wandelbots_api_client 26.5.0.dev22__tar.gz → 26.5.0.dev24__tar.gz

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.5.0.dev22
+Version: 26.5.0.dev24
 Summary: Wandelbots Python Client: Interact with robots in an easy and intuitive way. 
 Author: Copyright (c) 2025 Wandelbots GmbH
 Author-email: Copyright (c) 2025 Wandelbots GmbH <contact@wandelbots.com>
@@ -31,7 +31,7 @@ Description-Content-Type: text/markdown
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 1.5.0 (can be found at the home screen of your instance -> API)
-- Package version: 26.5.0.dev22
+- Package version: 26.5.0.dev24
 
 ## Requirements.
 Python >=3.11, Python < 4.0

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/README.md

@@ -2,7 +2,7 @@
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 1.5.0 (can be found at the home screen of your instance -> API)
-- Package version: 26.5.0.dev22
+- Package version: 26.5.0.dev24
 
 ## Requirements.
 Python >=3.11, Python < 4.0

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots_api_client"
-version = "26.5.0.dev22"
+version = "26.5.0.dev24"
 description = "Wandelbots Python Client: Interact with robots in an easy and intuitive way. "
 authors = [{ name="Copyright (c) 2025 Wandelbots GmbH", email="contact@wandelbots.com" }]
 license = "Apache-2.0"

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/wandelbots_api_client/__init__.py

@@ -13,7 +13,7 @@ Generated by OpenAPI Generator (https://openapi-generator.tech)
 Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.5.0.dev22"
+__version__ = "26.5.0.dev24"
 
 from . import models
 from . import api

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/wandelbots_api_client/api_client.py

@@ -83,7 +83,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.5.0.dev22"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.5.0.dev24"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/wandelbots_api_client/configuration.py

@@ -512,7 +512,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 1.5.0\n"
-            "SDK Package Version: 26.5.0.dev22".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.5.0.dev24".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/wandelbots_api_client/v2/__init__.py

@@ -13,7 +13,7 @@ Generated by OpenAPI Generator (https://openapi-generator.tech)
 Do not edit the class manually.
 """  # noqa: E501
 
-__version__ = "26.5.0.dev22"
+__version__ = "26.5.0.dev24"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/wandelbots_api_client/v2/api/jogging_api.py

@@ -26,6 +26,8 @@ from pydantic import Field, StrictStr
 from typing_extensions import Annotated
 from wandelbots_api_client.v2.models.execute_jogging_request import ExecuteJoggingRequest
 from wandelbots_api_client.v2.models.execute_jogging_response import ExecuteJoggingResponse
+from wandelbots_api_client.v2.models.execute_waypoint_jogging_request import ExecuteWaypointJoggingRequest
+from wandelbots_api_client.v2.models.execute_waypoint_jogging_response import ExecuteWaypointJoggingResponse
 
