@wandelbots/nova-api 25.6.0-dev.37 → 25.6.0-dev.39

package/v2/api.ts

@@ -5520,293 +5520,6 @@ export class ApplicationApi extends BaseAPI {
 
 
 
-/**
- * BusIOsApi - axios parameter creator
- * @export
- */
-export const BusIOsApiAxiosParamCreator = function (configuration?: Configuration) {
-    return {
-        /**
-         * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions). 
-         * @summary Get Input/Output Values
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {Array<string>} [ios] 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getBusIOValues: async (cell: string, ios?: Array<string>, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
-            // verify required parameter 'cell' is not null or undefined
-            assertParamExists('getBusIOValues', 'cell', cell)
-            const localVarPath = `/cells/{cell}/bus-ios/ios/values`
-                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
-            // use dummy base URL string because the URL constructor only accepts absolute URLs.
-            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
-            let baseOptions;
-            if (configuration) {
-                baseOptions = configuration.baseOptions;
-            }
-
-            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options};
-            const localVarHeaderParameter = {} as any;
-            const localVarQueryParameter = {} as any;
-
-            // authentication BasicAuth required
-            // http basic authentication required
-            setBasicAuthToObject(localVarRequestOptions, configuration)
-
-            // authentication BearerAuth required
-            // http bearer authentication required
-            await setBearerAuthToObject(localVarHeaderParameter, configuration)
-
-            if (ios) {
-                localVarQueryParameter['ios'] = ios;
-            }
-
-
-    
-            setSearchParams(localVarUrlObj, localVarQueryParameter);
-            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
-            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
-
-            return {
-                url: toPathString(localVarUrlObj),
-                options: localVarRequestOptions,
-            };
-        },
-        /**
-         * List all Bus Input/Outputs. 
-         * @summary Configuration
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        listBusIODescriptions: async (cell: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
-            // verify required parameter 'cell' is not null or undefined
-            assertParamExists('listBusIODescriptions', 'cell', cell)
-            const localVarPath = `/cells/{cell}/bus-ios/ios/description`
-                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
-            // use dummy base URL string because the URL constructor only accepts absolute URLs.
-            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
-            let baseOptions;
-            if (configuration) {
-                baseOptions = configuration.baseOptions;
-            }
-
-            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options};
-            const localVarHeaderParameter = {} as any;
-            const localVarQueryParameter = {} as any;
-
-            // authentication BasicAuth required
-            // http basic authentication required
-            setBasicAuthToObject(localVarRequestOptions, configuration)
-
-            // authentication BearerAuth required
-            // http bearer authentication required
-            await setBearerAuthToObject(localVarHeaderParameter, configuration)
-
-
-    
-            setSearchParams(localVarUrlObj, localVarQueryParameter);
-            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
-            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
-
-            return {
-                url: toPathString(localVarUrlObj),
-                options: localVarRequestOptions,
-            };
-        },
-        /**
-         * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service. 
-         * @summary Set Output Values
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {Array<IOValue>} iOValue 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        setBusIOValues: async (cell: string, iOValue: Array<IOValue>, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
-            // verify required parameter 'cell' is not null or undefined
-            assertParamExists('setBusIOValues', 'cell', cell)
-            // verify required parameter 'iOValue' is not null or undefined
-            assertParamExists('setBusIOValues', 'iOValue', iOValue)
-            const localVarPath = `/cells/{cell}/bus-ios/ios/values`
-                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
-            // use dummy base URL string because the URL constructor only accepts absolute URLs.
