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

wandelbots_api_client/v2/models/joint_limits.py

@@ -0,0 +1,101 @@
+# 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, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Optional, Union
+from wandelbots_api_client.v2.models.limit_range import LimitRange
+from typing import Optional, Set
+from typing_extensions import Self
+
+class JointLimits(BaseModel):
+    """
+    JointLimits
+    """ # noqa: E501
+    position: Optional[LimitRange] = None 
+    velocity: Optional[Union[StrictFloat, StrictInt]] = None 
+    acceleration: Optional[Union[StrictFloat, StrictInt]] = None 
+    torque: Optional[Union[StrictFloat, StrictInt]] = None 
+    __properties: ClassVar[List[str]] = ["position", "velocity", "acceleration", "torque"]
+
+    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 JointLimits 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 position
+        if self.position:
+            _dict['position'] = self.position.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of JointLimits from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({
+            "position": LimitRange.from_dict(obj["position"]) if obj.get("position") is not None else None,
+            "velocity": obj.get("velocity"),
+            "acceleration": obj.get("acceleration"),
+            "torque": obj.get("torque")
+        })
+        return _obj
+
+

wandelbots_api_client/v2/models/joint_trajectory.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.
@@ -19,7 +19,6 @@ import json
 
 from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt
 from typing import Any, ClassVar, Dict, List, Union
-from wandelbots_api_client.v2.models.joints import Joints
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -27,9 +26,9 @@ class JointTrajectory(BaseModel):
     """
     JointTrajectory
     """ # noqa: E501
-    joint_positions: List[Joints] = Field(description="List of joint positions [rad] for each sample. The number of samples must match the number of timestamps provided in the times field. ")
-    times: List[Union[StrictFloat, StrictInt]] = Field(description="Timestamp for each sample [s].")
-    locations: List[Union[StrictFloat, StrictInt]] = Field(description="Location for each sample, scalar value defining a position along a path. Typical range: 0 to `n`, `n` denoting the number of motion commands. Each integer value of the location corresponds to a specific motion command. If provided, the number of samples must match the number of timestamps provided in the times field. ")
+    joint_positions: List[List[Union[StrictFloat, StrictInt]]] = Field(description="List of joint positions [rad] for each sample. The number of samples must match the number of timestamps provided in the times field. ") 
+    times: List[Union[StrictFloat, StrictInt]] = Field(description="Timestamp for each sample [s].") 
+    locations: List[Union[StrictFloat, StrictInt]] 
     __properties: ClassVar[List[str]] = ["joint_positions", "times", "locations"]
 
     model_config = ConfigDict(
@@ -75,16 +74,6 @@ class JointTrajectory(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of each item in joint_positions (list)
-        _items = []
-        if self.joint_positions:
-            for _item in self.joint_positions:
-                # >>> 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_positions'] = _items
         return _dict
 
     @classmethod
@@ -97,13 +86,7 @@ class JointTrajectory(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "joint_positions": [
-                # >>> 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
-                Joints.from_dict(_item) if hasattr(Joints, 'from_dict') else _item
-                # <<< End modification
-                for _item in obj["joint_positions"]
-            ] if obj.get("joint_positions") is not None else None,
+            "joint_positions": obj.get("joint_positions"),
             "times": obj.get("times"),
             "locations": obj.get("locations")
         })

wandelbots_api_client/v2/models/joint_velocity_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.
@@ -17,9 +17,8 @@ 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 wandelbots_api_client.v2.models.joints import Joints
+from pydantic import BaseModel, ConfigDict, Field, StrictFloat, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Union
 from typing import Optional, Set
 from typing_extensions import Self
 
@@ -27,16 +26,13 @@ class JointVelocityRequest(BaseModel):
     """
     Sets target joint velocities for jogging a motion group.
     """ # noqa: E501
-    message_type: Optional[StrictStr] = Field(default=None, description="Type specifier for server, set automatically.")
-    velocity: Joints = Field(description="in [rad/s]")
+    message_type: str = "JointVelocityRequest"
+    velocity: List[Union[StrictFloat, StrictInt]] = Field(description="This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.  Float precision is the default. ") 
     __properties: ClassVar[List[str]] = ["message_type", "velocity"]
 
