wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/v2/models/plan_trajectory_failed_response_error_feedback.py

@@ -0,0 +1,505 @@
+# 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
+import pprint
+from pydantic import BaseModel, ConfigDict, Field, StrictStr, ValidationError, field_validator
+from typing import Any, List, Optional
+from wandelbots_api_client.v2.models.feedback_collision import FeedbackCollision
+from wandelbots_api_client.v2.models.feedback_commands_missing import FeedbackCommandsMissing
+from wandelbots_api_client.v2.models.feedback_cubic_spline_is_not_increasing import FeedbackCubicSplineIsNotIncreasing
+from wandelbots_api_client.v2.models.feedback_cubic_spline_not_at_start_pose import FeedbackCubicSplineNotAtStartPose
+from wandelbots_api_client.v2.models.feedback_direction_constraint_no_solution_exists import FeedbackDirectionConstraintNoSolutionExists
+from wandelbots_api_client.v2.models.feedback_direction_constraint_not_met import FeedbackDirectionConstraintNotMet
+from wandelbots_api_client.v2.models.feedback_direction_constraint_not_normalized import FeedbackDirectionConstraintNotNormalized
+from wandelbots_api_client.v2.models.feedback_invalid_dof import FeedbackInvalidDof
+from wandelbots_api_client.v2.models.feedback_invalid_nan_value import FeedbackInvalidNanValue
+from wandelbots_api_client.v2.models.feedback_invalid_sampling_time import FeedbackInvalidSamplingTime
+from wandelbots_api_client.v2.models.feedback_joint_limit_exceeded import FeedbackJointLimitExceeded
+from wandelbots_api_client.v2.models.feedback_no_solution_in_current_configuration import FeedbackNoSolutionInCurrentConfiguration
+from wandelbots_api_client.v2.models.feedback_out_of_workspace import FeedbackOutOfWorkspace
+from wandelbots_api_client.v2.models.feedback_singularity import FeedbackSingularity
+from wandelbots_api_client.v2.models.feedback_start_joints_missing import FeedbackStartJointsMissing
+from wandelbots_api_client.v2.models.feedback_torque_exceeded import FeedbackTorqueExceeded
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+PLANTRAJECTORYFAILEDRESPONSEERRORFEEDBACK_ONE_OF_SCHEMAS = [
+    "FeedbackCollision",
+    "FeedbackCommandsMissing",
+    "FeedbackCubicSplineIsNotIncreasing",
+    "FeedbackCubicSplineNotAtStartPose",
+    "FeedbackDirectionConstraintNoSolutionExists",
+    "FeedbackDirectionConstraintNotMet",
+    "FeedbackDirectionConstraintNotNormalized",
+    "FeedbackInvalidDof",
+    "FeedbackInvalidNanValue",
+    "FeedbackInvalidSamplingTime",
+    "FeedbackJointLimitExceeded",
+    "FeedbackNoSolutionInCurrentConfiguration",
+    "FeedbackOutOfWorkspace",
+    "FeedbackSingularity",
+    "FeedbackStartJointsMissing",
+    "FeedbackTorqueExceeded",
+]
+
+
+class PlanTrajectoryFailedResponseErrorFeedback(BaseModel):
+    """
+    PlanTrajectoryFailedResponseErrorFeedback
+    """
+
+    # data type: FeedbackDirectionConstraintNoSolutionExists
+    oneof_schema_1_validator: Optional[FeedbackDirectionConstraintNoSolutionExists] = None
+    # data type: FeedbackDirectionConstraintNotMet
+    oneof_schema_2_validator: Optional[FeedbackDirectionConstraintNotMet] = None
+    # data type: FeedbackDirectionConstraintNotNormalized
+    oneof_schema_3_validator: Optional[FeedbackDirectionConstraintNotNormalized] = None
+    # data type: FeedbackOutOfWorkspace
+    oneof_schema_4_validator: Optional[FeedbackOutOfWorkspace] = None
+    # data type: FeedbackNoSolutionInCurrentConfiguration
+    oneof_schema_5_validator: Optional[FeedbackNoSolutionInCurrentConfiguration] = None
+    # data type: FeedbackSingularity
+    oneof_schema_6_validator: Optional[FeedbackSingularity] = None
+    # data type: FeedbackJointLimitExceeded
+    oneof_schema_7_validator: Optional[FeedbackJointLimitExceeded] = None
+    # data type: FeedbackCollision
+    oneof_schema_8_validator: Optional[FeedbackCollision] = None
+    # data type: FeedbackInvalidNanValue
+    oneof_schema_9_validator: Optional[FeedbackInvalidNanValue] = None
+    # data type: FeedbackInvalidDof
+    oneof_schema_10_validator: Optional[FeedbackInvalidDof] = None
+    # data type: FeedbackTorqueExceeded
+    oneof_schema_11_validator: Optional[FeedbackTorqueExceeded] = None
+    # data type: FeedbackCommandsMissing
+    oneof_schema_12_validator: Optional[FeedbackCommandsMissing] = None
+    # data type: FeedbackStartJointsMissing