 from wandelbots_api_client.v2.api_client import ApiClient, RequestSerialized
 from wandelbots_api_client.v2.api_response import ApiResponse
@@ -111,3 +113,73 @@ class JoggingApi:
                     await websocket.send(request.model_dump_json(exclude_none=True))
             finally:
                 await websocket.close()
+
+    @validate_call
+    async def execute_waypoint_jogging(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
+        client_request_generator: Callable[
+            [AsyncGenerator[ExecuteWaypointJoggingResponse, None]], AsyncGenerator[ExecuteWaypointJoggingRequest, None]
+        ],
+    ) -> None:  # noqa: E501
+        """Execute Waypoint Jogging  # noqa: E501
+
+        **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: danger -->  > **Experimental** > > This endpoint is experimental and its behavior may change in future releases.  > Websocket endpoint  Provides waypoint-based jogging control for a motion group.  Instead of commanding target velocities (see [executeJogging](#/operations/executeJogging)), waypoint jogging streams a queue of timed waypoints that the robot moves through by best effort. This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointWaypointsRequest` or `PoseWaypointsRequest` to stream waypoints.  - The first waypoints message starts an internal clock. - Each waypoint carries a timestamp relative to that clock for when it should be reached. - Existing waypoints in the queue that are older than the first new timestamp are removed. - The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  #### 3. Stop the jogging motion  - Send `PauseJoggingRequest` to stop the motion.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointWaypointsResponse` after `JointWaypointsRequest`   - `PoseWaypointsResponse` after `PoseWaypointsRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.   # noqa: E501
+        :param client_request_generator: An AsyncGenerator that yields request of type ExecuteWaypointJoggingRequest and takes an AsyncGenerator of ExecuteWaypointJoggingResponse as an input argument (required)
+        :info All responses from the server will be yielded to client_request_generator through the (AsyncGenerator[ExecuteWaypointJoggingResponse, None])
+        :type AsyncGenerator[ExecuteWaypointJoggingRequest, None]
+        """
+
+        def format_path_parameters(path):
+            # Find all substrings that are enclosed in brackets
+            bracket_contents = re.findall(r"\{(.*?)\}", path)
+
+            # For each found substring, alter it to match the python variable name
+            for content in bracket_contents:
+                content = "{" + content + "}"
+                modified_content = humps.dekebabize(content)
+                path = path.replace(content, modified_content)
+
+            return path
+
+        async def iterate_responses(ws) -> AsyncGenerator[ExecuteWaypointJoggingResponse, None]:
+            async for response in ws:
+                if "Cancelled on the server side" in response:
+                    break
+                response_data = json.loads(response)
+                if "result" not in response_data:
+                    raise Exception(response_data)
+
+                yield ExecuteWaypointJoggingResponse.model_validate(response_data["result"])
+
+        path = format_path_parameters("/experimental/cells/{cell}/controllers/{controller}/execution/jogging")
+        path = path.format(
+            cell=cell,
+            controller=controller,
+        )
+
+        headers = websockets.Headers()
+        tmp_host = self.api_client.configuration.host
+        if self.api_client.configuration.host.startswith("https://"):
+            # Basic Auth
+            if self.api_client.configuration.username:
+                tmp_host = self.api_client.configuration.host.replace("https://", "")
+                tmp_host = f"wss://{self.api_client.configuration.username}:{self.api_client.configuration.password}@{tmp_host}"
+
+            # OAuth2
+            elif self.api_client.configuration.access_token:
+                tmp_host = self.api_client.configuration.host.replace("https://", "")
+                tmp_host = f"wss://{tmp_host}"
+                headers = websockets.Headers([("Authorization", f"Bearer {self.api_client.configuration.access_token}")])
+        else:
+            tmp_host = tmp_host.replace("http://", "ws://")
+
+        full_url = furl(tmp_host + path)
+
+        async with websockets.connect(full_url.url, open_timeout=10, additional_headers=headers) as websocket:
+            try:
+                async for request in client_request_generator(iterate_responses(websocket)):
+                    await websocket.send(request.model_dump_json(exclude_none=True))
+            finally:
+                await websocket.close()

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/wandelbots_api_client/v2/api_client.py

@@ -85,7 +85,7 @@ class ApiClient:
             self.default_headers[header_name] = header_value
         self.cookie = cookie
         # Set default User-Agent.
-        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.5.0.dev22"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.5.0.dev24"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/wandelbots_api_client/v2/configuration.py

@@ -512,7 +512,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 2.5.0 dev\n"
-            "SDK Package Version: 26.5.0.dev22".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.5.0.dev24".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.5.0.dev22 → wandelbots_api_client-26.5.0.dev24}/wandelbots_api_client/v2/models/__init__.py

