wandelbots-api-client 25.6.0.dev7__py3-none-any.whl → 25.10.0rc2__py3-none-any.whl

wandelbots_api_client/v2/models/{create_trigger200_response.py → bus_ios_state.py}

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -19,15 +19,17 @@ import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictStr
 from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.bus_ios_state_enum import BusIOsStateEnum
 from typing import Optional, Set
 from typing_extensions import Self
 
-class CreateTrigger200Response(BaseModel):
+class BusIOsState(BaseModel):
     """
-    CreateTrigger200Response
+    BusIOsState
     """ # noqa: E501
-    id: Optional[StrictStr] = Field(default=None, description="The identifier of the created trigger.")
-    __properties: ClassVar[List[str]] = ["id"]
+    state: BusIOsStateEnum 
+    message: Optional[StrictStr] = Field(default=None, description="A message providing additional information on the input/output service, e.g., BUS service status, encountered errors. May be empty if no additional information is available. ") 
+    __properties: ClassVar[List[str]] = ["state", "message"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -51,7 +53,7 @@ class CreateTrigger200Response(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of CreateTrigger200Response from a JSON string"""
+        """Create an instance of BusIOsState from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -76,7 +78,7 @@ class CreateTrigger200Response(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of CreateTrigger200Response from a dict"""
+        """Create an instance of BusIOsState from a dict"""
         if obj is None:
             return None
 
@@ -84,7 +86,8 @@ class CreateTrigger200Response(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "id": obj.get("id")
+            "state": obj.get("state"),
+            "message": obj.get("message")
         })
         return _obj
 

wandelbots_api_client/v2/models/bus_ios_state_enum.py

@@ -0,0 +1,39 @@
+# coding: utf-8
+
+"""
+    Wandelbots NOVA API
+
+    Interact with robots in an easy and intuitive way. 
+
+    The version of the OpenAPI document: 2.1.0 dev
+    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 BusIOsStateEnum(str, Enum):
+    """
+    Current state of the BUS input/output service. 
+    """
+
+    """
+    allowed enum values
+    """
+    BUS_IOS_STATE_UNKNOWN = 'BUS_IOS_STATE_UNKNOWN'
+    BUS_IOS_STATE_INITIALIZING = 'BUS_IOS_STATE_INITIALIZING'
+    BUS_IOS_STATE_CONNECTED = 'BUS_IOS_STATE_CONNECTED'
+    BUS_IOS_STATE_DISCONNECTED = 'BUS_IOS_STATE_DISCONNECTED'
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of BusIOsStateEnum from a JSON string"""
+        return cls(json.loads(json_str))
+
+

wandelbots_api_client/v2/models/capsule.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -26,9 +26,9 @@ class Capsule(BaseModel):
     """
     Defines a cylindrical shape with 2 semi-spheres on the top and bottom. Centred around origin, symmetric around z-axis. 
     """ # noqa: E501
-    shape_type: StrictStr
-    radius: Union[StrictFloat, StrictInt] = Field(description="The radius of the cylinder and semi-spheres in [mm].")
-    cylinder_height: Union[StrictFloat, StrictInt] = Field(description="The height of the inner cylinder in [mm].")
+    shape_type: str = "capsule"
+    radius: Union[StrictFloat, StrictInt] = Field(description="The radius of the cylinder and semi-spheres in [mm].") 
+    cylinder_height: Union[StrictFloat, StrictInt] = Field(description="The height of the inner cylinder in [mm].") 
     __properties: ClassVar[List[str]] = ["shape_type", "radius", "cylinder_height"]
 
     @field_validator('shape_type')

wandelbots_api_client/v2/models/{robot_state.py → cartesian_limits.py}

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -19,17 +19,18 @@ import json
 
 from pydantic import BaseModel, ConfigDict, StrictFloat, StrictInt
 from typing import Any, ClassVar, Dict, List, Optional, Union
-from wandelbots_api_client.v2.models.pose import Pose
 from typing import Optional, Set
 from typing_extensions import Self
 
