@wandelbots/nova-api 25.4.0-dev.27 → 25.4.0-dev.28

package/v2/api.ts

@@ -440,7 +440,20 @@ export interface BooleanValue {
      * @memberof BooleanValue
      */
     'boolean_value': boolean;
+    /**
+     * 
+     * @type {string}
+     * @memberof BooleanValue
+     */
+    'value_type'?: BooleanValueValueTypeEnum;
 }
+
+export const BooleanValueValueTypeEnum = {
+    Boolean: 'boolean'
+} as const;
+
+export type BooleanValueValueTypeEnum = typeof BooleanValueValueTypeEnum[keyof typeof BooleanValueValueTypeEnum];
+
 /**
  * Defines a cuboid shape centered around an origin.
  * @export
@@ -658,10 +671,10 @@ export interface Collider {
     'shape': ColliderShape;
     /**
      * 
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof Collider
      */
-    'pose'?: Pose2;
+    'pose'?: Pose;
     /**
      * Increases the shape\'s size in all dimensions. Applied in [mm]. Can be used to keep a safe distance to the shape.
      * @type {number}
@@ -1258,10 +1271,10 @@ export type CreateTriggerRequestConfig = OpcuaNodeValueTriggerConfig;
 export interface CubicSplineParameter {
     /**
      * 
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof CubicSplineParameter
      */
-    'pose': Pose2;
+    'pose': Pose;
     /**
      * 
      * @type {number}
@@ -1542,10 +1555,10 @@ export interface FeedbackCollision {
     'joint_position'?: Array<number>;
     /**
      * 
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof FeedbackCollision
      */
-    'tcp_pose'?: Pose2;
+    'tcp_pose'?: Pose;
     /**
      * 
      * @type {string}
@@ -1600,10 +1613,10 @@ export type FeedbackJointLimitExceededErrorFeedbackNameEnum = typeof FeedbackJoi
 export interface FeedbackOutOfWorkspace {
     /**
      * 
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof FeedbackOutOfWorkspace
      */
-    'invalid_tcp_pose'?: Pose2;
+    'invalid_tcp_pose'?: Pose;
     /**
      * 
      * @type {string}
@@ -1675,7 +1688,20 @@ export interface FloatValue {
      * @memberof FloatValue
      */
     'float_value': number;
+    /**
+     * 
+     * @type {string}
+     * @memberof FloatValue
+     */
+    'value_type'?: FloatValueValueTypeEnum;
 }
+
+export const FloatValueValueTypeEnum = {
+    Float: 'float'
+} as const;
+
+export type FloatValueValueTypeEnum = typeof FloatValueValueTypeEnum[keyof typeof FloatValueValueTypeEnum];
+
 /**
  * Representing a force on a specific point in operational space, e.g. on robot flange. 
  * @export
@@ -1864,52 +1890,14 @@ export interface IOBooleanValue {
      * @type {string}
      * @memberof IOBooleanValue
      */
-    'io_value_type'?: IOBooleanValueIoValueTypeEnum;
-}
-
-export const IOBooleanValueIoValueTypeEnum = {
-    IoBooleanValue: 'IOBooleanValue'
-} as const;
-
-export type IOBooleanValueIoValueTypeEnum = typeof IOBooleanValueIoValueTypeEnum[keyof typeof IOBooleanValueIoValueTypeEnum];
-
-/**
- * 
- * @export
- * @interface IOBooleanValue2
- */
-export interface IOBooleanValue2 {
-    /**
-     * 
-     * @type {string}
-     * @memberof IOBooleanValue2
-     */
-    'io': string;
-    /**
-     * 
-     * @type {IODirection}
-     * @memberof IOBooleanValue2
-     */
-    'direction': IODirection;
-    /**
-     * 
-     * @type {boolean}
-     * @memberof IOBooleanValue2
-     */
-    'boolean_value': boolean;
-    /**
-     * 
-     * @type {string}
-     * @memberof IOBooleanValue2
-     */
-    'io_value_type'?: IOBooleanValue2IoValueTypeEnum;
+    'value_type'?: IOBooleanValueValueTypeEnum;
 }
 
-export const IOBooleanValue2IoValueTypeEnum = {
-    IoBooleanValue: 'IOBooleanValue'
+export const IOBooleanValueValueTypeEnum = {
+    Boolean: 'boolean'
 } as const;
 
-export type IOBooleanValue2IoValueTypeEnum = typeof IOBooleanValue2IoValueTypeEnum[keyof typeof IOBooleanValue2IoValueTypeEnum];
+export type IOBooleanValueValueTypeEnum = typeof IOBooleanValueValueTypeEnum[keyof typeof IOBooleanValueValueTypeEnum];
 
 /**
  * 
@@ -1972,7 +1960,7 @@ export interface IODescription {
  * @type IODescriptionMin
  * @export
  */
-export type IODescriptionMin = BooleanValue | FloatValue | IntegerValue;
+export type IODescriptionMin = { value_type: 'boolean' } & BooleanValue | { value_type: 'float' } & FloatValue | { value_type: 'integer' } & IntegerValue;
 
 /**
  * Identifies the input/output type.
@@ -2011,52 +1999,14 @@ export interface IOFloatValue {
      * @type {string}
      * @memberof IOFloatValue
      */
-    'io_value_type'?: IOFloatValueIoValueTypeEnum;
-}
-
-export const IOFloatValueIoValueTypeEnum = {
-    IoFloatValue: 'IOFloatValue'
-} as const;
-
-export type IOFloatValueIoValueTypeEnum = typeof IOFloatValueIoValueTypeEnum[keyof typeof IOFloatValueIoValueTypeEnum];
-
-/**
- * 
- * @export
- * @interface IOFloatValue2
- */
-export interface IOFloatValue2 {
-    /**
-     * 
-     * @type {string}
-     * @memberof IOFloatValue2
-     */
-    'io': string;
-    /**
-     * 
-     * @type {IODirection}
-     * @memberof IOFloatValue2
-     */
-    'direction': IODirection;
-    /**
-     * 
-     * @type {number}
-     * @memberof IOFloatValue2
-     */
-    'float_value': number;
-    /**
-     * 
-     * @type {string}
-     * @memberof IOFloatValue2
-     */
-    'io_value_type'?: IOFloatValue2IoValueTypeEnum;
+    'value_type'?: IOFloatValueValueTypeEnum;
 }
 
