@wandelbots/nova-api 25.5.0-dev.11 → 25.5.0-dev.13

package/v2/api.d.ts

@@ -235,118 +235,6 @@ export interface App {
      */
     'health_path'?: string;
 }
-/**
- *
- * @export
- * @interface ArrayInput
- */
-export interface ArrayInput {
-    /**
-     *
-     * @type {Array<ArrayInputArrayInner>}
-     * @memberof ArrayInput
-     */
-    'array': Array<ArrayInputArrayInner>;
-}
-/**
- *
- * @export
- * @interface ArrayInputArrayInner
- */
-export interface ArrayInputArrayInner {
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof ArrayInputArrayInner
-     */
-    'pose': Array<any>;
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof ArrayInputArrayInner
-     */
-    'position': Array<any>;
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof ArrayInputArrayInner
-     */
-    'orientation': Array<any>;
-    /**
-     *
-     * @type {string}
-     * @memberof ArrayInputArrayInner
-     */
-    'image': string;
-    /**
-     *
-     * @type {string}
-     * @memberof ArrayInputArrayInner
-     */
-    'pointcloud': string;
-    /**
-     *
-     * @type {Array<ArrayInputArrayInner>}
-     * @memberof ArrayInputArrayInner
-     */
-    'array': Array<ArrayInputArrayInner>;
-}
-/**
- *
- * @export
- * @interface ArrayOutput
- */
-export interface ArrayOutput {
-    /**
-     *
-     * @type {Array<ArrayOutputArrayInner>}
-     * @memberof ArrayOutput
-     */
-    'array': Array<ArrayOutputArrayInner>;
-}
-/**
- *
- * @export
- * @interface ArrayOutputArrayInner
- */
-export interface ArrayOutputArrayInner {
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof ArrayOutputArrayInner
-     */
-    'pose': Array<any>;
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof ArrayOutputArrayInner
-     */
-    'position': Array<any>;
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof ArrayOutputArrayInner
-     */
-    'orientation': Array<any>;
-    /**
-     *
-     * @type {string}
-     * @memberof ArrayOutputArrayInner
-     */
-    'image': string;
-    /**
-     *
-     * @type {string}
-     * @memberof ArrayOutputArrayInner
-     */
-    'pointcloud': string;
-    /**
-     *
-     * @type {Array<ArrayOutputArrayInner>}
-     * @memberof ArrayOutputArrayInner
-     */
-    'array': Array<ArrayOutputArrayInner>;
-}
 /**
  * ## BEHAVIOR_AUTOMATIC This is the default behavior. The motion group instantly takes any commanded joint configuration as actual joint state. Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the virtual robot will act like a physical one, e.g. with a cycle time of 8ms to respond to a new joint state command. ## BEHAVIOR_AUTOMATIC_NOT_COMPLY_WITH_CYCLETIME Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the robot will respond as fast as possible, limited only by software execution speed. Because of that the execution of a movement requires less time than with BEHAVIOR_AUTOMATIC. ## BEHAVIOR_EXTERNAL_SOURCE The external client is the only source of actual joint state changes. This mode is used to enable third party software indicating the current joint state via [externalJointsStream](externalJointsStream).
  * @export
@@ -557,19 +445,6 @@ export declare const Capsule2ShapeTypeEnum: {
     readonly Capsule: "capsule";
 };
 export type Capsule2ShapeTypeEnum = typeof Capsule2ShapeTypeEnum[keyof typeof Capsule2ShapeTypeEnum];
-/**
- *
- * @export
- * @interface Capture
- */
-export interface Capture {
-    /**
-     *
-     * @type {string}
-     * @memberof Capture
-     */
-    'image': string;
-}
 /**
  * To create a robot cell, only a valid name is required. Once created, a robot cell provides access to the Wandelbots NOVA foundation services. The configuration can be customized, e.g. robot controllers, also within apps.
  * @export
@@ -601,27 +476,6 @@ export interface Cell {
      */
     'apps'?: Array<App>;
 }
-/**
- *
- * @export
- * @interface CodeWithArguments
- */
-export interface CodeWithArguments {
-    /**
-     * Wandelscript code string which describes a Wandelscript Program as content/json.
-     * @type {string}
-     * @memberof CodeWithArguments
-     */
-    'code': string;
-    /**
-     *
-     * @type {{ [key: string]: ArrayInputArrayInner; }}
-     * @memberof CodeWithArguments
-     */
-    'initial_state'?: {
-        [key: string]: ArrayInputArrayInner;
-    } | null;
-}
 /**
  * Defines a collider with a single shape.  A collider is an object that is used for collision detection. It defines the `shape` that is attached with the offset of `pose` to a reference frame.  Use colliders to: - Define the shape of a workpiece. The reference frame is the scene origin. - Define the shape of a link in a motion group. The reference frame is the link coordinate system. - Define the shape of a tool. The reference frame is the flange coordinate system.
  * @export
@@ -1175,26 +1029,26 @@ export interface CoordinateSystems {
 /**
  *
  * @export
- * @interface CreateProgramRun200Response
+ * @interface CreateProgramOperatorRun200Response
  */
-export interface CreateProgramRun200Response {
+export interface CreateProgramOperatorRun200Response {
     /**
      * The identifier of the program run for further inspection of the running program.
      * @type {string}
-     * @memberof CreateProgramRun200Response
+     * @memberof CreateProgramOperatorRun200Response
      */
     'id'?: string;
 }
 /**
  *
  * @export
- * @interface CreateProgramRunRequest
+ * @interface CreateProgramOperatorRunRequest
  */
-export interface CreateProgramRunRequest {
+export interface CreateProgramOperatorRunRequest {
     /**
      * The identifier of the program stored in the program library.
