@wandelbots/nova-api 25.4.0-dev.27 → 25.4.0-dev.29

package/v2/api.d.ts

@@ -416,7 +416,17 @@ export interface BooleanValue {
      * @memberof BooleanValue
      */
     'boolean_value': boolean;
+    /**
+     *
+     * @type {string}
+     * @memberof BooleanValue
+     */
+    'value_type'?: BooleanValueValueTypeEnum;
 }
+export declare const BooleanValueValueTypeEnum: {
+    readonly Boolean: "boolean";
+};
+export type BooleanValueValueTypeEnum = typeof BooleanValueValueTypeEnum[keyof typeof BooleanValueValueTypeEnum];
 /**
  * Defines a cuboid shape centered around an origin.
  * @export
@@ -626,10 +636,10 @@ 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}
@@ -1245,10 +1255,10 @@ export type CreateTriggerRequestConfig = OpcuaNodeValueTriggerConfig;
 export interface CubicSplineParameter {
     /**
      *
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof CubicSplineParameter
      */
-    'pose': Pose2;
+    'pose': Pose;
     /**
      *
      * @type {number}
@@ -1515,10 +1525,10 @@ export interface FeedbackCollision {
     'joint_position'?: Array<number>;
     /**
      *
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof FeedbackCollision
      */
-    'tcp_pose'?: Pose2;
+    'tcp_pose'?: Pose;
     /**
      *
      * @type {string}
@@ -1567,10 +1577,10 @@ export type FeedbackJointLimitExceededErrorFeedbackNameEnum = typeof FeedbackJoi
 export interface FeedbackOutOfWorkspace {
     /**
      *
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof FeedbackOutOfWorkspace
      */
-    'invalid_tcp_pose'?: Pose2;
+    'invalid_tcp_pose'?: Pose;
     /**
      *
      * @type {string}
@@ -1636,7 +1646,17 @@ export interface FloatValue {
      * @memberof FloatValue
      */
     'float_value': number;
+    /**
+     *
+     * @type {string}
+     * @memberof FloatValue
+     */
+    'value_type'?: FloatValueValueTypeEnum;
 }
+export declare const FloatValueValueTypeEnum: {
+    readonly Float: "float";
+};
+export type FloatValueValueTypeEnum = typeof FloatValueValueTypeEnum[keyof typeof FloatValueValueTypeEnum];
 /**
  * Representing a force on a specific point in operational space, e.g. on robot flange.
  * @export
@@ -1823,47 +1843,12 @@ export interface IOBooleanValue {
      * @type {string}
      * @memberof IOBooleanValue
      */
-    'io_value_type'?: IOBooleanValueIoValueTypeEnum;
+    'value_type'?: IOBooleanValueValueTypeEnum;
 }
-export declare const IOBooleanValueIoValueTypeEnum: {
-    readonly IoBooleanValue: "IOBooleanValue";
+export declare const IOBooleanValueValueTypeEnum: {
+    readonly Boolean: "boolean";
 };
-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;
-}
-export declare const IOBooleanValue2IoValueTypeEnum: {
-    readonly IoBooleanValue: "IOBooleanValue";
-};
-export type IOBooleanValue2IoValueTypeEnum = typeof IOBooleanValue2IoValueTypeEnum[keyof typeof IOBooleanValue2IoValueTypeEnum];
+export type IOBooleanValueValueTypeEnum = typeof IOBooleanValueValueTypeEnum[keyof typeof IOBooleanValueValueTypeEnum];
 /**
  *
  * @export
@@ -1923,7 +1908,13 @@ 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.
  * @export
@@ -1957,47 +1948,12 @@ export interface IOFloatValue {
      * @type {string}
      * @memberof IOFloatValue
      */
-    'io_value_type'?: IOFloatValueIoValueTypeEnum;
+    'value_type'?: IOFloatValueValueTypeEnum;
 }
-export declare const IOFloatValueIoValueTypeEnum: {
-    readonly IoFloatValue: "IOFloatValue";
+export declare const IOFloatValueValueTypeEnum: {
+    readonly Float: "float";
 };
-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;
-}
-export declare const IOFloatValue2IoValueTypeEnum: {
-    readonly IoFloatValue: "IOFloatValue";
-};
-export type IOFloatValue2IoValueTypeEnum = typeof IOFloatValue2IoValueTypeEnum[keyof typeof IOFloatValue2IoValueTypeEnum];
+export type IOFloatValueValueTypeEnum = typeof IOFloatValueValueTypeEnum[keyof typeof IOFloatValueValueTypeEnum];
 /**
  * Input/Output integer value representation.
