wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/models/tcp_pose_request.py

@@ -0,0 +1,106 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 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, Optional
+from wandelbots_api_client.models.joints import Joints
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class TcpPoseRequest(BaseModel):
+    """
+    Request to compute the TCP pose for a single joint position sample.
+    """  # noqa: E501
+
+    motion_group: StrictStr = Field(description="Unique identifier of the motion-group.")
+    joint_position: Joints
+    tcp: Optional[StrictStr] = Field(
+        default=None,
+        description="Specifies the TCP at which the pose is calculated via its unique identifier. Optional. If not provided, the currently active TCP is used. ",
+    )
+    coordinate_system: Optional[StrictStr] = Field(
+        default=None,
+        description="Unique identifier of the base coordinate system of the calculated pose. Optional. If empty, world is used. ",
+    )
+    __properties: ClassVar[List[str]] = ["motion_group", "joint_position", "tcp", "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 TcpPoseRequest 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 TcpPoseRequest 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_position": Joints.from_dict(obj["joint_position"]) if obj.get("joint_position") is not None else None,
+                "tcp": obj.get("tcp"),
+                "coordinate_system": obj.get("coordinate_system"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/tool_geometry.py

@@ -0,0 +1,111 @@
+# 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, Optional
+from wandelbots_api_client.models.geometry import Geometry
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class ToolGeometry(BaseModel):
+    """
+    Describes a geometry encapsulating a given tool from a robot.
+    """  # noqa: E501
+
+    tcp: StrictStr = Field(description="Identifier of this tcp.")
+    geometries: Optional[List[Geometry]] = Field(default=None, description="The shape of the tool to validate against SafetyZones.")
+    __properties: ClassVar[List[str]] = ["tcp", "geometries"]
+
+    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 ToolGeometry 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 geometries (list)
+        _items = []
+        if self.geometries:
+            for _item in self.geometries:
+                # >>> 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["geometries"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of ToolGeometry from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "tcp": obj.get("tcp"),
+                "geometries": [
+                    # >>> 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
+                    Geometry.from_dict(_item) if hasattr(Geometry, "from_dict") else _item
+                    # <<< End modification
+                    for _item in obj["geometries"]
+                ]
+                if obj.get("geometries") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/trajectory_sample.py