-export const IOFloatValue2IoValueTypeEnum = {
-    IoFloatValue: 'IOFloatValue'
+export const IOFloatValueValueTypeEnum = {
+    Float: 'float'
 } as const;
 
-export type IOFloatValue2IoValueTypeEnum = typeof IOFloatValue2IoValueTypeEnum[keyof typeof IOFloatValue2IoValueTypeEnum];
+export type IOFloatValueValueTypeEnum = typeof IOFloatValueValueTypeEnum[keyof typeof IOFloatValueValueTypeEnum];
 
 /**
  * Input/Output integer value representation.
@@ -2081,84 +2031,15 @@ export interface IOIntegerValue {
      * @type {string}
      * @memberof IOIntegerValue
      */
-    'io_value_type'?: IOIntegerValueIoValueTypeEnum;
+    'value_type'?: IOIntegerValueValueTypeEnum;
 }
 
-export const IOIntegerValueIoValueTypeEnum = {
-    IoIntegerValue: 'IOIntegerValue'
+export const IOIntegerValueValueTypeEnum = {
+    Integer: 'integer'
 } as const;
 
-export type IOIntegerValueIoValueTypeEnum = typeof IOIntegerValueIoValueTypeEnum[keyof typeof IOIntegerValueIoValueTypeEnum];
+export type IOIntegerValueValueTypeEnum = typeof IOIntegerValueValueTypeEnum[keyof typeof IOIntegerValueValueTypeEnum];
 
-/**
- * 
- * @export
- * @interface IOIntegerValue2
- */
-export interface IOIntegerValue2 {
-    /**
-     * 
-     * @type {string}
-     * @memberof IOIntegerValue2
-     */
-    'io': string;
-    /**
-     * 
-     * @type {IODirection}
-     * @memberof IOIntegerValue2
-     */
-    'direction': IODirection;
-    /**
-     * 
-     * @type {string}
-     * @memberof IOIntegerValue2
-     */
-    'integer_value': string;
-    /**
-     * 
-     * @type {string}
-     * @memberof IOIntegerValue2
-     */
-    'io_value_type'?: IOIntegerValue2IoValueTypeEnum;
-}
-
-export const IOIntegerValue2IoValueTypeEnum = {
-    IoIntegerValue: 'IOIntegerValue'
-} as const;
-
-export type IOIntegerValue2IoValueTypeEnum = typeof IOIntegerValue2IoValueTypeEnum[keyof typeof IOIntegerValue2IoValueTypeEnum];
-
-/**
- * Input/Output value representation. Depending on the input/output type, only one of the value fields will be set.
- * @export
- * @interface IOValue
- */
-export interface IOValue {
-    /**
-     * Unique identifier of the input/output.
-     * @type {string}
-     * @memberof IOValue
-     */
-    'io': string;
-    /**
-     * Value of a digital input/output. This field is only set if the input/output is of type IO_VALUE_BOOLEAN. 
-     * @type {boolean}
-     * @memberof IOValue
-     */
-    'boolean_value'?: boolean;
-    /**
-     * Value of an analog input/output in integer representation. This field is only set if the input/output is of type IO_VALUE_ANALOG_INTEGER.  > The integral value is transmitted as a string to avoid precision loss during conversion to JSON. > We recommend to use int64 in your implementation. If you want to interact with int64 in numbers, > there are some JS bigint libraries available to parse the string into an integral value. 
-     * @type {string}
-     * @memberof IOValue
-     */
-    'integer_value'?: string;
-    /**
-     * Value of an analog input/output in floating number representation. This field is only set if the input/output is of type IO_VALUE_ANALOG_FLOATING. 
-     * @type {number}
-     * @memberof IOValue
-     */
-    'float_value'?: number;
-}
 /**
  * Data type of the input/output.
  * @export
@@ -2174,69 +2055,6 @@ export const IOValueType = {
 export type IOValueType = typeof IOValueType[keyof typeof IOValueType];
 