  * @export
@@ -2021,78 +1977,12 @@ export interface IOIntegerValue {
      * @type {string}
      * @memberof IOIntegerValue
      */
-    'io_value_type'?: IOIntegerValueIoValueTypeEnum;
-}
-export declare const IOIntegerValueIoValueTypeEnum: {
-    readonly IoIntegerValue: "IOIntegerValue";
-};
-export type IOIntegerValueIoValueTypeEnum = typeof IOIntegerValueIoValueTypeEnum[keyof typeof IOIntegerValueIoValueTypeEnum];
-/**
- *
- * @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;
+    'value_type'?: IOIntegerValueValueTypeEnum;
 }
-export declare const IOIntegerValue2IoValueTypeEnum: {
-    readonly IoIntegerValue: "IOIntegerValue";
+export declare const IOIntegerValueValueTypeEnum: {
+    readonly Integer: "integer";
 };
-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;
-}
+export type IOIntegerValueValueTypeEnum = typeof IOIntegerValueValueTypeEnum[keyof typeof IOIntegerValueValueTypeEnum];
 /**
  * Data type of the input/output.
  * @export
@@ -2104,66 +1994,6 @@ export declare const IOValueType: {
     readonly IoValueAnalogInteger: "IO_VALUE_ANALOG_INTEGER";
 };
 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 declare const IOsIosInnerIoValueTypeEnum: {
-    readonly IoFloatValue: "IOFloatValue";
-};
-export type IOsIosInnerIoValueTypeEnum = typeof IOsIosInnerIoValueTypeEnum[keyof typeof IOsIosInnerIoValueTypeEnum];
 /**
  * User provided credentials for creating a secret to pull an image from a registry.
  * @export
@@ -2439,18 +2269,28 @@ 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 declare const IntegerValueValueTypeEnum: {
+    readonly Integer: "integer";
+};
+export type IntegerValueValueTypeEnum = typeof IntegerValueValueTypeEnum[keyof typeof IntegerValueValueTypeEnum];
 /**
  *
  * @export
@@ -3644,10 +3484,10 @@ 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}
@@ -3744,10 +3584,10 @@ 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
@@ -4021,10 +3861,10 @@ export interface Path {
 export interface PathCartesianPTP {
     /**
      *
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof PathCartesianPTP
      */
-    'target_pose': Pose2;
+    'target_pose': Pose;
     /**
      *
      * @type {string}
@@ -4044,16 +3884,16 @@ 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}
@@ -4119,10 +3959,10 @@ export type PathJointPTPPathDefinitionNameEnum = typeof PathJointPTPPathDefiniti
 export interface PathLine {
     /**
      *
-     * @type {Pose2}
+     * @type {Pose}
      * @memberof PathLine
      */
-    'target_pose': Pose2;
+    'target_pose': Pose;
     /**
      *
      * @type {string}
@@ -4197,12 +4037,12 @@ 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
      */
@@ -4523,7 +4363,7 @@ 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
  */
@@ -4533,38 +4373,38 @@ 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.
@@ -5432,35 +5272,22 @@ export interface ServiceStatusStatus {
      */
     'reason'?: string;
 }
-/**
- * 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;
 /**
  *
  * @export
@@ -5607,10 +5434,10 @@ 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}
@@ -5636,12 +5463,12 @@ 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
      */
@@ -6312,6 +6139,25 @@ 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
@@ -7489,15 +7335,11 @@ export declare const ControllerInputsOutputsApiAxiosParamCreator: (configuration
      * @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) => Promise<RequestArgs>;
+    waitForIOEvent: (cell: string, controller: string, waitForIOEventRequest: WaitForIOEventRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
  * ControllerInputsOutputsApi - functional programming interface
@@ -7552,15 +7394,11 @@ export declare const ControllerInputsOutputsApiFp: (configuration?: Configuratio
      * @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): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<boolean>>;
+    waitForIOEvent(cell: string, controller: string, waitForIOEventRequest: WaitForIOEventRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<boolean>>;
 };
 /**
  * ControllerInputsOutputsApi - factory interface
@@ -7615,15 +7453,11 @@ export declare const ControllerInputsOutputsApiFactory: (configuration?: Configu
      * @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>;
+    waitForIOEvent(cell: string, controller: string, waitForIOEventRequest: WaitForIOEventRequest, options?: RawAxiosRequestConfig): AxiosPromise<boolean>;
 };
 /**
  * ControllerInputsOutputsApi - object-oriented interface
@@ -7684,16 +7518,12 @@ export declare 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
      */
-    waitForIOEvent(cell: string, controller: string, io: string, comparisonType: Comparator, booleanValue?: boolean, integerValue?: string, floatValue?: number, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<boolean, any>>;
