@wandelbots/nova-api 25.7.0-dev.18 → 25.7.0-dev.2

package/v2/api.d.ts

@@ -210,7 +210,7 @@ export interface App {
     'diagnosis_path'?: string;
 }
 /**
- * ## BEHAVIOR_AUTOMATIC This is the default behavior. The motion groups of the controller take commanded joint configuration as actual joint state. Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the virtual robot will act like a physical one, e.g. with a cycle time of 8ms to respond to a new joint state command. ## BEHAVIOR_AUTOMATIC_NOT_COMPLY_WITH_CYCLETIME Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the robot will respond as fast as possible, limited only by software execution speed. Because of that the execution of a movement requires less time than with BEHAVIOR_AUTOMATIC. ## BEHAVIOR_EXTERNAL_SOURCE The external client is the only source of actual joint state changes. This mode is used to enable third party software indicating the current joint state via [externalJointsStream](externalJointsStream).
+ * ## BEHAVIOR_AUTOMATIC This is the default behavior. The motion group instantly takes any commanded joint configuration as actual joint state. Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the virtual robot will act like a physical one, e.g. with a cycle time of 8ms to respond to a new joint state command. ## BEHAVIOR_AUTOMATIC_NOT_COMPLY_WITH_CYCLETIME Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the robot will respond as fast as possible, limited only by software execution speed. Because of that the execution of a movement requires less time than with BEHAVIOR_AUTOMATIC. ## BEHAVIOR_EXTERNAL_SOURCE The external client is the only source of actual joint state changes. This mode is used to enable third party software indicating the current joint state via [externalJointsStream](externalJointsStream).
  * @export
  * @enum {string}
  */
@@ -859,37 +859,6 @@ export interface ContainerStorage {
      */
     'capacity': string;
 }
-/**
- * The data type to describe a robot controller.
- * @export
- * @interface ControllerDescription
- */
-export interface ControllerDescription {
-    /**
-     *
-     * @type {Array<string>}
-     * @memberof ControllerDescription
-     */
-    'connected_motion_groups': Array<string>;
-    /**
-     * Can this controller be moved through freedrive (true), or not (false).
-     * @type {boolean}
-     * @memberof ControllerDescription
-     */
-    'supports_freedrive': boolean;
-    /**
-     * Can this controller be controlled with NOVA (true) or is it only possible to read data (false).
-     * @type {boolean}
-     * @memberof ControllerDescription
-     */
-    'supports_control': boolean;
-    /**
-     * True if NOVA supports reading safety zone-, tool- and link-geometries for this motion group. Safety zones are used to define areas where the robot should slow down or stop. If false, NOVA can\'t guarantee that the executed motions respect safety zones defined on the controller.
-     * @type {boolean}
-     * @memberof ControllerDescription
-     */
-    'supports_safety_zones': boolean;
-}
 /**
  * Defines a convex hull encapsulating a set of vertices.
  * @export
@@ -919,6 +888,12 @@ export type ConvexHullShapeTypeEnum = typeof ConvexHullShapeTypeEnum[keyof typeo
  * @interface CoordinateSystem
  */
 export interface CoordinateSystem {
+    /**
+     * Unique identifier of the coordinate system.
+     * @type {string}
+     * @memberof CoordinateSystem
+     */
+    'coordinate_system': string;
     /**
      * Human readable name of this coordinate system.
      * @type {string}
@@ -949,49 +924,19 @@ export interface CoordinateSystem {
      * @memberof CoordinateSystem
      */
     'orientation_type'?: OrientationType;
-    /**
-     * Unique identifier of the coordinate system.
-     * @type {string}
-     * @memberof CoordinateSystem
-     */
-    'coordinate_system': string;
 }
 /**
  *
  * @export
- * @interface CoordinateSystemData
+ * @interface CoordinateSystems
  */
-export interface CoordinateSystemData {
-    /**
-     * Human readable name of this coordinate system.
-     * @type {string}
-     * @memberof CoordinateSystemData
-     */
-    'name'?: string;
-    /**
-     * The identifier of the reference coordinate system. Empty if world is used.
