wandelbots_api_client 26.7.0.dev42__tar.gz → 26.7.0.dev43__tar.gz

{wandelbots_api_client-26.7.0.dev42 → wandelbots_api_client-26.7.0.dev43}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.7.0.dev42
+Version: 26.7.0.dev43
 Summary: Wandelbots Python Client: Interact with robots in an easy and intuitive way. 
 Author: Copyright (c) 2025 Wandelbots GmbH
 Author-email: Copyright (c) 2025 Wandelbots GmbH <contact@wandelbots.com>
@@ -31,7 +31,7 @@ Description-Content-Type: text/markdown
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 2.7.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.7.0.dev42
+- Package version: 26.7.0.dev43
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.7.0.dev42 → wandelbots_api_client-26.7.0.dev43}/README.md

@@ -2,7 +2,7 @@
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 2.7.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.7.0.dev42
+- Package version: 26.7.0.dev43
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.7.0.dev42 → wandelbots_api_client-26.7.0.dev43}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots_api_client"
-version = "26.7.0.dev42"
+version = "26.7.0.dev43"
 description = "Wandelbots Python Client: Interact with robots in an easy and intuitive way. "
 authors = [{ name="Copyright (c) 2025 Wandelbots GmbH", email="contact@wandelbots.com" }]
 license = "Apache-2.0"

{wandelbots_api_client-26.7.0.dev42 → wandelbots_api_client-26.7.0.dev43}/wandelbots_api_client/v2/__init__.py

@@ -13,7 +13,7 @@ Generated by OpenAPI Generator (https://openapi-generator.tech)
 Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.7.0.dev42"
+__version__ = "26.7.0.dev43"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.7.0.dev42 → wandelbots_api_client-26.7.0.dev43}/wandelbots_api_client/v2/api/cell_api.py

@@ -1947,7 +1947,7 @@ class CellApi:
     ) -> None:
         """Update Cell Version
 
-        **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Update the Foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
+        **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Update the foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2012,7 +2012,7 @@ class CellApi:
     ) -> ApiResponse[None]:
         """Update Cell Version
 
-        **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Update the Foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
+        **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Update the foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2077,7 +2077,7 @@ class CellApi:
     ) -> RESTResponseType:
         """Update Cell Version
 
-        **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Update the Foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
+        **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Update the foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str

{wandelbots_api_client-26.7.0.dev42 → wandelbots_api_client-26.7.0.dev43}/wandelbots_api_client/v2/api/trajectory_planning_api.py

@@ -49,6 +49,8 @@ from wandelbots_api_client.v2.models.merge_trajectories_request import MergeTraj
 from wandelbots_api_client.v2.models.merge_trajectories_response import MergeTrajectoriesResponse
 from wandelbots_api_client.v2.models.multi_search_collision_free_request import MultiSearchCollisionFreeRequest
 from wandelbots_api_client.v2.models.multi_search_collision_free_response import MultiSearchCollisionFreeResponse
+from wandelbots_api_client.v2.models.optimize_motion_commands_request import OptimizeMotionCommandsRequest
+from wandelbots_api_client.v2.models.optimize_motion_commands_response import OptimizeMotionCommandsResponse
 from wandelbots_api_client.v2.models.plan_collision_free_request import PlanCollisionFreeRequest
 from wandelbots_api_client.v2.models.plan_collision_free_response import PlanCollisionFreeResponse
 from wandelbots_api_client.v2.models.plan_trajectory_request import PlanTrajectoryRequest
@@ -575,6 +577,260 @@ class TrajectoryPlanningApi:
             _request_auth=_request_auth,
         )
 