@@ -139,6 +139,8 @@ from wandelbots_api_client.v2.models.execute_jogging_request import ExecuteJoggi
 from wandelbots_api_client.v2.models.execute_jogging_response import ExecuteJoggingResponse
 from wandelbots_api_client.v2.models.execute_trajectory_request import ExecuteTrajectoryRequest
 from wandelbots_api_client.v2.models.execute_trajectory_response import ExecuteTrajectoryResponse
+from wandelbots_api_client.v2.models.execute_waypoint_jogging_request import ExecuteWaypointJoggingRequest
+from wandelbots_api_client.v2.models.execute_waypoint_jogging_response import ExecuteWaypointJoggingResponse
 from wandelbots_api_client.v2.models.external_joint_stream_datapoint import ExternalJointStreamDatapoint
 from wandelbots_api_client.v2.models.external_joint_stream_request import ExternalJointStreamRequest
 from wandelbots_api_client.v2.models.fanuc_controller import FanucController
@@ -212,6 +214,9 @@ from wandelbots_api_client.v2.models.joint_trajectory import JointTrajectory
 from wandelbots_api_client.v2.models.joint_type_enum import JointTypeEnum
 from wandelbots_api_client.v2.models.joint_velocity_request import JointVelocityRequest
 from wandelbots_api_client.v2.models.joint_velocity_response import JointVelocityResponse
+from wandelbots_api_client.v2.models.joint_waypoint import JointWaypoint
+from wandelbots_api_client.v2.models.joint_waypoints_request import JointWaypointsRequest
+from wandelbots_api_client.v2.models.joint_waypoints_response import JointWaypointsResponse
 from wandelbots_api_client.v2.models.kinematic_branch import KinematicBranch
 from wandelbots_api_client.v2.models.kinematic_branch_elbow import KinematicBranchElbow
 from wandelbots_api_client.v2.models.kinematic_branch_shoulder import KinematicBranchShoulder
@@ -311,6 +316,9 @@ from wandelbots_api_client.v2.models.plane import Plane
 from wandelbots_api_client.v2.models.playback_speed_request import PlaybackSpeedRequest
 from wandelbots_api_client.v2.models.playback_speed_response import PlaybackSpeedResponse
 from wandelbots_api_client.v2.models.pose import Pose
+from wandelbots_api_client.v2.models.pose_waypoint import PoseWaypoint
+from wandelbots_api_client.v2.models.pose_waypoints_request import PoseWaypointsRequest
+from wandelbots_api_client.v2.models.pose_waypoints_response import PoseWaypointsResponse
 from wandelbots_api_client.v2.models.profinet_description import ProfinetDescription
 from wandelbots_api_client.v2.models.profinet_io import ProfinetIO
 from wandelbots_api_client.v2.models.profinet_io_data import ProfinetIOData

wandelbots_api_client-26.5.0.dev24/wandelbots_api_client/v2/models/execute_waypoint_jogging_request.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: 2.5.0 dev
+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.initialize_jogging_request import InitializeJoggingRequest
+from wandelbots_api_client.v2.models.joint_waypoints_request import JointWaypointsRequest
+from wandelbots_api_client.v2.models.pause_jogging_request import PauseJoggingRequest
+from wandelbots_api_client.v2.models.pose_waypoints_request import PoseWaypointsRequest
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+EXECUTEWAYPOINTJOGGINGREQUEST_ONE_OF_SCHEMAS = [
+    "InitializeJoggingRequest",
+    "JointWaypointsRequest",
+    "PauseJoggingRequest",
+    "PoseWaypointsRequest",
+]
+
+
+class ExecuteWaypointJoggingRequest(BaseModel):
+    """
+    ExecuteWaypointJoggingRequest
+    """
+
+    # data type: InitializeJoggingRequest
+    oneof_schema_1_validator: Optional[InitializeJoggingRequest] = None
+    # data type: JointWaypointsRequest
+    oneof_schema_2_validator: Optional[JointWaypointsRequest] = None
+    # data type: PoseWaypointsRequest
+    oneof_schema_3_validator: Optional[PoseWaypointsRequest] = None
+    # data type: PauseJoggingRequest
+    oneof_schema_4_validator: Optional[PauseJoggingRequest] = None
