wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/models/joint_jogging_request.py

@@ -0,0 +1,108 @@
+# 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 import Optional, Set
+from typing_extensions import Self
+
+
+class JointJoggingRequest(BaseModel):
+    """
+    A request to move the joints of a motion group.
+    """  # noqa: E501
+
+    motion_group: StrictStr = Field(description="Identifier of the motion group.")
+    joint_velocities: List[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", "joint_velocities", "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 JointJoggingRequest 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,
+        )
+        # 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 JointJoggingRequest 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"),
+                "joint_velocities": obj.get("joint_velocities"),
+                "tcp": obj.get("tcp"),
+                "response_rate": obj.get("response_rate"),
+                "response_coordinate_system": obj.get("response_coordinate_system"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/joint_limit.py

@@ -0,0 +1,123 @@
+# 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, StrictBool, StrictFloat, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class JointLimit(BaseModel):
+    """
+    A joint limit can contain a position (rad or mm), a velocity (rad/s or mm/s), an acceleration (rad/s² or mm/s²) or a jerk (rad/s³ or mm/s³).
+    """  # noqa: E501
+
+    joint: StrictStr = Field(description="Definition of the joint where the limits are applied.")
+    lower_limit: Union[StrictFloat, StrictInt] = Field(description="Lower joint limit which is smaller than the upper joint limit.")
+    upper_limit: Union[StrictFloat, StrictInt] = Field(description="Upper joint boundary which is bigger than the lower joint limit.")
+    unlimited: Optional[StrictBool] = Field(
+        default=None, description="True, if joint limit is unlimited. Lower and upper limits are ignored."
+    )
+    __properties: ClassVar[List[str]] = ["joint", "lower_limit", "upper_limit", "unlimited"]
+
+    @field_validator("joint")
+    def joint_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(
+            [
+                "JOINTNAME_AXIS_INVALID",
+                "JOINTNAME_AXIS_1",
+                "JOINTNAME_AXIS_2",
+                "JOINTNAME_AXIS_3",
+                "JOINTNAME_AXIS_4",
+                "JOINTNAME_AXIS_5",
+                "JOINTNAME_AXIS_6",
+                "JOINTNAME_AXIS_7",
+                "JOINTNAME_AXIS_8",
+                "JOINTNAME_AXIS_9",
+                "JOINTNAME_AXIS_10",
+                "JOINTNAME_AXIS_11",
+                "JOINTNAME_AXIS_12",
+            ]
+        ):
+            raise ValueError(
+                "must be one of enum values ('JOINTNAME_AXIS_INVALID', 'JOINTNAME_AXIS_1', 'JOINTNAME_AXIS_2', 'JOINTNAME_AXIS_3', 'JOINTNAME_AXIS_4', 'JOINTNAME_AXIS_5', 'JOINTNAME_AXIS_6', 'JOINTNAME_AXIS_7', 'JOINTNAME_AXIS_8', 'JOINTNAME_AXIS_9', 'JOINTNAME_AXIS_10', 'JOINTNAME_AXIS_11', 'JOINTNAME_AXIS_12')"
+            )
+        return value
+
+    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 JointLimit 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 JointLimit from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "joint": obj.get("joint"),
+                "lower_limit": obj.get("lower_limit"),
+                "upper_limit": obj.get("upper_limit"),
+                "unlimited": obj.get("unlimited"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/joint_limit_exceeded.py

@@ -0,0 +1,96 @@
+# 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, StrictInt
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.models.joints import Joints
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class JointLimitExceeded(BaseModel):
+    """
+    This error is returned when a joint position limit is exceeded. The joint index denotes which joint is out of its limits, starting with 1 and the full joint position is returned.
+    """  # noqa: E501
+
+    joint_index: Optional[StrictInt] = None
+    joint_position: Optional[Joints] = None
+    __properties: ClassVar[List[str]] = ["joint_index", "joint_position"]
+
+    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 JointLimitExceeded 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 joint_position
+        if self.joint_position:
+            _dict["joint_position"] = self.joint_position.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of JointLimitExceeded from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "joint_index": obj.get("joint_index"),
+                "joint_position": Joints.from_dict(obj["joint_position"]) if obj.get("joint_position") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/joint_position_request.py

@@ -0,0 +1,104 @@
+# 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, StrictStr
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.models.joints import Joints
+from wandelbots_api_client.models.tcp_pose import TcpPose
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class JointPositionRequest(BaseModel):
+    """
+    Request to find the joint positions the motion-group needs to apply for its TCP to be in a specified pose (Inverse Kinematic Solution).
+    """  # noqa: E501
+
+    motion_group: StrictStr = Field(description="Identifier of the motion group.")
+    tcp_pose: TcpPose
+    reference_joint_position: Joints
+    __properties: ClassVar[List[str]] = ["motion_group", "tcp_pose", "reference_joint_position"]
+
+    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 JointPositionRequest 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 tcp_pose
+        if self.tcp_pose:
+            _dict["tcp_pose"] = self.tcp_pose.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of reference_joint_position
+        if self.reference_joint_position:
+            _dict["reference_joint_position"] = self.reference_joint_position.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of JointPositionRequest 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"),
+                "tcp_pose": TcpPose.from_dict(obj["tcp_pose"]) if obj.get("tcp_pose") is not None else None,
+                "reference_joint_position": Joints.from_dict(obj["reference_joint_position"])
+                if obj.get("reference_joint_position") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/joint_trajectory.py

@@ -0,0 +1,117 @@
+# 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, Union
+from wandelbots_api_client.models.joints import Joints
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class JointTrajectory(BaseModel):
+    """
+    JointTrajectory
+    """  # noqa: E501
+
+    joint_positions: List[Joints] = Field(
+        description="List of joint positions [rad] for each sample. The number of samples must match the number of timestamps provided in the times field. "
+    )
+    times: List[Union[StrictFloat, StrictInt]] = Field(description="Timestamp for each sample [s].")
+    locations: List[Union[StrictFloat, StrictInt]] = Field(
+        description="Location for each sample, scalar value defining a position along a path. Typical range: 0 to `n`, `n` denoting the number of motion commands. Each integer value of the location corresponds to a specific motion command. If provided, the number of samples must match the number of timestamps provided in the times field. "
+    )
+    __properties: ClassVar[List[str]] = ["joint_positions", "times", "locations"]
+
+    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 JointTrajectory 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 joint_positions (list)
+        _items = []
+        if self.joint_positions:
+            for _item in self.joint_positions:
+                # >>> 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
+                if _item is not None:
+                    _items.append(_item.to_dict())
+                # <<< End modification
+            _dict["joint_positions"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of JointTrajectory from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "joint_positions": [
+                    # >>> 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
+                    Joints.from_dict(_item) if hasattr(Joints, "from_dict") else _item
+                    # <<< End modification
+                    for _item in obj["joint_positions"]
+                ]
+                if obj.get("joint_positions") is not None
+                else None,
+                "times": obj.get("times"),
+                "locations": obj.get("locations"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/joints.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: 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, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Union
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class Joints(BaseModel):
+    """
+    This structure describes a set of joint values of a motion group. We call a set of joint values describing the current position in joint space of a motion group a \"joint position\". Joint position was chosen as the term to be consistent with the terms \"joint velocity\" and \"joint acceleration\". `joints` must have as many entries as the motion group's degrees of freedom to be valid. Float precision is the default.
+    """  # noqa: E501
+
+    joints: List[Union[StrictFloat, StrictInt]]
+    __properties: ClassVar[List[str]] = ["joints"]
+
+    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 Joints 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 Joints from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"joints": obj.get("joints")})
+        return _obj