wandelbots_api_client 26.3.0__py3-none-any.whl

wandelbots_api_client/models/robot_controller.py

@@ -0,0 +1,108 @@
+# 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, field_validator
+from typing import Any, ClassVar, Dict, List
+from typing_extensions import Annotated
+from wandelbots_api_client.models.robot_controller_configuration import RobotControllerConfiguration
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class RobotController(BaseModel):
+    """
+    The configuration of a physical or virtual robot controller.
+    """  # noqa: E501
+
+    name: Annotated[str, Field(strict=True)] = Field(
+        description="A unique name of the Controller inside the Cell. It must be a valid k8s label name as defined by [RFC 1035](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#rfc-1035-label-names)."
+    )
+    configuration: RobotControllerConfiguration
+    __properties: ClassVar[List[str]] = ["name", "configuration"]
+
+    @field_validator("name")
+    def name_validate_regular_expression(cls, value):
+        """Validates the regular expression"""
+        if not re.match(r"^[a-z][a-z0-9-]{0,61}[a-z0-9]$", value):
+            raise ValueError(r"must validate the regular expression /^[a-z][a-z0-9-]{0,61}[a-z0-9]$/")
+        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 RobotController 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 configuration
+        if self.configuration:
+            _dict["configuration"] = self.configuration.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of RobotController from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "name": obj.get("name"),
+                "configuration": RobotControllerConfiguration.from_dict(obj["configuration"])
+                if obj.get("configuration") is not None
+                else None,
+            }
+        )
+        return _obj

wandelbots_api_client/models/robot_controller_configuration.py

@@ -0,0 +1,262 @@
+# 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.abb_controller import AbbController
+from wandelbots_api_client.models.fanuc_controller import FanucController
+from wandelbots_api_client.models.kuka_controller import KukaController
+from wandelbots_api_client.models.universalrobots_controller import UniversalrobotsController
+from wandelbots_api_client.models.virtual_controller import VirtualController
+from wandelbots_api_client.models.yaskawa_controller import YaskawaController
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+ROBOTCONTROLLERCONFIGURATION_ONE_OF_SCHEMAS = [
+    "AbbController",
+    "FanucController",
+    "KukaController",
+    "UniversalrobotsController",
+    "VirtualController",
+    "YaskawaController",
+]
+
+
+class RobotControllerConfiguration(BaseModel):
+    """
+    RobotControllerConfiguration
+    """
+
+    # data type: AbbController
+    oneof_schema_1_validator: Optional[AbbController] = None
+    # data type: FanucController
+    oneof_schema_2_validator: Optional[FanucController] = None
+    # data type: KukaController
+    oneof_schema_3_validator: Optional[KukaController] = None
+    # data type: UniversalrobotsController
+    oneof_schema_4_validator: Optional[UniversalrobotsController] = None
+    # data type: VirtualController
+    oneof_schema_5_validator: Optional[VirtualController] = None
+    # data type: YaskawaController
+    oneof_schema_6_validator: Optional[YaskawaController] = None
+    actual_instance: Optional[
+        Union[AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController]
+    ] = None
+    one_of_schemas: Set[str] = {
+        "AbbController",
+        "FanucController",
+        "KukaController",
+        "UniversalrobotsController",
+        "VirtualController",
+        "YaskawaController",
+    }
+
+    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 = RobotControllerConfiguration.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: AbbController
+        if not isinstance(v, AbbController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `AbbController`")
+        else:
+            match += 1
+        # validate data type: FanucController
+        if not isinstance(v, FanucController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `FanucController`")
+        else:
+            match += 1
+        # validate data type: KukaController
+        if not isinstance(v, KukaController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `KukaController`")
+        else:
+            match += 1
+        # validate data type: UniversalrobotsController
+        if not isinstance(v, UniversalrobotsController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `UniversalrobotsController`")
+        else:
+            match += 1
+        # validate data type: VirtualController
+        if not isinstance(v, VirtualController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `VirtualController`")
+        else:
+            match += 1
+        # validate data type: YaskawaController
+        if not isinstance(v, YaskawaController):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `YaskawaController`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in RobotControllerConfiguration with oneOf schemas: AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in RobotControllerConfiguration with oneOf schemas: AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController. 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("kind")
+        if not _data_type:
+            raise ValueError("Failed to lookup data type from the field `kind` in the input.")
+
+        # check if data type is `AbbController`
+        if _data_type == "AbbController":
+            instance.actual_instance = AbbController.from_json(json_str)
+            return instance
+
+        # check if data type is `FanucController`
+        if _data_type == "FanucController":
+            instance.actual_instance = FanucController.from_json(json_str)
+            return instance
+
+        # check if data type is `KukaController`
+        if _data_type == "KukaController":
+            instance.actual_instance = KukaController.from_json(json_str)
+            return instance
+
+        # check if data type is `UniversalrobotsController`
+        if _data_type == "UniversalrobotsController":
+            instance.actual_instance = UniversalrobotsController.from_json(json_str)
+            return instance
+
+        # check if data type is `VirtualController`
+        if _data_type == "VirtualController":
+            instance.actual_instance = VirtualController.from_json(json_str)
+            return instance
+
+        # check if data type is `YaskawaController`
+        if _data_type == "YaskawaController":
+            instance.actual_instance = YaskawaController.from_json(json_str)
+            return instance
+
+        # deserialize data into AbbController
+        try:
+            instance.actual_instance = AbbController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into FanucController
+        try:
+            instance.actual_instance = FanucController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into KukaController
+        try:
+            instance.actual_instance = KukaController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into UniversalrobotsController
+        try:
+            instance.actual_instance = UniversalrobotsController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into VirtualController
+        try:
+            instance.actual_instance = VirtualController.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into YaskawaController
+        try:
+            instance.actual_instance = YaskawaController.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 RobotControllerConfiguration with oneOf schemas: AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into RobotControllerConfiguration with oneOf schemas: AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController. 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], AbbController, FanucController, KukaController, UniversalrobotsController, VirtualController, YaskawaController
+        ]
+    ]:
+        """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/robot_controller_state.py