+    actual_instance: Optional[Union[InitializeJoggingRequest, JointWaypointsRequest, PauseJoggingRequest, PoseWaypointsRequest]] = None
+    one_of_schemas: Set[str] = {"InitializeJoggingRequest", "JointWaypointsRequest", "PauseJoggingRequest", "PoseWaypointsRequest"}
+
+    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 = ExecuteWaypointJoggingRequest.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: InitializeJoggingRequest
+        if not isinstance(v, InitializeJoggingRequest):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `InitializeJoggingRequest`")
+        else:
+            match += 1
+        # validate data type: JointWaypointsRequest
+        if not isinstance(v, JointWaypointsRequest):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `JointWaypointsRequest`")
+        else:
+            match += 1
+        # validate data type: PoseWaypointsRequest
+        if not isinstance(v, PoseWaypointsRequest):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PoseWaypointsRequest`")
+        else:
+            match += 1
+        # validate data type: PauseJoggingRequest
+        if not isinstance(v, PauseJoggingRequest):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PauseJoggingRequest`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in ExecuteWaypointJoggingRequest with oneOf schemas: InitializeJoggingRequest, JointWaypointsRequest, PauseJoggingRequest, PoseWaypointsRequest. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in ExecuteWaypointJoggingRequest with oneOf schemas: InitializeJoggingRequest, JointWaypointsRequest, PauseJoggingRequest, PoseWaypointsRequest. 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("message_type")
+        if not _data_type:
+            raise ValueError("Failed to lookup data type from the field `message_type` in the input.")
+
+        # check if data type is `InitializeJoggingRequest`
+        if _data_type == "InitializeJoggingRequest":
+            instance.actual_instance = InitializeJoggingRequest.from_json(json_str)
+            return instance
+
+        # check if data type is `JointWaypointsRequest`
+        if _data_type == "JointWaypointsRequest":
+            instance.actual_instance = JointWaypointsRequest.from_json(json_str)
+            return instance
+
+        # check if data type is `PauseJoggingRequest`
+        if _data_type == "PauseJoggingRequest":
+            instance.actual_instance = PauseJoggingRequest.from_json(json_str)
+            return instance
+
+        # check if data type is `PoseWaypointsRequest`
+        if _data_type == "PoseWaypointsRequest":
+            instance.actual_instance = PoseWaypointsRequest.from_json(json_str)
+            return instance
+
+        # deserialize data into InitializeJoggingRequest
+        try:
+            instance.actual_instance = InitializeJoggingRequest.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into JointWaypointsRequest
+        try:
+            instance.actual_instance = JointWaypointsRequest.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PoseWaypointsRequest
+        try:
+            instance.actual_instance = PoseWaypointsRequest.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PauseJoggingRequest
+        try:
+            instance.actual_instance = PauseJoggingRequest.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 ExecuteWaypointJoggingRequest with oneOf schemas: InitializeJoggingRequest, JointWaypointsRequest, PauseJoggingRequest, PoseWaypointsRequest. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into ExecuteWaypointJoggingRequest with oneOf schemas: InitializeJoggingRequest, JointWaypointsRequest, PauseJoggingRequest, PoseWaypointsRequest. 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], InitializeJoggingRequest, JointWaypointsRequest, PauseJoggingRequest, PoseWaypointsRequest]]:
+        """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-26.5.0.dev24/wandelbots_api_client/v2/models/execute_waypoint_jogging_response.py