      * @type {string}
-     * @memberof CreateProgramRunRequest
+     * @memberof CreateProgramOperatorRunRequest
      */
     'program_id': string;
 }
@@ -1407,31 +1261,6 @@ export type ExecuteTrajectoryRequest = InitializeMovementRequest | PauseMovement
  * @export
  */
 export type ExecuteTrajectoryResponse = InitializeMovementResponse | Movement | MovementError | PauseMovementResponse | PlaybackSpeedResponse | Standstill;
-/**
- * The ExecutionResult object contains the execution results of a robot.  Arguments:     motion_group_id: The unique identifier of the motion group     motion_duration: The total execution duration of the motion group     paths: The paths of the motion group as list of Path objects
- * @export
- * @interface ExecutionResult
- */
-export interface ExecutionResult {
-    /**
-     *
-     * @type {string}
-     * @memberof ExecutionResult
-     */
-    'motion_group_id': string;
-    /**
-     *
-     * @type {number}
-     * @memberof ExecutionResult
-     */
-    'motion_duration': number;
-    /**
-     *
-     * @type {Array<Path>}
-     * @memberof ExecutionResult
-     */
-    'paths': Array<Path>;
-}
 /**
  * A datapoint inside external joint stream.
  * @export
@@ -1758,13 +1587,13 @@ export interface Geometry {
 /**
  *
  * @export
- * @interface GetAllProgramRuns200Response
+ * @interface GetAllProgramOperatorRuns200Response
  */
-export interface GetAllProgramRuns200Response {
+export interface GetAllProgramOperatorRuns200Response {
     /**
      *
      * @type {Array<ProgramRunObject>}
-     * @memberof GetAllProgramRuns200Response
+     * @memberof GetAllProgramOperatorRuns200Response
      */
     'program_runs'?: Array<ProgramRunObject>;
 }
@@ -3854,19 +3683,6 @@ export declare const OrientationType: {
     readonly EulerAnglesExtrinsicZxy: "EULER_ANGLES_EXTRINSIC_ZXY";
 };
 export type OrientationType = typeof OrientationType[keyof typeof OrientationType];
-/**
- *
- * @export
- * @interface Path
- */
-export interface Path {
-    /**
-     *
-     * @type {Array<RobotState>}
-     * @memberof Path
-     */
-    'poses'?: Array<RobotState>;
-}
 /**
  * A cartesian point-to-point is representing a joint point-to-point motion from start point to the indicated target pose. The target pose is a joint point-to-point given in cartesian space. The target joint configuration will be calculated to be in the same kinematic configuration as the start point is. If that is not possible, planning will fail.
  * @export
@@ -4363,19 +4179,6 @@ export interface PlaybackSpeedResponsePlaybackSpeedResponse {
      */
     'requested_value': number;
 }
-/**
- *
- * @export
- * @interface PointCloud
- */
-export interface PointCloud {
-    /**
-     *
-     * @type {string}
-     * @memberof PointCloud
-     */
-    'pointcloud': 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.
  * @export
@@ -4423,17 +4226,50 @@ export interface PoseInCoordinateSystem {
 /**
  *
  * @export
+ * @interface ProgramRequest
+ */
+export interface ProgramRequest {
+    /**
+     *
+     * @type {string}
+     * @memberof ProgramRequest
+     */
+    'program'?: string;
+    /**
+     *
+     * @type {string}
+     * @memberof ProgramRequest
+     */
+    'default_robot'?: string | null;
+    /**
+     *
+     * @type {string}
+     * @memberof ProgramRequest
+     */
+    'default_tcp'?: string | null;
+    /**
+     * Initial arguments that are available within the program
+     * @type {{ [key: string]: RunArgsValue; }}
+     * @memberof ProgramRequest
+     */
+    'run_args'?: {
+        [key: string]: RunArgsValue;
+    };
+}
+/**
+ * Holds the state of a program run.  Args:     id: The unique id of the program run     state: The state of the program run     logs: The logs of the program run     stdout: The stdout of the program run     store: The store of the program run     error: The error message of the program run, if any     traceback: The traceback of the program run, if any     start_time: The start time of the program run     end_time: The end time of the program run     execution_results: The robot execution results of the program run
+ * @export
  * @interface ProgramRun
  */
 export interface ProgramRun {
     /**
-     *
+     * Unique id of the program run
      * @type {string}
      * @memberof ProgramRun
      */
     'id': string;
     /**
-     *
+     * State of the program run
      * @type {ProgramRunState}
      * @memberof ProgramRun
      */
@@ -4443,15 +4279,15 @@ export interface ProgramRun {
      * @type {string}
      * @memberof ProgramRun
      */
-    'logs'?: string;
+    'logs'?: string | null;
     /**
      *
      * @type {string}
      * @memberof ProgramRun
      */
-    'stdout'?: string;
+    'stdout'?: string | null;
     /**
-     *
+     * Stores runtime variables of the run
      * @type {{ [key: string]: StoreValue; }}
      * @memberof ProgramRun
      */
@@ -4483,11 +4319,11 @@ export interface ProgramRun {
      */
     'end_time'?: number | null;
     /**
-     *
-     * @type {Array<ExecutionResult>}
+     * Execution results of the program run
+     * @type {Array<ProgramRunResult>}
      * @memberof ProgramRun
      */
-    'execution_results'?: Array<ExecutionResult>;
+    'execution_results'?: Array<ProgramRunResult>;
 }
 /**
  *
@@ -4535,93 +4371,60 @@ export interface ProgramRunObject {
 /**
  *
  * @export
- * @enum {string}
- */
-export declare const ProgramRunState: {
-    readonly NotStarted: "not started";