-     * @type {string}
-     * @memberof CoordinateSystemData
-     */
-    'reference_coordinate_system'?: string;
-    /**
-     * A three-dimensional vector [x, y, z] with double precision.
-     * @type {Array<number>}
-     * @memberof CoordinateSystemData
-     */
-    'position'?: Array<number>;
-    /**
-     * Describes an orientation in 3D space. A tree-to-four-dimensional vector [x, y, z, w] with double precision.
-     * @type {Array<number>}
-     * @memberof CoordinateSystemData
-     */
-    'orientation'?: Array<number>;
+export interface CoordinateSystems {
     /**
      *
-     * @type {OrientationType}
-     * @memberof CoordinateSystemData
+     * @type {Array<CoordinateSystem>}
+     * @memberof CoordinateSystems
      */
-    'orientation_type'?: OrientationType;
+    'coordinate_systems': Array<CoordinateSystem>;
 }
 /**
  *
@@ -1101,6 +1046,36 @@ export declare const Direction: {
     readonly DirectionBackward: "DIRECTION_BACKWARD";
 };
 export type Direction = typeof Direction[keyof typeof Direction];
+/**
+ *
+ * @export
+ * @interface EndOfTrajectory
+ */
+export interface EndOfTrajectory {
+    /**
+     *
+     * @type {string}
+     * @memberof EndOfTrajectory
+     */
+    'kind': EndOfTrajectoryKindEnum;
+}
+export declare const EndOfTrajectoryKindEnum: {
+    readonly EndOfTrajectory: "END_OF_TRAJECTORY";
+};
+export type EndOfTrajectoryKindEnum = typeof EndOfTrajectoryKindEnum[keyof typeof EndOfTrajectoryKindEnum];
+/**
+ *
+ * @export
+ * @interface Error2
+ */
+export interface Error2 {
+    /**
+     *
+     * @type {string}
+     * @memberof Error2
+     */
+    'message': string;
+}
 /**
  * Details about the state of the motion execution. The details are either for a jogging or a trajectory. If NOVA is not controlling this motion group at the moment, this field is omitted.
  * @export
@@ -1163,23 +1138,41 @@ export interface ExternalJointStreamDatapoint {
     'motion_group': string;
     /**
      *
-     * @type {MotionGroupJoints}
+     * @type {ExternalJointStreamDatapointValue}
      * @memberof ExternalJointStreamDatapoint
      */
-    'value': MotionGroupJoints;
+    'value': ExternalJointStreamDatapointValue;
 }
 /**
- *
+ * The joint-values of the external joint stream datapoint.
  * @export
- * @interface ExternalJointStreamRequest
+ * @interface ExternalJointStreamDatapointValue
  */
-export interface ExternalJointStreamRequest {
+export interface ExternalJointStreamDatapointValue {
     /**
-     *
-     * @type {Array<ExternalJointStreamDatapoint>}
-     * @memberof ExternalJointStreamRequest
+     * The joint positions of the robot.
+     * @type {Array<number>}
+     * @memberof ExternalJointStreamDatapointValue
+     */
+    'positions': Array<number>;
+    /**
+     * The joint velocities of the robot.
+     * @type {Array<number>}
+     * @memberof ExternalJointStreamDatapointValue
+     */
+    'velocities': Array<number>;
+    /**
+     * The joint accelerations of the robot.
+     * @type {Array<number>}
+     * @memberof ExternalJointStreamDatapointValue
+     */
+    'accelerations': Array<number>;
+    /**
+     * The joint torques of the robot.
+     * @type {Array<number>}
+     * @memberof ExternalJointStreamDatapointValue
      */
-    'states': Array<ExternalJointStreamDatapoint>;
+    'torques': Array<number>;
 }
 /**
  * The configuration of a physical FANUC robot controller has to contain IP address of the controller.