@@ -0,0 +1,246 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.5.0 dev
+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.initialize_jogging_response import InitializeJoggingResponse
+from wandelbots_api_client.v2.models.joint_waypoints_response import JointWaypointsResponse
+from wandelbots_api_client.v2.models.movement_error_response import MovementErrorResponse
+from wandelbots_api_client.v2.models.pause_jogging_response import PauseJoggingResponse
+from wandelbots_api_client.v2.models.pose_waypoints_response import PoseWaypointsResponse
+from pydantic import StrictStr, Field
+from typing import Union, List, Set, Optional, Dict
+from typing_extensions import Literal, Self
+
+EXECUTEWAYPOINTJOGGINGRESPONSE_ONE_OF_SCHEMAS = [
+    "InitializeJoggingResponse",
+    "JointWaypointsResponse",
+    "MovementErrorResponse",
+    "PauseJoggingResponse",
+    "PoseWaypointsResponse",
+]
+
+
+class ExecuteWaypointJoggingResponse(BaseModel):
+    """
+    ExecuteWaypointJoggingResponse
+    """
+
+    # data type: InitializeJoggingResponse
+    oneof_schema_1_validator: Optional[InitializeJoggingResponse] = None
+    # data type: PauseJoggingResponse
+    oneof_schema_2_validator: Optional[PauseJoggingResponse] = None
+    # data type: JointWaypointsResponse
+    oneof_schema_3_validator: Optional[JointWaypointsResponse] = None
+    # data type: PoseWaypointsResponse
+    oneof_schema_4_validator: Optional[PoseWaypointsResponse] = None
+    # data type: MovementErrorResponse
+    oneof_schema_5_validator: Optional[MovementErrorResponse] = None
+    actual_instance: Optional[
+        Union[InitializeJoggingResponse, JointWaypointsResponse, MovementErrorResponse, PauseJoggingResponse, PoseWaypointsResponse]
+    ] = None
+    one_of_schemas: Set[str] = {
+        "InitializeJoggingResponse",
+        "JointWaypointsResponse",
+        "MovementErrorResponse",
+        "PauseJoggingResponse",
+        "PoseWaypointsResponse",
+    }
+
+    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 = ExecuteWaypointJoggingResponse.model_construct()
+        error_messages = []
+        match = 0
+        # validate data type: InitializeJoggingResponse
+        if not isinstance(v, InitializeJoggingResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `InitializeJoggingResponse`")
+        else:
+            match += 1
+        # validate data type: PauseJoggingResponse
+        if not isinstance(v, PauseJoggingResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PauseJoggingResponse`")
+        else:
+            match += 1
+        # validate data type: JointWaypointsResponse
+        if not isinstance(v, JointWaypointsResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `JointWaypointsResponse`")
+        else:
+            match += 1
+        # validate data type: PoseWaypointsResponse
+        if not isinstance(v, PoseWaypointsResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `PoseWaypointsResponse`")
+        else:
+            match += 1
+        # validate data type: MovementErrorResponse
+        if not isinstance(v, MovementErrorResponse):
+            error_messages.append(f"Error! Input type `{type(v)}` is not `MovementErrorResponse`")
+        else:
+            match += 1
+        if match > 1:
+            # more than 1 match
+            raise ValueError(
+                "Multiple matches found when setting `actual_instance` in ExecuteWaypointJoggingResponse with oneOf schemas: InitializeJoggingResponse, JointWaypointsResponse, MovementErrorResponse, PauseJoggingResponse, PoseWaypointsResponse. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when setting `actual_instance` in ExecuteWaypointJoggingResponse with oneOf schemas: InitializeJoggingResponse, JointWaypointsResponse, MovementErrorResponse, PauseJoggingResponse, PoseWaypointsResponse. 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 `InitializeJoggingResponse`
+        if _data_type == "INITIALIZE_RECEIVED":
+            instance.actual_instance = InitializeJoggingResponse.from_json(json_str)
+            return instance
+
+        # check if data type is `JointWaypointsResponse`
+        if _data_type == "JOINT_WAYPOINTS_RECEIVED":
+            instance.actual_instance = JointWaypointsResponse.from_json(json_str)
+            return instance
+
+        # check if data type is `MovementErrorResponse`
+        if _data_type == "MOTION_ERROR":
+            instance.actual_instance = MovementErrorResponse.from_json(json_str)
+            return instance
+
+        # check if data type is `PauseJoggingResponse`
+        if _data_type == "PAUSE_RECEIVED":
+            instance.actual_instance = PauseJoggingResponse.from_json(json_str)
+            return instance
+
+        # check if data type is `PoseWaypointsResponse`
+        if _data_type == "POSE_WAYPOINTS_RECEIVED":
+            instance.actual_instance = PoseWaypointsResponse.from_json(json_str)
+            return instance
+
+        # deserialize data into InitializeJoggingResponse
+        try:
+            instance.actual_instance = InitializeJoggingResponse.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PauseJoggingResponse
+        try:
+            instance.actual_instance = PauseJoggingResponse.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into JointWaypointsResponse
+        try:
+            instance.actual_instance = JointWaypointsResponse.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into PoseWaypointsResponse
+        try:
+            instance.actual_instance = PoseWaypointsResponse.from_json(json_str)
+            match += 1
+        except (ValidationError, ValueError) as e:
+            error_messages.append(str(e))
+        # deserialize data into MovementErrorResponse
+        try:
+            instance.actual_instance = MovementErrorResponse.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 ExecuteWaypointJoggingResponse with oneOf schemas: InitializeJoggingResponse, JointWaypointsResponse, MovementErrorResponse, PauseJoggingResponse, PoseWaypointsResponse. Details: "
+                + ", ".join(error_messages)
+            )
+        elif match == 0:
+            # no match
+            raise ValueError(
+                "No match found when deserializing the JSON string into ExecuteWaypointJoggingResponse with oneOf schemas: InitializeJoggingResponse, JointWaypointsResponse, MovementErrorResponse, PauseJoggingResponse, PoseWaypointsResponse. 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],
+            InitializeJoggingResponse,
+            JointWaypointsResponse,
+            MovementErrorResponse,
+            PauseJoggingResponse,
+            PoseWaypointsResponse,
+        ]
+    ]:
+        """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())