-    readonly Running: "running";
-    readonly Completed: "completed";
-    readonly Failed: "failed";
-    readonly Stopped: "stopped";
-};
-export type ProgramRunState = typeof ProgramRunState[keyof typeof ProgramRunState];
-/**
- *
- * @export
- * @interface ProgramRunnerReference
+ * @interface ProgramRunReference
  */
-export interface ProgramRunnerReference {
+export interface ProgramRunReference {
     /**
      *
      * @type {string}
-     * @memberof ProgramRunnerReference
+     * @memberof ProgramRunReference
      */
     'id': string;
     /**
      *
      * @type {ProgramRunState}
-     * @memberof ProgramRunnerReference
+     * @memberof ProgramRunReference
      */
     'state': ProgramRunState;
 }
 /**
- * A pose (position and orientation)
+ * The ProgramRunResult object contains the execution results of a robot.  Arguments:     motion_group_id: The unique id of the motion group     motion_duration: The total execution duration of the motion group     paths: The paths of the motion group as list of Path objects
  * @export
- * @interface PyjectoryDatatypesCorePose
+ * @interface ProgramRunResult
  */
-export interface PyjectoryDatatypesCorePose {
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof PyjectoryDatatypesCorePose
-     */
-    'position': Array<any>;
+export interface ProgramRunResult {
     /**
-     *
-     * @type {Array<any>}
-     * @memberof PyjectoryDatatypesCorePose
+     * Unique id of the motion group that was executed
+     * @type {string}
+     * @memberof ProgramRunResult
      */
-    'orientation': Array<any>;
-}
-/**
- * Rotation vector, defined in [rx, ry, rz] with floating numbers. The rotation is represented in vector3 using an axis-angle representation: axis.normalized * angle (angle in radians). Must be defined for the first pose of a path. If not defined for the rest of the path, the previous orientation will be used.
- * @export
- * @interface PyjectoryDatatypesSerializerOrientation
- */
-export interface PyjectoryDatatypesSerializerOrientation {
+    'motion_group_id': string;
     /**
-     *
-     * @type {Array<any>}
-     * @memberof PyjectoryDatatypesSerializerOrientation
+     * Total execution duration of the motion group
+     * @type {number}
+     * @memberof ProgramRunResult
      */
-    'orientation': Array<any>;
-}
-/**
- * Object\'s position and orientaton, defined in [x, y, z, rx, ry, rz]. x,y,z are defined in millimeters. rx,ry,rz are defined in radians.
- * @export
- * @interface PyjectoryDatatypesSerializerPose
- */
-export interface PyjectoryDatatypesSerializerPose {
+    'motion_duration': number;
     /**
-     *
-     * @type {Array<any>}
-     * @memberof PyjectoryDatatypesSerializerPose
+     * Paths of the motion group as list of Path objects
+     * @type {Array<Array<RobotState>>}
+     * @memberof ProgramRunResult
      */
-    'pose': Array<any>;
+    'paths': Array<Array<RobotState>>;
 }
 /**
- * Single point, defined in [x, y, z] with floating numbers. Must be defined.
+ *
  * @export
- * @interface PyjectoryDatatypesSerializerPosition
+ * @enum {string}
  */
-export interface PyjectoryDatatypesSerializerPosition {
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof PyjectoryDatatypesSerializerPosition
-     */
-    'position': Array<any>;
-}
+export declare const ProgramRunState: {
+    readonly NotStarted: "not started";
+    readonly Running: "running";
+    readonly Completed: "completed";
+    readonly Failed: "failed";
+    readonly Stopped: "stopped";
+};
+export type ProgramRunState = typeof ProgramRunState[keyof typeof ProgramRunState];
 /**
  * Defines an x-y plane with finite size.
  * @export
@@ -4740,48 +4543,6 @@ export declare const ReleaseChannel: {
     readonly Next: "next";
 };
 export type ReleaseChannel = typeof ReleaseChannel[keyof typeof ReleaseChannel];
-/**
- * Wandelscript code string which describes a Program as text/plain
- * @export
- * @interface Request
- */
-export interface Request {
-    /**
-     * Wandelscript code string which describes a Wandelscript Program as content/json.
-     * @type {string}
-     * @memberof Request
-     */
-    'code': string;
-    /**
-     *
-     * @type {{ [key: string]: ArrayInputArrayInner; }}
-     * @memberof Request
-     */
-    'initial_state'?: {
-        [key: string]: ArrayInputArrayInner;
-    };
-}
-/**
- * Wandelscript code string which describes a program
- * @export
- * @interface Request1
- */
-export interface Request1 {
-    /**
-     * Wandelscript code string which describes a Wandelscript Program as content/json.
-     * @type {string}
-     * @memberof Request1
-     */
-    'code': string;
-    /**
-     *
-     * @type {{ [key: string]: ArrayInputArrayInner; }}
-     * @memberof Request1
-     */
-    'initial_state'?: {
-        [key: string]: ArrayInputArrayInner;
-    };
-}
 /**
  * The configuration of a physical or virtual robot controller.
  * @export
@@ -4876,10 +4637,10 @@ export interface RobotLinkGeometry {
 export interface RobotState {
     /**
      *
-     * @type {PyjectoryDatatypesCorePose}
+     * @type {Pose}
      * @memberof RobotState
      */
-    'pose': PyjectoryDatatypesCorePose;
+    'pose': Pose;
     /**
      *
      * @type {Array<number>}
@@ -4950,6 +4711,13 @@ export interface RobotTcps {
      */
     'tcps': Array<RobotTcp>;
 }
+/**
+ *
+ * @export
+ * @interface RunArgsValue
+ */
+export interface RunArgsValue {
+}
 /**
  * The safety configuration of a motion-group. Used for motion planning.
