wandelbots_api_client 26.6.0.dev74__tar.gz → 26.6.0.dev75__tar.gz

{wandelbots_api_client-26.6.0.dev74 → wandelbots_api_client-26.6.0.dev75}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: wandelbots_api_client
-Version: 26.6.0.dev74
+Version: 26.6.0.dev75
 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: 2.6.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.6.0.dev74
+- Package version: 26.6.0.dev75
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.6.0.dev74 → wandelbots_api_client-26.6.0.dev75}/README.md

@@ -2,7 +2,7 @@
 Interact with robots in an easy and intuitive way.
 
 - Compatible API version: 2.6.0 dev (can be found at the home screen of your instance -> API)
-- Package version: 26.6.0.dev74
+- Package version: 26.6.0.dev75
 
 ## Requirements.
 Python >=3.9, Python < 4.0

{wandelbots_api_client-26.6.0.dev74 → wandelbots_api_client-26.6.0.dev75}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "wandelbots_api_client"
-version = "26.6.0.dev74"
+version = "26.6.0.dev75"
 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-26.6.0.dev74 → wandelbots_api_client-26.6.0.dev75}/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__ = "26.6.0.dev74"
+__version__ = "26.6.0.dev75"
 
 from . import api
 from . import api_client

{wandelbots_api_client-26.6.0.dev74 → wandelbots_api_client-26.6.0.dev75}/wandelbots_api_client/v2/api/kinematics_api.py

@@ -31,6 +31,8 @@ from wandelbots_api_client.v2.models.configured_pose_inverse_response import Con
 from wandelbots_api_client.v2.models.convert_vendor_configured_pose_request import ConvertVendorConfiguredPoseRequest
 from wandelbots_api_client.v2.models.forward_kinematics_request import ForwardKinematicsRequest
 from wandelbots_api_client.v2.models.forward_kinematics_response import ForwardKinematicsResponse
+from wandelbots_api_client.v2.models.get_kinematic_configuration_request import GetKinematicConfigurationRequest
+from wandelbots_api_client.v2.models.get_kinematic_configuration_response import GetKinematicConfigurationResponse
 from wandelbots_api_client.v2.models.inverse_kinematics_request import InverseKinematicsRequest
 from wandelbots_api_client.v2.models.inverse_kinematics_response import InverseKinematicsResponse
 from wandelbots_api_client.v2.models.project_joint_position_direction_constraint_request import (
@@ -819,6 +821,260 @@ class KinematicsApi:
             _request_auth=_request_auth,
         )
 
