wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/models/collider_shape.py

@@ -0,0 +1,280 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0
+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.models.box2 import Box2
+from wandelbots_api_client.models.capsule2 import Capsule2
+from wandelbots_api_client.models.convex_hull2 import ConvexHull2
+from wandelbots_api_client.models.cylinder2 import Cylinder2
+from wandelbots_api_client.models.plane2 import Plane2
+from wandelbots_api_client.models.rectangle2 import Rectangle2
+from wandelbots_api_client.models.rectangular_capsule2 import RectangularCapsule2
+from wandelbots_api_client.models.sphere2 import Sphere2
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+COLLIDERSHAPE_ONE_OF_SCHEMAS = ["Box2", "Capsule2", "ConvexHull2", "Cylinder2", "Plane2", "Rectangle2", "RectangularCapsule2", "Sphere2"]
+
+
+class ColliderShape(BaseModel):
+    """
+    ColliderShape
+    """
+
+    # data type: Sphere2
+    oneof_schema_1_validator: Optional[Sphere2] = None
+    # data type: Box2
+    oneof_schema_2_validator: Optional[Box2] = None
+    # data type: Rectangle2
+    oneof_schema_3_validator: Optional[Rectangle2] = None
+    # data type: Plane2
+    oneof_schema_4_validator: Optional[Plane2] = None
+    # data type: Cylinder2
+    oneof_schema_5_validator: Optional[Cylinder2] = None
+    # data type: Capsule2
+    oneof_schema_6_validator: Optional[Capsule2] = None
+    # data type: RectangularCapsule2
+    oneof_schema_7_validator: Optional[RectangularCapsule2] = None
+    # data type: ConvexHull2
+    oneof_schema_8_validator: Optional[ConvexHull2] = None
+    actual_instance: Optional[Union[Box2, Capsule2, ConvexHull2, Cylinder2, Plane2, Rectangle2, RectangularCapsule2, Sphere2]] = None
+    one_of_schemas: Set[str] = {"Box2", "Capsule2", "ConvexHull2", "Cylinder2", "Plane2", "Rectangle2", "RectangularCapsule2", "Sphere2"}
+
+    model_config = ConfigDict(
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+    discriminator_value_class_map: Dict[str, str] = {}
+
+    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 = ColliderShape.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: Sphere2
+        if not isinstance(v, Sphere2):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `Sphere2`")
+        else:
+            match += 1
+        # validate data type: Box2
+        if not isinstance(v, Box2):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `Box2`")
+        else:
+            match += 1
+        # validate data type: Rectangle2
+        if not isinstance(v, Rectangle2):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `Rectangle2`")
+        else:
+            match += 1
+        # validate data type: Plane2
+        if not isinstance(v, Plane2):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `Plane2`")
+        else:
+            match += 1
+        # validate data type: Cylinder2
+        if not isinstance(v, Cylinder2):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `Cylinder2`")
+        else:
+            match += 1
+        # validate data type: Capsule2
+        if not isinstance(v, Capsule2):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `Capsule2`")
+        else:
+            match += 1
+        # validate data type: RectangularCapsule2
+        if not isinstance(v, RectangularCapsule2):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `RectangularCapsule2`")
+        else:
+            match += 1
+        # validate data type: ConvexHull2
+        if not isinstance(v, ConvexHull2):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `ConvexHull2`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in ColliderShape with oneOf schemas: Box2, Capsule2, ConvexHull2, Cylinder2, Plane2, Rectangle2, RectangularCapsule2, Sphere2. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in ColliderShape with oneOf schemas: Box2, Capsule2, ConvexHull2, Cylinder2, Plane2, Rectangle2, RectangularCapsule2, Sphere2. 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
+
+        # use oneOf discriminator to lookup the data type
+        _data_type = json.loads(json_str).get("shape_type")
+        if not _data_type:
+            raise ValueError("Failed to lookup data type from the field `shape_type` in the input.")