  * @export
@@ -5452,41 +5220,17 @@ export interface StartOnIO {
  */
 export interface StoreValue {
     /**
-     *
-     * @type {Array<any>}
-     * @memberof StoreValue
-     */
-    'pose': Array<any>;
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof StoreValue
-     */
-    'position': Array<any>;
-    /**
-     *
-     * @type {Array<any>}
-     * @memberof StoreValue
-     */
-    'orientation': Array<any>;
-    /**
-     *
-     * @type {string}
-     * @memberof StoreValue
-     */
-    'image': string;
-    /**
-     *
-     * @type {string}
+     * A three-dimensional vector [x, y, z] with double precision.
+     * @type {Array<number>}
      * @memberof StoreValue
      */
-    'pointcloud': string;
+    'position'?: Array<number>;
     /**
-     *
-     * @type {Array<ArrayOutputArrayInner>}
+     * 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 StoreValue
      */
-    'array': Array<ArrayOutputArrayInner>;
+    'orientation'?: Array<number>;
 }
 /**
  * Representing a robot pose in operational space aware of a configured TCP.
@@ -8737,76 +8481,75 @@ export declare class MotionGroupKinematicsApi extends BaseAPI {
  */
 export declare const ProgramApiAxiosParamCreator: (configuration?: Configuration) => {
     /**
-     * This endpoint accepts a program written in Wandelscript and if desired, initial arguments (in the form of a dict). It will then execute this Wandelscript asynchronously. It returns a program runner reference which can be used to query the state of the program runner.  ## Parameters See the **Schema** tab for information about the request body.  ## Returns A program runner reference which can be used to query the state of the program runner.  ## Receiving state updates Receive state updates of the program runner via polling the `/programs/runners/{runner_id}/`  ### Via polling You can receive updates about the state of the program runner by polling the `/programs/runners/{runner_id}/` endpoint. ```
-     * @summary Create Program Runner
+     * This endpoint accepts a program and if desired, initial arguments (in the form of a dict).  The program will be executed asynchronously.  It returns a program run reference which can be used to query the state of the program run.  ## Receiving state updates Receive state updates of the program run via polling the `/programs/runs/{run_id}/`  ### Via polling You can receive updates about the state of the program run by polling the `/programs/runs/{run_id}/` endpoint.
+     * @summary Create program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request} request
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    createProgramRunner: (cell: string, request: Request, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    createProgramRun: (cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Execute a program in Wandelscript. The Wandelscript can also move multiple robots by using the \'do with\' syntax.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a succesful execution. Otherwise an error (e.g. out of reach, singularity), is returned.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript)
-     * @summary Execute Program
+     * Execute a program synchronously.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a successful execution.  Otherwise an error (e.g. out of reach, singularity), is returned.
+     * @summary Execute program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {CodeWithArguments} codeWithArguments
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    executeProgram: (cell: string, codeWithArguments: CodeWithArguments, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    executeProgram: (cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Returns information about a program currently executed.  When a program is finished: Program response, result, collected Wandelscript logs, etc.  When a program is running: Running status, current executed line, etc.  ## Parameters - **runner_id**: The identifier of the program runner
-     * @summary Get Program Runner
+     * Returns information about a program currently executed. When a program is finished: Program response, result, collected logs, .. When a program is running: Running status, current executed line, ...
+     * @summary Get program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} runner
+     * @param {string} run
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getProgramRunner: (cell: string, runner: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getProgramRun: (cell: string, run: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Get details about all existing program runners.
-     * @summary List Program Runners
+     * Get details about all existing runs
+     * @summary List programs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listProgramRunners: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getProgramRuns: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Migrate a program  ## Parameters See the **Schema** tab for information about the request body
-     * @summary Migrate Program
+     * Simulate a program given as text/plain
+     * @summary Simulate program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request1} request1
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    migrateProgram: (cell: string, request1: Request1, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    simulateProgram: (cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Plan a program based on the specified robot type.  The plan operation can be used to check if a Wandelscript is executable, given the current joint configuration of the robot.  If the Wandelscript is executable, the result contains the motion path. If the Wandelscript is not executable, e.g. points that are out of reach, or the joints encounter a singularity, the reason is returned.  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as Content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript)
-     * @summary Plan Program
+     * Stop all runs
+     * @summary Stop all programs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request} request
-     * @param {string} [identifier]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    planProgram: (cell: string, request: Request, identifier?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    stopAllPrograms: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Stop all runners.
-     * @summary Stop All Program Runners
+     * Stop a specific program run.
+     * @summary Stop program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} run
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    stopAllProgramRunner: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    stopProgramRun: (cell: string, run: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Stop a specific program runner. If the indicated runner was not running, an error will be returned. ## Parameters - **runner_id**: The identifier of the program runner
-     * @summary Stop Program Runner
+     * Validate a program
+     * @summary Validate program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} runner
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    stopProgramRunner: (cell: string, runner: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    validateProgram: (cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
  * ProgramApi - functional programming interface
@@ -8814,76 +8557,75 @@ export declare const ProgramApiAxiosParamCreator: (configuration?: Configuration
  */
 export declare const ProgramApiFp: (configuration?: Configuration) => {
     /**
-     * This endpoint accepts a program written in Wandelscript and if desired, initial arguments (in the form of a dict). It will then execute this Wandelscript asynchronously. It returns a program runner reference which can be used to query the state of the program runner.  ## Parameters See the **Schema** tab for information about the request body.  ## Returns A program runner reference which can be used to query the state of the program runner.  ## Receiving state updates Receive state updates of the program runner via polling the `/programs/runners/{runner_id}/`  ### Via polling You can receive updates about the state of the program runner by polling the `/programs/runners/{runner_id}/` endpoint. ```
-     * @summary Create Program Runner
+     * This endpoint accepts a program and if desired, initial arguments (in the form of a dict).  The program will be executed asynchronously.  It returns a program run reference which can be used to query the state of the program run.  ## Receiving state updates Receive state updates of the program run via polling the `/programs/runs/{run_id}/`  ### Via polling You can receive updates about the state of the program run by polling the `/programs/runs/{run_id}/` endpoint.