+    waitForIOEvent(cell: string, controller: string, waitForIOEventRequest: WaitForIOEventRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<boolean, any>>;
 }
 /**
  * CoordinateSystemsApi - axios parameter creator
@@ -7724,11 +7554,11 @@ export declare const CoordinateSystemsApiAxiosParamCreator: (configuration?: Con
      * @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) => Promise<RequestArgs>;
+    transformInCoordinateSystem: (cell: string, coordinateSystem: string, poseInCoordinateSystem: PoseInCoordinateSystem, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
  * CoordinateSystemsApi - functional programming interface
@@ -7759,11 +7589,11 @@ export declare const CoordinateSystemsApiFp: (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}
      */
-    transformInCoordinateSystem(cell: string, coordinateSystem: string, pose: Pose, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Pose>>;
+    transformInCoordinateSystem(cell: string, coordinateSystem: string, poseInCoordinateSystem: PoseInCoordinateSystem, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<PoseInCoordinateSystem>>;
 };
 /**
  * CoordinateSystemsApi - factory interface
@@ -7794,11 +7624,11 @@ export declare const CoordinateSystemsApiFactory: (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}
      */
-    transformInCoordinateSystem(cell: string, coordinateSystem: string, pose: Pose, options?: RawAxiosRequestConfig): AxiosPromise<Pose>;
+    transformInCoordinateSystem(cell: string, coordinateSystem: string, poseInCoordinateSystem: PoseInCoordinateSystem, options?: RawAxiosRequestConfig): AxiosPromise<PoseInCoordinateSystem>;
 };
 /**
  * CoordinateSystemsApi - object-oriented interface
@@ -7833,12 +7663,12 @@ export declare 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
      */
-    transformInCoordinateSystem(cell: string, coordinateSystem: string, pose: Pose, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<Pose, any>>;
+    transformInCoordinateSystem(cell: string, coordinateSystem: string, poseInCoordinateSystem: PoseInCoordinateSystem, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<PoseInCoordinateSystem, any>>;
 }
 /**
  * JoggingApi - axios parameter creator
@@ -8790,7 +8620,7 @@ export declare const MotionGroupKinematicsApiFp: (configuration?: Configuration)
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    calculateForwardKinematic(cell: string, motionGroup: string, tcpPoseRequest: TcpPoseRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Pose>>;
+    calculateForwardKinematic(cell: string, motionGroup: string, tcpPoseRequest: TcpPoseRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<PoseInCoordinateSystem>>;
     /**
      * Calculate the joint positions the motion-group needs to apply for its TCP to be in a specified pose (Inverse Kinematic Solution).  If multiple solutions are found, the one nearest to the given specified joint position is picked. * For all supported robot models, except the Fanuc CRX line, the returned joint position is guaranteed to have the same configuration (often referred to as ELBOW_UP, WRIST_DOWN, SHOULDER_RIGHT, f.e.) as the specified reference joint position. If the position limit of any single joint allows it to be in a range larger than 2 PI, the respective joint value in the result will be as close as possible to its reference value. * For the Fanuc CRX line the solution is selected to have the smallest distance measured by the norm of its difference to the reference joint position.  The returned joint position is guaranteed to be within the joint limits and not in a singular position of the robot.
      * @summary Nearest Joint Position from TCP Pose
@@ -8835,7 +8665,7 @@ export declare const MotionGroupKinematicsApiFactory: (configuration?: Configura
      * @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>;
     /**
      * Calculate the joint positions the motion-group needs to apply for its TCP to be in a specified pose (Inverse Kinematic Solution).  If multiple solutions are found, the one nearest to the given specified joint position is picked. * For all supported robot models, except the Fanuc CRX line, the returned joint position is guaranteed to have the same configuration (often referred to as ELBOW_UP, WRIST_DOWN, SHOULDER_RIGHT, f.e.) as the specified reference joint position. If the position limit of any single joint allows it to be in a range larger than 2 PI, the respective joint value in the result will be as close as possible to its reference value. * For the Fanuc CRX line the solution is selected to have the smallest distance measured by the norm of its difference to the reference joint position.  The returned joint position is guaranteed to be within the joint limits and not in a singular position of the robot.