@@ -1945,104 +1938,7 @@ export type JoggingDetailsKindEnum = typeof JoggingDetailsKindEnum[keyof typeof
  * @type JoggingDetailsState
  * @export
  */
-export type JoggingDetailsState = JoggingPausedByUser | JoggingPausedNearCollision | JoggingPausedNearJointLimit | JoggingPausedOnIO | JoggingRunning;
-/**
- *
- * @export
- * @interface JoggingPausedByUser
- */
-export interface JoggingPausedByUser {
-    /**
-     *
-     * @type {string}
-     * @memberof JoggingPausedByUser
-     */
-    'kind': JoggingPausedByUserKindEnum;
-}
-export declare const JoggingPausedByUserKindEnum: {
-    readonly PausedByUser: "PAUSED_BY_USER";
-};
-export type JoggingPausedByUserKindEnum = typeof JoggingPausedByUserKindEnum[keyof typeof JoggingPausedByUserKindEnum];
-/**
- *
- * @export
- * @interface JoggingPausedNearCollision
- */
-export interface JoggingPausedNearCollision {
-    /**
-     *
-     * @type {string}
-     * @memberof JoggingPausedNearCollision
-     */
-    'kind': JoggingPausedNearCollisionKindEnum;
-    /**
-     *
-     * @type {string}
-     * @memberof JoggingPausedNearCollision
-     */
-    'description': string;
-}
-export declare const JoggingPausedNearCollisionKindEnum: {
-    readonly PausedNearCollision: "PAUSED_NEAR_COLLISION";
-};
-export type JoggingPausedNearCollisionKindEnum = typeof JoggingPausedNearCollisionKindEnum[keyof typeof JoggingPausedNearCollisionKindEnum];
-/**
- *
- * @export
- * @interface JoggingPausedNearJointLimit
- */
-export interface JoggingPausedNearJointLimit {
-    /**
-     *
-     * @type {string}
-     * @memberof JoggingPausedNearJointLimit
-     */
-    'kind': JoggingPausedNearJointLimitKindEnum;
-    /**
-     *
-     * @type {Array<number>}
-     * @memberof JoggingPausedNearJointLimit
-     */
-    'joint_indices': Array<number>;
-}
-export declare const JoggingPausedNearJointLimitKindEnum: {
-    readonly PausedNearJointLimit: "PAUSED_NEAR_JOINT_LIMIT";
-};
-export type JoggingPausedNearJointLimitKindEnum = typeof JoggingPausedNearJointLimitKindEnum[keyof typeof JoggingPausedNearJointLimitKindEnum];
-/**
- *
- * @export
- * @interface JoggingPausedOnIO
- */
-export interface JoggingPausedOnIO {
-    /**
-     *
-     * @type {string}
-     * @memberof JoggingPausedOnIO
-     */
-    'kind': JoggingPausedOnIOKindEnum;
-}
-export declare const JoggingPausedOnIOKindEnum: {
-    readonly PausedOnIo: "PAUSED_ON_IO";
-};
-export type JoggingPausedOnIOKindEnum = typeof JoggingPausedOnIOKindEnum[keyof typeof JoggingPausedOnIOKindEnum];
-/**
- *
- * @export
- * @interface JoggingRunning
- */
-export interface JoggingRunning {
-    /**
-     *
-     * @type {string}
-     * @memberof JoggingRunning
-     */
-    'kind': JoggingRunningKindEnum;
-}
-export declare const JoggingRunningKindEnum: {
-    readonly Running: "RUNNING";
-};
-export type JoggingRunningKindEnum = typeof JoggingRunningKindEnum[keyof typeof JoggingRunningKindEnum];
+export type JoggingDetailsState = PausedByUser | PausedNearCollision | PausedNearJointLimit | PausedOnIO | Running;
 /**
  *
  * @export
@@ -2438,6 +2334,19 @@ export interface LimitsOverride {
      */
     'tcp_orientation_acceleration_limit'?: number;
 }
+/**
+ *
+ * @export
+ * @interface ListCoordinateSystemsResponse
+ */
+export interface ListCoordinateSystemsResponse {
+    /**
+     *
+     * @type {Array<CoordinateSystem>}
+     * @memberof ListCoordinateSystemsResponse
+     */
+    'coordinatesystems'?: Array<CoordinateSystem>;
+}
 /**
  *
  * @export
@@ -2519,6 +2428,19 @@ export type MotionCommandBlending = BlendingAuto | BlendingPosition;
  * @export
  */
 export type MotionCommandPath = PathCartesianPTP | PathCircle | PathCubicSpline | PathJointPTP | PathLine;
+/**
+ *
+ * @export
+ * @interface MotionGroupBehaviorGetter
+ */
+export interface MotionGroupBehaviorGetter {
+    /**
+     *
+     * @type {Behavior}
+     * @memberof MotionGroupBehaviorGetter
+     */
+    'behavior': Behavior;
+}
 /**
  * The configuration of a motion-group used for motion planning.