+     * @summary Create program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request} request
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    createProgramRunner(cell: string, request: Request, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRunnerReference>>;
+    createProgramRun(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRunReference>>;
     /**
-     * Execute a program in Wandelscript. The Wandelscript can also move multiple robots by using the \'do with\' syntax.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a succesful execution. Otherwise an error (e.g. out of reach, singularity), is returned.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript)
-     * @summary Execute Program
+     * Execute a program synchronously.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a successful execution.  Otherwise an error (e.g. out of reach, singularity), is returned.
+     * @summary Execute program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {CodeWithArguments} codeWithArguments
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    executeProgram(cell: string, codeWithArguments: CodeWithArguments, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRun>>;
+    executeProgram(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRun>>;
     /**
-     * Returns information about a program currently executed.  When a program is finished: Program response, result, collected Wandelscript logs, etc.  When a program is running: Running status, current executed line, etc.  ## Parameters - **runner_id**: The identifier of the program runner
-     * @summary Get Program Runner
+     * Returns information about a program currently executed. When a program is finished: Program response, result, collected logs, .. When a program is running: Running status, current executed line, ...
+     * @summary Get program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} runner
+     * @param {string} run
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getProgramRunner(cell: string, runner: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRun>>;
+    getProgramRun(cell: string, run: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRun>>;
     /**
-     * Get details about all existing program runners.
-     * @summary List Program Runners
+     * Get details about all existing runs
+     * @summary List programs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listProgramRunners(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<ProgramRunnerReference>>>;
+    getProgramRuns(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<ProgramRunReference>>>;
     /**
-     * Migrate a program  ## Parameters See the **Schema** tab for information about the request body
-     * @summary Migrate Program
+     * Simulate a program given as text/plain
+     * @summary Simulate program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request1} request1
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    migrateProgram(cell: string, request1: Request1, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<string>>;
+    simulateProgram(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRun>>;
     /**
-     * Plan a program based on the specified robot type.  The plan operation can be used to check if a Wandelscript is executable, given the current joint configuration of the robot.  If the Wandelscript is executable, the result contains the motion path. If the Wandelscript is not executable, e.g. points that are out of reach, or the joints encounter a singularity, the reason is returned.  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as Content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript)
-     * @summary Plan Program
+     * Stop all runs
+     * @summary Stop all programs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request} request
-     * @param {string} [identifier]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    planProgram(cell: string, request: Request, identifier?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRun>>;
+    stopAllPrograms(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<any>>;
     /**
-     * Stop all runners.
-     * @summary Stop All Program Runners
+     * Stop a specific program run.
+     * @summary Stop program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} run
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    stopAllProgramRunner(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<any>>;
+    stopProgramRun(cell: string, run: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
-     * Stop a specific program runner. If the indicated runner was not running, an error will be returned. ## Parameters - **runner_id**: The identifier of the program runner
-     * @summary Stop Program Runner
+     * Validate a program
+     * @summary Validate program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} runner
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    stopProgramRunner(cell: string, runner: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    validateProgram(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
 };
 /**
  * ProgramApi - factory interface
@@ -8891,76 +8633,75 @@ export declare const ProgramApiFp: (configuration?: Configuration) => {
  */
 export declare const ProgramApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
     /**
-     * This endpoint accepts a program written in Wandelscript and if desired, initial arguments (in the form of a dict). It will then execute this Wandelscript asynchronously. It returns a program runner reference which can be used to query the state of the program runner.  ## Parameters See the **Schema** tab for information about the request body.  ## Returns A program runner reference which can be used to query the state of the program runner.  ## Receiving state updates Receive state updates of the program runner via polling the `/programs/runners/{runner_id}/`  ### Via polling You can receive updates about the state of the program runner by polling the `/programs/runners/{runner_id}/` endpoint. ```
-     * @summary Create Program Runner
+     * This endpoint accepts a program and if desired, initial arguments (in the form of a dict).  The program will be executed asynchronously.  It returns a program run reference which can be used to query the state of the program run.  ## Receiving state updates Receive state updates of the program run via polling the `/programs/runs/{run_id}/`  ### Via polling You can receive updates about the state of the program run by polling the `/programs/runs/{run_id}/` endpoint.
+     * @summary Create program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request} request
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    createProgramRunner(cell: string, request: Request, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRunnerReference>;
+    createProgramRun(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRunReference>;
     /**
-     * Execute a program in Wandelscript. The Wandelscript can also move multiple robots by using the \'do with\' syntax.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a succesful execution. Otherwise an error (e.g. out of reach, singularity), is returned.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript)
-     * @summary Execute Program
+     * Execute a program synchronously.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a successful execution.  Otherwise an error (e.g. out of reach, singularity), is returned.