+    oneof_schema_13_validator: Optional[FeedbackStartJointsMissing] = None
+    # data type: FeedbackCubicSplineIsNotIncreasing
+    oneof_schema_14_validator: Optional[FeedbackCubicSplineIsNotIncreasing] = None
+    # data type: FeedbackCubicSplineNotAtStartPose
+    oneof_schema_15_validator: Optional[FeedbackCubicSplineNotAtStartPose] = None
+    # data type: FeedbackInvalidSamplingTime
+    oneof_schema_16_validator: Optional[FeedbackInvalidSamplingTime] = None
+    actual_instance: Optional[
+        Union[
+            FeedbackCollision,
+            FeedbackCommandsMissing,
+            FeedbackCubicSplineIsNotIncreasing,
+            FeedbackCubicSplineNotAtStartPose,
+            FeedbackDirectionConstraintNoSolutionExists,
+            FeedbackDirectionConstraintNotMet,
+            FeedbackDirectionConstraintNotNormalized,
+            FeedbackInvalidDof,
+            FeedbackInvalidNanValue,
+            FeedbackInvalidSamplingTime,
+            FeedbackJointLimitExceeded,
+            FeedbackNoSolutionInCurrentConfiguration,
+            FeedbackOutOfWorkspace,
+            FeedbackSingularity,
+            FeedbackStartJointsMissing,
+            FeedbackTorqueExceeded,
+        ]
+    ] = None
+    one_of_schemas: Set[str] = {
+        "FeedbackCollision",
+        "FeedbackCommandsMissing",
+        "FeedbackCubicSplineIsNotIncreasing",
+        "FeedbackCubicSplineNotAtStartPose",
+        "FeedbackDirectionConstraintNoSolutionExists",
+        "FeedbackDirectionConstraintNotMet",
+        "FeedbackDirectionConstraintNotNormalized",
+        "FeedbackInvalidDof",
+        "FeedbackInvalidNanValue",
+        "FeedbackInvalidSamplingTime",
+        "FeedbackJointLimitExceeded",
+        "FeedbackNoSolutionInCurrentConfiguration",
+        "FeedbackOutOfWorkspace",
+        "FeedbackSingularity",
+        "FeedbackStartJointsMissing",
+        "FeedbackTorqueExceeded",
+    }
+
+    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 = PlanTrajectoryFailedResponseErrorFeedback.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: FeedbackDirectionConstraintNoSolutionExists
+        if not isinstance(v, FeedbackDirectionConstraintNoSolutionExists):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackDirectionConstraintNoSolutionExists`")
+        else:
+            match += 1
+        # validate data type: FeedbackDirectionConstraintNotMet
+        if not isinstance(v, FeedbackDirectionConstraintNotMet):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackDirectionConstraintNotMet`")
+        else:
+            match += 1
+        # validate data type: FeedbackDirectionConstraintNotNormalized
+        if not isinstance(v, FeedbackDirectionConstraintNotNormalized):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackDirectionConstraintNotNormalized`")
+        else:
+            match += 1
+        # validate data type: FeedbackOutOfWorkspace
+        if not isinstance(v, FeedbackOutOfWorkspace):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackOutOfWorkspace`")
+        else:
+            match += 1
+        # validate data type: FeedbackNoSolutionInCurrentConfiguration
+        if not isinstance(v, FeedbackNoSolutionInCurrentConfiguration):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackNoSolutionInCurrentConfiguration`")
+        else:
+            match += 1
+        # validate data type: FeedbackSingularity
+        if not isinstance(v, FeedbackSingularity):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackSingularity`")
+        else:
+            match += 1
+        # validate data type: FeedbackJointLimitExceeded
+        if not isinstance(v, FeedbackJointLimitExceeded):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackJointLimitExceeded`")
+        else:
+            match += 1
+        # validate data type: FeedbackCollision
+        if not isinstance(v, FeedbackCollision):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackCollision`")
+        else:
+            match += 1
+        # validate data type: FeedbackInvalidNanValue
+        if not isinstance(v, FeedbackInvalidNanValue):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackInvalidNanValue`")
+        else:
+            match += 1
+        # validate data type: FeedbackInvalidDof
+        if not isinstance(v, FeedbackInvalidDof):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackInvalidDof`")
+        else:
+            match += 1
