wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/v2/models/orientation_type.py

@@ -0,0 +1,58 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import json
+from enum import Enum
+from typing_extensions import Self
+
+
+class OrientationType(str, Enum):
+    """
+    The type of rotation description that is used to specify the orientation.  **Rotation Vector notation**  * The rotation is represented using an axis-angle representation: > axis = Vector[0:2] > angle = |axis| in [rad] > axis.normalized * angle  **Quaternion notation**  * The rotation is represented using a unit quaternion: [x, y, z, w]. * The vector part [x, y, z] is the imaginary part of the quaternion, and the scalar part [w] is the real part.  **Euler notation**  * *extrinsic* fixed external reference system * *intrinsic* reference system fixed to rotation body > angles = Vector[0:2] in [rad]. * ZYX, ZXZ,...   - mapping of the given angles values to the (either intrinsic     or extrinsic) axes in the stated order.  > Example ZYX: Z = Vector[0], Y = Vector[1], X = Vector[2].
+    """
+
+    """
+    allowed enum values
+    """
+    ROTATION_VECTOR = "ROTATION_VECTOR"
+    QUATERNION = "QUATERNION"
+    EULER_ANGLES_INTRINSIC_ZXZ = "EULER_ANGLES_INTRINSIC_ZXZ"
+    EULER_ANGLES_INTRINSIC_XYX = "EULER_ANGLES_INTRINSIC_XYX"
+    EULER_ANGLES_INTRINSIC_YZY = "EULER_ANGLES_INTRINSIC_YZY"
+    EULER_ANGLES_INTRINSIC_ZYZ = "EULER_ANGLES_INTRINSIC_ZYZ"
+    EULER_ANGLES_INTRINSIC_XZX = "EULER_ANGLES_INTRINSIC_XZX"
+    EULER_ANGLES_INTRINSIC_YXY = "EULER_ANGLES_INTRINSIC_YXY"
+    EULER_ANGLES_INTRINSIC_XYZ = "EULER_ANGLES_INTRINSIC_XYZ"
+    EULER_ANGLES_INTRINSIC_YZX = "EULER_ANGLES_INTRINSIC_YZX"
+    EULER_ANGLES_INTRINSIC_ZXY = "EULER_ANGLES_INTRINSIC_ZXY"
+    EULER_ANGLES_INTRINSIC_XZY = "EULER_ANGLES_INTRINSIC_XZY"
+    EULER_ANGLES_INTRINSIC_ZYX = "EULER_ANGLES_INTRINSIC_ZYX"
+    EULER_ANGLES_INTRINSIC_YXZ = "EULER_ANGLES_INTRINSIC_YXZ"
+    EULER_ANGLES_EXTRINSIC_ZXZ = "EULER_ANGLES_EXTRINSIC_ZXZ"
+    EULER_ANGLES_EXTRINSIC_XYX = "EULER_ANGLES_EXTRINSIC_XYX"
+    EULER_ANGLES_EXTRINSIC_YZY = "EULER_ANGLES_EXTRINSIC_YZY"
+    EULER_ANGLES_EXTRINSIC_ZYZ = "EULER_ANGLES_EXTRINSIC_ZYZ"
+    EULER_ANGLES_EXTRINSIC_XZX = "EULER_ANGLES_EXTRINSIC_XZX"
+    EULER_ANGLES_EXTRINSIC_YXY = "EULER_ANGLES_EXTRINSIC_YXY"
+    EULER_ANGLES_EXTRINSIC_ZYX = "EULER_ANGLES_EXTRINSIC_ZYX"
+    EULER_ANGLES_EXTRINSIC_XZY = "EULER_ANGLES_EXTRINSIC_XZY"
+    EULER_ANGLES_EXTRINSIC_YXZ = "EULER_ANGLES_EXTRINSIC_YXZ"
+    EULER_ANGLES_EXTRINSIC_YZX = "EULER_ANGLES_EXTRINSIC_YZX"
+    EULER_ANGLES_EXTRINSIC_XYZ = "EULER_ANGLES_EXTRINSIC_XYZ"
+    EULER_ANGLES_EXTRINSIC_ZXY = "EULER_ANGLES_EXTRINSIC_ZXY"
+
+    @classmethod
+    def from_json(cls, json_str: str) -> Self:
+        """Create an instance of OrientationType from a JSON string"""
+        return cls(json.loads(json_str))