  * @export
@@ -2530,7 +2452,7 @@ export interface MotionGroupDescription {
      * @type {string}
      * @memberof MotionGroupDescription
      */
-    'motion_group_model': string;
+    'motion_group_type': string;
     /**
      * The offset from the world frame to the motion group base.
      * @type {Pose}
@@ -2623,6 +2545,19 @@ export interface MotionGroupInfo {
      */
     'dof': number;
 }
+/**
+ *
+ * @export
+ * @interface MotionGroupInfos
+ */
+export interface MotionGroupInfos {
+    /**
+     *
+     * @type {Array<MotionGroupInfo>}
+     * @memberof MotionGroupInfos
+     */
+    'motion_groups': Array<MotionGroupInfo>;
+}
 /**
  * Ensure to provide one value for each joint. See [getMotionGroups](getMotionGroups) for the number of joints. Everything but positions is optional.
  * @export
@@ -2784,7 +2719,7 @@ export interface MovementErrorResponse {
     'kind': MovementErrorResponseKindEnum;
 }
 export declare const MovementErrorResponseKindEnum: {
-    readonly MotionError: "MOTION_ERROR";
+    readonly Error: "ERROR";
 };
 export type MovementErrorResponseKindEnum = typeof MovementErrorResponseKindEnum[keyof typeof MovementErrorResponseKindEnum];
 /**
@@ -3139,6 +3074,103 @@ export interface PauseOnIO {
      */
     'comparator': Comparator;
 }
+/**
+ *
+ * @export
+ * @interface PausedByRequest
+ */
+export interface PausedByRequest {
+    /**
+     *
+     * @type {string}
+     * @memberof PausedByRequest
+     */
+    'kind': PausedByRequestKindEnum;
+}
+export declare const PausedByRequestKindEnum: {
+    readonly PausedByUser: "PAUSED_BY_USER";
+};
+export type PausedByRequestKindEnum = typeof PausedByRequestKindEnum[keyof typeof PausedByRequestKindEnum];
+/**
+ *
+ * @export
+ * @interface PausedByUser
+ */
+export interface PausedByUser {
+    /**
+     *
+     * @type {string}
+     * @memberof PausedByUser
+     */
+    'kind': PausedByUserKindEnum;
+}
+export declare const PausedByUserKindEnum: {
+    readonly PausedByUser: "PAUSED_BY_USER";
+};
+export type PausedByUserKindEnum = typeof PausedByUserKindEnum[keyof typeof PausedByUserKindEnum];
+/**
+ *
+ * @export
+ * @interface PausedNearCollision
+ */
+export interface PausedNearCollision {
+    /**
+     *
+     * @type {string}
+     * @memberof PausedNearCollision
+     */
+    'kind': PausedNearCollisionKindEnum;
+    /**
+     *
+     * @type {string}
+     * @memberof PausedNearCollision
+     */
+    'description': string;
+}
+export declare const PausedNearCollisionKindEnum: {
+    readonly PausedNearCollision: "PAUSED_NEAR_COLLISION";
+};
+export type PausedNearCollisionKindEnum = typeof PausedNearCollisionKindEnum[keyof typeof PausedNearCollisionKindEnum];
+/**
+ *
+ * @export
+ * @interface PausedNearJointLimit
+ */
+export interface PausedNearJointLimit {
+    /**
+     *
+     * @type {string}
+     * @memberof PausedNearJointLimit
+     */
+    'kind': PausedNearJointLimitKindEnum;
+    /**
+     *
+     * @type {Array<number>}
+     * @memberof PausedNearJointLimit
+     */
+    'joint_indices': Array<number>;
+}
+export declare const PausedNearJointLimitKindEnum: {
+    readonly PausedNearJointLimit: "PAUSED_NEAR_JOINT_LIMIT";
+};