 
-/**
- * 
- * @export
- * @interface IOs
- */
-export interface IOs {
-    /**
-     * 
-     * @type {Array<IOsIosInner>}
-     * @memberof IOs
-     */
-    'ios': Array<IOsIosInner>;
-}
-/**
- * 
- * @export
- * @interface IOsIosInner
- */
-export interface IOsIosInner {
-    /**
-     * 
-     * @type {string}
-     * @memberof IOsIosInner
-     */
-    'io': string;
-    /**
-     * 
-     * @type {IODirection}
-     * @memberof IOsIosInner
-     */
-    'direction': IODirection;
-    /**
-     * 
-     * @type {string}
-     * @memberof IOsIosInner
-     */
-    'integer_value': string;
-    /**
-     * 
-     * @type {string}
-     * @memberof IOsIosInner
-     */
-    'io_value_type'?: IOsIosInnerIoValueTypeEnum;
-    /**
-     * 
-     * @type {boolean}
-     * @memberof IOsIosInner
-     */
-    'boolean_value': boolean;
-    /**
-     * 
-     * @type {number}
-     * @memberof IOsIosInner
-     */
-    'float_value': number;
-}
-
-export const IOsIosInnerIoValueTypeEnum = {
-    IoFloatValue: 'IOFloatValue'
-} as const;
-
-export type IOsIosInnerIoValueTypeEnum = typeof IOsIosInnerIoValueTypeEnum[keyof typeof IOsIosInnerIoValueTypeEnum];
-
 /**
  * User provided credentials for creating a secret to pull an image from a registry. 
  * @export
@@ -2515,18 +2333,31 @@ export interface InitializeMovementResponseInitResponse {
     'error_message'?: string;
 }
 /**
- * 
+ * Value of an analog input/output with integer representation.  > The integral value is transmitted as a string to avoid precision loss during conversion to JSON. > We recommend to use int64 in your implementation. If you want to interact with int64 in numbers, > there are some JS bigint libraries available to parse the string into an integral value. 
  * @export
  * @interface IntegerValue
  */
 export interface IntegerValue {
     /**
-     * Value of an analog input/output with integer representation.  > The integral value is transmitted as a string to avoid precision loss during conversion to JSON. > We recommend to use int64 in your implementation. If you want to interact with int64 in numbers, > there are some JS bigint libraries available to parse the string into an integral value. 
+     * 
      * @type {string}
      * @memberof IntegerValue
      */
     'integer_value': string;
+    /**
+     * 
+     * @type {string}
+     * @memberof IntegerValue
+     */
+    'value_type'?: IntegerValueValueTypeEnum;
 }
+
+export const IntegerValueValueTypeEnum = {
+    Integer: 'integer'
+} as const;
+
+export type IntegerValueValueTypeEnum = typeof IntegerValueValueTypeEnum[keyof typeof IntegerValueValueTypeEnum];
+
 /**
  * 
  * @export
@@ -3751,10 +3582,10 @@ export interface MotionGroupState {
     'joint_torque'?: Joints;
     /**
      * Current position of the Flange (last point of the motion group before the endeffector starts) in [mm]. The position is relative to the response_coordinate_system that is specified in the request. For robot arms a flange pose is always returned, for positioners the flange might not be available, depending on the model. 
-     * @type {Pose}
+     * @type {PoseInCoordinateSystem}
      * @memberof MotionGroupState
      */
-    'flange_pose'?: Pose;
+    'flange_pose'?: PoseInCoordinateSystem;
     /**
      * Current position of the TCP currently selected on the robot control panel. Attention: This TCP is not necessarily the same as specified as `tcp` in the request. If you need the information for the specified TCP, use the tcp_pose in the outer response. Position is in [mm]. The position is relative to the response_coordinate_system that is specified in the request. 
      * @type {TcpPose}
@@ -3851,10 +3682,10 @@ export interface Mounting {
     'coordinate_system': string;
     /**
      * The pose offset based on world coordinate system of the mounting.
-     * @type {Pose}
+     * @type {PoseInCoordinateSystem}
      * @memberof Mounting
      */
-    'pose': Pose;
+    'pose': PoseInCoordinateSystem;
 }
 /**
  * @type MoveToTrajectoryViaJointPTPResponse
@@ -4145,10 +3976,10 @@ export interface Path {
 export interface PathCartesianPTP {
     /**
      * 
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof PathCartesianPTP
      */
-    'target_pose': Pose2;
+    'target_pose': Pose;
     /**
      * 
      * @type {string}
@@ -4171,16 +4002,16 @@ export type PathCartesianPTPPathDefinitionNameEnum = typeof PathCartesianPTPPath
 export interface PathCircle {
     /**
      * 
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof PathCircle
      */
-    'via_pose': Pose2;
+    'via_pose': Pose;
     /**
      * 
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof PathCircle
      */
-    'target_pose': Pose2;
+    'target_pose': Pose;
     /**
      * 
      * @type {string}
@@ -4255,10 +4086,10 @@ export type PathJointPTPPathDefinitionNameEnum = typeof PathJointPTPPathDefiniti
 export interface PathLine {
     /**
      * 
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof PathLine
      */
-    'target_pose': Pose2;
+    'target_pose': Pose;
     /**
      * 
      * @type {string}
@@ -4339,12 +4170,12 @@ export interface PauseMovementResponsePauseResponse {
 export interface PauseOnIO {
     /**
      * 
-     * @type {IOValue}
+     * @type {SetOutputValuesRequestInner}
      * @memberof PauseOnIO
      */
-    'io': IOValue;
+    'io': SetOutputValuesRequestInner;
     /**
-     * Comparator for the comparison of two values. The lest side of the comparison is the measured input/output value and the right side is the expected input/output value. 
+     * Comparator for the comparison of two values. Use the measured I/O as the base value (a) and the expected input/output value as the comparator (b): e.g., a > b. 
      * @type {Comparator}
      * @memberof PauseOnIO
      */
@@ -4673,7 +4504,7 @@ export interface PointCloud {
     'pointcloud': string;
 }
 /**
- * Representing a pose in space with its origin in `coordinate_system`. A pose consists of positional coordinates [x, y, z] in millimeters (mm) and orientational coordinates in axis-angle representation [rx, ry, rz] in radian (rad).
+ * Defines a pose in 3D space. A pose is a combination of a position and an orientation. The position is applied before the orientation. 
  * @export
  * @interface Pose
  */
@@ -4683,38 +4514,38 @@ export interface Pose {
      * @type {Array<number>}
      * @memberof Pose
      */
-    'position': Array<number>;
+    'position'?: Array<number>;
     /**
-     * A three-dimensional vector [x, y, z] with double precision. 
+     * Defines a rotation in 3D space. A three-dimensional Vector [rx, ry, rz] with double precision. Rotation is applied around the vector. The angle of rotation equals the length of the vector. 
      * @type {Array<number>}
      * @memberof Pose
      */
     'orientation'?: Array<number>;
-    /**
-     * Unique identifier addressing the reference coordinate system of the pose. Default is the world coordinate system.
-     * @type {string}
-     * @memberof Pose
-     */
-    'coordinate_system'?: string;
 }
 /**
- * Defines a pose in 3D space. A pose is a combination of a position and an orientation. The position is applied before the orientation. 
+ * Representing a pose in space with its origin in `coordinate_system`. A pose consists of positional coordinates [x, y, z] in millimeters (mm) and orientational coordinates in axis-angle representation [rx, ry, rz] in radian (rad).
  * @export
- * @interface Pose2
+ * @interface PoseInCoordinateSystem
  */
-export interface Pose2 {
+export interface PoseInCoordinateSystem {
     /**
      * A three-dimensional vector [x, y, z] with double precision. 
      * @type {Array<number>}
-     * @memberof Pose2
+     * @memberof PoseInCoordinateSystem
      */
-    'position'?: Array<number>;
+    'position': Array<number>;
     /**
      * Defines a rotation in 3D space. A three-dimensional Vector [rx, ry, rz] with double precision. Rotation is applied around the vector. The angle of rotation equals the length of the vector. 
      * @type {Array<number>}
-     * @memberof Pose2
+     * @memberof PoseInCoordinateSystem
      */
     'orientation'?: Array<number>;
+    /**
+     * Unique identifier addressing the reference coordinate system of the pose. Default is the world coordinate system.
+     * @type {string}
+     * @memberof PoseInCoordinateSystem
+     */
+    'coordinate_system'?: string;
 }
 /**
  * The metadata of a program.
@@ -5625,36 +5456,17 @@ export interface ServiceStatusStatus {
 }
 