+     * @summary Execute program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {CodeWithArguments} codeWithArguments
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    executeProgram(cell: string, codeWithArguments: CodeWithArguments, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRun>;
+    executeProgram(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRun>;
     /**
-     * Returns information about a program currently executed.  When a program is finished: Program response, result, collected Wandelscript logs, etc.  When a program is running: Running status, current executed line, etc.  ## Parameters - **runner_id**: The identifier of the program runner
-     * @summary Get Program Runner
+     * Returns information about a program currently executed. When a program is finished: Program response, result, collected logs, .. When a program is running: Running status, current executed line, ...
+     * @summary Get program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} runner
+     * @param {string} run
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getProgramRunner(cell: string, runner: string, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRun>;
+    getProgramRun(cell: string, run: string, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRun>;
     /**
-     * Get details about all existing program runners.
-     * @summary List Program Runners
+     * Get details about all existing runs
+     * @summary List programs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listProgramRunners(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<ProgramRunnerReference>>;
+    getProgramRuns(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<ProgramRunReference>>;
     /**
-     * Migrate a program  ## Parameters See the **Schema** tab for information about the request body
-     * @summary Migrate Program
+     * Simulate a program given as text/plain
+     * @summary Simulate program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request1} request1
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    migrateProgram(cell: string, request1: Request1, options?: RawAxiosRequestConfig): AxiosPromise<string>;
+    simulateProgram(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRun>;
     /**
-     * Plan a program based on the specified robot type.  The plan operation can be used to check if a Wandelscript is executable, given the current joint configuration of the robot.  If the Wandelscript is executable, the result contains the motion path. If the Wandelscript is not executable, e.g. points that are out of reach, or the joints encounter a singularity, the reason is returned.  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as Content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript)
-     * @summary Plan Program
+     * Stop all runs
+     * @summary Stop all programs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request} request
-     * @param {string} [identifier]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    planProgram(cell: string, request: Request, identifier?: string, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRun>;
+    stopAllPrograms(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<any>;
     /**
-     * Stop all runners.
-     * @summary Stop All Program Runners
+     * Stop a specific program run.
+     * @summary Stop program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} run
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    stopAllProgramRunner(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<any>;
+    stopProgramRun(cell: string, run: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
-     * Stop a specific program runner. If the indicated runner was not running, an error will be returned. ## Parameters - **runner_id**: The identifier of the program runner
-     * @summary Stop Program Runner
+     * Validate a program
+     * @summary Validate program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} runner
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    stopProgramRunner(cell: string, runner: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    validateProgram(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): AxiosPromise<void>;
 };
 /**
  * ProgramApi - object-oriented interface
@@ -8970,84 +8711,83 @@ export declare const ProgramApiFactory: (configuration?: Configuration, basePath
  */
 export declare class ProgramApi extends BaseAPI {
     /**
-     * This endpoint accepts a program written in Wandelscript and if desired, initial arguments (in the form of a dict). It will then execute this Wandelscript asynchronously. It returns a program runner reference which can be used to query the state of the program runner.  ## Parameters See the **Schema** tab for information about the request body.  ## Returns A program runner reference which can be used to query the state of the program runner.  ## Receiving state updates Receive state updates of the program runner via polling the `/programs/runners/{runner_id}/`  ### Via polling You can receive updates about the state of the program runner by polling the `/programs/runners/{runner_id}/` endpoint. ```
-     * @summary Create Program Runner
+     * This endpoint accepts a program and if desired, initial arguments (in the form of a dict).  The program will be executed asynchronously.  It returns a program run reference which can be used to query the state of the program run.  ## Receiving state updates Receive state updates of the program run via polling the `/programs/runs/{run_id}/`  ### Via polling You can receive updates about the state of the program run by polling the `/programs/runs/{run_id}/` endpoint.
+     * @summary Create program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request} request
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ProgramApi
      */
-    createProgramRunner(cell: string, request: Request, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRunnerReference, any>>;
+    createProgramRun(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRunReference, any>>;
     /**
-     * Execute a program in Wandelscript. The Wandelscript can also move multiple robots by using the \'do with\' syntax.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a succesful execution. Otherwise an error (e.g. out of reach, singularity), is returned.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript)
-     * @summary Execute Program
+     * Execute a program synchronously.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a successful execution.  Otherwise an error (e.g. out of reach, singularity), is returned.
+     * @summary Execute program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {CodeWithArguments} codeWithArguments
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ProgramApi
      */
-    executeProgram(cell: string, codeWithArguments: CodeWithArguments, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRun, any>>;
+    executeProgram(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRun, any>>;
     /**
-     * Returns information about a program currently executed.  When a program is finished: Program response, result, collected Wandelscript logs, etc.  When a program is running: Running status, current executed line, etc.  ## Parameters - **runner_id**: The identifier of the program runner
-     * @summary Get Program Runner
+     * Returns information about a program currently executed. When a program is finished: Program response, result, collected logs, .. When a program is running: Running status, current executed line, ...
+     * @summary Get program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} runner
+     * @param {string} run
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ProgramApi
      */
-    getProgramRunner(cell: string, runner: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRun, any>>;
+    getProgramRun(cell: string, run: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRun, any>>;
     /**
-     * Get details about all existing program runners.
