wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/models/plan_successful_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: 1.4.0
+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, StrictStr
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.models.joints import Joints
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PlanSuccessfulResponse(BaseModel):
+    """
+    The motion can be executed entirely.
+    """  # noqa: E501
+
+    motion: StrictStr = Field(
+        description="Unique identifier of the motion. Use as reference to execute the motion or to retrieve information on the motion."
+    )
+    end_joint_position: Joints = Field(
+        description="The final joint position. Use this position as a start joint position to concatenate motions."
+    )
+    __properties: ClassVar[List[str]] = ["motion", "end_joint_position"]
+
+    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 PlanSuccessfulResponse 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 end_joint_position
+        if self.end_joint_position:
+            _dict["end_joint_position"] = self.end_joint_position.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanSuccessfulResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "motion": obj.get("motion"),
+                "end_joint_position": Joints.from_dict(obj["end_joint_position"]) if obj.get("end_joint_position") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/plan_trajectory_failed_response.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: 1.4.0
+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, Optional, Union
+from wandelbots_api_client.models.joint_trajectory import JointTrajectory
+from wandelbots_api_client.models.plan_trajectory_failed_response_error_feedback import PlanTrajectoryFailedResponseErrorFeedback
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PlanTrajectoryFailedResponse(BaseModel):
+    """
+    PlanTrajectoryFailedResponse
+    """  # noqa: E501
+
+    error_feedback: PlanTrajectoryFailedResponseErrorFeedback
+    error_location_on_trajectory: Optional[Union[StrictFloat, StrictInt]] = None
+    joint_trajectory: Optional[JointTrajectory] = Field(
+        default=None, description="The joint trajectory from the start joint position to the error. "
+    )
+    __properties: ClassVar[List[str]] = ["error_feedback", "error_location_on_trajectory", "joint_trajectory"]
+
+    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 PlanTrajectoryFailedResponse 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 error_feedback
+        if self.error_feedback:
+            _dict["error_feedback"] = self.error_feedback.to_dict()
+        # override the default output from pydantic by calling `to_dict()` of joint_trajectory
+        if self.joint_trajectory:
+            _dict["joint_trajectory"] = self.joint_trajectory.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanTrajectoryFailedResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "error_feedback": PlanTrajectoryFailedResponseErrorFeedback.from_dict(obj["error_feedback"])
+                if obj.get("error_feedback") is not None
+                else None,
+                "error_location_on_trajectory": obj.get("error_location_on_trajectory"),
+                "joint_trajectory": JointTrajectory.from_dict(obj["joint_trajectory"]) if obj.get("joint_trajectory") is not None else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/plan_trajectory_failed_response_error_feedback.py

@@ -0,0 +1,209 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0
+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.models.feedback_collision import FeedbackCollision
+from wandelbots_api_client.models.feedback_joint_limit_exceeded import FeedbackJointLimitExceeded
+from wandelbots_api_client.models.feedback_out_of_workspace import FeedbackOutOfWorkspace
+from wandelbots_api_client.models.feedback_singularity import FeedbackSingularity
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+PLANTRAJECTORYFAILEDRESPONSEERRORFEEDBACK_ONE_OF_SCHEMAS = [
+    "FeedbackCollision",
+    "FeedbackJointLimitExceeded",
+    "FeedbackOutOfWorkspace",
+    "FeedbackSingularity",
+]
+
+
+class PlanTrajectoryFailedResponseErrorFeedback(BaseModel):
+    """
+    PlanTrajectoryFailedResponseErrorFeedback
+    """
+
+    # data type: FeedbackOutOfWorkspace
+    oneof_schema_1_validator: Optional[FeedbackOutOfWorkspace] = None
+    # data type: FeedbackSingularity
+    oneof_schema_2_validator: Optional[FeedbackSingularity] = None
+    # data type: FeedbackJointLimitExceeded
+    oneof_schema_3_validator: Optional[FeedbackJointLimitExceeded] = None
+    # data type: FeedbackCollision
+    oneof_schema_4_validator: Optional[FeedbackCollision] = None
+    actual_instance: Optional[Union[FeedbackCollision, FeedbackJointLimitExceeded, FeedbackOutOfWorkspace, FeedbackSingularity]] = None
+    one_of_schemas: Set[str] = {"FeedbackCollision", "FeedbackJointLimitExceeded", "FeedbackOutOfWorkspace", "FeedbackSingularity"}
+
+    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: FeedbackOutOfWorkspace
+        if not isinstance(v, FeedbackOutOfWorkspace):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FeedbackOutOfWorkspace`")
+        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
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackJointLimitExceeded, FeedbackOutOfWorkspace, FeedbackSingularity. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackJointLimitExceeded, FeedbackOutOfWorkspace, FeedbackSingularity. 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 `FeedbackJointLimitExceeded`
+        if _data_type == "FeedbackJointLimitExceeded":
+            instance.actual_instance = FeedbackJointLimitExceeded.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
+
+        # 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 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))
+
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when deserializing the JSON string into PlanTrajectoryFailedResponseErrorFeedback with oneOf schemas: FeedbackCollision, FeedbackJointLimitExceeded, FeedbackOutOfWorkspace, FeedbackSingularity. 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, FeedbackJointLimitExceeded, FeedbackOutOfWorkspace, FeedbackSingularity. 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, FeedbackJointLimitExceeded, FeedbackOutOfWorkspace, FeedbackSingularity]]:
+        """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/models/plan_trajectory_request.py