      * @summary Nearest Joint Position from TCP Pose
@@ -8884,7 +8714,7 @@ export declare class MotionGroupKinematicsApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof MotionGroupKinematicsApi
      */
-    calculateForwardKinematic(cell: string, motionGroup: string, tcpPoseRequest: TcpPoseRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<Pose, any>>;
+    calculateForwardKinematic(cell: string, motionGroup: string, tcpPoseRequest: TcpPoseRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<PoseInCoordinateSystem, any>>;
     /**
      * Calculate the joint positions the motion-group needs to apply for its TCP to be in a specified pose (Inverse Kinematic Solution).  If multiple solutions are found, the one nearest to the given specified joint position is picked. * For all supported robot models, except the Fanuc CRX line, the returned joint position is guaranteed to have the same configuration (often referred to as ELBOW_UP, WRIST_DOWN, SHOULDER_RIGHT, f.e.) as the specified reference joint position. If the position limit of any single joint allows it to be in a range larger than 2 PI, the respective joint value in the result will be as close as possible to its reference value. * For the Fanuc CRX line the solution is selected to have the smallest distance measured by the norm of its difference to the reference joint position.  The returned joint position is guaranteed to be within the joint limits and not in a singular position of the robot.
      * @summary Nearest Joint Position from TCP Pose
@@ -11650,18 +11480,28 @@ export declare const VirtualRobotApiAxiosParamCreator: (configuration?: Configur
      */
     getMotionGroups: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * 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) => Promise<RequestArgs>;
+    /**
+     * 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) => Promise<RequestArgs>;
+    listVirtualRobotIODescriptions: (cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * Sets a list of values of a virtual controller inputs/outputs.
      * @summary Set Input/Ouput Values
@@ -11709,18 +11549,28 @@ export declare const VirtualRobotApiFp: (configuration?: Configuration) => {
      */
     getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupInfos>>;
     /**
-     * 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): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ListIOValuesResponse>>;
+    /**
+     * 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): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<IOs>>;
+    listVirtualRobotIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ListIODescriptionsResponse>>;
     /**
      * Sets a list of values of a virtual controller inputs/outputs.
      * @summary Set Input/Ouput Values
@@ -11730,7 +11580,7 @@ export declare const VirtualRobotApiFp: (configuration?: Configuration) => {
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setIOValues(cell: string, controller: string, setIOValuesRequestInner: Array<SetIOValuesRequestInner>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>>;
+    setIOValues(cell: string, controller: string, setIOValuesRequestInner: Array<SetIOValuesRequestInner>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
      * @summary Set Motion Group State
@@ -11741,7 +11591,7 @@ export declare const VirtualRobotApiFp: (configuration?: Configuration) => {
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>>;
+    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
 };
 /**
  * VirtualRobotApi - factory interface
@@ -11768,18 +11618,28 @@ export declare const VirtualRobotApiFactory: (configuration?: Configuration, bas
      */
     getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupInfos>;
     /**
-     * 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>;
+    /**
+     * 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>;
+    listVirtualRobotIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): AxiosPromise<ListIODescriptionsResponse>;
     /**
      * Sets a list of values of a virtual controller inputs/outputs.
      * @summary Set Input/Ouput Values
@@ -11789,7 +11649,7 @@ export declare const VirtualRobotApiFactory: (configuration?: Configuration, bas
      * @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>;
     /**
      * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
      * @summary Set Motion Group State
@@ -11800,7 +11660,7 @@ export declare const VirtualRobotApiFactory: (configuration?: Configuration, bas
      * @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>;
 };
 /**
  * VirtualRobotApi - object-oriented interface
@@ -11831,19 +11691,30 @@ export declare class VirtualRobotApi extends BaseAPI {
      */
     getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupInfos, any>>;
     /**
-     * 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
+     */
+    listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ListIOValuesResponse, any>>;
+    /**
+     * 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
      */
-    listIOs(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, prefix?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<IOs, any>>;
+    listVirtualRobotIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ListIODescriptionsResponse, any>>;
     /**
      * Sets a list of values of a virtual controller inputs/outputs.