+
+        # check if data type is `Box2`
+        if _data_type == "box":
+            instance.actual_instance = Box2.from_json(json_str)
+            return instance
+
+        # check if data type is `Capsule2`
+        if _data_type == "capsule":
+            instance.actual_instance = Capsule2.from_json(json_str)
+            return instance
+
+        # check if data type is `ConvexHull2`
+        if _data_type == "convex_hull":
+            instance.actual_instance = ConvexHull2.from_json(json_str)
+            return instance
+
+        # check if data type is `Cylinder2`
+        if _data_type == "cylinder":
+            instance.actual_instance = Cylinder2.from_json(json_str)
+            return instance
+
+        # check if data type is `Plane2`
+        if _data_type == "plane":
+            instance.actual_instance = Plane2.from_json(json_str)
+            return instance
+
+        # check if data type is `Rectangle2`
+        if _data_type == "rectangle":
+            instance.actual_instance = Rectangle2.from_json(json_str)
+            return instance
+
+        # check if data type is `RectangularCapsule2`
+        if _data_type == "rectangular_capsule":
+            instance.actual_instance = RectangularCapsule2.from_json(json_str)
+            return instance
+
+        # check if data type is `Sphere2`
+        if _data_type == "sphere":
+            instance.actual_instance = Sphere2.from_json(json_str)
+            return instance
+
+        # deserialize data into Sphere2
+        try:
+            instance.actual_instance = Sphere2.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into Box2
+        try:
+            instance.actual_instance = Box2.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into Rectangle2
+        try:
+            instance.actual_instance = Rectangle2.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into Plane2
+        try:
+            instance.actual_instance = Plane2.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into Cylinder2
+        try:
+            instance.actual_instance = Cylinder2.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into Capsule2
+        try:
+            instance.actual_instance = Capsule2.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into RectangularCapsule2
+        try:
+            instance.actual_instance = RectangularCapsule2.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into ConvexHull2
+        try:
+            instance.actual_instance = ConvexHull2.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 ColliderShape with oneOf schemas: Box2, Capsule2, ConvexHull2, Cylinder2, Plane2, Rectangle2, RectangularCapsule2, Sphere2. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into ColliderShape with oneOf schemas: Box2, Capsule2, ConvexHull2, Cylinder2, Plane2, Rectangle2, RectangularCapsule2, Sphere2. 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], Box2, Capsule2, ConvexHull2, Cylinder2, Plane2, Rectangle2, RectangularCapsule2, Sphere2]]:
+        """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/models/collision.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: 1.4.0
+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
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from typing_extensions import Annotated
+from wandelbots_api_client.models.collision_contact import CollisionContact
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class Collision(BaseModel):
+    """
+    Collision
+    """  # noqa: E501
+
+    id_of_a: Optional[StrictStr] = None
+    id_of_b: Optional[StrictStr] = None
+    id_of_world: Optional[StrictStr] = None
+    normal_world_on_b: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(
+        default=None, description="Describes a position in 3D space. A three-dimensional vector [x, y, z] with double precision. "
+    )
+    position_on_a: Optional[CollisionContact] = None
+    position_on_b: Optional[CollisionContact] = None
+    __properties: ClassVar[List[str]] = ["id_of_a", "id_of_b", "id_of_world", "normal_world_on_b", "position_on_a", "position_on_b"]
+
+    model_config = ConfigDict(
+        populate_by_name=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, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of Collision 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 position_on_a
+        if self.position_on_a:
+            _dict["position_on_a"] = self.position_on_a.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of position_on_b
+        if self.position_on_b:
+            _dict["position_on_b"] = self.position_on_b.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of Collision from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "id_of_a": obj.get("id_of_a"),
+                "id_of_b": obj.get("id_of_b"),
+                "id_of_world": obj.get("id_of_world"),
+                "normal_world_on_b": obj.get("normal_world_on_b"),
+                "position_on_a": CollisionContact.from_dict(obj["position_on_a"]) if obj.get("position_on_a") is not None else None,