+        # validate data type: FeedbackTorqueExceeded
+        if not isinstance(v, FeedbackTorqueExceeded):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackTorqueExceeded`")
+        else:
+            match += 1
+        # validate data type: FeedbackCommandsMissing
+        if not isinstance(v, FeedbackCommandsMissing):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackCommandsMissing`")
+        else:
+            match += 1
+        # validate data type: FeedbackStartJointsMissing
+        if not isinstance(v, FeedbackStartJointsMissing):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackStartJointsMissing`")
+        else:
+            match += 1
+        # validate data type: FeedbackCubicSplineIsNotIncreasing
+        if not isinstance(v, FeedbackCubicSplineIsNotIncreasing):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackCubicSplineIsNotIncreasing`")
+        else:
+            match += 1
+        # validate data type: FeedbackCubicSplineNotAtStartPose
+        if not isinstance(v, FeedbackCubicSplineNotAtStartPose):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackCubicSplineNotAtStartPose`")
+        else:
+            match += 1
+        # validate data type: FeedbackInvalidSamplingTime
+        if not isinstance(v, FeedbackInvalidSamplingTime):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackInvalidSamplingTime`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackCommandsMissing, FeedbackCubicSplineIsNotIncreasing, FeedbackCubicSplineNotAtStartPose, FeedbackDirectionConstraintNoSolutionExists, FeedbackDirectionConstraintNotMet, FeedbackDirectionConstraintNotNormalized, FeedbackInvalidDof, FeedbackInvalidNanValue, FeedbackInvalidSamplingTime, FeedbackJointLimitExceeded, FeedbackNoSolutionInCurrentConfiguration, FeedbackOutOfWorkspace, FeedbackSingularity, FeedbackStartJointsMissing, FeedbackTorqueExceeded. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackCommandsMissing, FeedbackCubicSplineIsNotIncreasing, FeedbackCubicSplineNotAtStartPose, FeedbackDirectionConstraintNoSolutionExists, FeedbackDirectionConstraintNotMet, FeedbackDirectionConstraintNotNormalized, FeedbackInvalidDof, FeedbackInvalidNanValue, FeedbackInvalidSamplingTime, FeedbackJointLimitExceeded, FeedbackNoSolutionInCurrentConfiguration, FeedbackOutOfWorkspace, FeedbackSingularity, FeedbackStartJointsMissing, FeedbackTorqueExceeded. 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 `FeedbackCollision`
+        if _data_type == "FeedbackCollision":
+            instance.actual_instance = FeedbackCollision.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackCommandsMissing`
+        if _data_type == "FeedbackCommandsMissing":
+            instance.actual_instance = FeedbackCommandsMissing.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackCubicSplineIsNotIncreasing`
+        if _data_type == "FeedbackCubicSplineIsNotIncreasing":
+            instance.actual_instance = FeedbackCubicSplineIsNotIncreasing.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackCubicSplineNotAtStartPose`
+        if _data_type == "FeedbackCubicSplineNotAtStartPose":
+            instance.actual_instance = FeedbackCubicSplineNotAtStartPose.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackDirectionConstraintNoSolutionExists`
+        if _data_type == "FeedbackDirectionConstraintNoSolutionExists":
+            instance.actual_instance = FeedbackDirectionConstraintNoSolutionExists.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackDirectionConstraintNotMet`
+        if _data_type == "FeedbackDirectionConstraintNotMet":
+            instance.actual_instance = FeedbackDirectionConstraintNotMet.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackDirectionConstraintNotNormalized`
+        if _data_type == "FeedbackDirectionConstraintNotNormalized":
+            instance.actual_instance = FeedbackDirectionConstraintNotNormalized.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackInvalidDof`
+        if _data_type == "FeedbackInvalidDof":
+            instance.actual_instance = FeedbackInvalidDof.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackInvalidNanValue`
+        if _data_type == "FeedbackInvalidNanValue":
+            instance.actual_instance = FeedbackInvalidNanValue.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackInvalidSamplingTime`
+        if _data_type == "FeedbackInvalidSamplingTime":