+export type PausedNearJointLimitKindEnum = typeof PausedNearJointLimitKindEnum[keyof typeof PausedNearJointLimitKindEnum];
+/**
+ *
+ * @export
+ * @interface PausedOnIO
+ */
+export interface PausedOnIO {
+    /**
+     *
+     * @type {string}
+     * @memberof PausedOnIO
+     */
+    'kind': PausedOnIOKindEnum;
+}
+export declare const PausedOnIOKindEnum: {
+    readonly PausedOnIo: "PAUSED_ON_IO";
+};
+export type PausedOnIOKindEnum = typeof PausedOnIOKindEnum[keyof typeof PausedOnIOKindEnum];
 /**
  *
  * @export
@@ -3406,7 +3438,7 @@ export type ReleaseChannel = typeof ReleaseChannel[keyof typeof ReleaseChannel];
  */
 export interface RobotController {
     /**
-     * Unique name of controller within the cell. It must be a valid k8s label name as defined by [RFC 1035](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#rfc-1035-label-names).
+     * A unique name of the Controller inside the Cell. It must be a valid k8s label name as defined by [RFC 1035](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#rfc-1035-label-names).
      * @type {string}
      * @memberof RobotController
      */
@@ -3542,6 +3574,12 @@ export type RobotSystemMode = typeof RobotSystemMode[keyof typeof RobotSystemMod
  * @interface RobotTcp
  */
 export interface RobotTcp {
+    /**
+     * Identifier of this tcp.
+     * @type {string}
+     * @memberof RobotTcp
+     */
+    'id': string;
     /**
      * A readable and changeable name for frontend visualization.
      * @type {string}
@@ -3566,44 +3604,60 @@ export interface RobotTcp {
      * @memberof RobotTcp
      */
     'orientation_type'?: OrientationType;
-    /**
-     * Identifier of this tcp.
-     * @type {string}
-     * @memberof RobotTcp
-     */
-    'id': string;
 }
 /**
  *
  * @export
- * @interface RobotTcpData
+ * @interface RobotTcps
  */
-export interface RobotTcpData {
+export interface RobotTcps {
     /**
-     * A readable and changeable name for frontend visualization.
-     * @type {string}
-     * @memberof RobotTcpData
+     *
+     * @type {Array<RobotTcp>}
+     * @memberof RobotTcps
      */
-    'name'?: string;
+    'tcps': Array<RobotTcp>;
+}
+/**
+ *
+ * @export
+ * @interface Running
+ */
+export interface Running {
     /**
-     * A three-dimensional vector [x, y, z] with double precision.
-     * @type {Array<number>}
-     * @memberof RobotTcpData
+     *
+     * @type {string}
+     * @memberof Running
      */
-    'position': Array<number>;
+    'kind': RunningKindEnum;
+}
+export declare const RunningKindEnum: {
+    readonly Running: "RUNNING";
+};
+export type RunningKindEnum = typeof RunningKindEnum[keyof typeof RunningKindEnum];
+/**
+ *
+ * @export
+ * @interface Running1
+ */
+export interface Running1 {
     /**
-     * Describes an orientation in 3D space. A tree-to-four-dimensional vector [x, y, z, w] with double precision.
-     * @type {Array<number>}
-     * @memberof RobotTcpData
+     *
+     * @type {string}
+     * @memberof Running1
      */
-    'orientation'?: Array<number>;
+    'kind': Running1KindEnum;
     /**
-     *
-     * @type {OrientationType}
-     * @memberof RobotTcpData
+     * Remaining time in milliseconds (ms) to reach the end of the motion.