 
-/**
- * Defines an input/output that should be set upon reaching a certain location on the trajectory.
- * @export
- * @interface SetIO
- */
-export interface SetIO {
-    /**
-     * 
-     * @type {IOValue}
-     * @memberof SetIO
-     */
-    'io': IOValue;
-    /**
-     * The location on the trajectory where the input/output should be set.
-     * @type {number}
-     * @memberof SetIO
-     */
-    'location': number;
-}
 /**
  * @type SetIOValuesRequestInner
  * @export
  */
-export type SetIOValuesRequestInner = IOBooleanValue2 | IOFloatValue2 | IOIntegerValue2;
+export type SetIOValuesRequestInner = IOBooleanValue | IOFloatValue | IOIntegerValue;
 
 /**
  * @type SetOutputValuesRequestInner
  * @export
  */
-export type SetOutputValuesRequestInner = IOBooleanValue | IOFloatValue | IOIntegerValue;
+export type SetOutputValuesRequestInner = { value_type: 'boolean' } & IOBooleanValue | { value_type: 'float' } & IOFloatValue | { value_type: 'integer' } & IOIntegerValue;
 
 /**
  * 
@@ -5821,10 +5633,10 @@ export interface StartMovementRequest {
     'direction': Direction;
     /**
      * Attaches a list of input/output commands to the trajectory. The inputs/outputs are set to the specified values right after the specified location was reached. If the specified location is located before the start location (forward direction: value is smaller, backward direction: value is bigger), the input/output is not set. 
-     * @type {Array<SetIO>}
+     * @type {Array<SetOutputValuesRequestInner>}
      * @memberof StartMovementRequest
      */
-    'set_ios'?: Array<SetIO>;
+    'set_ios'?: Array<SetOutputValuesRequestInner>;
     /**
      * Defines an input/output that is listened to before the movement. Execution starts if the defined comparator evaluates to `true`. 
      * @type {StartOnIO}
@@ -5853,12 +5665,12 @@ export type StartMovementRequestMessageTypeEnum = typeof StartMovementRequestMes
 export interface StartOnIO {
     /**
      * 
-     * @type {IOValue}
+     * @type {SetOutputValuesRequestInner}
      * @memberof StartOnIO
      */
-    'io': IOValue;
+    'io': SetOutputValuesRequestInner;
     /**
-     * Comparator for the comparison of two values. The lest side of the comparison is the measured input/output value and the right side is the expected input/output value. 
+     * Comparator for the comparison of two values. Use the measured I/O as the base value (a) and the expected input/output value as the comparator (b): e.g., a > b. 
      * @type {Comparator}
      * @memberof StartOnIO
      */
@@ -6562,6 +6374,27 @@ export interface VirtualRobotConfiguration {
      */
     'content': string;
 }
+/**
+ * The value to compare with the current value of the input/output.
+ * @export
+ * @interface WaitForIOEventRequest
+ */
+export interface WaitForIOEventRequest {
+    /**
+     * 
+     * @type {SetOutputValuesRequestInner}
+     * @memberof WaitForIOEventRequest
+     */
+    'io': SetOutputValuesRequestInner;
+    /**
+     * Comparator for the comparison of two values. Use the measured I/O as the base value (a) and the expected input/output value as the comparator (b): e.g., a > b. 
+     * @type {Comparator}
+     * @memberof WaitForIOEventRequest
+     */
+    'comparator': Comparator;
+}
+
+
 /**
  * The configuration of a physical Yaskawa robot controller has to contain IP address of the controller.
  * @export
@@ -9278,23 +9111,17 @@ export const ControllerInputsOutputsApiAxiosParamCreator = function (configurati
          * @summary Wait For
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
-         * @param {string} io 
-         * @param {Comparator} comparisonType 
-         * @param {boolean} [booleanValue] 
-         * @param {string} [integerValue] 
-         * @param {number} [floatValue] 
+         * @param {WaitForIOEventRequest} waitForIOEventRequest 
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        waitForIOEvent: async (cell: string, controller: string, io: string, comparisonType: Comparator, booleanValue?: boolean, integerValue?: string, floatValue?: number, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+        waitForIOEvent: async (cell: string, controller: string, waitForIOEventRequest: WaitForIOEventRequest, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
             // verify required parameter 'cell' is not null or undefined
             assertParamExists('waitForIOEvent', 'cell', cell)
             // verify required parameter 'controller' is not null or undefined
             assertParamExists('waitForIOEvent', 'controller', controller)
-            // verify required parameter 'io' is not null or undefined
-            assertParamExists('waitForIOEvent', 'io', io)
-            // verify required parameter 'comparisonType' is not null or undefined
-            assertParamExists('waitForIOEvent', 'comparisonType', comparisonType)
+            // verify required parameter 'waitForIOEventRequest' is not null or undefined
+            assertParamExists('waitForIOEvent', 'waitForIOEventRequest', waitForIOEventRequest)
             const localVarPath = `/cells/{cell}/controllers/{controller}/ios/wait-for`
                 .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
                 .replace(`{${"controller"}}`, encodeURIComponent(String(controller)));
@@ -9305,7 +9132,7 @@ export const ControllerInputsOutputsApiAxiosParamCreator = function (configurati
                 baseOptions = configuration.baseOptions;
             }
 
-            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options};
+            const localVarRequestOptions = { method: 'POST', ...baseOptions, ...options};
             const localVarHeaderParameter = {} as any;
             const localVarQueryParameter = {} as any;
 
@@ -9317,31 +9144,14 @@ export const ControllerInputsOutputsApiAxiosParamCreator = function (configurati
             // http bearer authentication required
             await setBearerAuthToObject(localVarHeaderParameter, configuration)
 
