@wandelbots/nova-api 25.6.0-dev.38 → 25.6.0-dev.39

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@wandelbots/nova-api",
-  "version": "25.6.0-dev.38",
+  "version": "25.6.0-dev.39",
   "description": "API Client to interact with Wandelbots Public API.",
   "files": [
     "*",

package/v2/api.d.ts

@@ -6467,6 +6467,108 @@ export declare class MotionGroupApi extends BaseAPI {
      */
     streamMotionGroupState(cell: string, motionGroup: string, responseRate?: number, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupState, any>>;
 }
+/**
+ * MotionGroupModelsApi - axios parameter creator
+ * @export
+ */
+export declare const MotionGroupModelsApiAxiosParamCreator: (configuration?: Configuration) => {
+    /**
+     * 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) => Promise<RequestArgs>;
+    /**
+     * 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) => Promise<RequestArgs>;
+};
+/**
+ * MotionGroupModelsApi - functional programming interface
+ * @export
+ */
+export declare const MotionGroupModelsApiFp: (configuration?: Configuration) => {
+    /**
+     * 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): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<{
+        [key: string]: Collider;
+    }>>>;
+    /**
+     * 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): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<string>>>;
+};
+/**
+ * MotionGroupModelsApi - factory interface
+ * @export
+ */
+export declare const MotionGroupModelsApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
+    /**
+     * 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;
+    }>>;
+    /**
+     * 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>>;
+};
+/**
+ * MotionGroupModelsApi - object-oriented interface
+ * @export
+ * @class MotionGroupModelsApi
+ * @extends {BaseAPI}
+ */
+export declare 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
+     */
+    getMotionGroupCollisionModel(cell: string, motionGroupModel: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<{
+        [key: string]: Collider;
+    }[], any>>;
+    /**
+     * 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
+     */
+    getMotionGroupModels(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<string[], any>>;
+}
 /**
  * ProgramApi - axios parameter creator
  * @export
@@ -8504,23 +8606,6 @@ export declare class TrajectoryExecutionApi extends BaseAPI {
  * @export
  */
 export declare const TrajectoryPlanningApiAxiosParamCreator: (configuration?: Configuration) => {
-    /**
-     * 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) => Promise<RequestArgs>;
-    /**
-     * 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) => Promise<RequestArgs>;
     /**
      * 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
@@ -8536,25 +8621,6 @@ export declare const TrajectoryPlanningApiAxiosParamCreator: (configuration?: Co
  * @export
  */
 export declare const TrajectoryPlanningApiFp: (configuration?: Configuration) => {
-    /**
-     * 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): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<{
-        [key: string]: Collider;
-    }>>>;
-    /**
-     * 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): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<string>>>;
     /**
      * 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
@@ -8570,25 +8636,6 @@ export declare const TrajectoryPlanningApiFp: (configuration?: Configuration) =>
  * @export
  */
 export declare const TrajectoryPlanningApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
-    /**
-     * 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;
-    }>>;
-    /**
-     * 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>>;
     /**
      * 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
@@ -8606,27 +8653,6 @@ export declare const TrajectoryPlanningApiFactory: (configuration?: Configuratio
  * @extends {BaseAPI}
  */
 export declare 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
-     */
-    getDefaultLinkChain(cell: string, motionGroupModel: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<{
-        [key: string]: Collider;
-    }[], any>>;
-    /**
-     * 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
-     */
-    getMotionGroupModelsForPlanning(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<string[], any>>;
     /**
      * 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

package/v2/api.js

@@ -4082,6 +4082,185 @@ export class MotionGroupApi extends BaseAPI {
         return MotionGroupApiFp(this.configuration).streamMotionGroupState(cell, motionGroup, responseRate, responseCoordinateSystem, options).then((request) => request(this.axios, this.basePath));
     }
 }
+/**
+ * MotionGroupModelsApi - axios parameter creator
+ * @export
+ */
+export const MotionGroupModelsApiAxiosParamCreator = function (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. `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getMotionGroupCollisionModel: async (cell, motionGroupModel, options = {}) => {
+            // 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 = {};
+            const localVarQueryParameter = {};
+            // 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, options = {}) => {
+            // 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 = {};
+            const localVarQueryParameter = {};
+            // 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) {
+    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. `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async getMotionGroupCollisionModel(cell, motionGroupModel, options) {
+            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, options) {
+            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, basePath, axios) {
+    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. `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getMotionGroupCollisionModel(cell, motionGroupModel, options) {
+            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, options) {
+            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. `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof MotionGroupModelsApi
+     */
+    getMotionGroupCollisionModel(cell, motionGroupModel, options) {
+        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
+     */
+    getMotionGroupModels(cell, options) {
+        return MotionGroupModelsApiFp(this.configuration).getMotionGroupModels(cell, options).then((request) => request(this.axios, this.basePath));
+    }
+}
 /**
  * ProgramApi - axios parameter creator
  * @export
@@ -7943,80 +8122,6 @@ export class TrajectoryExecutionApi extends BaseAPI {
  */
 export const TrajectoryPlanningApiAxiosParamCreator = function (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. `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getDefaultLinkChain: async (cell, motionGroupModel, options = {}) => {
-            // 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 = {};
-            const localVarQueryParameter = {};
-            // 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, options = {}) => {
-            // 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 = {};
-            const localVarQueryParameter = {};
-            // 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
@@ -8064,33 +8169,6 @@ export const TrajectoryPlanningApiAxiosParamCreator = function (configuration) {
 export const TrajectoryPlanningApiFp = function (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. `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        async getDefaultLinkChain(cell, motionGroupModel, options) {
-            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, options) {
-            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
@@ -8114,27 +8192,6 @@ export const TrajectoryPlanningApiFp = function (configuration) {
 export const TrajectoryPlanningApiFactory = function (configuration, basePath, axios) {
     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. `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getDefaultLinkChain(cell, motionGroupModel, options) {
-            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, options) {
-            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
@@ -8155,29 +8212,6 @@ export const TrajectoryPlanningApiFactory = function (configuration, basePath, a
  * @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. `UniversalRobots_UR10e`.  Get the `model` of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration).
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     * @memberof TrajectoryPlanningApi
-     */
-    getDefaultLinkChain(cell, motionGroupModel, options) {
-        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
-     */
-    getMotionGroupModelsForPlanning(cell, options) {
-        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