wandelbots_api_client/v2/models/path_cartesian_ptp.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: 2.3.0
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.pose import Pose
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PathCartesianPTP(BaseModel):
+    """
+    A cartesian point-to-point is representing a joint point-to-point motion from start point to the indicated target pose. The target pose is a joint point-to-point given in cartesian space. The target joint configuration will be calculated to be in the same kinematic configuration as the start point is. If that is not possible, planning will fail.
+    """  # noqa: E501
+
+    target_pose: Pose
+    path_definition_name: StrictStr
+    __properties: ClassVar[List[str]] = ["target_pose", "path_definition_name"]
+
+    @field_validator("path_definition_name")
+    def path_definition_name_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["PathCartesianPTP"]):
+            raise ValueError("must be one of enum values ('PathCartesianPTP')")
+        return value
+
+    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 PathCartesianPTP 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 target_pose
+        if self.target_pose:
+            _dict["target_pose"] = self.target_pose.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PathCartesianPTP from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "target_pose": Pose.from_dict(obj["target_pose"]) if obj.get("target_pose") is not None else None,
+                "path_definition_name": obj.get("path_definition_name"),
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/path_circle.py

@@ -0,0 +1,105 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.pose import Pose
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PathCircle(BaseModel):
+    """
+    A circular constructs a circle in translative space from 1) the start position which is provided via position, and 2) the indicated target position. The orientation is calculated via a [bezier spline](https://en.wikipedia.org/wiki/B%C3%A9zier_curve) from start orientation to the indicated target orientation. The via point defines the control point for the bezier spline. Therefore, the control point will not be hit directly.
+    """  # noqa: E501
+
+    via_pose: Pose
+    target_pose: Pose
+    path_definition_name: StrictStr
+    __properties: ClassVar[List[str]] = ["via_pose", "target_pose", "path_definition_name"]
+
+    @field_validator("path_definition_name")
+    def path_definition_name_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["PathCircle"]):
+            raise ValueError("must be one of enum values ('PathCircle')")
+        return value
+
+    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 PathCircle 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 via_pose
+        if self.via_pose:
+            _dict["via_pose"] = self.via_pose.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of target_pose
+        if self.target_pose:
+            _dict["target_pose"] = self.target_pose.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PathCircle from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "via_pose": Pose.from_dict(obj["via_pose"]) if obj.get("via_pose") is not None else None,
+                "target_pose": Pose.from_dict(obj["target_pose"]) if obj.get("target_pose") is not None else None,
+                "path_definition_name": obj.get("path_definition_name"),
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/path_cubic_spline.py

@@ -0,0 +1,106 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.cubic_spline_parameter import CubicSplineParameter
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PathCubicSpline(BaseModel):
+    """
+    A [cubic spline](https://de.wikipedia.org/wiki/Spline-Interpolation) represents a cartesian cubic spline in translative and orientational space from start point to indicated target pose via control points.
+    """  # noqa: E501
+
+    parameters: List[CubicSplineParameter]
+    path_definition_name: StrictStr
+    __properties: ClassVar[List[str]] = ["parameters", "path_definition_name"]
+
+    @field_validator("path_definition_name")
+    def path_definition_name_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["PathCubicSpline"]):
+            raise ValueError("must be one of enum values ('PathCubicSpline')")
+        return value
+
+    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 PathCubicSpline 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 parameters (list)
+        _items = []
+        if self.parameters:
+            for _item_parameters in self.parameters:
+                if _item_parameters:
+                    _items.append(_item_parameters.to_dict())
+            _dict["parameters"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PathCubicSpline from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "parameters": [CubicSplineParameter.from_dict(_item) for _item in obj["parameters"]]
+                if obj.get("parameters") is not None
+                else None,
+                "path_definition_name": obj.get("path_definition_name"),
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/path_direction_constrained_cartesian_ptp.py