-            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
-            let baseOptions;
-            if (configuration) {
-                baseOptions = configuration.baseOptions;
-            }
-
-            const localVarRequestOptions = { method: 'PUT', ...baseOptions, ...options};
-            const localVarHeaderParameter = {} as any;
-            const localVarQueryParameter = {} as any;
-
-            // authentication BasicAuth required
-            // http basic authentication required
-            setBasicAuthToObject(localVarRequestOptions, configuration)
-
-            // authentication BearerAuth required
-            // http bearer authentication required
-            await setBearerAuthToObject(localVarHeaderParameter, configuration)
-
-
-    
-            localVarHeaderParameter['Content-Type'] = 'application/json';
-
-            setSearchParams(localVarUrlObj, localVarQueryParameter);
-            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
-            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
-            localVarRequestOptions.data = serializeDataIfNeeded(iOValue, localVarRequestOptions, configuration)
-
-            return {
-                url: toPathString(localVarUrlObj),
-                options: localVarRequestOptions,
-            };
-        },
-    }
-};
-
-/**
- * BusIOsApi - functional programming interface
- * @export
- */
-export const BusIOsApiFp = function(configuration?: Configuration) {
-    const localVarAxiosParamCreator = BusIOsApiAxiosParamCreator(configuration)
-    return {
-        /**
-         * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions). 
-         * @summary Get Input/Output Values
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {Array<string>} [ios] 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        async getBusIOValues(cell: string, ios?: Array<string>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IOValue>>> {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.getBusIOValues(cell, ios, options);
-            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['BusIOsApi.getBusIOValues']?.[localVarOperationServerIndex]?.url;
-            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
-        },
-        /**
-         * List all Bus Input/Outputs. 
-         * @summary Configuration
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        async listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IODescription>>> {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.listBusIODescriptions(cell, options);
-            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['BusIOsApi.listBusIODescriptions']?.[localVarOperationServerIndex]?.url;
-            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
-        },
-        /**
-         * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service. 
-         * @summary Set Output Values
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {Array<IOValue>} iOValue 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        async setBusIOValues(cell: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.setBusIOValues(cell, iOValue, options);
-            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['BusIOsApi.setBusIOValues']?.[localVarOperationServerIndex]?.url;
-            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
-        },
-    }
-};
-
-/**
- * BusIOsApi - factory interface
- * @export
- */
-export const BusIOsApiFactory = function (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) {
-    const localVarFp = BusIOsApiFp(configuration)
-    return {
-        /**
-         * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions). 
-         * @summary Get Input/Output Values
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {Array<string>} [ios] 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getBusIOValues(cell: string, ios?: Array<string>, options?: RawAxiosRequestConfig): AxiosPromise<Array<IOValue>> {
-            return localVarFp.getBusIOValues(cell, ios, options).then((request) => request(axios, basePath));
-        },
-        /**
-         * List all Bus Input/Outputs. 
-         * @summary Configuration
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<IODescription>> {
-            return localVarFp.listBusIODescriptions(cell, options).then((request) => request(axios, basePath));
-        },
-        /**
-         * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service. 
-         * @summary Set Output Values
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {Array<IOValue>} iOValue 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        setBusIOValues(cell: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): AxiosPromise<void> {
-            return localVarFp.setBusIOValues(cell, iOValue, options).then((request) => request(axios, basePath));
-        },
-    };
-};
-
-/**
- * BusIOsApi - object-oriented interface
- * @export
- * @class BusIOsApi
- * @extends {BaseAPI}
- */
-export class BusIOsApi extends BaseAPI {
-    /**
-     * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions). 
-     * @summary Get Input/Output Values
-     * @param {string} cell Unique identifier addressing a cell in all API calls. 
-     * @param {Array<string>} [ios] 
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     * @memberof BusIOsApi
-     */
-    public getBusIOValues(cell: string, ios?: Array<string>, options?: RawAxiosRequestConfig) {
-        return BusIOsApiFp(this.configuration).getBusIOValues(cell, ios, options).then((request) => request(this.axios, this.basePath));
-    }
-
-    /**
-     * List all Bus Input/Outputs. 
-     * @summary Configuration
-     * @param {string} cell Unique identifier addressing a cell in all API calls. 
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     * @memberof BusIOsApi
-     */
-    public listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig) {
-        return BusIOsApiFp(this.configuration).listBusIODescriptions(cell, options).then((request) => request(this.axios, this.basePath));
-    }
-
-    /**
-     * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service. 
-     * @summary Set Output Values
-     * @param {string} cell Unique identifier addressing a cell in all API calls. 