     @field_validator('message_type')
     def message_type_validate_enum(cls, value):
         """Validates the enum"""
-        if value is None:
-            return value
-
         if value not in set(['JointVelocityRequest']):
             raise ValueError("must be one of enum values ('JointVelocityRequest')")
         return value
@@ -84,9 +80,6 @@ class JointVelocityRequest(BaseModel):
             exclude=excluded_fields,
             exclude_none=True,
         )
-        # override the default output from pydantic by calling `to_dict()` of velocity
-        if self.velocity:
-            _dict['velocity'] = self.velocity.to_dict()
         return _dict
 
     @classmethod
@@ -100,7 +93,7 @@ class JointVelocityRequest(BaseModel):
 
         _obj = cls.model_validate({
             "message_type": obj.get("message_type"),
-            "velocity": Joints.from_dict(obj["velocity"]) if obj.get("velocity") is not None else None
+            "velocity": obj.get("velocity")
         })
         return _obj
 

wandelbots_api_client/v2/models/joint_velocity_response.py

@@ -0,0 +1,100 @@
+# 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, Field, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Optional
+from typing import Optional, Set
+from typing_extensions import Self
+
+class JointVelocityResponse(BaseModel):
+    """
+    Acknowledgment to a JointVelocityRequest. 
+    """ # noqa: E501
+    message: Optional[StrictStr] = Field(default=None, description="Error message in case of invalid JointVelocityRequest.") 
+    kind: str = "JOINT_VELOCITY_RECEIVED"
+    __properties: ClassVar[List[str]] = ["message", "kind"]
+
+    @field_validator('kind')
+    def kind_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(['JOINT_VELOCITY_RECEIVED']):
+            raise ValueError("must be one of enum values ('JOINT_VELOCITY_RECEIVED')")
+        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 JointVelocityResponse 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 JointVelocityResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({
+            "message": obj.get("message"),
+            "kind": obj.get("kind")
+        })
+        return _obj
+
+

wandelbots_api_client/v2/models/kuka_controller.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.
@@ -17,7 +17,7 @@ import pprint
 import re  # noqa: F401
 import json
 
-from pydantic import BaseModel, ConfigDict, StrictInt, StrictStr, field_validator
+from pydantic import BaseModel, ConfigDict, Field, StrictBool, StrictInt, StrictStr, field_validator
 from typing import Any, ClassVar, Dict, List, Optional
 from wandelbots_api_client.v2.models.kuka_controller_rsi_server import KukaControllerRsiServer
 from typing import Optional, Set
@@ -27,18 +27,16 @@ class KukaController(BaseModel):
     """
     The configuration of a physical KUKA robot controller has to contain an IP address. Additionally an RSI server configuration has to be specified in order to control the robot. Deploying the server is a functionality of this API. 
     """ # noqa: E501
-    kind: Optional[StrictStr] = 'KukaController'
-    controller_ip: StrictStr
-    controller_port: StrictInt
-    rsi_server: KukaControllerRsiServer
-    __properties: ClassVar[List[str]] = ["kind", "controller_ip", "controller_port", "rsi_server"]
+    kind: str = "KukaController"
+    controller_ip: StrictStr 
+    controller_port: StrictInt 
+    rsi_server: KukaControllerRsiServer 
+    slow_cycle_rate: Optional[StrictBool] = Field(default=False, description="If true, uses slower cycle time of 12ms instead of 4ms. ") 
+    __properties: ClassVar[List[str]] = ["kind", "controller_ip", "controller_port", "rsi_server", "slow_cycle_rate"]
 
     @field_validator('kind')
     def kind_validate_enum(cls, value):
         """Validates the enum"""
-        if value is None:
-            return value
-
         if value not in set(['KukaController']):
             raise ValueError("must be one of enum values ('KukaController')")
         return value
@@ -101,10 +99,11 @@ class KukaController(BaseModel):
             return cls.model_validate(obj)
 
