wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/models/direction_jogging_request.py

@@ -0,0 +1,136 @@
+# 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 wandelbots_api_client.models.vector3d import Vector3d
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class DirectionJoggingRequest(BaseModel):
+    """
+    A request to move a motion group in a cartesian direction.
+    """  # noqa: E501
+
+    motion_group: StrictStr = Field(description="Identifier of the motion group.")
+    position_direction: Vector3d
+    rotation_direction: Vector3d
+    coordinate_system: Optional[StrictStr] = Field(
+        default=None,
+        description='Unique identifier addressing the base coordinate system of position_direction and rotation_direction. If not set, world coordinate system is used. Set coordinate_system to "tool" to select the current tool coordinate system as base. ',
+    )
+    position_velocity: Union[StrictFloat, StrictInt] = Field(description="in (mm/s)")
+    rotation_velocity: Union[StrictFloat, StrictInt] = Field(description="in (rad/s)")
+    tcp: Optional[Any] = None
+    response_rate: Optional[StrictInt] = Field(
+        default=None, description="Update rate for the response message in ms. If not set 200ms are used."
+    )
+    response_coordinate_system: Optional[StrictStr] = Field(
+        default=None,
+        description="Unique identifier addressing a coordinate system in which the responses should be converted. If not set, world coordinate system is used. ",
+    )
+    __properties: ClassVar[List[str]] = [
+        "motion_group",
+        "position_direction",
+        "rotation_direction",
+        "coordinate_system",
+        "position_velocity",
+        "rotation_velocity",
+        "tcp",
+        "response_rate",
+        "response_coordinate_system",
+    ]
+
+    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 DirectionJoggingRequest 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_direction
+        if self.position_direction:
+            _dict["position_direction"] = self.position_direction.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of rotation_direction
+        if self.rotation_direction:
+            _dict["rotation_direction"] = self.rotation_direction.to_dict()
+        # set to None if tcp (nullable) is None
+        # and model_fields_set contains the field
+        if self.tcp is None and "tcp" in self.model_fields_set:
+            _dict["tcp"] = None
+
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of DirectionJoggingRequest 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": obj.get("motion_group"),
+                "position_direction": Vector3d.from_dict(obj["position_direction"]) if obj.get("position_direction") is not None else None,
+                "rotation_direction": Vector3d.from_dict(obj["rotation_direction"]) if obj.get("rotation_direction") is not None else None,
+                "coordinate_system": obj.get("coordinate_system"),
+                "position_velocity": obj.get("position_velocity"),
+                "rotation_velocity": obj.get("rotation_velocity"),
+                "tcp": obj.get("tcp"),
+                "response_rate": obj.get("response_rate"),
+                "response_coordinate_system": obj.get("response_coordinate_system"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/error.py

@@ -0,0 +1,87 @@
+# 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, StrictStr
+from typing import Any, ClassVar, Dict, List
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class Error(BaseModel):
+    """
+    Error
+    """  # noqa: E501
+
+    code: StrictStr
+    message: StrictStr
+    __properties: ClassVar[List[str]] = ["code", "message"]
+
+    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 Error 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 Error from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"code": obj.get("code"), "message": obj.get("message")})
+        return _obj

wandelbots_api_client/models/execute_trajectory_request.py

@@ -0,0 +1,182 @@
+# 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.initialize_movement_request import InitializeMovementRequest
+from wandelbots_api_client.models.pause_movement_request import PauseMovementRequest
+from wandelbots_api_client.models.playback_speed_request import PlaybackSpeedRequest
+from wandelbots_api_client.models.start_movement_request import StartMovementRequest
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+EXECUTETRAJECTORYREQUEST_ONE_OF_SCHEMAS = [
+    "InitializeMovementRequest",
+    "PauseMovementRequest",
+    "PlaybackSpeedRequest",
+    "StartMovementRequest",
+]
+
+
+class ExecuteTrajectoryRequest(BaseModel):
+    """
+    ExecuteTrajectoryRequest
+    """
+
+    # data type: InitializeMovementRequest
+    oneof_schema_1_validator: Optional[InitializeMovementRequest] = None
+    # data type: StartMovementRequest
+    oneof_schema_2_validator: Optional[StartMovementRequest] = None
+    # data type: PauseMovementRequest
+    oneof_schema_3_validator: Optional[PauseMovementRequest] = None
+    # data type: PlaybackSpeedRequest
+    oneof_schema_4_validator: Optional[PlaybackSpeedRequest] = None
+    actual_instance: Optional[Union[InitializeMovementRequest, PauseMovementRequest, PlaybackSpeedRequest, StartMovementRequest]] = None
+    one_of_schemas: Set[str] = {"InitializeMovementRequest", "PauseMovementRequest", "PlaybackSpeedRequest", "StartMovementRequest"}
+
+    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 = ExecuteTrajectoryRequest.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: InitializeMovementRequest
+        if not isinstance(v, InitializeMovementRequest):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `InitializeMovementRequest`")
+        else:
+            match += 1
+        # validate data type: StartMovementRequest
+        if not isinstance(v, StartMovementRequest):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `StartMovementRequest`")
+        else:
+            match += 1
+        # validate data type: PauseMovementRequest
+        if not isinstance(v, PauseMovementRequest):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PauseMovementRequest`")
+        else:
+            match += 1
+        # validate data type: PlaybackSpeedRequest
+        if not isinstance(v, PlaybackSpeedRequest):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PlaybackSpeedRequest`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in ExecuteTrajectoryRequest with oneOf schemas: InitializeMovementRequest, PauseMovementRequest, PlaybackSpeedRequest, StartMovementRequest. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in ExecuteTrajectoryRequest with oneOf schemas: InitializeMovementRequest, PauseMovementRequest, PlaybackSpeedRequest, StartMovementRequest. 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 InitializeMovementRequest
+        try:
+            instance.actual_instance = InitializeMovementRequest.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into StartMovementRequest
+        try:
+            instance.actual_instance = StartMovementRequest.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PauseMovementRequest
+        try:
+            instance.actual_instance = PauseMovementRequest.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PlaybackSpeedRequest
+        try:
+            instance.actual_instance = PlaybackSpeedRequest.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 ExecuteTrajectoryRequest with oneOf schemas: InitializeMovementRequest, PauseMovementRequest, PlaybackSpeedRequest, StartMovementRequest. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into ExecuteTrajectoryRequest with oneOf schemas: InitializeMovementRequest, PauseMovementRequest, PlaybackSpeedRequest, StartMovementRequest. 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], InitializeMovementRequest, PauseMovementRequest, PlaybackSpeedRequest, StartMovementRequest]]:
+        """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/execute_trajectory_response.py