+    @validate_call
+    async def optimize_motion_commands(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        optimize_motion_commands_request: OptimizeMotionCommandsRequest,
+        _request_timeout: Union[
+            None, Annotated[StrictFloat, Field(gt=0)], Tuple[Annotated[StrictFloat, Field(gt=0)], Annotated[StrictFloat, Field(gt=0)]]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> OptimizeMotionCommandsResponse:
+        """Optimize Motion Commands
+
+        **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Optimizes an existing collision-free motion command sequence with respect to time. The optimizer shifts waypoints in joint space to reduce the total trajectory duration, while preserving each command's type (a line stays a line, a circle stays a circle), the exact end pose of the trajectory, and collision-free execution.  **Prerequisites:** The motion commands must already be collision-free; this endpoint does not repair colliding paths.  Use the following workflow to plan and execute an optimized trajectory: 1. Plan a collision-free path, e.g. using the [planCollisionFree](#/operations/planCollisionFree) endpoint. 2. Optimize the motion commands using this endpoint. 3. Either:    - Use the optimized motion commands from the response to re-plan using the [planTrajectory](#/operations/planTrajectory) endpoint.    - Use the trajectory from the plan result. 4. Optional: Load the trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 5. Execute the trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory is not executable, the response will contain the joint trajectory up until the error, e.g., all samples until a collision occurs.
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param optimize_motion_commands_request: (required)
+        :type optimize_motion_commands_request: OptimizeMotionCommandsRequest
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """  # noqa: E501
+
+        _param = self._optimize_motion_commands_serialize(
+            cell=cell,
+            optimize_motion_commands_request=optimize_motion_commands_request,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index,
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            "200": "OptimizeMotionCommandsResponse",
+            "404": None,
+            "422": "Plan422Response",
+            "500": None,
+        }
+
+        response_data = await self.api_client.call_api(*_param, _request_timeout=_request_timeout)
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        ).data
+
+    @validate_call
+    async def optimize_motion_commands_with_http_info(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        optimize_motion_commands_request: OptimizeMotionCommandsRequest,
+        _request_timeout: Union[
+            None, Annotated[StrictFloat, Field(gt=0)], Tuple[Annotated[StrictFloat, Field(gt=0)], Annotated[StrictFloat, Field(gt=0)]]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> ApiResponse[OptimizeMotionCommandsResponse]:
+        """Optimize Motion Commands
+
+        **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Optimizes an existing collision-free motion command sequence with respect to time. The optimizer shifts waypoints in joint space to reduce the total trajectory duration, while preserving each command's type (a line stays a line, a circle stays a circle), the exact end pose of the trajectory, and collision-free execution.  **Prerequisites:** The motion commands must already be collision-free; this endpoint does not repair colliding paths.  Use the following workflow to plan and execute an optimized trajectory: 1. Plan a collision-free path, e.g. using the [planCollisionFree](#/operations/planCollisionFree) endpoint. 2. Optimize the motion commands using this endpoint. 3. Either:    - Use the optimized motion commands from the response to re-plan using the [planTrajectory](#/operations/planTrajectory) endpoint.    - Use the trajectory from the plan result. 4. Optional: Load the trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 5. Execute the trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory is not executable, the response will contain the joint trajectory up until the error, e.g., all samples until a collision occurs.
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param optimize_motion_commands_request: (required)
+        :type optimize_motion_commands_request: OptimizeMotionCommandsRequest
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """  # noqa: E501
+
+        _param = self._optimize_motion_commands_serialize(
+            cell=cell,
+            optimize_motion_commands_request=optimize_motion_commands_request,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index,
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            "200": "OptimizeMotionCommandsResponse",
+            "404": None,
+            "422": "Plan422Response",
+            "500": None,
+        }
+
+        response_data = await self.api_client.call_api(*_param, _request_timeout=_request_timeout)
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        )
+
+    @validate_call
+    async def optimize_motion_commands_without_preload_content(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        optimize_motion_commands_request: OptimizeMotionCommandsRequest,
+        _request_timeout: Union[
+            None, Annotated[StrictFloat, Field(gt=0)], Tuple[Annotated[StrictFloat, Field(gt=0)], Annotated[StrictFloat, Field(gt=0)]]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> RESTResponseType:
+        """Optimize Motion Commands
+
+        **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Optimizes an existing collision-free motion command sequence with respect to time. The optimizer shifts waypoints in joint space to reduce the total trajectory duration, while preserving each command's type (a line stays a line, a circle stays a circle), the exact end pose of the trajectory, and collision-free execution.  **Prerequisites:** The motion commands must already be collision-free; this endpoint does not repair colliding paths.  Use the following workflow to plan and execute an optimized trajectory: 1. Plan a collision-free path, e.g. using the [planCollisionFree](#/operations/planCollisionFree) endpoint. 2. Optimize the motion commands using this endpoint. 3. Either:    - Use the optimized motion commands from the response to re-plan using the [planTrajectory](#/operations/planTrajectory) endpoint.    - Use the trajectory from the plan result. 4. Optional: Load the trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 5. Execute the trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory is not executable, the response will contain the joint trajectory up until the error, e.g., all samples until a collision occurs.
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param optimize_motion_commands_request: (required)
+        :type optimize_motion_commands_request: OptimizeMotionCommandsRequest
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """  # noqa: E501
+
+        _param = self._optimize_motion_commands_serialize(
+            cell=cell,
+            optimize_motion_commands_request=optimize_motion_commands_request,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index,
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            "200": "OptimizeMotionCommandsResponse",
+            "404": None,
+            "422": "Plan422Response",
+            "500": None,
+        }
+
+        response_data = await self.api_client.call_api(*_param, _request_timeout=_request_timeout)
+        return response_data.response
+
+    def _optimize_motion_commands_serialize(
+        self,
+        cell,
+        optimize_motion_commands_request,
+        _request_auth,
+        _content_type,
+        _headers,
+        _host_index,
+    ) -> RequestSerialized:
+
+        _host = None
+
+        _collection_formats: Dict[str, str] = {}
+
+        _path_params: Dict[str, str] = {}
+        _query_params: List[Tuple[str, str]] = []
+        _header_params: Dict[str, Optional[str]] = _headers or {}
+        _form_params: List[Tuple[str, str]] = []
+        _files: Dict[str, Union[str, bytes]] = {}
+        _body_params: Optional[bytes] = None
+
+        # process the path parameters
+        if cell is not None:
+            _path_params["cell"] = cell
+        # process the query parameters
+        # process the header parameters
+        # process the form parameters
+        # process the body parameter
+        if optimize_motion_commands_request is not None:
+            _body_params = optimize_motion_commands_request
+
+        # set the HTTP header `Accept`
+        _header_params["Accept"] = self.api_client.select_header_accept(["application/json"])
+
+        # set the HTTP header `Content-Type`
+        if _content_type:
+            _header_params["Content-Type"] = _content_type
+        else:
+            _default_content_type = self.api_client.select_header_content_type(["application/json"])
+            if _default_content_type is not None:
+                _header_params["Content-Type"] = _default_content_type
+
+        # authentication setting
+        _auth_settings: List[str] = ["BearerAuth"]
+
+        return self.api_client.param_serialize(
+            method="POST",
+            resource_path="/experimental/cells/{cell}/trajectory-planning/optimize-motion-commands",
+            path_params=_path_params,
+            query_params=_query_params,
+            header_params=_header_params,
+            body=_body_params,
+            post_params=_form_params,
+            files=_files,
+            auth_settings=_auth_settings,
+            collection_formats=_collection_formats,
+            _host=_host,
+            _request_auth=_request_auth,
+        )
+
     @validate_call
     async def plan_collision_free(
         self,