@@ -0,0 +1,139 @@
+# 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.joints import Joints
+from wandelbots_api_client.models.pose import Pose
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class TrajectorySample(BaseModel):
+    """
+    A sample of a trajectory is a single point of the trajectory at a specific location.
+    """  # noqa: E501
+
+    tcp_pose: Optional[Pose] = None
+    tcp_velocity: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s]")
+    tcp_acceleration: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[mm/s^2]")
+    tcp_orientation_velocity: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[rad/s]")
+    tcp_orientation_acceleration: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[rad/s^2]")
+    joint_position: Optional[Joints] = None
+    joint_velocity: Optional[Joints] = None
+    joint_acceleration: Optional[Joints] = None
+    joint_torques: Optional[Joints] = None
+    time: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="[s]")
+    location_on_trajectory: Optional[Union[StrictFloat, StrictInt]] = Field(default=None, description="location on trajectory")
+    __properties: ClassVar[List[str]] = [
+        "tcp_pose",
+        "tcp_velocity",
+        "tcp_acceleration",
+        "tcp_orientation_velocity",
+        "tcp_orientation_acceleration",
+        "joint_position",
+        "joint_velocity",
+        "joint_acceleration",
+        "joint_torques",
+        "time",
+        "location_on_trajectory",
+    ]
+
+    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 TrajectorySample 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 joint_position
+        if self.joint_position:
+            _dict["joint_position"] = self.joint_position.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of joint_velocity
+        if self.joint_velocity:
+            _dict["joint_velocity"] = self.joint_velocity.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of joint_acceleration
+        if self.joint_acceleration:
+            _dict["joint_acceleration"] = self.joint_acceleration.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of joint_torques
+        if self.joint_torques:
+            _dict["joint_torques"] = self.joint_torques.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of TrajectorySample from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "tcp_pose": Pose.from_dict(obj["tcp_pose"]) if obj.get("tcp_pose") is not None else None,
+                "tcp_velocity": obj.get("tcp_velocity"),
+                "tcp_acceleration": obj.get("tcp_acceleration"),
+                "tcp_orientation_velocity": obj.get("tcp_orientation_velocity"),
+                "tcp_orientation_acceleration": obj.get("tcp_orientation_acceleration"),
+                "joint_position": Joints.from_dict(obj["joint_position"]) if obj.get("joint_position") is not None else None,
+                "joint_velocity": Joints.from_dict(obj["joint_velocity"]) if obj.get("joint_velocity") is not None else None,
+                "joint_acceleration": Joints.from_dict(obj["joint_acceleration"]) if obj.get("joint_acceleration") is not None else None,
+                "joint_torques": Joints.from_dict(obj["joint_torques"]) if obj.get("joint_torques") is not None else None,
+                "time": obj.get("time"),
+                "location_on_trajectory": obj.get("location_on_trajectory"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/trigger_object.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 datetime import datetime
+from pydantic import BaseModel, ConfigDict, Field, StrictBool, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.models.opcua_node_value_trigger_config import OpcuaNodeValueTriggerConfig
+from wandelbots_api_client.models.trigger_type import TriggerType
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class TriggerObject(BaseModel):
+    """
+    TriggerObject
+    """  # noqa: E501
+
+    id: Optional[StrictStr] = Field(default=None, description="The identifier of the trigger.")
+    program_id: StrictStr = Field(description="The identifier of the program to run when the trigger condition is met.")
+    enabled: StrictBool = Field(description="Indicates whether the trigger is enabled or not.")
+    type: TriggerType
+    config: OpcuaNodeValueTriggerConfig
+    created_at: datetime = Field(description="ISO 8601 date-time format when the trigger was created.")
+    last_updated_at: datetime = Field(description="ISO 8601 date-time format when the trigger was last updated.")
+    program_runs: Optional[List[StrictStr]] = Field(default=None, description="The program runs that were triggered by this trigger.")
+    __properties: ClassVar[List[str]] = ["id", "program_id", "enabled", "type", "config", "created_at", "last_updated_at", "program_runs"]
+
+    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 TriggerObject 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 config
+        if self.config:
+            _dict["config"] = self.config.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of TriggerObject from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "id": obj.get("id"),
+                "program_id": obj.get("program_id"),
+                "enabled": obj.get("enabled"),
+                "type": obj.get("type"),
+                "config": OpcuaNodeValueTriggerConfig.from_dict(obj["config"]) if obj.get("config") is not None else None,
+                "created_at": obj.get("created_at"),
+                "last_updated_at": obj.get("last_updated_at"),
+                "program_runs": obj.get("program_runs"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/trigger_type.py

@@ -0,0 +1,33 @@
+# 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
+from enum import Enum
+from typing_extensions import Self
+
+
+class TriggerType(str, Enum):
+    """
+    The type of the trigger.
+    """
+
+    """
+    allowed enum values
+    """
+    OPCUA_NODE_VALUE = "opcua_node_value"
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of TriggerType from a JSON string"""
+        return cls(json.loads(json_str))

wandelbots_api_client/models/universalrobots_controller.py

@@ -0,0 +1,102 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 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, field_validator
+from typing import Any, ClassVar, Dict, List, Optional
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class UniversalrobotsController(BaseModel):
+    """
+    The configuration of a physical Universal Robots controller has to contain IP address of the controller.
+    """  # noqa: E501
+
+    kind: str = "UniversalrobotsController"
+    controller_ip: StrictStr = Field(alias="controllerIp")
+    __properties: ClassVar[List[str]] = ["kind", "controllerIp"]
+
+    @field_validator("kind")
+    def kind_validate_enum(cls, value):
+        """Validates the enum"""
+        if value is None:
+            return value
+
+        if value not in set(["UniversalrobotsController"]):
+            raise ValueError("must be one of enum values ('UniversalrobotsController')")
+        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 UniversalrobotsController 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 UniversalrobotsController from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "kind": obj.get("kind") if obj.get("kind") is not None else "UniversalrobotsController",
+                "controllerIp": obj.get("controllerIp"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/update_nova_version_request.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
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.models.release_channel import ReleaseChannel
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class UpdateNovaVersionRequest(BaseModel):
+    """
+    An update is defined by the indicated Wandelbots NOVA release channel.
+    """  # noqa: E501
+
+    channel: ReleaseChannel
+    __properties: ClassVar[List[str]] = ["channel"]
+
+    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 UpdateNovaVersionRequest 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 UpdateNovaVersionRequest from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({"channel": obj.get("channel")})
+        return _obj