wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/v2/models/tcp_velocity_request.py

@@ -0,0 +1,110 @@
+# 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, StrictFloat, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from typing_extensions import Annotated
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class TcpVelocityRequest(BaseModel):
+    """
+    Sets target TCP velocities for jogging a motion group. The motion group needs to have an inverse kinematic solver to be jogged by TCP velocities. Check `supports_inverse_kinematics` field in response of [listController](#/operations/listController) for the motion group.
+    """  # noqa: E501
+
+    message_type: StrictStr = Field(description="Type specifier for server, set automatically. ")
+    translation: Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)] = Field(
+        description="A three-dimensional vector [x, y, z] with double precision. "
+    )
+    rotation: Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)] = Field(
+        description="A three-dimensional vector [x, y, z] with double precision. "
+    )
+    use_tool_coordinate_system: Optional[StrictBool] = Field(
+        default=False,
+        description="If true, TCP velocities are interpreted in the tool coordinate system, specified by the TCP. If false, TCP velocities are interpreted in the world coordinate system. ",
+    )
+    __properties: ClassVar[List[str]] = ["message_type", "translation", "rotation", "use_tool_coordinate_system"]
+
+    @field_validator("message_type")
+    def message_type_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["TcpVelocityRequest"]):
+            raise ValueError("must be one of enum values ('TcpVelocityRequest')")
+        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 TcpVelocityRequest 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 TcpVelocityRequest 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"),
+                "translation": obj.get("translation"),
+                "rotation": obj.get("rotation"),
+                "use_tool_coordinate_system": obj.get("use_tool_coordinate_system")
+                if obj.get("use_tool_coordinate_system") is not None
+                else False,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/tcp_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 TcpVelocityResponse(BaseModel):
+    """
+    Acknowledgment to a TcpVelocityRequest.
+    """  # noqa: E501
+
+    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid TcpVelocityRequest.")
+    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(["TCP_VELOCITY_RECEIVED"]):
+            raise ValueError("must be one of enum values ('TCP_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 TcpVelocityResponse 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 TcpVelocityResponse 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/torque_exceeded_error.py

@@ -0,0 +1,102 @@
+# 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, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.torque_exceeded_error_torque_exceeded import TorqueExceededErrorTorqueExceeded
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class TorqueExceededError(BaseModel):
+    """
+    TorqueExceededError
+    """  # noqa: E501
+
+    kind: StrictStr
+    torque_exceeded: Optional[TorqueExceededErrorTorqueExceeded] = None
+    __properties: ClassVar[List[str]] = ["kind", "torque_exceeded"]
+
+    @field_validator("kind")
+    def kind_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["TorqueExceededError"]):
+            raise ValueError("must be one of enum values ('TorqueExceededError')")
+        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 TorqueExceededError 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 torque_exceeded
+        if self.torque_exceeded:
+            _dict["torque_exceeded"] = self.torque_exceeded.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of TorqueExceededError 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"),
+                "torque_exceeded": TorqueExceededErrorTorqueExceeded.from_dict(obj["torque_exceeded"])
+                if obj.get("torque_exceeded") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/torque_exceeded_error_torque_exceeded.py

@@ -0,0 +1,86 @@
+# 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 typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class TorqueExceededErrorTorqueExceeded(BaseModel):
+    """
+    TorqueExceededErrorTorqueExceeded
+    """  # noqa: E501
+
+    torque_value: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="The torque value that was exceeded. ")
+    torque_limit: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="The value of the torque limit that was exceeded. "
+    )
+    __properties: ClassVar[List[str]] = ["torque_value", "torque_limit"]
+
+    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 TorqueExceededErrorTorqueExceeded 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 TorqueExceededErrorTorqueExceeded from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"torque_value": obj.get("torque_value"), "torque_limit": obj.get("torque_limit")})
+        return _obj

wandelbots_api_client/v2/models/trajectory_data.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, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.joint_trajectory import JointTrajectory
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class TrajectoryData(BaseModel):
+    """
+    TrajectoryData
+    """  # noqa: E501
+
+    message_type: StrictStr = Field(description="Type specifier for server, set automatically. ")
+    motion_group: Optional[StrictStr] = Field(default=None, description="Identifier of the motion-group.")
+    data: JointTrajectory = Field(
+        description="The trajectory consisting of a list of joint positions and an equal number of corresponding timestamps. "
+    )
+    tcp: Optional[StrictStr] = Field(default=None, description="Unique identifier of the tool the trajectory is planned for.")
+    __properties: ClassVar[List[str]] = ["message_type", "motion_group", "data", "tcp"]
+
+    @field_validator("message_type")
+    def message_type_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["TrajectoryData"]):
+            raise ValueError("must be one of enum values ('TrajectoryData')")
+        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 TrajectoryData 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 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 TrajectoryData 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"),
+                "motion_group": obj.get("motion_group"),
+                "data": JointTrajectory.from_dict(obj["data"]) if obj.get("data") is not None else None,
+                "tcp": obj.get("tcp"),
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/trajectory_details.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, StrictFloat, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Union
+from wandelbots_api_client.v2.models.trajectory_details_state import TrajectoryDetailsState
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class TrajectoryDetails(BaseModel):
+    """
+    State of trajectory execution. This state is sent during trajectory movement, response-rate closest to the nearest multiple of controller step-rate but not exceeding the configured rate. The trajectory state can be one of the following: - RUNNING: Trajectory is being executed. - PAUSED_BY_USER: User has paused execution. - END_OF_TRAJECTORY: First or last sample (depending on direction) of trajectory has been sent. - WAIT_FOR_IO: Waiting for an I/O event to start execution. - PAUSED_ON_IO: Execution was paused because of an I/O event.
+    """  # noqa: E501
+
+    trajectory: StrictStr = Field(description="Unique identifier of the trajectory being executed. ")
+    location: Union[StrictFloat, StrictInt] = Field(
+        description="Location of current joint position commmand on the trajectory being executed. "
+    )
+    state: TrajectoryDetailsState
+    kind: StrictStr = Field(description='Discriminator for OpenApi generators, which is always "TRAJECTORY" for this schema. ')
+    __properties: ClassVar[List[str]] = ["trajectory", "location", "state", "kind"]
+
+    @field_validator("kind")
+    def kind_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["TRAJECTORY"]):
+            raise ValueError("must be one of enum values ('TRAJECTORY')")
+        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 TrajectoryDetails 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 state
+        if self.state:
+            _dict["state"] = self.state.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of TrajectoryDetails from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "trajectory": obj.get("trajectory"),
+                "location": obj.get("location"),
+                "state": TrajectoryDetailsState.from_dict(obj["state"]) if obj.get("state") is not None else None,
+                "kind": obj.get("kind"),
+            }
+        )
+        return _obj