-            if (io !== undefined) {
-                localVarQueryParameter['io'] = io;
-            }
-
-            if (comparisonType !== undefined) {
-                localVarQueryParameter['comparison_type'] = comparisonType;
-            }
-
-            if (booleanValue !== undefined) {
-                localVarQueryParameter['boolean_value'] = booleanValue;
-            }
-
-            if (integerValue !== undefined) {
-                localVarQueryParameter['integer_value'] = integerValue;
-            }
-
-            if (floatValue !== undefined) {
-                localVarQueryParameter['float_value'] = floatValue;
-            }
-
 
     
+            localVarHeaderParameter['Content-Type'] = 'application/json';
+
             setSearchParams(localVarUrlObj, localVarQueryParameter);
             let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
             localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
+            localVarRequestOptions.data = serializeDataIfNeeded(waitForIOEventRequest, localVarRequestOptions, configuration)
 
             return {
                 url: toPathString(localVarUrlObj),
@@ -9426,16 +9236,12 @@ export const ControllerInputsOutputsApiFp = function(configuration?: Configurati
          * @summary Wait For
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
-         * @param {string} io 
-         * @param {Comparator} comparisonType 
-         * @param {boolean} [booleanValue] 
-         * @param {string} [integerValue] 
-         * @param {number} [floatValue] 
+         * @param {WaitForIOEventRequest} waitForIOEventRequest 
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async waitForIOEvent(cell: string, controller: string, io: string, comparisonType: Comparator, booleanValue?: boolean, integerValue?: string, floatValue?: number, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<boolean>> {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.waitForIOEvent(cell, controller, io, comparisonType, booleanValue, integerValue, floatValue, options);
+        async waitForIOEvent(cell: string, controller: string, waitForIOEventRequest: WaitForIOEventRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<boolean>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.waitForIOEvent(cell, controller, waitForIOEventRequest, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['ControllerInputsOutputsApi.waitForIOEvent']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
@@ -9506,16 +9312,12 @@ export const ControllerInputsOutputsApiFactory = function (configuration?: Confi
          * @summary Wait For
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
-         * @param {string} io 
-         * @param {Comparator} comparisonType 
-         * @param {boolean} [booleanValue] 
-         * @param {string} [integerValue] 
-         * @param {number} [floatValue] 
+         * @param {WaitForIOEventRequest} waitForIOEventRequest 
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        waitForIOEvent(cell: string, controller: string, io: string, comparisonType: Comparator, booleanValue?: boolean, integerValue?: string, floatValue?: number, options?: RawAxiosRequestConfig): AxiosPromise<boolean> {
-            return localVarFp.waitForIOEvent(cell, controller, io, comparisonType, booleanValue, integerValue, floatValue, options).then((request) => request(axios, basePath));
+        waitForIOEvent(cell: string, controller: string, waitForIOEventRequest: WaitForIOEventRequest, options?: RawAxiosRequestConfig): AxiosPromise<boolean> {
+            return localVarFp.waitForIOEvent(cell, controller, waitForIOEventRequest, options).then((request) => request(axios, basePath));
         },
     };
 };
@@ -9591,17 +9393,13 @@ export class ControllerInputsOutputsApi extends BaseAPI {
      * @summary Wait For
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} io 
-     * @param {Comparator} comparisonType 
-     * @param {boolean} [booleanValue] 
-     * @param {string} [integerValue] 
-     * @param {number} [floatValue] 
+     * @param {WaitForIOEventRequest} waitForIOEventRequest 
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ControllerInputsOutputsApi
      */
-    public waitForIOEvent(cell: string, controller: string, io: string, comparisonType: Comparator, booleanValue?: boolean, integerValue?: string, floatValue?: number, options?: RawAxiosRequestConfig) {
-        return ControllerInputsOutputsApiFp(this.configuration).waitForIOEvent(cell, controller, io, comparisonType, booleanValue, integerValue, floatValue, options).then((request) => request(this.axios, this.basePath));
+    public waitForIOEvent(cell: string, controller: string, waitForIOEventRequest: WaitForIOEventRequest, options?: RawAxiosRequestConfig) {
+        return ControllerInputsOutputsApiFp(this.configuration).waitForIOEvent(cell, controller, waitForIOEventRequest, options).then((request) => request(this.axios, this.basePath));
     }
 }
 
@@ -9716,17 +9514,17 @@ export const CoordinateSystemsApiAxiosParamCreator = function (configuration?: C
          * @summary Transform
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-         * @param {Pose} pose 
+         * @param {PoseInCoordinateSystem} poseInCoordinateSystem 
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        transformInCoordinateSystem: async (cell: string, coordinateSystem: string, pose: Pose, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+        transformInCoordinateSystem: async (cell: string, coordinateSystem: string, poseInCoordinateSystem: PoseInCoordinateSystem, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
             // verify required parameter 'cell' is not null or undefined
             assertParamExists('transformInCoordinateSystem', 'cell', cell)
             // verify required parameter 'coordinateSystem' is not null or undefined
             assertParamExists('transformInCoordinateSystem', 'coordinateSystem', coordinateSystem)
-            // verify required parameter 'pose' is not null or undefined
-            assertParamExists('transformInCoordinateSystem', 'pose', pose)
+            // verify required parameter 'poseInCoordinateSystem' is not null or undefined
+            assertParamExists('transformInCoordinateSystem', 'poseInCoordinateSystem', poseInCoordinateSystem)
             const localVarPath = `/cells/{cell}/coordinate-systems/{coordinate-system}/transform`
                 .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
                 .replace(`{${"coordinate-system"}}`, encodeURIComponent(String(coordinateSystem)));
@@ -9756,7 +9554,7 @@ export const CoordinateSystemsApiAxiosParamCreator = function (configuration?: C
             setSearchParams(localVarUrlObj, localVarQueryParameter);
             let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
             localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
-            localVarRequestOptions.data = serializeDataIfNeeded(pose, localVarRequestOptions, configuration)
+            localVarRequestOptions.data = serializeDataIfNeeded(poseInCoordinateSystem, localVarRequestOptions, configuration)
 