+    @validate_call
+    async def get_kinematic_configuration(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        get_kinematic_configuration_request: GetKinematicConfigurationRequest,
+        _request_timeout: Union[
+            None, Annotated[StrictFloat, Field(gt=0)], Tuple[Annotated[StrictFloat, Field(gt=0)], Annotated[StrictFloat, Field(gt=0)]]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> GetKinematicConfigurationResponse:
+        """Get kinematic configuration
+
+        **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the kinematic configuration for each given joint position including branch and axis ranges.  Supported for 6-DOF robots with spherical or offset wrist that implement kinematic branch calculation. Returns 422 with `ErrorUnsupportedOperation` for motion groups that do not support kinematic branch calculation.
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param get_kinematic_configuration_request: (required)
+        :type get_kinematic_configuration_request: GetKinematicConfigurationRequest
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """  # noqa: E501
+
+        _param = self._get_kinematic_configuration_serialize(
+            cell=cell,
+            get_kinematic_configuration_request=get_kinematic_configuration_request,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index,
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            "200": "GetKinematicConfigurationResponse",
+            "404": None,
+            "422": "GetKinematicConfiguration422Response",
+            "500": None,
+        }
+
+        response_data = await self.api_client.call_api(*_param, _request_timeout=_request_timeout)
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        ).data
+
+    @validate_call
+    async def get_kinematic_configuration_with_http_info(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        get_kinematic_configuration_request: GetKinematicConfigurationRequest,
+        _request_timeout: Union[
+            None, Annotated[StrictFloat, Field(gt=0)], Tuple[Annotated[StrictFloat, Field(gt=0)], Annotated[StrictFloat, Field(gt=0)]]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> ApiResponse[GetKinematicConfigurationResponse]:
+        """Get kinematic configuration
+
+        **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the kinematic configuration for each given joint position including branch and axis ranges.  Supported for 6-DOF robots with spherical or offset wrist that implement kinematic branch calculation. Returns 422 with `ErrorUnsupportedOperation` for motion groups that do not support kinematic branch calculation.
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param get_kinematic_configuration_request: (required)
+        :type get_kinematic_configuration_request: GetKinematicConfigurationRequest
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """  # noqa: E501
+
+        _param = self._get_kinematic_configuration_serialize(
+            cell=cell,
+            get_kinematic_configuration_request=get_kinematic_configuration_request,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index,
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            "200": "GetKinematicConfigurationResponse",
+            "404": None,
+            "422": "GetKinematicConfiguration422Response",
+            "500": None,
+        }
+
+        response_data = await self.api_client.call_api(*_param, _request_timeout=_request_timeout)
+        await response_data.read()
+        return self.api_client.response_deserialize(
+            response_data=response_data,
+            response_types_map=_response_types_map,
+        )
+
+    @validate_call
+    async def get_kinematic_configuration_without_preload_content(
+        self,
+        cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        get_kinematic_configuration_request: GetKinematicConfigurationRequest,
+        _request_timeout: Union[
+            None, Annotated[StrictFloat, Field(gt=0)], Tuple[Annotated[StrictFloat, Field(gt=0)], Annotated[StrictFloat, Field(gt=0)]]
+        ] = None,
+        _request_auth: Optional[Dict[StrictStr, Any]] = None,
+        _content_type: Optional[StrictStr] = None,
+        _headers: Optional[Dict[StrictStr, Any]] = None,
+        _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
+    ) -> RESTResponseType:
+        """Get kinematic configuration
+
+        **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the kinematic configuration for each given joint position including branch and axis ranges.  Supported for 6-DOF robots with spherical or offset wrist that implement kinematic branch calculation. Returns 422 with `ErrorUnsupportedOperation` for motion groups that do not support kinematic branch calculation.
+
+        :param cell: Unique identifier addressing a cell in all API calls.  (required)
+        :type cell: str
+        :param get_kinematic_configuration_request: (required)
+        :type get_kinematic_configuration_request: GetKinematicConfigurationRequest
+        :param _request_timeout: timeout setting for this request. If one
+                                 number provided, it will be total request
+                                 timeout. It can also be a pair (tuple) of
+                                 (connection, read) timeouts.
+        :type _request_timeout: int, tuple(int, int), optional
+        :param _request_auth: set to override the auth_settings for an a single
+                              request; this effectively ignores the
+                              authentication in the spec for a single request.
+        :type _request_auth: dict, optional
+        :param _content_type: force content-type for the request.
+        :type _content_type: str, Optional
+        :param _headers: set to override the headers for a single
+                         request; this effectively ignores the headers
+                         in the spec for a single request.
+        :type _headers: dict, optional
+        :param _host_index: set to override the host_index for a single
+                            request; this effectively ignores the host_index
+                            in the spec for a single request.
+        :type _host_index: int, optional
+        :return: Returns the result object.
+        """  # noqa: E501
+
+        _param = self._get_kinematic_configuration_serialize(
+            cell=cell,
+            get_kinematic_configuration_request=get_kinematic_configuration_request,
+            _request_auth=_request_auth,
+            _content_type=_content_type,
+            _headers=_headers,
+            _host_index=_host_index,
+        )
+
+        _response_types_map: Dict[str, Optional[str]] = {
+            "200": "GetKinematicConfigurationResponse",
+            "404": None,
+            "422": "GetKinematicConfiguration422Response",
+            "500": None,
+        }
+
+        response_data = await self.api_client.call_api(*_param, _request_timeout=_request_timeout)
+        return response_data.response
+
+    def _get_kinematic_configuration_serialize(
+        self,
+        cell,
+        get_kinematic_configuration_request,
+        _request_auth,
+        _content_type,
+        _headers,
+        _host_index,
+    ) -> RequestSerialized:
+
+        _host = None
+
+        _collection_formats: Dict[str, str] = {}
+
+        _path_params: Dict[str, str] = {}
+        _query_params: List[Tuple[str, str]] = []
+        _header_params: Dict[str, Optional[str]] = _headers or {}
+        _form_params: List[Tuple[str, str]] = []
+        _files: Dict[str, Union[str, bytes]] = {}
+        _body_params: Optional[bytes] = None
+
+        # process the path parameters
+        if cell is not None:
+            _path_params["cell"] = cell
+        # process the query parameters
+        # process the header parameters
+        # process the form parameters
+        # process the body parameter
+        if get_kinematic_configuration_request is not None:
+            _body_params = get_kinematic_configuration_request
+
+        # set the HTTP header `Accept`
+        _header_params["Accept"] = self.api_client.select_header_accept(["application/json"])
+
+        # set the HTTP header `Content-Type`
+        if _content_type:
+            _header_params["Content-Type"] = _content_type
+        else:
+            _default_content_type = self.api_client.select_header_content_type(["application/json"])
+            if _default_content_type is not None:
+                _header_params["Content-Type"] = _default_content_type
+
+        # authentication setting
+        _auth_settings: List[str] = ["BearerAuth"]
+
+        return self.api_client.param_serialize(
+            method="POST",
+            resource_path="/experimental/cells/{cell}/kinematic/get-kinematic-configuration",
+            path_params=_path_params,
+            query_params=_query_params,
+            header_params=_header_params,
+            body=_body_params,
+            post_params=_form_params,
+            files=_files,
+            auth_settings=_auth_settings,
+            collection_formats=_collection_formats,
+            _host=_host,
+            _request_auth=_request_auth,
+        )
+
     @validate_call
     async def inverse_kinematics(
         self,

