wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/models/planning_limits.py

@@ -0,0 +1,168 @@
+# 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 wandelbots_api_client.models.planning_limits_limit_range import PlanningLimitsLimitRange
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PlanningLimits(BaseModel):
+    """
+    All known joint and cartesian limits of a motion-group. Used for motion planning.
+    """  # noqa: E501
+
+    joint_position_limits: Optional[List[PlanningLimitsLimitRange]] = Field(
+        default=None, description="Joint position limits in [rad], configured in the safety setup, starting at base. "
+    )
+    joint_velocity_limits: Optional[List[Union[StrictFloat, StrictInt]]] = Field(
+        default=None, description="Maximum allowed velocity for joints in [rad/s or mm/s] of the safety setup, starting at base. "
+    )
+    joint_acceleration_limits: Optional[List[Union[StrictFloat, StrictInt]]] = Field(
+        default=None, description="Maximum allowed acceleration for joints in [rad/s^2 or mm/s^2] of the safety setup, starting at base. "
+    )
+    joint_torque_limits: Optional[List[Union[StrictFloat, StrictInt]]] = Field(
+        default=None, description="Maximum allowed torque for joints in [Nm or N] of the safety setup, starting at base. "
+    )
+    tcp_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="At maximum one dimensional velocity in [mm/s] at TCP allowed. "
+    )
+    tcp_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="At maximum one dimensional acceleration in [mm/s^2] at TCP allowed. "
+    )
+    tcp_orientation_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="At maximum one dimensional orientation velocity in [rad/s] at TCP allowed. "
+    )
+    tcp_orientation_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="At maximum one dimensional orientation acceleration in [rad/s^2] at TCP allowed. "
+    )
+    tcp_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="At maximum one dimensional force in [N] at TCP allowed. "
+    )
+    elbow_velocity_limit: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="At maximum one dimensional velocity in [mm/s] at the elbow allowed. "
+    )
+    elbow_acceleration_limit: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="At maximum one dimensional acceleration in [mm/s^2] at the elbow allowed. "
+    )
+    elbow_force_limit: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="At maximum one dimensional force in [N] at the elbow allowed. "
+    )
+    __properties: ClassVar[List[str]] = [
+        "joint_position_limits",
+        "joint_velocity_limits",
+        "joint_acceleration_limits",
+        "joint_torque_limits",
+        "tcp_velocity_limit",
+        "tcp_acceleration_limit",
+        "tcp_orientation_velocity_limit",
+        "tcp_orientation_acceleration_limit",
+        "tcp_force_limit",
+        "elbow_velocity_limit",
+        "elbow_acceleration_limit",
+        "elbow_force_limit",
+    ]
+
+    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 PlanningLimits 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_position_limits (list)
+        _items = []
+        if self.joint_position_limits:
+            for _item in self.joint_position_limits:
+                # >>> 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_position_limits"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanningLimits from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "joint_position_limits": [
+                    # >>> 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
+                    PlanningLimitsLimitRange.from_dict(_item) if hasattr(PlanningLimitsLimitRange, "from_dict") else _item
+                    # <<< End modification
+                    for _item in obj["joint_position_limits"]
+                ]
+                if obj.get("joint_position_limits") is not None
+                else None,
+                "joint_velocity_limits": obj.get("joint_velocity_limits"),
+                "joint_acceleration_limits": obj.get("joint_acceleration_limits"),
+                "joint_torque_limits": obj.get("joint_torque_limits"),
+                "tcp_velocity_limit": obj.get("tcp_velocity_limit"),
+                "tcp_acceleration_limit": obj.get("tcp_acceleration_limit"),
+                "tcp_orientation_velocity_limit": obj.get("tcp_orientation_velocity_limit"),
+                "tcp_orientation_acceleration_limit": obj.get("tcp_orientation_acceleration_limit"),
+                "tcp_force_limit": obj.get("tcp_force_limit"),
+                "elbow_velocity_limit": obj.get("elbow_velocity_limit"),
+                "elbow_acceleration_limit": obj.get("elbow_acceleration_limit"),
+                "elbow_force_limit": obj.get("elbow_force_limit"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/planning_limits_limit_range.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, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Union
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PlanningLimitsLimitRange(BaseModel):
+    """
+    The upper_limit must be greater then the lower_limit.
+    """  # noqa: E501
+
+    lower_limit: Union[StrictFloat, StrictInt]
+    upper_limit: Union[StrictFloat, StrictInt]
+    __properties: ClassVar[List[str]] = ["lower_limit", "upper_limit"]
+
+    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 PlanningLimitsLimitRange 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 PlanningLimitsLimitRange from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"lower_limit": obj.get("lower_limit"), "upper_limit": obj.get("upper_limit")})
+        return _obj