-     * @param {Array<IOValue>} iOValue 
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     * @memberof BusIOsApi
-     */
-    public setBusIOValues(cell: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig) {
-        return BusIOsApiFp(this.configuration).setBusIOValues(cell, iOValue, options).then((request) => request(this.axios, this.basePath));
-    }
-}
-
-
-
 /**
  * CellApi - axios parameter creator
  * @export
@@ -9132,6 +8845,206 @@ export class MotionGroupApi extends BaseAPI {
 
 
 
+/**
+ * MotionGroupModelsApi - axios parameter creator
+ * @export
+ */
+export const MotionGroupModelsApiAxiosParamCreator = function (configuration?: Configuration) {
+    return {
+        /**
+         * Returns the default collision link chain for a given motion group model.  See [getMotionGroupDescription](getMotionGroupDescription) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+         * @summary Get Collision Model
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getMotionGroupCollisionModel: async (cell: string, motionGroupModel: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('getMotionGroupCollisionModel', 'cell', cell)
+            // verify required parameter 'motionGroupModel' is not null or undefined
+            assertParamExists('getMotionGroupCollisionModel', 'motionGroupModel', motionGroupModel)
+            const localVarPath = `/cells/{cell}/motion-group-models/{motion-group-model}/collision-model`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
+                .replace(`{${"motion-group-model"}}`, encodeURIComponent(String(motionGroupModel)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options};
+            const localVarHeaderParameter = {} as any;
+            const localVarQueryParameter = {} as any;
+
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration)
+
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration)
+
+
+    
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
+
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Returns motion group models that are supported for planning. 
+         * @summary Motion Group Models
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getMotionGroupModels: async (cell: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('getMotionGroupModels', 'cell', cell)
+            const localVarPath = `/cells/{cell}/motion-group-models`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options};
+            const localVarHeaderParameter = {} as any;
+            const localVarQueryParameter = {} as any;
+
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration)
+
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration)
+
+
+    
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
+
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+    }
+};
+
+/**
+ * MotionGroupModelsApi - functional programming interface
+ * @export
+ */
+export const MotionGroupModelsApiFp = function(configuration?: Configuration) {
+    const localVarAxiosParamCreator = MotionGroupModelsApiAxiosParamCreator(configuration)
+    return {
+        /**
+         * Returns the default collision link chain for a given motion group model.  See [getMotionGroupDescription](getMotionGroupDescription) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+         * @summary Get Collision Model
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async getMotionGroupCollisionModel(cell: string, motionGroupModel: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<{ [key: string]: Collider; }>>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getMotionGroupCollisionModel(cell, motionGroupModel, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['MotionGroupModelsApi.getMotionGroupCollisionModel']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Returns motion group models that are supported for planning. 
+         * @summary Motion Group Models
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async getMotionGroupModels(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<string>>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getMotionGroupModels(cell, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['MotionGroupModelsApi.getMotionGroupModels']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+    }
+};
+
+/**
+ * MotionGroupModelsApi - factory interface
+ * @export
+ */
+export const MotionGroupModelsApiFactory = function (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) {
+    const localVarFp = MotionGroupModelsApiFp(configuration)
+    return {
+        /**
+         * Returns the default collision link chain for a given motion group model.  See [getMotionGroupDescription](getMotionGroupDescription) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+         * @summary Get Collision Model
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getMotionGroupCollisionModel(cell: string, motionGroupModel: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<{ [key: string]: Collider; }>> {
+            return localVarFp.getMotionGroupCollisionModel(cell, motionGroupModel, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Returns motion group models that are supported for planning. 
+         * @summary Motion Group Models
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getMotionGroupModels(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<string>> {
+            return localVarFp.getMotionGroupModels(cell, options).then((request) => request(axios, basePath));
+        },
+    };
+};
+
+/**
+ * MotionGroupModelsApi - object-oriented interface
+ * @export
+ * @class MotionGroupModelsApi
+ * @extends {BaseAPI}
+ */
+export class MotionGroupModelsApi extends BaseAPI {
+    /**
+     * Returns the default collision link chain for a given motion group model.  See [getMotionGroupDescription](getMotionGroupDescription) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+     * @summary Get Collision Model
+     * @param {string} cell Unique identifier addressing a cell in all API calls. 
