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

wandelbots_api_client/v2/models/{invalid_dof.py → invalid_dof_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.
@@ -19,15 +19,15 @@ import json
 
 from pydantic import BaseModel, ConfigDict
 from typing import Any, ClassVar, Dict, List, Optional
-from wandelbots_api_client.v2.models.invalid_dof_invalid_dof import InvalidDofInvalidDof
+from wandelbots_api_client.v2.models.invalid_dof_error_invalid_dof import InvalidDofErrorInvalidDof
 from typing import Optional, Set
 from typing_extensions import Self
 
-class InvalidDof(BaseModel):
+class InvalidDofError(BaseModel):
     """
-    InvalidDof
+    InvalidDofError
     """ # noqa: E501
-    invalid_dof: Optional[InvalidDofInvalidDof] = None
+    invalid_dof: Optional[InvalidDofErrorInvalidDof] = None 
     __properties: ClassVar[List[str]] = ["invalid_dof"]
 
     model_config = ConfigDict(
@@ -52,7 +52,7 @@ class InvalidDof(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of InvalidDof from a JSON string"""
+        """Create an instance of InvalidDofError from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -80,7 +80,7 @@ class InvalidDof(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of InvalidDof from a dict"""
+        """Create an instance of InvalidDofError from a dict"""
         if obj is None:
             return None
 
@@ -88,7 +88,7 @@ class InvalidDof(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "invalid_dof": InvalidDofInvalidDof.from_dict(obj["invalid_dof"]) if obj.get("invalid_dof") is not None else None
+            "invalid_dof": InvalidDofErrorInvalidDof.from_dict(obj["invalid_dof"]) if obj.get("invalid_dof") is not None else None
         })
         return _obj
 

wandelbots_api_client/v2/models/{invalid_dof_invalid_dof.py → invalid_dof_error_invalid_dof.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.
@@ -22,12 +22,12 @@ from typing import Any, ClassVar, Dict, List, Optional, Union
 from typing import Optional, Set
 from typing_extensions import Self
 
-class InvalidDofInvalidDof(BaseModel):
+class InvalidDofErrorInvalidDof(BaseModel):
     """
-    InvalidDofInvalidDof
+    InvalidDofErrorInvalidDof
     """ # noqa: E501
-    valid_dof: Optional[StrictInt] = Field(default=None, description="The valid degrees of freedom for the motion group. ")
-    joint_position: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint position that is out of its limits.")
+    valid_dof: Optional[StrictInt] = Field(default=None, description="The valid degrees of freedom for the motion group. ") 
+    joint_position: Optional[List[Union[StrictFloat, StrictInt]]] = Field(default=None, description="The joint position that is out of its limits.") 
     __properties: ClassVar[List[str]] = ["valid_dof", "joint_position"]
 
     model_config = ConfigDict(
@@ -52,7 +52,7 @@ class InvalidDofInvalidDof(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of InvalidDofInvalidDof from a JSON string"""
+        """Create an instance of InvalidDofErrorInvalidDof from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -77,7 +77,7 @@ class InvalidDofInvalidDof(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of InvalidDofInvalidDof from a dict"""
+        """Create an instance of InvalidDofErrorInvalidDof from a dict"""
         if obj is None:
             return None
 

wandelbots_api_client/v2/models/{motion_group_infos.py → inverse_kinematics422_response.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.
@@ -18,17 +18,17 @@ import re  # noqa: F401
 import json
 
 from pydantic import BaseModel, ConfigDict
-from typing import Any, ClassVar, Dict, List
-from wandelbots_api_client.v2.models.motion_group_info import MotionGroupInfo
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.inverse_kinematics_validation_error import InverseKinematicsValidationError
 from typing import Optional, Set
 from typing_extensions import Self
 