wandelbots_api_client/models/playback_speed_request.py

@@ -0,0 +1,94 @@
+# 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, StrictInt, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PlaybackSpeedRequest(BaseModel):
+    """
+    Sets velocity for executed movements of the motion, in percent. Send after initializing the connection with InitializeMovementRequest.
+    """  # noqa: E501
+
+    message_type: Optional[StrictStr] = Field(default="PlaybackSpeedRequest", description="Type specifier for server, set automatically. ")
+    playback_speed_in_percent: StrictInt = Field(
+        description="Sets velocity for executed movements of the trajectory, in percent. 100% means that the motion group moves as fast as possible without violating any planning and motion group limits. Setting this value does not affect the overall shape of the velocity profile. The velocity profile of the trajectory is scaled down by the same factor. Therefore, this should only be used for teaching and trajectory evaluation purposes. To maintain a specific velocity, set the respective limits when planning the trajectory. "
+    )
+    __properties: ClassVar[List[str]] = ["message_type", "playback_speed_in_percent"]
+
+    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 PlaybackSpeedRequest 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 PlaybackSpeedRequest 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") if obj.get("message_type") is not None else "PlaybackSpeedRequest",
+                "playback_speed_in_percent": obj.get("playback_speed_in_percent"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/playback_speed_response.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
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.models.playback_speed_response_playback_speed_response import PlaybackSpeedResponsePlaybackSpeedResponse
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PlaybackSpeedResponse(BaseModel):
+    """
+    PlaybackSpeedResponse
+    """  # noqa: E501
+
+    playback_speed_response: PlaybackSpeedResponsePlaybackSpeedResponse
+    __properties: ClassVar[List[str]] = ["playback_speed_response"]
+
+    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 PlaybackSpeedResponse 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 playback_speed_response
+        if self.playback_speed_response:
+            _dict["playback_speed_response"] = self.playback_speed_response.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlaybackSpeedResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "playback_speed_response": PlaybackSpeedResponsePlaybackSpeedResponse.from_dict(obj["playback_speed_response"])
+                if obj.get("playback_speed_response") is not None
+                else None
+            }
+        )
+        return _obj

wandelbots_api_client/models/playback_speed_response_playback_speed_response.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, Field, StrictInt
+from typing import Any, ClassVar, Dict, List
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PlaybackSpeedResponsePlaybackSpeedResponse(BaseModel):
+    """
+    PlaybackSpeedResponsePlaybackSpeedResponse
+    """  # noqa: E501
+
+    requested_value: StrictInt = Field(description="Value of the requested playback speed in percent [%].")
+    __properties: ClassVar[List[str]] = ["requested_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 PlaybackSpeedResponsePlaybackSpeedResponse 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 PlaybackSpeedResponsePlaybackSpeedResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"requested_value": obj.get("requested_value")})
+        return _obj

wandelbots_api_client/models/point_cloud.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, StrictStr
+from typing import Any, ClassVar, Dict, List
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PointCloud(BaseModel):
+    """
+    PointCloud
+    """  # noqa: E501
+
+    pointcloud: StrictStr
+    __properties: ClassVar[List[str]] = ["pointcloud"]
+
+    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 PointCloud 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 PointCloud from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"pointcloud": obj.get("pointcloud")})
+        return _obj