             return {
                 url: toPathString(localVarUrlObj),
@@ -9807,12 +9605,12 @@ export const CoordinateSystemsApiFp = function(configuration?: Configuration) {
          * @summary Transform
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-         * @param {Pose} pose 
+         * @param {PoseInCoordinateSystem} poseInCoordinateSystem 
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async transformInCoordinateSystem(cell: string, coordinateSystem: string, pose: Pose, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Pose>> {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.transformInCoordinateSystem(cell, coordinateSystem, pose, options);
+        async transformInCoordinateSystem(cell: string, coordinateSystem: string, poseInCoordinateSystem: PoseInCoordinateSystem, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<PoseInCoordinateSystem>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.transformInCoordinateSystem(cell, coordinateSystem, poseInCoordinateSystem, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['CoordinateSystemsApi.transformInCoordinateSystem']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
@@ -9855,12 +9653,12 @@ export const CoordinateSystemsApiFactory = function (configuration?: Configurati
          * @summary Transform
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-         * @param {Pose} pose 
+         * @param {PoseInCoordinateSystem} poseInCoordinateSystem 
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        transformInCoordinateSystem(cell: string, coordinateSystem: string, pose: Pose, options?: RawAxiosRequestConfig): AxiosPromise<Pose> {
-            return localVarFp.transformInCoordinateSystem(cell, coordinateSystem, pose, options).then((request) => request(axios, basePath));
+        transformInCoordinateSystem(cell: string, coordinateSystem: string, poseInCoordinateSystem: PoseInCoordinateSystem, options?: RawAxiosRequestConfig): AxiosPromise<PoseInCoordinateSystem> {
+            return localVarFp.transformInCoordinateSystem(cell, coordinateSystem, poseInCoordinateSystem, options).then((request) => request(axios, basePath));
         },
     };
 };
@@ -9904,13 +9702,13 @@ export class CoordinateSystemsApi extends BaseAPI {
      * @summary Transform
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-     * @param {Pose} pose 
+     * @param {PoseInCoordinateSystem} poseInCoordinateSystem 
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof CoordinateSystemsApi
      */
-    public transformInCoordinateSystem(cell: string, coordinateSystem: string, pose: Pose, options?: RawAxiosRequestConfig) {
-        return CoordinateSystemsApiFp(this.configuration).transformInCoordinateSystem(cell, coordinateSystem, pose, options).then((request) => request(this.axios, this.basePath));
+    public transformInCoordinateSystem(cell: string, coordinateSystem: string, poseInCoordinateSystem: PoseInCoordinateSystem, options?: RawAxiosRequestConfig) {
+        return CoordinateSystemsApiFp(this.configuration).transformInCoordinateSystem(cell, coordinateSystem, poseInCoordinateSystem, options).then((request) => request(this.axios, this.basePath));
     }
 }
 
@@ -12096,7 +11894,7 @@ export const MotionGroupKinematicsApiFp = function(configuration?: Configuration
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async calculateForwardKinematic(cell: string, motionGroup: string, tcpPoseRequest: TcpPoseRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Pose>> {
+        async calculateForwardKinematic(cell: string, motionGroup: string, tcpPoseRequest: TcpPoseRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<PoseInCoordinateSystem>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.calculateForwardKinematic(cell, motionGroup, tcpPoseRequest, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['MotionGroupKinematicsApi.calculateForwardKinematic']?.[localVarOperationServerIndex]?.url;
@@ -12162,7 +11960,7 @@ export const MotionGroupKinematicsApiFactory = function (configuration?: Configu
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        calculateForwardKinematic(cell: string, motionGroup: string, tcpPoseRequest: TcpPoseRequest, options?: RawAxiosRequestConfig): AxiosPromise<Pose> {
+        calculateForwardKinematic(cell: string, motionGroup: string, tcpPoseRequest: TcpPoseRequest, options?: RawAxiosRequestConfig): AxiosPromise<PoseInCoordinateSystem> {
             return localVarFp.calculateForwardKinematic(cell, motionGroup, tcpPoseRequest, options).then((request) => request(axios, basePath));
         },
         /**
@@ -18188,22 +17986,21 @@ export const VirtualRobotApiAxiosParamCreator = function (configuration?: Config
             };
         },
         /**
-         * Lists the inputs/outputs of the virtual controller. Every input/output contains the description and the value.  Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. As a virtual robot can have up to thousand inputs/outputs, be ready to handle a large response. Use [List Descriptions](List Descriptions) to get a detailed description of an input/output. 
+         * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualRobotIODescriptions](listVirtualRobotIODescriptions). 
          * @summary Get Inputs/Outputs
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
-         * @param {Array<string>} [ios] 
-         * @param {IODirection} [direction] Return only inputs/outputs with the specified direction. 
-         * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type. 
-         * @param {string} [prefix] Return only inputs/outputs with the specified prefix of unique identifier. 
+         * @param {Array<string>} ios 
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        listIOs: async (cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, prefix?: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+        listIOs: async (cell: string, controller: string, ios: Array<string>, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
             // verify required parameter 'cell' is not null or undefined
             assertParamExists('listIOs', 'cell', cell)
             // verify required parameter 'controller' is not null or undefined
             assertParamExists('listIOs', 'controller', controller)
+            // verify required parameter 'ios' is not null or undefined
+            assertParamExists('listIOs', 'ios', ios)
             const localVarPath = `/cells/{cell}/controllers/{controller}/teach-pendant/ios`
                 .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
                 .replace(`{${"controller"}}`, encodeURIComponent(String(controller)));
@@ -18230,6 +18027,60 @@ export const VirtualRobotApiAxiosParamCreator = function (configuration?: Config
                 localVarQueryParameter['ios'] = ios;
             }
 
+
+    
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
+
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned. 
+         * @summary List Input/Output Descriptions
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} controller Unique identifier to address a controller in the cell.
+         * @param {Array<string>} [ios] 
+         * @param {IODirection} [direction] Return only inputs/outputs with the specified direction. 
+         * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type. 
+         * @param {string} [group] Return only inputs/outputs from the specified group. 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        listVirtualRobotIODescriptions: async (cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('listVirtualRobotIODescriptions', 'cell', cell)
+            // verify required parameter 'controller' is not null or undefined
+            assertParamExists('listVirtualRobotIODescriptions', 'controller', controller)
+            const localVarPath = `/cells/{cell}/controllers/{controller}/teach-pendant/ios/description`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
+                .replace(`{${"controller"}}`, encodeURIComponent(String(controller)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options};
+            const localVarHeaderParameter = {} as any;
+            const localVarQueryParameter = {} as any;
+
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration)
+
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration)
+
+            if (ios) {
+                localVarQueryParameter['ios'] = ios;
+            }
+
             if (direction !== undefined) {
                 localVarQueryParameter['direction'] = direction;
             }
@@ -18238,8 +18089,8 @@ export const VirtualRobotApiAxiosParamCreator = function (configuration?: Config
                 localVarQueryParameter['value_type'] = valueType;
             }
 