+     * @type {number}
+     * @memberof Running1
      */
-    'orientation_type'?: OrientationType;
+    'time_to_end': number;
 }
+export declare const Running1KindEnum: {
+    readonly Running: "RUNNING";
+};
+export type Running1KindEnum = typeof Running1KindEnum[keyof typeof Running1KindEnum];
 /**
  * Current safety state of the configured robot controller. Operation modes in which the attached motion groups can be moved are: - SAFETY_STATE_NORMAL - SAFETY_STATE_REDUCED All other modes are considered as non-operational.
  * @export
@@ -4127,24 +4181,7 @@ export type TrajectoryDetailsKindEnum = typeof TrajectoryDetailsKindEnum[keyof t
  * @type TrajectoryDetailsState
  * @export
  */
-export type TrajectoryDetailsState = TrajectoryEnded | TrajectoryPausedByUser | TrajectoryPausedOnIO | TrajectoryRunning | TrajectoryWaitForIO;
-/**
- *
- * @export
- * @interface TrajectoryEnded
- */
-export interface TrajectoryEnded {
-    /**
-     *
-     * @type {string}
-     * @memberof TrajectoryEnded
-     */
-    'kind': TrajectoryEndedKindEnum;
-}
-export declare const TrajectoryEndedKindEnum: {
-    readonly EndOfTrajectory: "END_OF_TRAJECTORY";
-};
-export type TrajectoryEndedKindEnum = typeof TrajectoryEndedKindEnum[keyof typeof TrajectoryEndedKindEnum];
+export type TrajectoryDetailsState = EndOfTrajectory | PausedByRequest | PausedOnIO | Running1 | WaitForIO;
 /**
  *
  * @export
@@ -4168,80 +4205,6 @@ export declare const TrajectoryIdMessageTypeEnum: {
     readonly TrajectoryId: "TrajectoryId";
 };
 export type TrajectoryIdMessageTypeEnum = typeof TrajectoryIdMessageTypeEnum[keyof typeof TrajectoryIdMessageTypeEnum];
-/**
- *
- * @export
- * @interface TrajectoryPausedByUser
- */
-export interface TrajectoryPausedByUser {
-    /**
-     *
-     * @type {string}
-     * @memberof TrajectoryPausedByUser
-     */
-    'kind': TrajectoryPausedByUserKindEnum;
-}
-export declare const TrajectoryPausedByUserKindEnum: {
-    readonly PausedByUser: "PAUSED_BY_USER";
-};
-export type TrajectoryPausedByUserKindEnum = typeof TrajectoryPausedByUserKindEnum[keyof typeof TrajectoryPausedByUserKindEnum];
-/**
- *
- * @export
- * @interface TrajectoryPausedOnIO
- */
-export interface TrajectoryPausedOnIO {
-    /**
-     *
-     * @type {string}
-     * @memberof TrajectoryPausedOnIO
-     */
-    'kind': TrajectoryPausedOnIOKindEnum;
-}
-export declare const TrajectoryPausedOnIOKindEnum: {
-    readonly PausedOnIo: "PAUSED_ON_IO";
-};
-export type TrajectoryPausedOnIOKindEnum = typeof TrajectoryPausedOnIOKindEnum[keyof typeof TrajectoryPausedOnIOKindEnum];
-/**
- *
- * @export
- * @interface TrajectoryRunning
- */
-export interface TrajectoryRunning {
-    /**
-     *
-     * @type {string}
-     * @memberof TrajectoryRunning
-     */
-    'kind': TrajectoryRunningKindEnum;
-    /**
-     * Remaining time in milliseconds (ms) to reach the end of the motion.
-     * @type {number}
-     * @memberof TrajectoryRunning
-     */
-    'time_to_end': number;
-}
-export declare const TrajectoryRunningKindEnum: {
-    readonly Running: "RUNNING";
-};
-export type TrajectoryRunningKindEnum = typeof TrajectoryRunningKindEnum[keyof typeof TrajectoryRunningKindEnum];
-/**
- *
- * @export
- * @interface TrajectoryWaitForIO
- */
-export interface TrajectoryWaitForIO {
-    /**
-     *
-     * @type {string}
-     * @memberof TrajectoryWaitForIO
-     */
-    'kind': TrajectoryWaitForIOKindEnum;
-}
-export declare const TrajectoryWaitForIOKindEnum: {
-    readonly WaitForIo: "WAIT_FOR_IO";
-};
-export type TrajectoryWaitForIOKindEnum = typeof TrajectoryWaitForIOKindEnum[keyof typeof TrajectoryWaitForIOKindEnum];
 /**
  * The unit of input/output value.