{wandelbots_api_client-26.6.0.dev74 → wandelbots_api_client-26.6.0.dev75}/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/26.6.0.dev74"
+        self.user_agent = "Wandelbots-Nova-API-Python-Client/26.6.0.dev75"
         self.client_side_validation = configuration.client_side_validation
 
     async def __aenter__(self):

{wandelbots_api_client-26.6.0.dev74 → wandelbots_api_client-26.6.0.dev75}/wandelbots_api_client/v2/configuration.py

@@ -512,7 +512,7 @@ class Configuration:
             "OS: {env}\n"
             "Python Version: {pyversion}\n"
             "Version of the API: 2.6.0 dev\n"
-            "SDK Package Version: 26.6.0.dev74".format(env=sys.platform, pyversion=sys.version)
+            "SDK Package Version: 26.6.0.dev75".format(env=sys.platform, pyversion=sys.version)
         )
 
     def get_host_settings(self) -> List[HostSetting]:

{wandelbots_api_client-26.6.0.dev74 → wandelbots_api_client-26.6.0.dev75}/wandelbots_api_client/v2/models/__init__.py

@@ -179,6 +179,13 @@ from wandelbots_api_client.v2.models.forward_kinematics422_response import Forwa
 from wandelbots_api_client.v2.models.forward_kinematics_request import ForwardKinematicsRequest
 from wandelbots_api_client.v2.models.forward_kinematics_response import ForwardKinematicsResponse
 from wandelbots_api_client.v2.models.forward_kinematics_validation_error import ForwardKinematicsValidationError
+from wandelbots_api_client.v2.models.get_kinematic_configuration422_response import GetKinematicConfiguration422Response
+from wandelbots_api_client.v2.models.get_kinematic_configuration_request import GetKinematicConfigurationRequest
+from wandelbots_api_client.v2.models.get_kinematic_configuration_response import GetKinematicConfigurationResponse
+from wandelbots_api_client.v2.models.get_kinematic_configuration_validation_error import GetKinematicConfigurationValidationError
+from wandelbots_api_client.v2.models.get_kinematic_configuration_validation_error_all_of_data import (
+    GetKinematicConfigurationValidationErrorAllOfData,
+)
 from wandelbots_api_client.v2.models.get_trajectory_response import GetTrajectoryResponse
 from wandelbots_api_client.v2.models.http_validation_error import HTTPValidationError
 from wandelbots_api_client.v2.models.io_boolean_value import IOBooleanValue

wandelbots_api_client-26.6.0.dev75/wandelbots_api_client/v2/models/get_kinematic_configuration422_response.py