-class MotionGroupInfos(BaseModel):
+class InverseKinematics422Response(BaseModel):
     """
-    MotionGroupInfos
+    InverseKinematics422Response
     """ # noqa: E501
-    motion_groups: List[MotionGroupInfo]
-    __properties: ClassVar[List[str]] = ["motion_groups"]
+    detail: Optional[List[InverseKinematicsValidationError]] = None 
+    __properties: ClassVar[List[str]] = ["detail"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -52,7 +52,7 @@ class MotionGroupInfos(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of MotionGroupInfos from a JSON string"""
+        """Create an instance of InverseKinematics422Response from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -73,21 +73,21 @@ class MotionGroupInfos(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of each item in motion_groups (list)
+        # override the default output from pydantic by calling `to_dict()` of each item in detail (list)
         _items = []
-        if self.motion_groups:
-            for _item in self.motion_groups:
+        if self.detail:
+            for _item in self.detail:
                 # >>> 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['motion_groups'] = _items
+            _dict['detail'] = _items
         return _dict
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of MotionGroupInfos from a dict"""
+        """Create an instance of InverseKinematics422Response from a dict"""
         if obj is None:
             return None
 
@@ -95,13 +95,13 @@ class MotionGroupInfos(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "motion_groups": [
+            "detail": [
                 # >>> 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
-                MotionGroupInfo.from_dict(_item) if hasattr(MotionGroupInfo, 'from_dict') else _item
+                InverseKinematicsValidationError.from_dict(_item) if hasattr(InverseKinematicsValidationError, 'from_dict') else _item
                 # <<< End modification
-                for _item in obj["motion_groups"]
-            ] if obj.get("motion_groups") is not None else None
+                for _item in obj["detail"]
+            ] if obj.get("detail") is not None else None
         })
         return _obj
 

wandelbots_api_client/v2/models/inverse_kinematics_request.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.
@@ -17,12 +17,11 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict, Field
+from pydantic import BaseModel, ConfigDict, Field, StrictStr
 from typing import Any, ClassVar, Dict, List, Optional
-from wandelbots_api_client.v2.models.collider import Collider
-from wandelbots_api_client.v2.models.collision_motion_group import CollisionMotionGroup
+from wandelbots_api_client.v2.models.collision_setup import CollisionSetup
+from wandelbots_api_client.v2.models.limit_range import LimitRange
 from wandelbots_api_client.v2.models.pose import Pose
-from wandelbots_api_client.v2.models.robot_setup import RobotSetup
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -30,11 +29,13 @@ class InverseKinematicsRequest(BaseModel):
     """
     InverseKinematicsRequest
     """ # noqa: E501
-    robot_setup: RobotSetup = Field(description="The data to assemble the robot setup can be retrieved from [getPlanningParameters](getPlanningParameters) endpoint.")
-    tcp_poses: List[Pose] = Field(description="List of TCP poses for which the inverse solutions are computed. ")
-    static_colliders: Optional[Dict[str, Collider]] = Field(default=None, description="A collection of identifiable colliders.")
-    collision_motion_group: Optional[CollisionMotionGroup] = Field(default=None, description="Collision motion group. ")
-    __properties: ClassVar[List[str]] = ["robot_setup", "tcp_poses", "static_colliders", "collision_motion_group"]
+    motion_group_model: StrictStr = Field(description="String identifiying the model of a motion group.") 
+    tcp_poses: List[Pose] = Field(description="List of TCP poses for which the inverse solutions are computed. ") 
+    tcp_offset: Optional[Pose] = None 
+    mounting: Optional[Pose] = Field(default=None, description="Offset from the world frame to the motion group base.") 
+    joint_position_limits: Optional[List[LimitRange]] = Field(default=None, description="Joint position limits in [rad], indexed starting from base. ") 
+    collision_setups: Optional[Dict[str, CollisionSetup]] = Field(default=None, description="Collision layers to be respected by the motion planner when planning for a single motion group. Each setup represents one layer, e.g., the safety zones and shapes or a fine grained tool and workpiece model. Layers are checked individually along the trajectory and independently of other layers.  To respect the safety zones of the controller and check for collision: 1. Fetch the safety zones, link and tool shapes from the controller. 2. Add the fetched zones, links and tools to a layer. 3. Create other layers from your own 3D data as needed. 4. Plan trajectory. 5. The response highlights the layer in which a collision was detected by key. ") 
+    __properties: ClassVar[List[str]] = ["motion_group_model", "tcp_poses", "tcp_offset", "mounting", "joint_position_limits", "collision_setups"]
 