      * @summary Set Input/Ouput Values
@@ -11854,7 +11725,7 @@ export declare class VirtualRobotApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof VirtualRobotApi
      */
-    setIOValues(cell: string, controller: string, setIOValuesRequestInner: Array<SetIOValuesRequestInner>, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<object, any>>;
+    setIOValues(cell: string, controller: string, setIOValuesRequestInner: Array<SetIOValuesRequestInner>, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
      * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
      * @summary Set Motion Group State
@@ -11866,7 +11737,7 @@ export declare class VirtualRobotApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof VirtualRobotApi
      */
-    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<object, any>>;
+    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
 }
 /**
  * VirtualRobotBehaviorApi - axios parameter creator
@@ -11940,7 +11811,7 @@ export declare const VirtualRobotBehaviorApiFp: (configuration?: Configuration)
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>>;
+    setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
 };
 /**
  * VirtualRobotBehaviorApi - factory interface
@@ -11977,7 +11848,7 @@ export declare const VirtualRobotBehaviorApiFactory: (configuration?: Configurat
      * @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>;
 };
 /**
  * VirtualRobotBehaviorApi - object-oriented interface
@@ -12019,7 +11890,7 @@ export declare class VirtualRobotBehaviorApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof VirtualRobotBehaviorApi
      */
-    setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<object, any>>;
+    setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
 }
 /**
  * VirtualRobotModeApi - axios parameter creator
@@ -12115,7 +11986,7 @@ export declare const VirtualRobotModeApiFp: (configuration?: Configuration) => {
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>>;
+    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
      * @summary Set Operation Mode
@@ -12125,7 +11996,7 @@ export declare const VirtualRobotModeApiFp: (configuration?: Configuration) => {
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>>;
+    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
 };
 /**
  * VirtualRobotModeApi - factory interface
@@ -12168,7 +12039,7 @@ export declare const VirtualRobotModeApiFactory: (configuration?: Configuration,
      * @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>;
     /**
      * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
      * @summary Set Operation Mode
@@ -12178,7 +12049,7 @@ export declare const VirtualRobotModeApiFactory: (configuration?: Configuration,
      * @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>;
 };
 /**
  * VirtualRobotModeApi - object-oriented interface
@@ -12227,7 +12098,7 @@ export declare class VirtualRobotModeApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof VirtualRobotModeApi
      */
-    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<object, any>>;
+    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
      * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
      * @summary Set Operation Mode
@@ -12238,7 +12109,7 @@ export declare class VirtualRobotModeApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof VirtualRobotModeApi
      */
-    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<object, any>>;
+    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
 }
 /**
  * VirtualRobotSetupApi - axios parameter creator
@@ -12343,7 +12214,7 @@ export declare const VirtualRobotSetupApiFp: (configuration?: Configuration) =>
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>>;
+    addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
      * @summary Add TCP
@@ -12354,7 +12225,7 @@ export declare const VirtualRobotSetupApiFp: (configuration?: Configuration) =>
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>>;
+    addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
      * @summary Remove Coordinate System
@@ -12365,7 +12236,7 @@ export declare const VirtualRobotSetupApiFp: (configuration?: Configuration) =>
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>>;
+    deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Removes the TCP from the motion group. An unknown TCP is a valid input.
      * @summary Remove TCP
@@ -12376,7 +12247,7 @@ export declare const VirtualRobotSetupApiFp: (configuration?: Configuration) =>
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<object>>;
+    deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
      * @summary Get Mounting
@@ -12432,7 +12303,7 @@ export declare const VirtualRobotSetupApiFactory: (configuration?: Configuration
      * @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>;
     /**
      * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
      * @summary Add TCP
@@ -12443,7 +12314,7 @@ export declare const VirtualRobotSetupApiFactory: (configuration?: Configuration
      * @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>;
     /**
      * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
      * @summary Remove Coordinate System
@@ -12454,7 +12325,7 @@ export declare const VirtualRobotSetupApiFactory: (configuration?: Configuration
      * @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>;
     /**
      * Removes the TCP from the motion group. An unknown TCP is a valid input.
      * @summary Remove TCP
@@ -12465,7 +12336,7 @@ export declare const VirtualRobotSetupApiFactory: (configuration?: Configuration
      * @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>;
     /**
      * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
      * @summary Get Mounting
@@ -12524,7 +12395,7 @@ export declare class VirtualRobotSetupApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof VirtualRobotSetupApi
      */
-    addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<object, any>>;
+    addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
      * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
      * @summary Add TCP
@@ -12536,7 +12407,7 @@ export declare class VirtualRobotSetupApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof VirtualRobotSetupApi
      */
-    addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<object, any>>;
+    addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
      * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
      * @summary Remove Coordinate System
@@ -12548,7 +12419,7 @@ export declare class VirtualRobotSetupApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof VirtualRobotSetupApi
      */
-    deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<object, any>>;
+    deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
      * Removes the TCP from the motion group. An unknown TCP is a valid input.
      * @summary Remove TCP
@@ -12560,7 +12431,7 @@ export declare class VirtualRobotSetupApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof VirtualRobotSetupApi
      */
-    deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<object, any>>;
+    deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
      * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
      * @summary Get Mounting