@@ -0,0 +1,97 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.6.0 dev
+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, Optional
+from wandelbots_api_client.v2.models.get_kinematic_configuration_validation_error import GetKinematicConfigurationValidationError
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class GetKinematicConfiguration422Response(BaseModel):
+    """
+    GetKinematicConfiguration422Response
+    """  # noqa: E501
+
+    detail: Optional[List[GetKinematicConfigurationValidationError]] = None
+    __properties: ClassVar[List[str]] = ["detail"]
+
+    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 GetKinematicConfiguration422Response 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 detail (list)
+        _items = []
+        if self.detail:
+            for _item_detail in self.detail:
+                if _item_detail:
+                    _items.append(_item_detail.to_dict())
+            _dict["detail"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of GetKinematicConfiguration422Response from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "detail": [GetKinematicConfigurationValidationError.from_dict(_item) for _item in obj["detail"]]
+                if obj.get("detail") is not None
+                else None
+            }
+        )
+        return _obj

wandelbots_api_client-26.6.0.dev75/wandelbots_api_client/v2/models/get_kinematic_configuration_request.py

@@ -0,0 +1,88 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.6.0 dev
+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, StrictStr
+from typing import Any, ClassVar, Dict, List, Union
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class GetKinematicConfigurationRequest(BaseModel):
+    """
+    GetKinematicConfigurationRequest
+    """  # noqa: E501
+
+    motion_group_model: StrictStr = Field(
+        description="Identifies a single motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types. "
+    )
+    joint_positions: List[List[Union[StrictFloat, StrictInt]]] = Field(
+        description="List of joint positions for which kinematic configurations are computed. Each joint position must match the DOF of the specified motion group model. Unit: [rad] for joints.  Supported motion group models: 6-DOF robots with spherical or offset wrist. "
+    )
+    __properties: ClassVar[List[str]] = ["motion_group_model", "joint_positions"]
+
+    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 GetKinematicConfigurationRequest from a JSON string"""
+        return cls.from_dict(json.loads(json_str))
+
+    def to_dict(self) -> Dict[str, Any]:
+        """Return the dictionary representation of the model using alias.
+
+        This has the following differences from calling pydantic's
+        `self.model_dump(by_alias=True)`:
+
+        * `None` is only added to the output dict for nullable fields that
+          were set at model initialization. Other fields with value `None`
+          are ignored.
+        """
+        excluded_fields: Set[str] = set([])
+
+        _dict = self.model_dump(
+            by_alias=True,
+            exclude=excluded_fields,
+            exclude_none=True,
+        )
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of GetKinematicConfigurationRequest 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_model": obj.get("motion_group_model"), "joint_positions": obj.get("joint_positions")})
+        return _obj

wandelbots_api_client-26.6.0.dev75/wandelbots_api_client/v2/models/get_kinematic_configuration_response.py

@@ -0,0 +1,99 @@
+# coding: utf-8
+
+"""
+Wandelbots NOVA API
+
+Interact with robots in an easy and intuitive way.
+
+The version of the OpenAPI document: 2.6.0 dev
+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
+from typing import Any, ClassVar, Dict, List
+from wandelbots_api_client.v2.models.kinematic_configuration import KinematicConfiguration
+from typing import Optional, Set
+from typing_extensions import Self
+from pydantic_core import to_jsonable_python
+
+
+class GetKinematicConfigurationResponse(BaseModel):
+    """
+    GetKinematicConfigurationResponse
+    """  # noqa: E501
+
+    kinematic_configurations: List[KinematicConfiguration] = Field(
+        description="List of kinematic configurations corresponding to the input joint positions. "
+    )
+    __properties: ClassVar[List[str]] = ["kinematic_configurations"]
+
+    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 GetKinematicConfigurationResponse 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 kinematic_configurations (list)
+        _items = []
+        if self.kinematic_configurations:
+            for _item_kinematic_configurations in self.kinematic_configurations:
+                if _item_kinematic_configurations:
+                    _items.append(_item_kinematic_configurations.to_dict())
+            _dict["kinematic_configurations"] = _items
+        return _dict
+
+    @classmethod
+    def from_dict(cls, obj: Optional[Dict[str, Any]]) -> Optional[Self]:
+        """Create an instance of GetKinematicConfigurationResponse from a dict"""
+        if obj is None:
+            return None
+
+        if not isinstance(obj, dict):
+            return cls.model_validate(obj)
+
+        _obj = cls.model_validate(
+            {
+                "kinematic_configurations": [KinematicConfiguration.from_dict(_item) for _item in obj["kinematic_configurations"]]
+                if obj.get("kinematic_configurations") is not None
+                else None
+            }
+        )
+        return _obj