     model_config = ConfigDict(
         populate_by_name=True,
@@ -79,9 +80,6 @@ class InverseKinematicsRequest(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of robot_setup
-        if self.robot_setup:
-            _dict['robot_setup'] = self.robot_setup.to_dict()
         # override the default output from pydantic by calling `to_dict()` of each item in tcp_poses (list)
         _items = []
         if self.tcp_poses:
@@ -92,16 +90,30 @@ class InverseKinematicsRequest(BaseModel):
                     _items.append(_item.to_dict())
                 # <<< End modification
             _dict['tcp_poses'] = _items
-        # override the default output from pydantic by calling `to_dict()` of each value in static_colliders (dict)
-        _field_dict = {}
-        if self.static_colliders:
-            for _key in self.static_colliders:
-                if self.static_colliders[_key]:
-                    _field_dict[_key] = self.static_colliders[_key].to_dict()
-            _dict['static_colliders'] = _field_dict
-        # override the default output from pydantic by calling `to_dict()` of collision_motion_group
-        if self.collision_motion_group:
-            _dict['collision_motion_group'] = self.collision_motion_group.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of tcp_offset
+        if self.tcp_offset:
+            _dict['tcp_offset'] = self.tcp_offset.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of mounting
+        if self.mounting:
+            _dict['mounting'] = self.mounting.to_dict()
+        # 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
+        # override the default output from pydantic by calling `to_dict()` of each value in collision_setups (dict)
+        # >>> Modified from openapi template
+        if self.collision_setups:
+            _field_dict = {}
+            for _key, _value in self.collision_setups.items():
+                if self.collision_setups[_key]:
+                    _field_dict[_key] = _value.to_dict()
+            _dict['collision_setups'] = _field_dict
         return _dict
 
     @classmethod
@@ -114,7 +126,7 @@ class InverseKinematicsRequest(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "robot_setup": RobotSetup.from_dict(obj["robot_setup"]) if obj.get("robot_setup") is not None else None,
+            "motion_group_model": obj.get("motion_group_model"),
             "tcp_poses": [
                 # >>> 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
@@ -122,13 +134,21 @@ class InverseKinematicsRequest(BaseModel):
                 # <<< End modification
                 for _item in obj["tcp_poses"]
             ] if obj.get("tcp_poses") is not None else None,
-            "static_colliders": dict(
-                (_k, Collider.from_dict(_v))
-                for _k, _v in obj["static_colliders"].items()
+            "tcp_offset": Pose.from_dict(obj["tcp_offset"]) if obj.get("tcp_offset") is not None else None,
+            "mounting": Pose.from_dict(obj["mounting"]) if obj.get("mounting") is not None else None,
+            "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
+                LimitRange.from_dict(_item) if hasattr(LimitRange, 'from_dict') else _item
+                # <<< End modification
+                for _item in obj["joint_position_limits"]
+            ] if obj.get("joint_position_limits") is not None else None,
+            "collision_setups": dict(
+                (_k, CollisionSetup.from_dict(_v))
+                for _k, _v in obj["collision_setups"].items()
             )
-            if obj.get("static_colliders") is not None
-            else None,
-            "collision_motion_group": CollisionMotionGroup.from_dict(obj["collision_motion_group"]) if obj.get("collision_motion_group") is not None else None
+            if obj.get("collision_setups") is not None
+            else None
         })
         return _obj
 

wandelbots_api_client/v2/models/inverse_kinematics_response.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.
@@ -26,7 +26,7 @@ class InverseKinematicsResponse(BaseModel):
     """
     InverseKinematicsResponse
     """ # noqa: E501
-    joints: List[List[List[Union[StrictFloat, StrictInt]]]]
+    joints: List[List[List[Union[StrictFloat, StrictInt]]]] 
     __properties: ClassVar[List[str]] = ["joints"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/inverse_kinematics_validation_error.py

