wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/v2/models/plan422_response.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
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.plan_validation_error import PlanValidationError
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class Plan422Response(BaseModel):
+    """
+    Plan422Response
+    """  # noqa: E501
+
+    detail: Optional[List[PlanValidationError]] = 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 Plan422Response 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 Plan422Response from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {"detail": [PlanValidationError.from_dict(_item) for _item in obj["detail"]] if obj.get("detail") is not None else None}
+        )
+        return _obj

wandelbots_api_client/v2/models/plan_collision_free_failed_response.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
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.error_max_iterations_exceeded import ErrorMaxIterationsExceeded
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PlanCollisionFreeFailedResponse(BaseModel):
+    """
+    Response when collision-free trajectory planning fails. Contains specific feedback about why the planning failed.
+    """  # noqa: E501
+
+    error_feedback: ErrorMaxIterationsExceeded
+    __properties: ClassVar[List[str]] = ["error_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 PlanCollisionFreeFailedResponse 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 error_feedback
+        if self.error_feedback:
+            _dict["error_feedback"] = self.error_feedback.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanCollisionFreeFailedResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "error_feedback": ErrorMaxIterationsExceeded.from_dict(obj["error_feedback"])
+                if obj.get("error_feedback") is not None
+                else None
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/plan_collision_free_request.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, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from wandelbots_api_client.v2.models.collision_free_algorithm import CollisionFreeAlgorithm
+from wandelbots_api_client.v2.models.direction_constraint import DirectionConstraint
+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 PlanCollisionFreeRequest(BaseModel):
+    """
+    PlanCollisionFreeRequest
+    """  # noqa: E501
+
+    motion_group_setup: MotionGroupSetup = Field(
+        description="The data to assemble the robot setup can be retrieved from the [getMotionGroupDescription](#/operations/getMotionGroupDescription) endpoint."
+    )
+    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: 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). "
+    )
+    constraint: Optional[DirectionConstraint] = Field(
+        default=None,
+        description="Optional constraint for the motion. If provided, the motion will be constrained accordingly.  > **NOTE** > > Constraints are experimental and their behavior may change in future releases. ",
+    )
+    algorithm: CollisionFreeAlgorithm
+    __properties: ClassVar[List[str]] = ["motion_group_setup", "start_joint_position", "target", "constraint", "algorithm"]
+
+    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 PlanCollisionFreeRequest 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 constraint
+        if self.constraint:
+            _dict["constraint"] = self.constraint.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of algorithm
+        if self.algorithm:
+            _dict["algorithm"] = self.algorithm.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanCollisionFreeRequest 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,
+                "start_joint_position": obj.get("start_joint_position"),
+                "target": obj.get("target"),
+                "constraint": DirectionConstraint.from_dict(obj["constraint"]) if obj.get("constraint") is not None else None,
+                "algorithm": CollisionFreeAlgorithm.from_dict(obj["algorithm"]) if obj.get("algorithm") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/plan_collision_free_response.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
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.plan_collision_free_response_response import PlanCollisionFreeResponseResponse
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PlanCollisionFreeResponse(BaseModel):
+    """
+    Response from collision-free trajectory planning. Contains either a successful joint trajectory or failure information.
+    """  # noqa: E501
+
+    response: PlanCollisionFreeResponseResponse
+    __properties: ClassVar[List[str]] = ["response"]
+
+    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 PlanCollisionFreeResponse 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 response
+        if self.response:
+            _dict["response"] = self.response.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanCollisionFreeResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {"response": PlanCollisionFreeResponseResponse.from_dict(obj["response"]) if obj.get("response") is not None else None}
+        )
+        return _obj

wandelbots_api_client/v2/models/plan_collision_free_response_response.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.joint_trajectory import JointTrajectory
+from wandelbots_api_client.v2.models.plan_collision_free_failed_response import PlanCollisionFreeFailedResponse
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+PLANCOLLISIONFREERESPONSERESPONSE_ONE_OF_SCHEMAS = ["JointTrajectory", "PlanCollisionFreeFailedResponse"]
+
+
+class PlanCollisionFreeResponseResponse(BaseModel):
+    """
+    PlanCollisionFreeResponseResponse
+    """
+
+    # data type: JointTrajectory
+    oneof_schema_1_validator: Optional[JointTrajectory] = None
+    # data type: PlanCollisionFreeFailedResponse
+    oneof_schema_2_validator: Optional[PlanCollisionFreeFailedResponse] = None
+    actual_instance: Optional[Union[JointTrajectory, PlanCollisionFreeFailedResponse]] = None
+    one_of_schemas: Set[str] = {"JointTrajectory", "PlanCollisionFreeFailedResponse"}
+
+    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 = PlanCollisionFreeResponseResponse.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: JointTrajectory
+        if not isinstance(v, JointTrajectory):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `JointTrajectory`")
+        else:
+            match += 1
+        # validate data type: PlanCollisionFreeFailedResponse
+        if not isinstance(v, PlanCollisionFreeFailedResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PlanCollisionFreeFailedResponse`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. 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 JointTrajectory
+        try:
+            instance.actual_instance = JointTrajectory.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PlanCollisionFreeFailedResponse
+        try:
+            instance.actual_instance = PlanCollisionFreeFailedResponse.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 PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into PlanCollisionFreeResponseResponse with oneOf schemas: JointTrajectory, PlanCollisionFreeFailedResponse. 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], JointTrajectory, PlanCollisionFreeFailedResponse]]:
+        """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/plan_trajectory_failed_response.py

@@ -0,0 +1,105 @@
+# 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.joint_trajectory import JointTrajectory
+from wandelbots_api_client.v2.models.plan_trajectory_failed_response_error_feedback import PlanTrajectoryFailedResponseErrorFeedback
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PlanTrajectoryFailedResponse(BaseModel):
+    """
+    PlanTrajectoryFailedResponse
+    """  # noqa: E501
+
+    error_feedback: PlanTrajectoryFailedResponseErrorFeedback
+    error_location_on_trajectory: Union[StrictFloat, StrictInt] = Field(
+        description="- The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path "
+    )
+    joint_trajectory: Optional[JointTrajectory] = Field(
+        default=None, description="The joint trajectory from the start joint position to the error. "
+    )
+    __properties: ClassVar[List[str]] = ["error_feedback", "error_location_on_trajectory", "joint_trajectory"]
+
+    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 PlanTrajectoryFailedResponse 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 error_feedback
+        if self.error_feedback:
+            _dict["error_feedback"] = self.error_feedback.to_dict()
+        # 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()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanTrajectoryFailedResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "error_feedback": PlanTrajectoryFailedResponseErrorFeedback.from_dict(obj["error_feedback"])
+                if obj.get("error_feedback") is not None
+                else None,
+                "error_location_on_trajectory": obj.get("error_location_on_trajectory"),
+                "joint_trajectory": JointTrajectory.from_dict(obj["joint_trajectory"]) if obj.get("joint_trajectory") is not None else None,
+            }
+        )
+        return _obj