         _obj = cls.model_validate({
-            "kind": obj.get("kind") if obj.get("kind") is not None else 'KukaController',
+            "kind": obj.get("kind"),
             "controller_ip": obj.get("controller_ip"),
             "controller_port": obj.get("controller_port") if obj.get("controller_port") is not None else 54600,
-            "rsi_server": KukaControllerRsiServer.from_dict(obj["rsi_server"]) if obj.get("rsi_server") is not None else None
+            "rsi_server": KukaControllerRsiServer.from_dict(obj["rsi_server"]) if obj.get("rsi_server") is not None else None,
+            "slow_cycle_rate": obj.get("slow_cycle_rate") if obj.get("slow_cycle_rate") is not None else False
         })
         return _obj
 

wandelbots_api_client/v2/models/kuka_controller_rsi_server.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.
@@ -26,8 +26,8 @@ class KukaControllerRsiServer(BaseModel):
     """
     The RSI server runs inside of the cell.
     """ # noqa: E501
-    ip: StrictStr
-    port: StrictInt
+    ip: StrictStr 
+    port: StrictInt 
     __properties: ClassVar[List[str]] = ["ip", "port"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/license.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.
@@ -28,16 +28,16 @@ class License(BaseModel):
     """
     License
     """ # noqa: E501
-    product_name: StrictStr = Field(description="Name of the licensed product.")
-    owner_email: StrictStr = Field(description="Mail address of the license owner.")
-    license_key: StrictStr = Field(description="Identification key of the license.")
-    license_expiry_date: Optional[date] = Field(default=None, description="Expiration date of the license.")
-    grace_period_expiry_date: datetime = Field(description="End date of grace period, given if instance is not connected to internet.")
-    consumed_activations: StrictInt = Field(description="Amount of times the license was activated.")
-    allowed_activations: StrictInt = Field(description="Amount of times the license can be activated.")
-    feature_limitations: Optional[Dict[str, StrictInt]] = Field(default=None, description="Feature limitations of the license.")
-    feature_flags: Optional[List[StrictStr]] = Field(default=None, description="Features enabled by a license.")
-    status: LicenseStatus
+    product_name: StrictStr = Field(description="Name of the licensed product.") 
+    owner_email: StrictStr = Field(description="Mail address of the license owner.") 
+    license_key: StrictStr = Field(description="Identification key of the license.") 
+    license_expiry_date: Optional[date] = Field(default=None, description="Expiration date of the license.") 
+    grace_period_expiry_date: datetime = Field(description="End date of grace period, given if instance is not connected to internet.") 
+    consumed_activations: StrictInt = Field(description="Amount of times the license was activated.") 
+    allowed_activations: StrictInt = Field(description="Amount of times the license can be activated.") 
+    feature_limitations: Optional[Dict[str, StrictInt]] = Field(default=None, description="Feature limitations of the license.") 
+    feature_flags: Optional[List[StrictStr]] = Field(default=None, description="Features enabled by a license.") 
+    status: LicenseStatus 
     __properties: ClassVar[List[str]] = ["product_name", "owner_email", "license_key", "license_expiry_date", "grace_period_expiry_date", "consumed_activations", "allowed_activations", "feature_limitations", "feature_flags", "status"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/license_status.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.
@@ -27,8 +27,8 @@ class LicenseStatus(BaseModel):
     """
     Status of the license.
     """ # noqa: E501
-    status: LicenseStatusEnum
-    message: StrictStr
+    status: LicenseStatusEnum 
+    message: StrictStr 
     __properties: ClassVar[List[str]] = ["status", "message"]
 
     model_config = ConfigDict(

wandelbots_api_client/v2/models/license_status_enum.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.