@@ -0,0 +1,223 @@
+# 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.initialize_movement_response import InitializeMovementResponse
+from wandelbots_api_client.models.movement import Movement
+from wandelbots_api_client.models.movement_error import MovementError
+from wandelbots_api_client.models.pause_movement_response import PauseMovementResponse
+from wandelbots_api_client.models.playback_speed_response import PlaybackSpeedResponse
+from wandelbots_api_client.models.standstill import Standstill
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+EXECUTETRAJECTORYRESPONSE_ONE_OF_SCHEMAS = [
+    "InitializeMovementResponse",
+    "Movement",
+    "MovementError",
+    "PauseMovementResponse",
+    "PlaybackSpeedResponse",
+    "Standstill",
+]
+
+
+class ExecuteTrajectoryResponse(BaseModel):
+    """
+    ExecuteTrajectoryResponse
+    """
+
+    # data type: InitializeMovementResponse
+    oneof_schema_1_validator: Optional[InitializeMovementResponse] = None
+    # data type: Movement
+    oneof_schema_2_validator: Optional[Movement] = None
+    # data type: Standstill
+    oneof_schema_3_validator: Optional[Standstill] = None
+    # data type: PauseMovementResponse
+    oneof_schema_4_validator: Optional[PauseMovementResponse] = None
+    # data type: PlaybackSpeedResponse
+    oneof_schema_5_validator: Optional[PlaybackSpeedResponse] = None
+    # data type: MovementError
+    oneof_schema_6_validator: Optional[MovementError] = None
+    actual_instance: Optional[
+        Union[InitializeMovementResponse, Movement, MovementError, PauseMovementResponse, PlaybackSpeedResponse, Standstill]
+    ] = None
+    one_of_schemas: Set[str] = {
+        "InitializeMovementResponse",
+        "Movement",
+        "MovementError",
+        "PauseMovementResponse",
+        "PlaybackSpeedResponse",
+        "Standstill",
+    }
+
+    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 = ExecuteTrajectoryResponse.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: InitializeMovementResponse
+        if not isinstance(v, InitializeMovementResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `InitializeMovementResponse`")
+        else:
+            match += 1
+        # validate data type: Movement
+        if not isinstance(v, Movement):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `Movement`")
+        else:
+            match += 1
+        # validate data type: Standstill
+        if not isinstance(v, Standstill):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `Standstill`")
+        else:
+            match += 1
+        # validate data type: PauseMovementResponse
+        if not isinstance(v, PauseMovementResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PauseMovementResponse`")
+        else:
+            match += 1
+        # validate data type: PlaybackSpeedResponse
+        if not isinstance(v, PlaybackSpeedResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PlaybackSpeedResponse`")
+        else:
+            match += 1
+        # validate data type: MovementError
+        if not isinstance(v, MovementError):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `MovementError`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in ExecuteTrajectoryResponse with oneOf schemas: InitializeMovementResponse, Movement, MovementError, PauseMovementResponse, PlaybackSpeedResponse, Standstill. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in ExecuteTrajectoryResponse with oneOf schemas: InitializeMovementResponse, Movement, MovementError, PauseMovementResponse, PlaybackSpeedResponse, Standstill. 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 InitializeMovementResponse
+        try:
+            instance.actual_instance = InitializeMovementResponse.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into Movement
+        try:
+            instance.actual_instance = Movement.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into Standstill
+        try:
+            instance.actual_instance = Standstill.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PauseMovementResponse
+        try:
+            instance.actual_instance = PauseMovementResponse.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PlaybackSpeedResponse
+        try:
+            instance.actual_instance = PlaybackSpeedResponse.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into MovementError
+        try:
+            instance.actual_instance = MovementError.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 ExecuteTrajectoryResponse with oneOf schemas: InitializeMovementResponse, Movement, MovementError, PauseMovementResponse, PlaybackSpeedResponse, Standstill. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into ExecuteTrajectoryResponse with oneOf schemas: InitializeMovementResponse, Movement, MovementError, PauseMovementResponse, PlaybackSpeedResponse, Standstill. 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], InitializeMovementResponse, Movement, MovementError, PauseMovementResponse, PlaybackSpeedResponse, Standstill]
+    ]:
+        """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())