+                "position_on_b": CollisionContact.from_dict(obj["position_on_b"]) if obj.get("position_on_b") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/collision_contact.py

@@ -0,0 +1,92 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0
+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_extensions import Annotated
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class CollisionContact(BaseModel):
+    """
+    CollisionContact
+    """  # noqa: E501
+
+    local: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(
+        default=None, description="Describes a position in 3D space. A three-dimensional vector [x, y, z] with double precision. "
+    )
+    world: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(
+        default=None, description="Describes a position in 3D space. A three-dimensional vector [x, y, z] with double precision. "
+    )
+    __properties: ClassVar[List[str]] = ["local", "world"]
+
+    model_config = ConfigDict(
+        populate_by_name=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, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of CollisionContact 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 CollisionContact from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"local": obj.get("local"), "world": obj.get("world")})
+        return _obj

wandelbots_api_client/models/collision_motion_group.py

@@ -0,0 +1,124 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0
+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.models.collider import Collider
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class CollisionMotionGroup(BaseModel):
+    """
+    CollisionMotionGroup
+    """  # noqa: E501
+
+    link_chain: Optional[List[Dict[str, Collider]]] = Field(
+        default=None,
+        description="A link chain is a kinematic chain of links that is connected via joints. A motion group can be used to control the motion of the joints in a link chain.  A link is a group of colliders that is attached to the link reference frame.  The reference frame of a link is obtained after applying all sets of Denavit-Hartenberg-parameters from base to (including) the link index.  This means that the reference frame of the link is on the rotation axis of the next joint in the kinematic chain. Example: For a motion group with 2 joints, the collider reference frame (CRF) for link 1 is on the rotation axis of joint 2. The chain looks like: - Origin >> Mounting >> Base >> (CRF Base) Joint 0 >> Link 0 >> (CRF Link 0) Joint 1 >> Link 1 >> (CRF Link 1) Flange (CRF Tool) >> TCP  Adjacent links in the kinematic chain of the motion group are not checked for mutual collision. ",
+    )
+    tool: Optional[Dict[str, Collider]] = Field(
+        default=None,
+        description="Defines the shape of a tool.  A tool is a dictionary of colliders.  All colliders that make up a tool are attached to the flange frame of the motion group. ",
+    )
+    __properties: ClassVar[List[str]] = ["link_chain", "tool"]
+
+    model_config = ConfigDict(
+        populate_by_name=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, exclude_none=True))
+
+    def to_json(self) -> str:
+        """
+        Returns the JSON representation of the model using alias
+
+        Do not use pydantic v2 .model_dump_json(by_alias=True, exclude_unset=True) here!
+        It is unable to resolve nested types generated by openapi-generator.
+        """
+        return json.dumps(self.to_dict())
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of CollisionMotionGroup 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 link_chain (list)
+        _items = []
+        if self.link_chain:
+            for _item in self.link_chain:
+                # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
+                #     to not drop empty elements in lists
+                _items.append({key: value.to_dict() for key, value in _item.items()})
+                # <<< End modification
+            _dict["link_chain"] = _items
+        # override the default output from pydantic by calling `to_dict()` of each value in tool (dict)
+        # >>> Modified from openapi template
+        if self.tool:
+            _field_dict = {}
+            for _key, _value in self.tool.items():
+                if self.tool[_key]:
+                    _field_dict[_key] = _value.to_dict()
+            _dict["tool"] = _field_dict
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of CollisionMotionGroup from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "link_chain": [
+                    # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
+                    #     to allow dicts in lists
+                    {key: Collider.from_dict(value) for key, value in _item.items()} if isinstance(_item, dict) else _item
+                    # <<< End modification
+                    for _item in obj["link_chain"]
+                ]
+                if obj.get("link_chain") is not None
+                else None,
+                "tool": dict((_k, Collider.from_dict(_v)) for _k, _v in obj["tool"].items()) if obj.get("tool") is not None else None,
+            }
+        )
+        return _obj