@@ -0,0 +1,191 @@
+# 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 datetime import datetime
+from pydantic import BaseModel, ConfigDict, Field, StrictInt, StrictStr, field_validator
+from typing import Any, ClassVar, Dict, List, Optional
+from wandelbots_api_client.models.motion_group_state import MotionGroupState
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class RobotControllerState(BaseModel):
+    """
+    Returns the whole current state of robot controller.
+    """  # noqa: E501
+
+    controller: StrictStr = Field(description="Identifier of the configured robot controller.")
+    operation_mode: StrictStr = Field(
+        description="Current operation mode of the configured robot controller. Operation modes in which the attached motion groups can be moved are: - OPERATION_MODE_MANUAL (if enabling switch is pressed) - OPERATION_MODE_MANUAL_T1 (if enabling switch is pressed) - OPERATION_MODE_MANUAL_T2 (if enabling switch is pressed) - OPERATION_MODE_AUTO (without needing to press enabling switch) All other modes are considered as non-operational. "
+    )
+    safety_state: StrictStr = Field(
+        description="Current safety state of the configured robot controller. Operation modes in which the attached motion groups can be moved are: - SAFETY_STATE_NORMAL - SAFETY_STATE_REDUCED All other modes are considered as non-operational. "
+    )
+    timestamp: datetime = Field(description="Timestamp indicating when the represented information was received from the robot controller.")
+    velocity_override: Optional[StrictInt] = Field(
+        default=None,
+        description="If made available by the robot controller, returns the current velocity override in [percentage] for movements adjusted on robot control panel. Valid value range: 1 - 100. ",
+    )
+    motion_groups: List[MotionGroupState] = Field(
+        description="State of indicated motion groups. In case of state request via controller all configured motion groups are returned. In case of executing a motion only the affected motion groups are returned."
+    )
+    sequence_number: StrictStr = Field(
+        description="Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller. The sequence number is reset when the connection to the physical controller is closed and re-established. It is of type string to represent uint64 values, which is not supported by OpenAPI. "
+    )
+    __properties: ClassVar[List[str]] = [
+        "controller",
+        "operation_mode",
+        "safety_state",
+        "timestamp",
+        "velocity_override",
+        "motion_groups",
+        "sequence_number",
+    ]
+
+    @field_validator("operation_mode")
+    def operation_mode_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(
+            [
+                "OPERATION_MODE_UNKNOWN",
+                "OPERATION_MODE_NO_CONTROLLER",
+                "OPERATION_MODE_DISCONNECTED",
+                "OPERATION_MODE_POWER_ON",
+                "OPERATION_MODE_PENDING",
+                "OPERATION_MODE_MANUAL",
+                "OPERATION_MODE_MANUAL_T1",
+                "OPERATION_MODE_MANUAL_T2",
+                "OPERATION_MODE_AUTO",
+                "OPERATION_MODE_RECOVERY",
+            ]
+        ):
+            raise ValueError(
+                "must be one of enum values ('OPERATION_MODE_UNKNOWN', 'OPERATION_MODE_NO_CONTROLLER', 'OPERATION_MODE_DISCONNECTED', 'OPERATION_MODE_POWER_ON', 'OPERATION_MODE_PENDING', 'OPERATION_MODE_MANUAL', 'OPERATION_MODE_MANUAL_T1', 'OPERATION_MODE_MANUAL_T2', 'OPERATION_MODE_AUTO', 'OPERATION_MODE_RECOVERY')"
+            )
+        return value
+
+    @field_validator("safety_state")
+    def safety_state_validate_enum(cls, value):
+        """Validates the enum"""
+        if value not in set(
+            [
+                "SAFETY_STATE_UNKNOWN",
+                "SAFETY_STATE_FAULT",
+                "SAFETY_STATE_NORMAL",
+                "SAFETY_STATE_MASTERING",
+                "SAFETY_STATE_CONFIRM_SAFETY",