-class RobotState(BaseModel):
+class CartesianLimits(BaseModel):
     """
-    Collection of information on the current state of the robot.
+    CartesianLimits
     """ # noqa: E501
-    pose: Pose
-    joints: Optional[List[Union[StrictFloat, StrictInt]]] = None
-    __properties: ClassVar[List[str]] = ["pose", "joints"]
+    velocity: Optional[Union[StrictFloat, StrictInt]] = None 
+    acceleration: Optional[Union[StrictFloat, StrictInt]] = None 
+    orientation_velocity: Optional[Union[StrictFloat, StrictInt]] = None 
+    orientation_acceleration: Optional[Union[StrictFloat, StrictInt]] = None 
+    __properties: ClassVar[List[str]] = ["velocity", "acceleration", "orientation_velocity", "orientation_acceleration"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -53,7 +54,7 @@ class RobotState(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of RobotState from a JSON string"""
+        """Create an instance of CartesianLimits from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -74,14 +75,11 @@ class RobotState(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of pose
-        if self.pose:
-            _dict['pose'] = self.pose.to_dict()
         return _dict
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of RobotState from a dict"""
+        """Create an instance of CartesianLimits from a dict"""
         if obj is None:
             return None
 
@@ -89,8 +87,10 @@ class RobotState(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "pose": Pose.from_dict(obj["pose"]) if obj.get("pose") is not None else None,
-            "joints": obj.get("joints")
+            "velocity": obj.get("velocity"),
+            "acceleration": obj.get("acceleration"),
+            "orientation_velocity": obj.get("orientation_velocity"),
+            "orientation_acceleration": obj.get("orientation_acceleration")
         })
         return _obj
 

wandelbots_api_client/v2/models/cell.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,12 +27,12 @@ from typing_extensions import Self
 
 class Cell(BaseModel):
     """
-    To create a robot cell, only a valid name is required. Once created, a robot cell provides access to the Wandelbots NOVA foundation services. The configuration can be customized, e.g. robot controllers, also within apps. 
+    To create a robot cell, only a valid name is required. Once created, a robot cell provides access to the Wandelbots NOVA foundation services. The configuration can be customized, e.g., robot controllers, also within apps. 
     """ # noqa: E501
-    name: Annotated[str, Field(strict=True)] = Field(description="A unique name for the cell used as an identifier for addressing the cell in all API calls. It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names). ")
-    description: Optional[Annotated[str, Field(strict=True, max_length=200)]] = Field(default=None, description="A description of the cell. ")
-    controllers: Optional[List[RobotController]] = None
-    apps: Optional[List[App]] = None
+    name: Annotated[str, Field(strict=True)] = Field(description="A unique name for the cell used as an identifier for addressing the cell in all API calls. It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names). ") 
+    description: Optional[Annotated[str, Field(strict=True, max_length=200)]] = Field(default=None, description="A description of the cell. ") 
+    controllers: Optional[List[RobotController]] = None 
+    apps: Optional[List[App]] = None 
     __properties: ClassVar[List[str]] = ["name", "description", "controllers", "apps"]
 
     @field_validator('name')

wandelbots_api_client/v2/models/collider.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -28,9 +28,9 @@ class Collider(BaseModel):
     """
     Defines a collider with a single shape.  A collider is an object that is used for collision detection. It defines the `shape` that is attached with the offset of `pose` to a reference frame.  Use colliders to: - Define the shape of a workpiece. The reference frame is the scene origin. - Define the shape of a link in a motion group. The reference frame is the link coordinate system. - Define the shape of a tool. The reference frame is the flange coordinate system. 
     """ # noqa: E501
-    shape: ColliderShape
-    pose: Optional[Pose] = None
-    margin: Optional[Union[StrictFloat, StrictInt]] = Field(default=0, description="Increases the shape's size in all dimensions. Applied in [mm]. Can be used to keep a safe distance to the shape.")
+    shape: ColliderShape 
+    pose: Optional[Pose] = None 
+    margin: Optional[Union[StrictFloat, StrictInt]] = Field(default=0, description="Increases the shape's size in all dimensions. Applied in [mm]. Can be used to keep a safe distance to the shape.") 
     __properties: ClassVar[List[str]] = ["shape", "pose", "margin"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/collider_shape.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -183,46 +183,6 @@ class ColliderShape(BaseModel):
             instance.actual_instance = Sphere.from_json(json_str)
             return instance
 