-            if (prefix !== undefined) {
-                localVarQueryParameter['prefix'] = prefix;
+            if (group !== undefined) {
+                localVarQueryParameter['group'] = group;
             }
 
 
@@ -18401,21 +18252,36 @@ export const VirtualRobotApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Lists the inputs/outputs of the virtual controller. Every input/output contains the description and the value.  Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. As a virtual robot can have up to thousand inputs/outputs, be ready to handle a large response. Use [List Descriptions](List Descriptions) to get a detailed description of an input/output. 
+         * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualRobotIODescriptions](listVirtualRobotIODescriptions). 
          * @summary Get Inputs/Outputs
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
+         * @param {Array<string>} ios 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ListIOValuesResponse>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.listIOs(cell, controller, ios, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['VirtualRobotApi.listIOs']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned. 
+         * @summary List Input/Output Descriptions
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} controller Unique identifier to address a controller in the cell.
          * @param {Array<string>} [ios] 
          * @param {IODirection} [direction] Return only inputs/outputs with the specified direction. 
          * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type. 
-         * @param {string} [prefix] Return only inputs/outputs with the specified prefix of unique identifier. 
+         * @param {string} [group] Return only inputs/outputs from the specified group. 
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async listIOs(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, prefix?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<IOs>> {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.listIOs(cell, controller, ios, direction, valueType, prefix, options);
+        async listVirtualRobotIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ListIODescriptionsResponse>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.listVirtualRobotIODescriptions(cell, controller, ios, direction, valueType, group, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['VirtualRobotApi.listIOs']?.[localVarOperationServerIndex]?.url;
+            const localVarOperationServerBasePath = operationServerMap['VirtualRobotApi.listVirtualRobotIODescriptions']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
@@ -18427,7 +18293,7 @@ export const VirtualRobotApiFp = function(configuration?: Configuration) {
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async setIOValues(cell: string, controller: string, setIOValuesRequestInner: Array<SetIOValuesRequestInner>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>> {
+        async setIOValues(cell: string, controller: string, setIOValuesRequestInner: Array<SetIOValuesRequestInner>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.setIOValues(cell, controller, setIOValuesRequestInner, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['VirtualRobotApi.setIOValues']?.[localVarOperationServerIndex]?.url;
@@ -18443,7 +18309,7 @@ export const VirtualRobotApiFp = function(configuration?: Configuration) {
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>> {
+        async setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.setMotionGroupState(cell, controller, motionGroup, motionGroupJoints, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['VirtualRobotApi.setMotionGroupState']?.[localVarOperationServerIndex]?.url;
@@ -18483,19 +18349,31 @@ export const VirtualRobotApiFactory = function (configuration?: Configuration, b
             return localVarFp.getMotionGroups(cell, controller, options).then((request) => request(axios, basePath));
         },
         /**
-         * Lists the inputs/outputs of the virtual controller. Every input/output contains the description and the value.  Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. As a virtual robot can have up to thousand inputs/outputs, be ready to handle a large response. Use [List Descriptions](List Descriptions) to get a detailed description of an input/output. 
+         * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualRobotIODescriptions](listVirtualRobotIODescriptions). 
          * @summary Get Inputs/Outputs
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
+         * @param {Array<string>} ios 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig): AxiosPromise<ListIOValuesResponse> {
+            return localVarFp.listIOs(cell, controller, ios, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned. 
+         * @summary List Input/Output Descriptions
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} controller Unique identifier to address a controller in the cell.
          * @param {Array<string>} [ios] 
          * @param {IODirection} [direction] Return only inputs/outputs with the specified direction. 
          * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type. 
-         * @param {string} [prefix] Return only inputs/outputs with the specified prefix of unique identifier. 
+         * @param {string} [group] Return only inputs/outputs from the specified group. 
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        listIOs(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, prefix?: string, options?: RawAxiosRequestConfig): AxiosPromise<IOs> {
-            return localVarFp.listIOs(cell, controller, ios, direction, valueType, prefix, options).then((request) => request(axios, basePath));
+        listVirtualRobotIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): AxiosPromise<ListIODescriptionsResponse> {
+            return localVarFp.listVirtualRobotIODescriptions(cell, controller, ios, direction, valueType, group, options).then((request) => request(axios, basePath));
         },
         /**
          * Sets a list of values of a virtual controller inputs/outputs. 
@@ -18506,7 +18384,7 @@ export const VirtualRobotApiFactory = function (configuration?: Configuration, b
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        setIOValues(cell: string, controller: string, setIOValuesRequestInner: Array<SetIOValuesRequestInner>, options?: RawAxiosRequestConfig): AxiosPromise<object> {
+        setIOValues(cell: string, controller: string, setIOValuesRequestInner: Array<SetIOValuesRequestInner>, options?: RawAxiosRequestConfig): AxiosPromise<void> {
             return localVarFp.setIOValues(cell, controller, setIOValuesRequestInner, options).then((request) => request(axios, basePath));
         },
         /**
@@ -18519,7 +18397,7 @@ export const VirtualRobotApiFactory = function (configuration?: Configuration, b
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): AxiosPromise<object> {
+        setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): AxiosPromise<void> {
             return localVarFp.setMotionGroupState(cell, controller, motionGroup, motionGroupJoints, options).then((request) => request(axios, basePath));
         },
     };
@@ -18560,20 +18438,34 @@ export class VirtualRobotApi extends BaseAPI {
     }
 