{wandelbots_api_client-26.7.0.dev42 → wandelbots_api_client-26.7.0.dev43}/wandelbots_api_client/v2/api_client.py

@@ -106,7 +106,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.7.0.dev42"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.7.0.dev43"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.7.0.dev42 → wandelbots_api_client-26.7.0.dev43}/wandelbots_api_client/v2/configuration.py

@@ -557,7 +557,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 2.7.0 dev\n"
-            "SDK Package Version: 26.7.0.dev42".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.7.0.dev43".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.7.0.dev42 → wandelbots_api_client-26.7.0.dev43}/wandelbots_api_client/v2/models/__init__.py

@@ -341,6 +341,10 @@ from wandelbots_api_client.v2.models.op_mode import OpMode
 from wandelbots_api_client.v2.models.operating_state import OperatingState
 from wandelbots_api_client.v2.models.operation_limits import OperationLimits
 from wandelbots_api_client.v2.models.operation_mode import OperationMode
+from wandelbots_api_client.v2.models.optimize_motion_commands_parameter import OptimizeMotionCommandsParameter
+from wandelbots_api_client.v2.models.optimize_motion_commands_request import OptimizeMotionCommandsRequest
+from wandelbots_api_client.v2.models.optimize_motion_commands_response import OptimizeMotionCommandsResponse
+from wandelbots_api_client.v2.models.optimize_motion_commands_statistics import OptimizeMotionCommandsStatistics
 from wandelbots_api_client.v2.models.orientation_type import OrientationType
 from wandelbots_api_client.v2.models.path_cartesian_ptp import PathCartesianPTP
 from wandelbots_api_client.v2.models.path_circle import PathCircle

wandelbots_api_client-26.7.0.dev43/wandelbots_api_client/v2/models/optimize_motion_commands_parameter.py