-        # check if data type is `Box`
-        if _data_type == "Box":
-            instance.actual_instance = Box.from_json(json_str)
-            return instance
-
-        # check if data type is `Capsule`
-        if _data_type == "Capsule":
-            instance.actual_instance = Capsule.from_json(json_str)
-            return instance
-
-        # check if data type is `ConvexHull`
-        if _data_type == "ConvexHull":
-            instance.actual_instance = ConvexHull.from_json(json_str)
-            return instance
-
-        # check if data type is `Cylinder`
-        if _data_type == "Cylinder":
-            instance.actual_instance = Cylinder.from_json(json_str)
-            return instance
-
-        # check if data type is `Plane`
-        if _data_type == "Plane":
-            instance.actual_instance = Plane.from_json(json_str)
-            return instance
-
-        # check if data type is `Rectangle`
-        if _data_type == "Rectangle":
-            instance.actual_instance = Rectangle.from_json(json_str)
-            return instance
-
-        # check if data type is `RectangularCapsule`
-        if _data_type == "RectangularCapsule":
-            instance.actual_instance = RectangularCapsule.from_json(json_str)
-            return instance
-
-        # check if data type is `Sphere`
-        if _data_type == "Sphere":
-            instance.actual_instance = Sphere.from_json(json_str)
-            return instance
-
         # deserialize data into Sphere
         try:
             instance.actual_instance = Sphere.from_json(json_str)

wandelbots_api_client/v2/models/collision.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -28,13 +28,13 @@ class Collision(BaseModel):
     """
     Collision
     """ # noqa: E501
-    id_of_a: Optional[StrictStr] = None
-    id_of_b: Optional[StrictStr] = None
-    id_of_world: Optional[StrictStr] = None
-    normal_world_on_b: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ")
-    position_on_a: Optional[CollisionContact] = None
-    position_on_b: Optional[CollisionContact] = None
-    __properties: ClassVar[List[str]] = ["id_of_a", "id_of_b", "id_of_world", "normal_world_on_b", "position_on_a", "position_on_b"]
+    id_of_a: Optional[StrictStr] = None 
+    id_of_b: Optional[StrictStr] = None 
+    id_of_layer: Optional[StrictStr] = None 
+    normal_root_on_b: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ") 
+    position_on_a: Optional[CollisionContact] = None 
+    position_on_b: Optional[CollisionContact] = None 
+    __properties: ClassVar[List[str]] = ["id_of_a", "id_of_b", "id_of_layer", "normal_root_on_b", "position_on_a", "position_on_b"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -99,8 +99,8 @@ class Collision(BaseModel):
         _obj = cls.model_validate({
             "id_of_a": obj.get("id_of_a"),
             "id_of_b": obj.get("id_of_b"),
-            "id_of_world": obj.get("id_of_world"),
-            "normal_world_on_b": obj.get("normal_world_on_b"),
+            "id_of_layer": obj.get("id_of_layer"),
+            "normal_root_on_b": obj.get("normal_root_on_b"),
             "position_on_a": CollisionContact.from_dict(obj["position_on_a"]) if obj.get("position_on_a") is not None else None,
             "position_on_b": CollisionContact.from_dict(obj["position_on_b"]) if obj.get("position_on_b") is not None else None
         })

wandelbots_api_client/v2/models/collision_contact.py

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -27,9 +27,9 @@ class CollisionContact(BaseModel):
     """
     CollisionContact
     """ # noqa: E501
-    local: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ")
-    world: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ")
-    __properties: ClassVar[List[str]] = ["local", "world"]
+    local: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ") 
+    root: Optional[Annotated[List[Union[StrictFloat, StrictInt]], Field(min_length=3, max_length=3)]] = Field(default=None, description="A three-dimensional vector [x, y, z] with double precision. ") 
+    __properties: ClassVar[List[str]] = ["local", "root"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -87,7 +87,7 @@ class CollisionContact(BaseModel):
 