     /**
-     * Lists the inputs/outputs of the virtual controller. Every input/output contains the description and the value.  Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. As a virtual robot can have up to thousand inputs/outputs, be ready to handle a large response. Use [List Descriptions](List Descriptions) to get a detailed description of an input/output. 
+     * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualRobotIODescriptions](listVirtualRobotIODescriptions). 
      * @summary Get Inputs/Outputs
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {Array<string>} ios 
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof VirtualRobotApi
+     */
+    public listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig) {
+        return VirtualRobotApiFp(this.configuration).listIOs(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
+    }
+
+    /**
+     * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned. 
+     * @summary List Input/Output Descriptions
+     * @param {string} cell Unique identifier addressing a cell in all API calls. 
+     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {Array<string>} [ios] 
      * @param {IODirection} [direction] Return only inputs/outputs with the specified direction. 
      * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type. 
-     * @param {string} [prefix] Return only inputs/outputs with the specified prefix of unique identifier. 
+     * @param {string} [group] Return only inputs/outputs from the specified group. 
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof VirtualRobotApi
      */
-    public listIOs(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, prefix?: string, options?: RawAxiosRequestConfig) {
-        return VirtualRobotApiFp(this.configuration).listIOs(cell, controller, ios, direction, valueType, prefix, options).then((request) => request(this.axios, this.basePath));
+    public listVirtualRobotIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig) {
+        return VirtualRobotApiFp(this.configuration).listVirtualRobotIODescriptions(cell, controller, ios, direction, valueType, group, options).then((request) => request(this.axios, this.basePath));
     }
 
     /**
@@ -18821,7 +18713,7 @@ export const VirtualRobotBehaviorApiFp = function(configuration?: Configuration)
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>> {
+        async setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.setMotionGroupBehavior(cell, controller, motionGroup, behavior, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['VirtualRobotBehaviorApi.setMotionGroupBehavior']?.[localVarOperationServerIndex]?.url;
@@ -18871,7 +18763,7 @@ export const VirtualRobotBehaviorApiFactory = function (configuration?: Configur
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): AxiosPromise<object> {
+        setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): AxiosPromise<void> {
             return localVarFp.setMotionGroupBehavior(cell, controller, motionGroup, behavior, options).then((request) => request(axios, basePath));
         },
     };
@@ -19239,7 +19131,7 @@ export const VirtualRobotModeApiFp = function(configuration?: Configuration) {
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>> {
+        async setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.setEmergencyStop(cell, controller, active, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['VirtualRobotModeApi.setEmergencyStop']?.[localVarOperationServerIndex]?.url;
@@ -19254,7 +19146,7 @@ export const VirtualRobotModeApiFp = function(configuration?: Configuration) {
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>> {
+        async setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.setOperationMode(cell, controller, mode, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['VirtualRobotModeApi.setOperationMode']?.[localVarOperationServerIndex]?.url;
@@ -19312,7 +19204,7 @@ export const VirtualRobotModeApiFactory = function (configuration?: Configuratio
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): AxiosPromise<object> {
+        setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): AxiosPromise<void> {
             return localVarFp.setEmergencyStop(cell, controller, active, options).then((request) => request(axios, basePath));
         },
         /**
@@ -19324,7 +19216,7 @@ export const VirtualRobotModeApiFactory = function (configuration?: Configuratio
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): AxiosPromise<object> {
+        setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): AxiosPromise<void> {
             return localVarFp.setOperationMode(cell, controller, mode, options).then((request) => request(axios, basePath));
         },
     };
@@ -19851,7 +19743,7 @@ export const VirtualRobotSetupApiFp = function(configuration?: Configuration) {
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>> {
+        async addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.addVirtualRobotCoordinateSystem(cell, controller, coordinateSystem, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['VirtualRobotSetupApi.addVirtualRobotCoordinateSystem']?.[localVarOperationServerIndex]?.url;
@@ -19867,7 +19759,7 @@ export const VirtualRobotSetupApiFp = function(configuration?: Configuration) {
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>> {
+        async addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.addVirtualRobotTcp(cell, controller, motionGroup, robotTcp, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['VirtualRobotSetupApi.addVirtualRobotTcp']?.[localVarOperationServerIndex]?.url;
@@ -19883,7 +19775,7 @@ export const VirtualRobotSetupApiFp = function(configuration?: Configuration) {
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>> {
+        async deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.deleteVirtualRobotCoordinateSystem(cell, controller, coordinateSystem, deleteDependent, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['VirtualRobotSetupApi.deleteVirtualRobotCoordinateSystem']?.[localVarOperationServerIndex]?.url;
@@ -19899,7 +19791,7 @@ export const VirtualRobotSetupApiFp = function(configuration?: Configuration) {
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>> {
+        async deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.deleteVirtualRobotTcp(cell, controller, motionGroup, tcp, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['VirtualRobotSetupApi.deleteVirtualRobotTcp']?.[localVarOperationServerIndex]?.url;
@@ -19984,7 +19876,7 @@ export const VirtualRobotSetupApiFactory = function (configuration?: Configurati
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): AxiosPromise<object> {
+        addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): AxiosPromise<void> {
             return localVarFp.addVirtualRobotCoordinateSystem(cell, controller, coordinateSystem, options).then((request) => request(axios, basePath));
         },
         /**
@@ -19997,7 +19889,7 @@ export const VirtualRobotSetupApiFactory = function (configuration?: Configurati
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): AxiosPromise<object> {
+        addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): AxiosPromise<void> {
             return localVarFp.addVirtualRobotTcp(cell, controller, motionGroup, robotTcp, options).then((request) => request(axios, basePath));
         },
         /**
@@ -20010,7 +19902,7 @@ export const VirtualRobotSetupApiFactory = function (configuration?: Configurati
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): AxiosPromise<object> {
+        deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): AxiosPromise<void> {
             return localVarFp.deleteVirtualRobotCoordinateSystem(cell, controller, coordinateSystem, deleteDependent, options).then((request) => request(axios, basePath));
         },
         /**
@@ -20023,7 +19915,7 @@ export const VirtualRobotSetupApiFactory = function (configuration?: Configurati
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): AxiosPromise<object> {
+        deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): AxiosPromise<void> {
             return localVarFp.deleteVirtualRobotTcp(cell, controller, motionGroup, tcp, options).then((request) => request(axios, basePath));
         },
         /**