+            instance.actual_instance = FeedbackInvalidSamplingTime.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackJointLimitExceeded`
+        if _data_type == "FeedbackJointLimitExceeded":
+            instance.actual_instance = FeedbackJointLimitExceeded.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackNoSolutionInCurrentConfiguration`
+        if _data_type == "FeedbackNoSolutionInCurrentConfiguration":
+            instance.actual_instance = FeedbackNoSolutionInCurrentConfiguration.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackOutOfWorkspace`
+        if _data_type == "FeedbackOutOfWorkspace":
+            instance.actual_instance = FeedbackOutOfWorkspace.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackSingularity`
+        if _data_type == "FeedbackSingularity":
+            instance.actual_instance = FeedbackSingularity.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackStartJointsMissing`
+        if _data_type == "FeedbackStartJointsMissing":
+            instance.actual_instance = FeedbackStartJointsMissing.from_json(json_str)
+            return instance
+
+        # check if data type is `FeedbackTorqueExceeded`
+        if _data_type == "FeedbackTorqueExceeded":
+            instance.actual_instance = FeedbackTorqueExceeded.from_json(json_str)
+            return instance
+
+        # deserialize data into FeedbackDirectionConstraintNoSolutionExists
+        try:
+            instance.actual_instance = FeedbackDirectionConstraintNoSolutionExists.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackDirectionConstraintNotMet
+        try:
+            instance.actual_instance = FeedbackDirectionConstraintNotMet.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackDirectionConstraintNotNormalized
+        try:
+            instance.actual_instance = FeedbackDirectionConstraintNotNormalized.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackOutOfWorkspace
+        try:
+            instance.actual_instance = FeedbackOutOfWorkspace.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackNoSolutionInCurrentConfiguration
+        try:
+            instance.actual_instance = FeedbackNoSolutionInCurrentConfiguration.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackSingularity
+        try:
+            instance.actual_instance = FeedbackSingularity.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackJointLimitExceeded
+        try:
+            instance.actual_instance = FeedbackJointLimitExceeded.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackCollision
+        try:
+            instance.actual_instance = FeedbackCollision.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackInvalidNanValue
+        try:
+            instance.actual_instance = FeedbackInvalidNanValue.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackInvalidDof
+        try:
+            instance.actual_instance = FeedbackInvalidDof.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackTorqueExceeded
+        try:
+            instance.actual_instance = FeedbackTorqueExceeded.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackCommandsMissing
+        try:
+            instance.actual_instance = FeedbackCommandsMissing.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackStartJointsMissing
+        try:
+            instance.actual_instance = FeedbackStartJointsMissing.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackCubicSplineIsNotIncreasing
+        try:
+            instance.actual_instance = FeedbackCubicSplineIsNotIncreasing.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackCubicSplineNotAtStartPose
+        try:
+            instance.actual_instance = FeedbackCubicSplineNotAtStartPose.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FeedbackInvalidSamplingTime
+        try:
+            instance.actual_instance = FeedbackInvalidSamplingTime.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 PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackCommandsMissing, FeedbackCubicSplineIsNotIncreasing, FeedbackCubicSplineNotAtStartPose, FeedbackDirectionConstraintNoSolutionExists, FeedbackDirectionConstraintNotMet, FeedbackDirectionConstraintNotNormalized, FeedbackInvalidDof, FeedbackInvalidNanValue, FeedbackInvalidSamplingTime, FeedbackJointLimitExceeded, FeedbackNoSolutionInCurrentConfiguration, FeedbackOutOfWorkspace, FeedbackSingularity, FeedbackStartJointsMissing, FeedbackTorqueExceeded. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackCommandsMissing, FeedbackCubicSplineIsNotIncreasing, FeedbackCubicSplineNotAtStartPose, FeedbackDirectionConstraintNoSolutionExists, FeedbackDirectionConstraintNotMet, FeedbackDirectionConstraintNotNormalized, FeedbackInvalidDof, FeedbackInvalidNanValue, FeedbackInvalidSamplingTime, FeedbackJointLimitExceeded, FeedbackNoSolutionInCurrentConfiguration, FeedbackOutOfWorkspace, FeedbackSingularity, FeedbackStartJointsMissing, FeedbackTorqueExceeded. 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],
+            FeedbackCollision,
+            FeedbackCommandsMissing,
+            FeedbackCubicSplineIsNotIncreasing,
+            FeedbackCubicSplineNotAtStartPose,
+            FeedbackDirectionConstraintNoSolutionExists,
+            FeedbackDirectionConstraintNotMet,
+            FeedbackDirectionConstraintNotNormalized,
+            FeedbackInvalidDof,
+            FeedbackInvalidNanValue,
+            FeedbackInvalidSamplingTime,
+            FeedbackJointLimitExceeded,
+            FeedbackNoSolutionInCurrentConfiguration,
+            FeedbackOutOfWorkspace,
+            FeedbackSingularity,
+            FeedbackStartJointsMissing,
+            FeedbackTorqueExceeded,
+        ]
+    ]:
+        """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())

wandelbots_api_client/v2/models/plan_trajectory_request.py

@@ -0,0 +1,113 @@
+# 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, Field, StrictFloat, StrictInt
+from typing import Any, ClassVar, Dict, List, Union
+from wandelbots_api_client.v2.models.motion_command import MotionCommand
+from wandelbots_api_client.v2.models.motion_group_setup import MotionGroupSetup
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class PlanTrajectoryRequest(BaseModel):
+    """
+    PlanTrajectoryRequest
+    """  # noqa: E501
+
+    motion_group_setup: MotionGroupSetup = Field(
+        description="The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](#/operations/getMotionGroupDescription) endpoint."
+    )
+    start_joint_position: List[Union[StrictFloat, StrictInt]] = Field(
+        description="To define a motion the start joints have to be indicated. Cartesian movements will be in the same kinematic configuration as the start joint position until the first joint point-to-point motion. Motions can only be executed if the start joint position is the current joint position of the motion group. To retrieve the current joint position use the endpoint [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState). To move the robot to the start joint position use the endpoint [streamMoveToTrajectoryViaJointP2P](#/operations/streamMoveToTrajectoryViaJointP2P). "
+    )
+    motion_commands: List[MotionCommand] = Field(
+        description="List of motion commands. A command consists of a path definition (line, circle, joint_ptp, cartesian_ptp, cubic_spline), blending, and limits override. "
+    )
+    __properties: ClassVar[List[str]] = ["motion_group_setup", "start_joint_position", "motion_commands"]
+
+    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 PlanTrajectoryRequest from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        # override the default output from pydantic by calling `to_dict()` of motion_group_setup
+        if self.motion_group_setup:
+            _dict["motion_group_setup"] = self.motion_group_setup.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of each item in motion_commands (list)
+        _items = []
+        if self.motion_commands:
+            for _item_motion_commands in self.motion_commands:
+                if _item_motion_commands:
+                    _items.append(_item_motion_commands.to_dict())
+            _dict["motion_commands"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanTrajectoryRequest from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "motion_group_setup": MotionGroupSetup.from_dict(obj["motion_group_setup"])
+                if obj.get("motion_group_setup") is not None
+                else None,
+                "start_joint_position": obj.get("start_joint_position"),
+                "motion_commands": [MotionCommand.from_dict(_item) for _item in obj["motion_commands"]]
+                if obj.get("motion_commands") is not None
+                else None,
+            }
+        )
+        return _obj