@@ -0,0 +1,114 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.7.0 dev
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class OptimizeMotionCommandsParameter(BaseModel):
+    """
+    Algorithm parameters for the duration optimizer. These control how the optimization runs. All fields are optional. If omitted, server-side defaults are used.
+    """  # noqa: E501
+
+    max_iterations: Optional[StrictInt] = Field(default=10000, description="Number of perturbation attempts.")
+    step_size: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=0.1, description="Initial joint-space perturbation step size in radians. "
+    )
+    seed: Optional[StrictInt] = Field(default=None, description="Random seed for reproducibility.")
+    frozen_command_indices: Optional[List[StrictInt]] = Field(default=None, description="Command indices excluded from perturbation.")
+    ftol: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=0.01,
+        description="Relative duration improvement threshold. Stops when periodic time checks show less than `ftol` improvement (relative to baseline) for several consecutive checks. ",
+    )
+    time_budget: Optional[Union[StrictFloat, StrictInt]] = Field(
+        default=None, description="Optional elapsed real-time limit in seconds for the optimization."
+    )
+    __properties: ClassVar[List[str]] = ["max_iterations", "step_size", "seed", "frozen_command_indices", "ftol", "time_budget"]
+
+    model_config = ConfigDict(
+        validate_by_name=True,
+        validate_by_alias=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))
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the model using alias"""
+        return json.dumps(to_jsonable_python(self.to_dict()))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of OptimizeMotionCommandsParameter 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 seed (nullable) is None
+        # and model_fields_set contains the field
+        if self.seed is None and "seed" in self.model_fields_set:
+            _dict["seed"] = None
+
+        # set to None if time_budget (nullable) is None
+        # and model_fields_set contains the field
+        if self.time_budget is None and "time_budget" in self.model_fields_set:
+            _dict["time_budget"] = None
+
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of OptimizeMotionCommandsParameter from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "max_iterations": obj.get("max_iterations") if obj.get("max_iterations") is not None else 10000,
+                "step_size": obj.get("step_size") if obj.get("step_size") is not None else 0.1,
+                "seed": obj.get("seed"),
+                "frozen_command_indices": obj.get("frozen_command_indices"),
+                "ftol": obj.get("ftol") if obj.get("ftol") is not None else 0.01,
+                "time_budget": obj.get("time_budget"),
+            }
+        )
+        return _obj

wandelbots_api_client-26.7.0.dev43/wandelbots_api_client/v2/models/optimize_motion_commands_request.py

@@ -0,0 +1,124 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.7.0 dev
+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.v2.models.motion_command import MotionCommand
+from wandelbots_api_client.v2.models.motion_group_setup import MotionGroupSetup
+from wandelbots_api_client.v2.models.optimize_motion_commands_parameter import OptimizeMotionCommandsParameter
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class OptimizeMotionCommandsRequest(BaseModel):
+    """
+    OptimizeMotionCommandsRequest
+    """  # noqa: E501
+
+    motion_group_setup: MotionGroupSetup = Field(
+        description="The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](#/operations/getMotionGroupDescription) endpoint."
+    )
+    start_joint_position: List[Union[StrictFloat, StrictInt]] = Field(
+        description="To define a motion the start joints have to be indicated. Cartesian movements will be in the same kinematic configuration as the start joint position until the first joint P2P motion Motions can only be executed if the start joint position is the current joint position of the motion group. To retrieve the current joint position use the endpoint [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState). To move the robot to the start joint position use the endpoint [streamMoveToTrajectoryViaJointP2P](#/operations/streamMoveToTrajectoryViaJointP2P). "
+    )
+    motion_commands: List[MotionCommand] = Field(
+        description="List of collision-free motion commands to optimize. A command consists of a path definition (`line`, `circle`, `joint_ptp`, `cartesian_ptp`, `cubic_spline`), blending, and limits override.  > **NOTE** This endpoint does not repair colliding paths. The commands used must already be collision-free. "
+    )
+    optimization_parameters: Optional[OptimizeMotionCommandsParameter] = Field(
+        default=None,
+        description="Optional tuning parameters that control how the optimization runs including iterations, step size, convergence tolerance, and time budget. If omitted, server-side defaults apply: `max_iterations=10000`, `step_size=0.1 rad`, `ftol=0.01`, no time budget. ",
+    )
+    __properties: ClassVar[List[str]] = ["motion_group_setup", "start_joint_position", "motion_commands", "optimization_parameters"]
+
+    model_config = ConfigDict(
+        validate_by_name=True,
+        validate_by_alias=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))
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the model using alias"""
+        return json.dumps(to_jsonable_python(self.to_dict()))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Optional[Self]:
+        """Create an instance of OptimizeMotionCommandsRequest 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 motion_group_setup
+        if self.motion_group_setup:
+            _dict["motion_group_setup"] = self.motion_group_setup.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of each item in motion_commands (list)
+        _items = []
+        if self.motion_commands:
+            for _item_motion_commands in self.motion_commands:
+                if _item_motion_commands:
+                    _items.append(_item_motion_commands.to_dict())
+            _dict["motion_commands"] = _items
+        # override the default output from pydantic by calling `to_dict()` of optimization_parameters
+        if self.optimization_parameters:
+            _dict["optimization_parameters"] = self.optimization_parameters.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of OptimizeMotionCommandsRequest 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_setup": MotionGroupSetup.from_dict(obj["motion_group_setup"])
+                if obj.get("motion_group_setup") is not None
+                else None,
+                "start_joint_position": obj.get("start_joint_position"),
+                "motion_commands": [MotionCommand.from_dict(_item) for _item in obj["motion_commands"]]
+                if obj.get("motion_commands") is not None
+                else None,
+                "optimization_parameters": OptimizeMotionCommandsParameter.from_dict(obj["optimization_parameters"])
+                if obj.get("optimization_parameters") is not None
+                else None,
+            }
+        )
+        return _obj