+                "SAFETY_STATE_OPERATOR_SAFETY",
+                "SAFETY_STATE_PROTECTIVE_STOP",
+                "SAFETY_STATE_REDUCED",
+                "SAFETY_STATE_STOP",
+                "SAFETY_STATE_STOP_0",
+                "SAFETY_STATE_STOP_1",
+                "SAFETY_STATE_STOP_2",
+                "SAFETY_STATE_RECOVERY",
+                "SAFETY_STATE_DEVICE_EMERGENCY_STOP",
+                "SAFETY_STATE_ROBOT_EMERGENCY_STOP",
+                "SAFETY_STATE_VIOLATION",
+            ]
+        ):
+            raise ValueError(
+                "must be one of enum values ('SAFETY_STATE_UNKNOWN', 'SAFETY_STATE_FAULT', 'SAFETY_STATE_NORMAL', 'SAFETY_STATE_MASTERING', 'SAFETY_STATE_CONFIRM_SAFETY', 'SAFETY_STATE_OPERATOR_SAFETY', 'SAFETY_STATE_PROTECTIVE_STOP', 'SAFETY_STATE_REDUCED', 'SAFETY_STATE_STOP', 'SAFETY_STATE_STOP_0', 'SAFETY_STATE_STOP_1', 'SAFETY_STATE_STOP_2', 'SAFETY_STATE_RECOVERY', 'SAFETY_STATE_DEVICE_EMERGENCY_STOP', 'SAFETY_STATE_ROBOT_EMERGENCY_STOP', 'SAFETY_STATE_VIOLATION')"
+            )
+        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 RobotControllerState 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 motion_groups (list)
+        _items = []
+        if self.motion_groups:
+            for _item in self.motion_groups:
+                # >>> Modified from https://github.com/OpenAPITools/openapi-generator/blob/v7.6.0/modules/openapi-generator/src/main/resources/python/model_generic.mustache
+                #     to not drop empty elements in lists
+                if _item is not None:
+                    _items.append(_item.to_dict())
+                # <<< End modification
+            _dict["motion_groups"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of RobotControllerState from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "controller": obj.get("controller") if obj.get("controller") is not None else "controller",
+                "operation_mode": obj.get("operation_mode"),
+                "safety_state": obj.get("safety_state"),
+                "timestamp": obj.get("timestamp"),
+                "velocity_override": obj.get("velocity_override"),
+                "motion_groups": [
+                    # >>> 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
+                    MotionGroupState.from_dict(_item) if hasattr(MotionGroupState, "from_dict") else _item
+                    # <<< End modification
+                    for _item in obj["motion_groups"]
+                ]
+                if obj.get("motion_groups") is not None
+                else None,
+                "sequence_number": obj.get("sequence_number"),
+            }
+        )
+        return _obj

wandelbots_api_client/models/robot_link_geometry.py

@@ -0,0 +1,98 @@
+# 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, StrictInt
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.models.geometry import Geometry
+from typing import Optional, Set
+from typing_extensions import Self
+
+
+class RobotLinkGeometry(BaseModel):
+    """
+    Describes a geometry encapsulating a given link from a robot.
+    """  # noqa: E501
+
+    link_index: StrictInt = Field(
+        description="Determines how many sets of DH-parameter are applied to get from robot base coordinate system to the link coordinate system in which the geometry is defined."
+    )
+    geometry: Geometry
+    __properties: ClassVar[List[str]] = ["link_index", "geometry"]
+
+    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 RobotLinkGeometry 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 geometry
+        if self.geometry:
+            _dict["geometry"] = self.geometry.to_dict()
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of RobotLinkGeometry from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "link_index": obj.get("link_index"),
+                "geometry": Geometry.from_dict(obj["geometry"]) if obj.get("geometry") is not None else None,
+            }
+        )
+        return _obj