+     * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof MotionGroupModelsApi
+     */
+    public getMotionGroupCollisionModel(cell: string, motionGroupModel: string, options?: RawAxiosRequestConfig) {
+        return MotionGroupModelsApiFp(this.configuration).getMotionGroupCollisionModel(cell, motionGroupModel, options).then((request) => request(this.axios, this.basePath));
+    }
+
+    /**
+     * Returns motion group models that are supported for planning. 
+     * @summary Motion Group Models
+     * @param {string} cell Unique identifier addressing a cell in all API calls. 
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof MotionGroupModelsApi
+     */
+    public getMotionGroupModels(cell: string, options?: RawAxiosRequestConfig) {
+        return MotionGroupModelsApiFp(this.configuration).getMotionGroupModels(cell, options).then((request) => request(this.axios, this.basePath));
+    }
+}
+
+
+
 /**
  * ProgramApi - axios parameter creator
  * @export
@@ -13436,94 +13349,6 @@ export class TrajectoryExecutionApi extends BaseAPI {
  */
 export const TrajectoryPlanningApiAxiosParamCreator = function (configuration?: Configuration) {
     return {
-        /**
-         * Returns the default collision link chain for a given motion group model.  See [getPlanningMotionGroupModels](getPlanningMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
-         * @summary Get Default Link Chain
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getDefaultLinkChain: async (cell: string, motionGroupModel: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
-            // verify required parameter 'cell' is not null or undefined
-            assertParamExists('getDefaultLinkChain', 'cell', cell)
-            // verify required parameter 'motionGroupModel' is not null or undefined
-            assertParamExists('getDefaultLinkChain', 'motionGroupModel', motionGroupModel)
-            const localVarPath = `/cells/{cell}/store/collision/default-link-chains/{motion-group-model}`
-                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
-                .replace(`{${"motion-group-model"}}`, encodeURIComponent(String(motionGroupModel)));
-            // use dummy base URL string because the URL constructor only accepts absolute URLs.
-            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
-            let baseOptions;
-            if (configuration) {
-                baseOptions = configuration.baseOptions;
-            }
-
-            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options};
-            const localVarHeaderParameter = {} as any;
-            const localVarQueryParameter = {} as any;
-
-            // authentication BasicAuth required
-            // http basic authentication required
-            setBasicAuthToObject(localVarRequestOptions, configuration)
-
-            // authentication BearerAuth required
-            // http bearer authentication required
-            await setBearerAuthToObject(localVarHeaderParameter, configuration)
-
-
-    
-            setSearchParams(localVarUrlObj, localVarQueryParameter);
-            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
-            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
-
-            return {
-                url: toPathString(localVarUrlObj),
-                options: localVarRequestOptions,
-            };
-        },
-        /**
-         * Returns motion group models that are supported for planning. 
-         * @summary Motion Group Models for Planning
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getMotionGroupModelsForPlanning: async (cell: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
-            // verify required parameter 'cell' is not null or undefined
-            assertParamExists('getMotionGroupModelsForPlanning', 'cell', cell)
-            const localVarPath = `/cells/{cell}/motion-planning/motion-group-models`
-                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
-            // use dummy base URL string because the URL constructor only accepts absolute URLs.