@@ -0,0 +1,120 @@
+# 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 pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, StrictStr
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.inverse_kinematics_validation_error_all_of_data import InverseKinematicsValidationErrorAllOfData
+from wandelbots_api_client.v2.models.validation_error_loc_inner import ValidationErrorLocInner
+from typing import Optional, Set
+from typing_extensions import Self
+
+class InverseKinematicsValidationError(BaseModel):
+    """
+    InverseKinematicsValidationError
+    """ # noqa: E501
+    loc: List[ValidationErrorLocInner] 
+    msg: StrictStr 
+    type: StrictStr 
+    input: Dict[str, Any] 
+    data: Optional[InverseKinematicsValidationErrorAllOfData] = None 
+    __properties: ClassVar[List[str]] = ["loc", "msg", "type", "input", "data"]
+
+    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 InverseKinematicsValidationError 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 loc (list)
+        _items = []
+        if self.loc:
+            for _item in self.loc:
+                # >>> 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['loc'] = _items
+        # override the default output from pydantic by calling `to_dict()` of data
+        if self.data:
+            _dict['data'] = self.data.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of InverseKinematicsValidationError from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({
+            "loc": [
+                # >>> 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
+                ValidationErrorLocInner.from_dict(_item) if hasattr(ValidationErrorLocInner, 'from_dict') else _item
+                # <<< End modification
+                for _item in obj["loc"]
+            ] if obj.get("loc") is not None else None,
+            "msg": obj.get("msg"),
+            "type": obj.get("type"),
+            "input": obj.get("input"),
+            "data": InverseKinematicsValidationErrorAllOfData.from_dict(obj["data"]) if obj.get("data") is not None else None
+        })
+        return _obj
+
+

wandelbots_api_client/v2/models/inverse_kinematics_validation_error_all_of_data.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.error_invalid_joint_count import ErrorInvalidJointCount
+from wandelbots_api_client.v2.models.error_joint_limit_exceeded import ErrorJointLimitExceeded
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+INVERSEKINEMATICSVALIDATIONERRORALLOFDATA_ONE_OF_SCHEMAS = ["ErrorInvalidJointCount", "ErrorJointLimitExceeded"]
+
+class InverseKinematicsValidationErrorAllOfData(BaseModel):
+    """
+    Optional data further specifying the validation error. 
+    """
+    # data type: ErrorInvalidJointCount
+    oneof_schema_1_validator: Optional[ErrorInvalidJointCount] = None
+    # data type: ErrorJointLimitExceeded
+    oneof_schema_2_validator: Optional[ErrorJointLimitExceeded] = None
+    actual_instance: Optional[Union[ErrorInvalidJointCount, ErrorJointLimitExceeded]] = None
+    one_of_schemas: Set[str] = { "ErrorInvalidJointCount", "ErrorJointLimitExceeded" }
+
+    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 = InverseKinematicsValidationErrorAllOfData.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: ErrorInvalidJointCount
+        if not isinstance(v, ErrorInvalidJointCount):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `ErrorInvalidJointCount`")
+        else:
+            match += 1
+        # validate data type: ErrorJointLimitExceeded
+        if not isinstance(v, ErrorJointLimitExceeded):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `ErrorJointLimitExceeded`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError("Multiple matches found when setting `actual_instance` in InverseKinematicsValidationErrorAllOfData with oneOf schemas: ErrorInvalidJointCount, ErrorJointLimitExceeded. Details: " + ", ".join(error_messages))
+        elif match == 0:
+            # no match
+            raise ValueError("No match found when setting `actual_instance` in InverseKinematicsValidationErrorAllOfData with oneOf schemas: ErrorInvalidJointCount, ErrorJointLimitExceeded. 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("error_feedback_name")
+        if not _data_type:
+            raise ValueError("Failed to lookup data type from the field `error_feedback_name` in the input.")
+
+        # check if data type is `ErrorInvalidJointCount`
+        if _data_type == "ErrorInvalidJointCount":
+            instance.actual_instance = ErrorInvalidJointCount.from_json(json_str)
+            return instance
+
+        # check if data type is `ErrorJointLimitExceeded`
+        if _data_type == "ErrorJointLimitExceeded":
+            instance.actual_instance = ErrorJointLimitExceeded.from_json(json_str)
+            return instance
+
+        # deserialize data into ErrorInvalidJointCount
+        try:
+            instance.actual_instance = ErrorInvalidJointCount.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into ErrorJointLimitExceeded
+        try:
+            instance.actual_instance = ErrorJointLimitExceeded.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 InverseKinematicsValidationErrorAllOfData with oneOf schemas: ErrorInvalidJointCount, ErrorJointLimitExceeded. Details: " + ", ".join(error_messages))
+        elif match == 0:
+            # no match
+            raise ValueError("No match found when deserializing the JSON string into InverseKinematicsValidationErrorAllOfData with oneOf schemas: ErrorInvalidJointCount, ErrorJointLimitExceeded. 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], ErrorInvalidJointCount, ErrorJointLimitExceeded]]:
+        """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())
+
+