@@ -0,0 +1,154 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0
+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, Optional, Union
+from wandelbots_api_client.models.collider import Collider
+from wandelbots_api_client.models.collision_motion_group import CollisionMotionGroup
+from wandelbots_api_client.models.motion_command import MotionCommand
+from wandelbots_api_client.models.optimizer_setup import OptimizerSetup
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PlanTrajectoryRequest(BaseModel):
+    """
+    PlanTrajectoryRequest
+    """  # noqa: E501
+
+    robot_setup: OptimizerSetup = Field(
+        description="The robot setup as returned from the [getOptimizerConfiguration](#/operations/getOptimizerConfiguration) 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. "
+    )
+    static_colliders: Optional[Dict[str, Collider]] = Field(
+        default=None, description="Static colliders considered during the motion planning. "
+    )
+    collision_motion_group: Optional[CollisionMotionGroup] = Field(
+        default=None, description="Collision motion group considered during the motion planning. "
+    )
+    __properties: ClassVar[List[str]] = [
+        "robot_setup",
+        "start_joint_position",
+        "motion_commands",
+        "static_colliders",
+        "collision_motion_group",
+    ]
+
+    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 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 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 motion_commands (list)
+        _items = []
+        if self.motion_commands:
+            for _item in self.motion_commands:
+                # >>> 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_commands"] = _items
+        # override the default output from pydantic by calling `to_dict()` of each value in static_colliders (dict)
+        # >>> Modified from openapi template
+        if self.static_colliders:
+            _field_dict = {}
+            for _key, _value in self.static_colliders.items():
+                if self.static_colliders[_key]:
+                    _field_dict[_key] = _value.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()
+        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(
+            {
+                "robot_setup": OptimizerSetup.from_dict(obj["robot_setup"]) if obj.get("robot_setup") is not None else None,
+                "start_joint_position": obj.get("start_joint_position"),
+                "motion_commands": [
+                    # >>> 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
+                    MotionCommand.from_dict(_item) if hasattr(MotionCommand, "from_dict") else _item
+                    # <<< End modification
+                    for _item in obj["motion_commands"]
+                ]
+                if obj.get("motion_commands") is not None
+                else None,
+                "static_colliders": dict((_k, Collider.from_dict(_v)) for _k, _v in obj["static_colliders"].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,
+            }
+        )
+        return _obj

wandelbots_api_client/models/plan_trajectory_response.py

@@ -0,0 +1,92 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 1.4.0
+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
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.models.plan_trajectory_response_response import PlanTrajectoryResponseResponse
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class PlanTrajectoryResponse(BaseModel):
+    """
+    PlanTrajectoryResponse
+    """  # noqa: E501
+
+    response: PlanTrajectoryResponseResponse
+    __properties: ClassVar[List[str]] = ["response"]
+
+    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 PlanTrajectoryResponse 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 response
+        if self.response:
+            _dict["response"] = self.response.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of PlanTrajectoryResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {"response": PlanTrajectoryResponseResponse.from_dict(obj["response"]) if obj.get("response") is not None else None}
+        )
+        return _obj