-            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
-            let baseOptions;
-            if (configuration) {
-                baseOptions = configuration.baseOptions;
-            }
-
-            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options};
-            const localVarHeaderParameter = {} as any;
-            const localVarQueryParameter = {} as any;
-
-            // authentication BasicAuth required
-            // http basic authentication required
-            setBasicAuthToObject(localVarRequestOptions, configuration)
-
-            // authentication BearerAuth required
-            // http bearer authentication required
-            await setBearerAuthToObject(localVarHeaderParameter, configuration)
-
-
-    
-            setSearchParams(localVarUrlObj, localVarQueryParameter);
-            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
-            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
-
-            return {
-                url: toPathString(localVarUrlObj),
-                options: localVarRequestOptions,
-            };
-        },
         /**
          * Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
          * @summary Plan Trajectory
@@ -13580,33 +13405,6 @@ export const TrajectoryPlanningApiAxiosParamCreator = function (configuration?:
 export const TrajectoryPlanningApiFp = function(configuration?: Configuration) {
     const localVarAxiosParamCreator = TrajectoryPlanningApiAxiosParamCreator(configuration)
     return {
-        /**
-         * Returns the default collision link chain for a given motion group model.  See [getPlanningMotionGroupModels](getPlanningMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
-         * @summary Get Default Link Chain
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        async getDefaultLinkChain(cell: string, motionGroupModel: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<{ [key: string]: Collider; }>>> {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.getDefaultLinkChain(cell, motionGroupModel, options);
-            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['TrajectoryPlanningApi.getDefaultLinkChain']?.[localVarOperationServerIndex]?.url;
-            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
-        },
-        /**
-         * Returns motion group models that are supported for planning. 
-         * @summary Motion Group Models for Planning
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        async getMotionGroupModelsForPlanning(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<string>>> {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.getMotionGroupModelsForPlanning(cell, options);
-            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['TrajectoryPlanningApi.getMotionGroupModelsForPlanning']?.[localVarOperationServerIndex]?.url;
-            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
-        },
         /**
          * Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
          * @summary Plan Trajectory
@@ -13631,27 +13429,6 @@ export const TrajectoryPlanningApiFp = function(configuration?: Configuration) {
 export const TrajectoryPlanningApiFactory = function (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) {
     const localVarFp = TrajectoryPlanningApiFp(configuration)
     return {
-        /**
-         * Returns the default collision link chain for a given motion group model.  See [getPlanningMotionGroupModels](getPlanningMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
-         * @summary Get Default Link Chain
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getDefaultLinkChain(cell: string, motionGroupModel: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<{ [key: string]: Collider; }>> {
-            return localVarFp.getDefaultLinkChain(cell, motionGroupModel, options).then((request) => request(axios, basePath));
-        },
-        /**
-         * Returns motion group models that are supported for planning. 
-         * @summary Motion Group Models for Planning
-         * @param {string} cell Unique identifier addressing a cell in all API calls. 
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getMotionGroupModelsForPlanning(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<string>> {
-            return localVarFp.getMotionGroupModelsForPlanning(cell, options).then((request) => request(axios, basePath));
-        },
         /**
          * Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
          * @summary Plan Trajectory
@@ -13673,31 +13450,6 @@ export const TrajectoryPlanningApiFactory = function (configuration?: Configurat
  * @extends {BaseAPI}
  */
 export class TrajectoryPlanningApi extends BaseAPI {
-    /**
-     * Returns the default collision link chain for a given motion group model.  See [getPlanningMotionGroupModels](getPlanningMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
-     * @summary Get Default Link Chain
-     * @param {string} cell Unique identifier addressing a cell in all API calls. 
-     * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     * @memberof TrajectoryPlanningApi
-     */
-    public getDefaultLinkChain(cell: string, motionGroupModel: string, options?: RawAxiosRequestConfig) {
-        return TrajectoryPlanningApiFp(this.configuration).getDefaultLinkChain(cell, motionGroupModel, options).then((request) => request(this.axios, this.basePath));
-    }
-
-    /**
-     * Returns motion group models that are supported for planning. 
-     * @summary Motion Group Models for Planning
-     * @param {string} cell Unique identifier addressing a cell in all API calls. 
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     * @memberof TrajectoryPlanningApi
-     */
-    public getMotionGroupModelsForPlanning(cell: string, options?: RawAxiosRequestConfig) {
-        return TrajectoryPlanningApiFp(this.configuration).getMotionGroupModelsForPlanning(cell, options).then((request) => request(this.axios, this.basePath));
-    }
-
     /**
      * Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
      * @summary Plan Trajectory