         _obj = cls.model_validate({
             "local": obj.get("local"),
-            "world": obj.get("world")
+            "root": obj.get("root")
         })
         return _obj
 

wandelbots_api_client/v2/models/{collision2.py → collision_error.py}

@@ -3,9 +3,9 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
@@ -23,11 +23,11 @@ from wandelbots_api_client.v2.models.feedback_collision import FeedbackCollision
 from typing import Optional, Set
 from typing_extensions import Self
 
-class Collision2(BaseModel):
+class CollisionError(BaseModel):
     """
-    Collision2
+    CollisionError
     """ # noqa: E501
-    collision: Optional[FeedbackCollision] = None
+    collision: Optional[FeedbackCollision] = None 
     __properties: ClassVar[List[str]] = ["collision"]
 
     model_config = ConfigDict(
@@ -52,7 +52,7 @@ class Collision2(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of Collision2 from a JSON string"""
+        """Create an instance of CollisionError from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -80,7 +80,7 @@ class Collision2(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of Collision2 from a dict"""
+        """Create an instance of CollisionError from a dict"""
         if obj is None:
             return None
 

wandelbots_api_client/v2/models/collision_free_algorithm.py

@@ -0,0 +1,155 @@
+# coding: utf-8
+
+"""
+    Wandelbots NOVA API
+
+    Interact with robots in an easy and intuitive way. 
+
+    The version of the OpenAPI document: 2.1.0 dev
+    Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+    Do not edit the class manually.
+"""  # noqa: E501
+
+
+from __future__ import annotations
+import json
+import pprint
+from pydantic import BaseModel, ConfigDict, Field, StrictStr, ValidationError, field_validator
+from typing import Any, List, Optional
+from wandelbots_api_client.v2.models.midpoint_insertion_algorithm import MidpointInsertionAlgorithm
+from wandelbots_api_client.v2.models.rrt_connect_algorithm import RRTConnectAlgorithm
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+COLLISIONFREEALGORITHM_ONE_OF_SCHEMAS = ["MidpointInsertionAlgorithm", "RRTConnectAlgorithm"]
+
+class CollisionFreeAlgorithm(BaseModel):
+    """
+    Configuration for collision-free path planning algorithms. Different algorithms may have different parameters and behavior.  Recommendation: - For **cells with many obstacles**, use the RRTConnect algorithm. Use it as a starting point. - For **simple cells with very few obstacles** and when a faster solution is needed, try the MidpointInsertion algorithm. 
+    """
+    # data type: RRTConnectAlgorithm
+    oneof_schema_1_validator: Optional[RRTConnectAlgorithm] = None
+    # data type: MidpointInsertionAlgorithm
+    oneof_schema_2_validator: Optional[MidpointInsertionAlgorithm] = None
+    actual_instance: Optional[Union[MidpointInsertionAlgorithm, RRTConnectAlgorithm]] = None
+    one_of_schemas: Set[str] = { "MidpointInsertionAlgorithm", "RRTConnectAlgorithm" }
+
+    model_config = ConfigDict(
+        validate_assignment=True,
+        protected_namespaces=(),
+    )
+
+
+    discriminator_value_class_map: Dict[str, str] = {
+    }
+
+    def __init__(self, *args, **kwargs) -> None:
+        if args:
+            if len(args) > 1:
+                raise ValueError("If a position argument is used, only 1 is allowed to set `actual_instance`")
+            if kwargs:
+                raise ValueError("If a position argument is used, keyword arguments cannot be used.")
+            super().__init__(actual_instance=args[0])
+        else:
+            super().__init__(**kwargs)
+
+    @field_validator('actual_instance')
+    def actual_instance_must_validate_oneof(cls, v):
+        instance = CollisionFreeAlgorithm.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: RRTConnectAlgorithm