-     * @summary List Program Runners
+     * Get details about all existing runs
+     * @summary List programs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ProgramApi
      */
-    listProgramRunners(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRunnerReference[], any>>;
+    getProgramRuns(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRunReference[], any>>;
     /**
-     * Migrate a program  ## Parameters See the **Schema** tab for information about the request body
-     * @summary Migrate Program
+     * Simulate a program given as text/plain
+     * @summary Simulate program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request1} request1
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ProgramApi
      */
-    migrateProgram(cell: string, request1: Request1, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<string, any>>;
+    simulateProgram(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRun, any>>;
     /**
-     * Plan a program based on the specified robot type.  The plan operation can be used to check if a Wandelscript is executable, given the current joint configuration of the robot.  If the Wandelscript is executable, the result contains the motion path. If the Wandelscript is not executable, e.g. points that are out of reach, or the joints encounter a singularity, the reason is returned.  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as Content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript)
-     * @summary Plan Program
+     * Stop all runs
+     * @summary Stop all programs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {Request} request
-     * @param {string} [identifier]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ProgramApi
      */
-    planProgram(cell: string, request: Request, identifier?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRun, any>>;
+    stopAllPrograms(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<any, any>>;
     /**
-     * Stop all runners.
-     * @summary Stop All Program Runners
+     * Stop a specific program run.
+     * @summary Stop program run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} run
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ProgramApi
      */
-    stopAllProgramRunner(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<any, any>>;
+    stopProgramRun(cell: string, run: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
-     * Stop a specific program runner. If the indicated runner was not running, an error will be returned. ## Parameters - **runner_id**: The identifier of the program runner
-     * @summary Stop Program Runner
+     * Validate a program
+     * @summary Validate program
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} runner
+     * @param {ProgramRequest} programRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ProgramApi
      */
-    stopProgramRunner(cell: string, runner: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    validateProgram(cell: string, programRequest: ProgramRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
 }
 /**
  * ProgramOperatorApi - axios parameter creator
@@ -9055,14 +8795,14 @@ export declare class ProgramApi extends BaseAPI {
  */
 export declare const ProgramOperatorApiAxiosParamCreator: (configuration?: Configuration) => {
     /**
-     * <!-- theme: danger --> > **Experimental** This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library.
+     * <!-- theme: danger -->  > **Experimental**  This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library.
      * @summary Run Program from Library
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {CreateProgramRunRequest} createProgramRunRequest
+     * @param {CreateProgramOperatorRunRequest} createProgramOperatorRunRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    createProgramRun: (cell: string, createProgramRunRequest: CreateProgramRunRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    createProgramOperatorRun: (cell: string, createProgramOperatorRunRequest: CreateProgramOperatorRunRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * <!-- theme: danger --> > **Experimental** Creates a new trigger that automatically runs a program when certain conditions are met. Each trigger has a different configuration, and the configuration must be valid for the provided trigger type.
      * @summary Create Trigger
@@ -9082,14 +8822,14 @@ export declare const ProgramOperatorApiAxiosParamCreator: (configuration?: Confi
      */
     deleteTrigger: (trigger: string, cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * <!-- theme: danger --> > **Experimental** Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status.
+     * <!-- theme: danger -->  > **Experimental**  Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status.
      * @summary Get All Program Runs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} [state]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getAllProgramRuns: (cell: string, state?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getAllProgramOperatorRuns: (cell: string, state?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * <!-- theme: danger --> > **Experimental** Returns all triggers in the system with the program runs caused by each trigger. You can use the program run id to get more details about a specific program run.
      * @summary Get All Triggers
@@ -9099,14 +8839,14 @@ export declare const ProgramOperatorApiAxiosParamCreator: (configuration?: Confi
      */
     getAllTriggers: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific program run.
+     * <!-- theme: danger -->  > **Experimental**  Retrieves detailed information about a specific program run.
      * @summary Get Program Run
      * @param {string} run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getProgramRun: (run: string, cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getProgramOperatorRun: (run: string, cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific trigger.
      * @summary Get Trigger
@@ -9133,14 +8873,14 @@ export declare const ProgramOperatorApiAxiosParamCreator: (configuration?: Confi
  */
 export declare const ProgramOperatorApiFp: (configuration?: Configuration) => {
     /**
-     * <!-- theme: danger --> > **Experimental** This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library.
+     * <!-- theme: danger -->  > **Experimental**  This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library.
      * @summary Run Program from Library
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {CreateProgramRunRequest} createProgramRunRequest
+     * @param {CreateProgramOperatorRunRequest} createProgramOperatorRunRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    createProgramRun(cell: string, createProgramRunRequest: CreateProgramRunRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CreateProgramRun200Response>>;
+    createProgramOperatorRun(cell: string, createProgramOperatorRunRequest: CreateProgramOperatorRunRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CreateProgramOperatorRun200Response>>;
     /**
      * <!-- theme: danger --> > **Experimental** Creates a new trigger that automatically runs a program when certain conditions are met. Each trigger has a different configuration, and the configuration must be valid for the provided trigger type.
      * @summary Create Trigger
@@ -9160,14 +8900,14 @@ export declare const ProgramOperatorApiFp: (configuration?: Configuration) => {
      */
     deleteTrigger(trigger: string, cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
-     * <!-- theme: danger --> > **Experimental** Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status.
+     * <!-- theme: danger -->  > **Experimental**  Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status.
      * @summary Get All Program Runs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} [state]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getAllProgramRuns(cell: string, state?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<GetAllProgramRuns200Response>>;
+    getAllProgramOperatorRuns(cell: string, state?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<GetAllProgramOperatorRuns200Response>>;
     /**
      * <!-- theme: danger --> > **Experimental** Returns all triggers in the system with the program runs caused by each trigger. You can use the program run id to get more details about a specific program run.
      * @summary Get All Triggers
@@ -9177,14 +8917,14 @@ export declare const ProgramOperatorApiFp: (configuration?: Configuration) => {
      */
     getAllTriggers(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<GetAllTriggers200Response>>;
     /**
-     * <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific program run.