@@ -0,0 +1,106 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.constrained_pose import ConstrainedPose
+from wandelbots_api_client.v2.models.direction_constraint import DirectionConstraint
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PathDirectionConstrainedCartesianPTP(BaseModel):
+    """
+    A direction-constrained cartesian point-to-point motion is a joint point-to-point motion to a target pose in cartesian space while satisfying a direction constraint. The direction constraint is defined by a vector in the world frame and a vector in the TCP frame. The constraint is satisfied when the vectors are aligned with each other. The vectors must be normalized.  > **NOTE** > > This motion type is experimental and its behavior may change in future releases.
+    """  # noqa: E501
+
+    target_pose: ConstrainedPose
+    constraint: DirectionConstraint
+    path_definition_name: StrictStr
+    __properties: ClassVar[List[str]] = ["target_pose", "constraint", "path_definition_name"]
+
+    @field_validator("path_definition_name")
+    def path_definition_name_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["DirectionConstrainedCartesianPTP"]):
+            raise ValueError("must be one of enum values ('DirectionConstrainedCartesianPTP')")
+        return value
+
+    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 PathDirectionConstrainedCartesianPTP 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 target_pose
+        if self.target_pose:
+            _dict["target_pose"] = self.target_pose.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of constraint
+        if self.constraint:
+            _dict["constraint"] = self.constraint.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PathDirectionConstrainedCartesianPTP from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "target_pose": ConstrainedPose.from_dict(obj["target_pose"]) if obj.get("target_pose") is not None else None,
+                "constraint": DirectionConstraint.from_dict(obj["constraint"]) if obj.get("constraint") is not None else None,
+                "path_definition_name": obj.get("path_definition_name"),
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/path_direction_constrained_joint_ptp.py

@@ -0,0 +1,102 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, StrictFloat, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Union
+from wandelbots_api_client.v2.models.direction_constraint import DirectionConstraint
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PathDirectionConstrainedJointPTP(BaseModel):
+    """
+    A direction-constrained joint point-to-point motion is a direct motion in joint space while satisfying a direction constraint. The direction constraint is defined by a vector in the world frame and a vector in the TCP frame. The constraint is satisfied when the vectors are aligned with each other. The vectors must be normalized.  > **NOTE** > > This motion type is experimental and its behavior may change in future releases.
+    """  # noqa: E501
+
+    target_joint_position: List[Union[StrictFloat, StrictInt]]
+    constraint: DirectionConstraint
+    path_definition_name: StrictStr
+    __properties: ClassVar[List[str]] = ["target_joint_position", "constraint", "path_definition_name"]
+
+    @field_validator("path_definition_name")
+    def path_definition_name_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["DirectionConstrainedJointPTP"]):
+            raise ValueError("must be one of enum values ('DirectionConstrainedJointPTP')")
+        return value
+
+    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 PathDirectionConstrainedJointPTP 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 constraint
+        if self.constraint:
+            _dict["constraint"] = self.constraint.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PathDirectionConstrainedJointPTP from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "target_joint_position": obj.get("target_joint_position"),
+                "constraint": DirectionConstraint.from_dict(obj["constraint"]) if obj.get("constraint") is not None else None,
+                "path_definition_name": obj.get("path_definition_name"),
+            }
+        )
+        return _obj

wandelbots_api_client/v2/models/path_joint_ptp.py

@@ -0,0 +1,93 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.3.0
+Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+Do not edit the class manually.
+"""  # noqa: E501
+
+from __future__ import annotations
+import pprint
+import re  # noqa: F401
+import json
+
+from pydantic import BaseModel, ConfigDict, StrictFloat, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Union
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PathJointPTP(BaseModel):
+    """
+    A joint point-to-point represents a line in joint space. All joints will be moved synchronously.
+    """  # noqa: E501
+
+    target_joint_position: List[Union[StrictFloat, StrictInt]]
+    path_definition_name: StrictStr
+    __properties: ClassVar[List[str]] = ["target_joint_position", "path_definition_name"]
+
+    @field_validator("path_definition_name")
+    def path_definition_name_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(["PathJointPTP"]):
+            raise ValueError("must be one of enum values ('PathJointPTP')")
+        return value
+
+    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 PathJointPTP 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 PathJointPTP from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {"target_joint_position": obj.get("target_joint_position"), "path_definition_name": obj.get("path_definition_name")}
+        )
+        return _obj