+        if not isinstance(v, RRTConnectAlgorithm):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `RRTConnectAlgorithm`")
+        else:
+            match += 1
+        # validate data type: MidpointInsertionAlgorithm
+        if not isinstance(v, MidpointInsertionAlgorithm):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `MidpointInsertionAlgorithm`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError("Multiple matches found when setting `actual_instance` in CollisionFreeAlgorithm with oneOf schemas: MidpointInsertionAlgorithm, RRTConnectAlgorithm. Details: " + ", ".join(error_messages))
+        elif match == 0:
+            # no match
+            raise ValueError("No match found when setting `actual_instance` in CollisionFreeAlgorithm with oneOf schemas: MidpointInsertionAlgorithm, RRTConnectAlgorithm. Details: " + ", ".join(error_messages))
+        else:
+            return v
+
+    @classmethod
+    def from_dict(cls, obj: Union[str, Dict[str, Any]]) -> Self:
+        return cls.from_json(json.dumps(obj))
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Returns the object represented by the json string"""
+        instance = cls.model_construct()
+        error_messages = []
+        match = 0
+
+        # use oneOf discriminator to lookup the data type
+        _data_type = json.loads(json_str).get("algorithm_name")
+        if not _data_type:
+            raise ValueError("Failed to lookup data type from the field `algorithm_name` in the input.")
+
+        # check if data type is `MidpointInsertionAlgorithm`
+        if _data_type == "MidpointInsertionAlgorithm":
+            instance.actual_instance = MidpointInsertionAlgorithm.from_json(json_str)
+            return instance
+
+        # check if data type is `RRTConnectAlgorithm`
+        if _data_type == "RRTConnectAlgorithm":
+            instance.actual_instance = RRTConnectAlgorithm.from_json(json_str)
+            return instance
+
+        # deserialize data into RRTConnectAlgorithm
+        try:
+            instance.actual_instance = RRTConnectAlgorithm.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into MidpointInsertionAlgorithm
+        try:
+            instance.actual_instance = MidpointInsertionAlgorithm.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+
+        if match > 1:
+            # more than 1 match
+            raise ValueError("Multiple matches found when deserializing the JSON string into CollisionFreeAlgorithm with oneOf schemas: MidpointInsertionAlgorithm, RRTConnectAlgorithm. Details: " + ", ".join(error_messages))
+        elif match == 0:
+            # no match
+            raise ValueError("No match found when deserializing the JSON string into CollisionFreeAlgorithm with oneOf schemas: MidpointInsertionAlgorithm, RRTConnectAlgorithm. Details: " + ", ".join(error_messages))
+        else:
+            return instance
+
+    def to_json(self) -> str:
+        """Returns the JSON representation of the actual instance"""
+        if self.actual_instance is None:
+            return "null"
+
+        if hasattr(self.actual_instance, "to_json") and callable(self.actual_instance.to_json):
+            return self.actual_instance.to_json()
+        else:
+            return json.dumps(self.actual_instance)
+
+    def to_dict(self) -> Optional[Union[Dict[str, Any], MidpointInsertionAlgorithm, RRTConnectAlgorithm]]:
+        """Returns the dict representation of the actual instance"""
+        if self.actual_instance is None:
+            return None
+
+        if hasattr(self.actual_instance, "to_dict") and callable(self.actual_instance.to_dict):
+            return self.actual_instance.to_dict()
+        else:
+            # primitive type
+            return self.actual_instance
+
+    def to_str(self) -> str:
+        """Returns the string representation of the actual instance"""
+        return pprint.pformat(self.model_dump())
+
+