+     * <!-- theme: danger -->  > **Experimental**  Retrieves detailed information about a specific program run.
      * @summary Get Program Run
      * @param {string} run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getProgramRun(run: string, cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRunObject>>;
+    getProgramOperatorRun(run: string, cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRunObject>>;
     /**
      * <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific trigger.
      * @summary Get Trigger
@@ -9211,14 +8951,14 @@ export declare const ProgramOperatorApiFp: (configuration?: Configuration) => {
  */
 export declare const ProgramOperatorApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
     /**
-     * <!-- theme: danger --> > **Experimental** This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library.
+     * <!-- theme: danger -->  > **Experimental**  This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library.
      * @summary Run Program from Library
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {CreateProgramRunRequest} createProgramRunRequest
+     * @param {CreateProgramOperatorRunRequest} createProgramOperatorRunRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    createProgramRun(cell: string, createProgramRunRequest: CreateProgramRunRequest, options?: RawAxiosRequestConfig): AxiosPromise<CreateProgramRun200Response>;
+    createProgramOperatorRun(cell: string, createProgramOperatorRunRequest: CreateProgramOperatorRunRequest, options?: RawAxiosRequestConfig): AxiosPromise<CreateProgramOperatorRun200Response>;
     /**
      * <!-- theme: danger --> > **Experimental** Creates a new trigger that automatically runs a program when certain conditions are met. Each trigger has a different configuration, and the configuration must be valid for the provided trigger type.
      * @summary Create Trigger
@@ -9238,14 +8978,14 @@ export declare const ProgramOperatorApiFactory: (configuration?: Configuration,
      */
     deleteTrigger(trigger: string, cell: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
-     * <!-- theme: danger --> > **Experimental** Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status.
+     * <!-- theme: danger -->  > **Experimental**  Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status.
      * @summary Get All Program Runs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} [state]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getAllProgramRuns(cell: string, state?: string, options?: RawAxiosRequestConfig): AxiosPromise<GetAllProgramRuns200Response>;
+    getAllProgramOperatorRuns(cell: string, state?: string, options?: RawAxiosRequestConfig): AxiosPromise<GetAllProgramOperatorRuns200Response>;
     /**
      * <!-- theme: danger --> > **Experimental** Returns all triggers in the system with the program runs caused by each trigger. You can use the program run id to get more details about a specific program run.
      * @summary Get All Triggers
@@ -9255,14 +8995,14 @@ export declare const ProgramOperatorApiFactory: (configuration?: Configuration,
      */
     getAllTriggers(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<GetAllTriggers200Response>;
     /**
-     * <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific program run.
+     * <!-- theme: danger -->  > **Experimental**  Retrieves detailed information about a specific program run.
      * @summary Get Program Run
      * @param {string} run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getProgramRun(run: string, cell: string, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRunObject>;
+    getProgramOperatorRun(run: string, cell: string, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRunObject>;
     /**
      * <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific trigger.
      * @summary Get Trigger
@@ -9291,15 +9031,15 @@ export declare const ProgramOperatorApiFactory: (configuration?: Configuration,
  */
 export declare class ProgramOperatorApi extends BaseAPI {
     /**
-     * <!-- theme: danger --> > **Experimental** This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library.
+     * <!-- theme: danger -->  > **Experimental**  This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library.
      * @summary Run Program from Library
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {CreateProgramRunRequest} createProgramRunRequest
+     * @param {CreateProgramOperatorRunRequest} createProgramOperatorRunRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ProgramOperatorApi
      */
-    createProgramRun(cell: string, createProgramRunRequest: CreateProgramRunRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CreateProgramRun200Response, any>>;
+    createProgramOperatorRun(cell: string, createProgramOperatorRunRequest: CreateProgramOperatorRunRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CreateProgramOperatorRun200Response, any>>;
     /**
      * <!-- theme: danger --> > **Experimental** Creates a new trigger that automatically runs a program when certain conditions are met. Each trigger has a different configuration, and the configuration must be valid for the provided trigger type.
      * @summary Create Trigger
@@ -9321,7 +9061,7 @@ export declare class ProgramOperatorApi extends BaseAPI {
      */
     deleteTrigger(trigger: string, cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
-     * <!-- theme: danger --> > **Experimental** Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status.
+     * <!-- theme: danger -->  > **Experimental**  Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status.
      * @summary Get All Program Runs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} [state]
@@ -9329,7 +9069,7 @@ export declare class ProgramOperatorApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof ProgramOperatorApi
      */
-    getAllProgramRuns(cell: string, state?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<GetAllProgramRuns200Response, any>>;
+    getAllProgramOperatorRuns(cell: string, state?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<GetAllProgramOperatorRuns200Response, any>>;
     /**
      * <!-- theme: danger --> > **Experimental** Returns all triggers in the system with the program runs caused by each trigger. You can use the program run id to get more details about a specific program run.
      * @summary Get All Triggers
@@ -9340,7 +9080,7 @@ export declare class ProgramOperatorApi extends BaseAPI {
      */
     getAllTriggers(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<GetAllTriggers200Response, any>>;
     /**
-     * <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific program run.
+     * <!-- theme: danger -->  > **Experimental**  Retrieves detailed information about a specific program run.
      * @summary Get Program Run
      * @param {string} run
      * @param {string} cell Unique identifier addressing a cell in all API calls.
@@ -9348,7 +9088,7 @@ export declare class ProgramOperatorApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof ProgramOperatorApi
      */
-    getProgramRun(run: string, cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRunObject, any>>;
+    getProgramOperatorRun(run: string, cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ProgramRunObject, any>>;
     /**
      * <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific trigger.
      * @summary Get Trigger