positions_by_motion_group_key"),
+                "times": obj.get("times"),
+                "locations": obj.get("locations"),
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/multi_search_collision_free422_response.py

@@ -0,0 +1,97 @@
+# 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
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.multi_search_collision_free_validation_error import MultiSearchCollisionFreeValidationError
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class MultiSearchCollisionFree422Response(BaseModel):
+    """
+    MultiSearchCollisionFree422Response
+    """  # noqa: E501
+
+    detail: Optional[List[MultiSearchCollisionFreeValidationError]] = None
+    __properties: ClassVar[List[str]] = ["detail"]
+
+    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 MultiSearchCollisionFree422Response 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 detail (list)
+        _items = []
+        if self.detail:
+            for _item_detail in self.detail:
+                if _item_detail:
+                    _items.append(_item_detail.to_dict())
+            _dict["detail"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MultiSearchCollisionFree422Response from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "detail": [MultiSearchCollisionFreeValidationError.from_dict(_item) for _item in obj["detail"]]
+                if obj.get("detail") is not None
+                else None
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/multi_search_collision_free_request.py

@@ -0,0 +1,149 @@
+# 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_ptp_motion import JointPTPMotion
+from wandelbots_api_client.v2.models.motion_group_setup import MotionGroupSetup
+from wandelbots_api_client.v2.models.multi_collision_setup import MultiCollisionSetup
+from wandelbots_api_client.v2.models.rrt_connect_algorithm import RRTConnectAlgorithm
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class MultiSearchCollisionFreeRequest(BaseModel):
+    """
+    MultiSearchCollisionFreeRequest
+    """  # noqa: E501
+
+    motion_group_setups_by_motion_group_key: Dict[str, MotionGroupSetup] = Field(description="Dictionary of motion group setups. ")
+    path_definitions_by_motion_group_key: Dict[str, JointPTPMotion] = Field(
+        description="Dictionary of path definitions. The keys must match the ones in `motion_group_setups_by_motion_group_key`. "
+    )
+    collision_setups: Optional[Dict[str, MultiCollisionSetup]] = Field(
+        default=None,
+        description="Dictionary of collision setups. Defines cross-group collision checking: which link-chain/tool colliders from each motion group to consider, plus static environment colliders. ",
+    )
+    algorithm_settings: Optional[RRTConnectAlgorithm] = Field(
+        default=None, description="Configuration for the RRT-Connect algorithm (Rapidly-exploring Random Trees). "
+    )
+    __properties: ClassVar[List[str]] = [
+        "motion_group_setups_by_motion_group_key",
+        "path_definitions_by_motion_group_key",
+        "collision_setups",
+        "algorithm_settings",
+    ]
+
+    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 MultiSearchCollisionFreeRequest 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 value in motion_group_setups_by_motion_group_key (dict)
+        _field_dict = {}
+        if self.motion_group_setups_by_motion_group_key:
+            for _key_motion_group_setups_by_motion_group_key in self.motion_group_setups_by_motion_group_key:
+                if self.motion_group_setups_by_motion_group_key[_key_motion_group_setups_by_motion_group_key]:
+                    _field_dict[_key_motion_group_setups_by_motion_group_key] = self.motion_group_setups_by_motion_group_key[
+                        _key_motion_group_setups_by_motion_group_key
+                    ].to_dict()
+            _dict["motion_group_setups_by_motion_group_key"] = _field_dict
+        # override the default output from pydantic by calling `to_dict()` of each value in path_definitions_by_motion_group_key (dict)
+        _field_dict = {}
+        if self.path_definitions_by_motion_group_key:
+            for _key_path_definitions_by_motion_group_key in self.path_definitions_by_motion_group_key:
+                if self.path_definitions_by_motion_group_key[_key_path_definitions_by_motion_group_key]:
+                    _field_dict[_key_path_definitions_by_motion_group_key] = self.path_definitions_by_motion_group_key[
+                        _key_path_definitions_by_motion_group_key
+                    ].to_dict()
+            _dict["path_definitions_by_motion_group_key"] = _field_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
+        # override the default output from pydantic by calling `to_dict()` of algorithm_settings
+        if self.algorithm_settings:
+            _dict["algorithm_settings"] = self.algorithm_settings.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of MultiSearchCollisionFreeRequest 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_setups_by_motion_group_key": dict(
+                    (_k, MotionGroupSetup.from_dict(_v)) for _k, _v in obj["motion_group_setups_by_motion_group_key"].items()
+                )
+                if obj.get("motion_group_setups_by_motion_group_key") is not None
+                else None,
+                "path_definitions_by_motion_group_key": dict(
+                    (_k, JointPTPMotion.from_dict(_v)) for _k, _v in obj["path_definitions_by_motion_group_key"].items()
+                )
+                if obj.get("path_definitions_by_motion_group_key") is not None
+                else None,
+                "collision_setups": dict((_k, MultiCollisionSetup.from_dict(_v)) for _k, _v in obj["collision_setups"].items())
+                if obj.get("collision_setups") is not None
+                else None,
+                "algorithm_settings": RRTConnectAlgorithm.from_dict(obj["algorithm_settings"])
+                if obj.get("algorithm_settings") is not None
+                else None,
+            }
+        )
+        return _obj