wandelbots_api_client/v2/models/{planning_limits_limit_range.py → limit_range.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.
@@ -18,16 +18,16 @@ import re  # noqa: F401
 import json
 
 from pydantic import BaseModel, ConfigDict, StrictFloat, StrictInt
-from typing import Any, ClassVar, Dict, List, Union
+from typing import Any, ClassVar, Dict, List, Optional, Union
 from typing import Optional, Set
 from typing_extensions import Self
 
-class PlanningLimitsLimitRange(BaseModel):
+class LimitRange(BaseModel):
     """
     The upper_limit must be greater then the lower_limit.
     """ # noqa: E501
-    lower_limit: Union[StrictFloat, StrictInt]
-    upper_limit: Union[StrictFloat, StrictInt]
+    lower_limit: Optional[Union[StrictFloat, StrictInt]] = None 
+    upper_limit: Optional[Union[StrictFloat, StrictInt]] = None 
     __properties: ClassVar[List[str]] = ["lower_limit", "upper_limit"]
 
     model_config = ConfigDict(
@@ -52,7 +52,7 @@ class PlanningLimitsLimitRange(BaseModel):
 
     @classmethod
     def from_json(cls, json_str: str) -> Optional[Self]:
-        """Create an instance of PlanningLimitsLimitRange from a JSON string"""
+        """Create an instance of LimitRange from a JSON string"""
         return cls.from_dict(json.loads(json_str))
 
     def to_dict(self) -> Dict[str, Any]:
@@ -77,7 +77,7 @@ class PlanningLimitsLimitRange(BaseModel):
 
     @classmethod
     def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
-        """Create an instance of PlanningLimitsLimitRange from a dict"""
+        """Create an instance of LimitRange from a dict"""
         if obj is None:
             return None
 

wandelbots_api_client/v2/models/limit_set.py

@@ -0,0 +1,129 @@
+# 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
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.v2.models.cartesian_limits import CartesianLimits
+from wandelbots_api_client.v2.models.joint_limits import JointLimits
+from typing import Optional, Set
+from typing_extensions import Self
+
+class LimitSet(BaseModel):
+    """
+    LimitSet
+    """ # noqa: E501
+    joints: Optional[List[JointLimits]] = None 
+    tcp: Optional[CartesianLimits] = None 
+    elbow: Optional[CartesianLimits] = None 
+    flange: Optional[CartesianLimits] = None 
+    coupled_shoulder_elbow_joint: Optional[JointLimits] = None 
+    __properties: ClassVar[List[str]] = ["joints", "tcp", "elbow", "flange", "coupled_shoulder_elbow_joint"]
+
+    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 LimitSet 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 joints (list)
+        _items = []
+        if self.joints:
+            for _item in self.joints:
+                # >>> 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['joints'] = _items
+        # override the default output from pydantic by calling `to_dict()` of tcp
+        if self.tcp:
+            _dict['tcp'] = self.tcp.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of elbow
+        if self.elbow:
+            _dict['elbow'] = self.elbow.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of flange
+        if self.flange:
+            _dict['flange'] = self.flange.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of coupled_shoulder_elbow_joint
+        if self.coupled_shoulder_elbow_joint:
+            _dict['coupled_shoulder_elbow_joint'] = self.coupled_shoulder_elbow_joint.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of LimitSet from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate({
+            "joints": [
+                # >>> 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
+                JointLimits.from_dict(_item) if hasattr(JointLimits, 'from_dict') else _item
+                # <<< End modification
+                for _item in obj["joints"]
+            ] if obj.get("joints") is not None else None,
+            "tcp": CartesianLimits.from_dict(obj["tcp"]) if obj.get("tcp") is not None else None,
+            "elbow": CartesianLimits.from_dict(obj["elbow"]) if obj.get("elbow") is not None else None,
+            "flange": CartesianLimits.from_dict(obj["flange"]) if obj.get("flange") is not None else None,
+            "coupled_shoulder_elbow_joint": JointLimits.from_dict(obj["coupled_shoulder_elbow_joint"]) if obj.get("coupled_shoulder_elbow_joint") is not None else None
+        })
+        return _obj
+
+