  * @export
@@ -4327,7 +4290,7 @@ export interface ValidationError {
  */
 export type ValidationErrorLocInner = number | string;
 /**
- * The configuration of a virtual robot controller has to contain the manufacturer string, an optional joint position string array and either a preset `type` **or** the complete JSON configuration.
+ * The configuration of a virtual robot controller has to contain the manufacturer string, an optional joint position string array and either a type or the full JSON configuration. The JSON config of a physical controller can be obtained via `/cells/{cell}/controllers/{controller}/virtual-robot-configuration`
  * @export
  * @interface VirtualController
  */
@@ -4351,7 +4314,7 @@ export interface VirtualController {
      */
     'type'?: VirtualControllerTypes;
     /**
-     * Complete JSON configuration of the virtual robot controller. Can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](getVirtualControllerConfiguration). If provided, the `type` field should not be used.
+     *
      * @type {string}
      * @memberof VirtualController
      */
@@ -4501,6 +4464,23 @@ export interface VirtualRobotConfiguration {
      */
     'content': string;
 }
+/**
+ *
+ * @export
+ * @interface WaitForIO
+ */
+export interface WaitForIO {
+    /**
+     *
+     * @type {string}
+     * @memberof WaitForIO
+     */
+    'kind': WaitForIOKindEnum;
+}
+export declare const WaitForIOKindEnum: {
+    readonly WaitForIo: "WAIT_FOR_IO";
+};
+export type WaitForIOKindEnum = typeof WaitForIOKindEnum[keyof typeof WaitForIOKindEnum];
 /**
  * The value to compare with the current value of the input/output.
  * @export
@@ -5110,15 +5090,6 @@ export declare const ControllerApiAxiosParamCreator: (configuration?: Configurat
      * @throws {RequiredError}
      */
     deleteRobotController: (cell: string, controller: string, completionTimeout?: number, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
-    /**
-     * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group.
-     * @summary Description
-     * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     */
-    getControllerDescription: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.
      * @summary Coordinate System
@@ -5158,14 +5129,14 @@ export declare const ControllerApiAxiosParamCreator: (configuration?: Configurat
      */
     getRobotController: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman.
-     * @summary Virtual Controller Configuration
+     * Receive the configuration for a virtual robot controller. Used to configure a virtual robot controller via [addRobotController](addRobotController).  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman.
+     * @summary Virtual Robot Configuration
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getVirtualControllerConfiguration: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getVirtualRobotConfiguration: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.
      * @summary List Coordinate Systems
@@ -5260,15 +5231,6 @@ export declare const ControllerApiFp: (configuration?: Configuration) => {
      * @throws {RequiredError}
      */
     deleteRobotController(cell: string, controller: string, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
-    /**
-     * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group.
-     * @summary Description
-     * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     */
-    getControllerDescription(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ControllerDescription>>;
     /**
      * Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.
      * @summary Coordinate System
@@ -5308,14 +5270,14 @@ export declare const ControllerApiFp: (configuration?: Configuration) => {
      */
     getRobotController(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<RobotController>>;
     /**
-     * Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman.
-     * @summary Virtual Controller Configuration
+     * Receive the configuration for a virtual robot controller. Used to configure a virtual robot controller via [addRobotController](addRobotController).  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman.
+     * @summary Virtual Robot Configuration
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getVirtualControllerConfiguration(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<VirtualRobotConfiguration>>;
+    getVirtualRobotConfiguration(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<VirtualRobotConfiguration>>;
     /**
      * Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.
      * @summary List Coordinate Systems
@@ -5325,7 +5287,7 @@ export declare const ControllerApiFp: (configuration?: Configuration) => {
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listCoordinateSystems(cell: string, controller: string, orientationType?: OrientationType, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<CoordinateSystem>>>;
+    listCoordinateSystems(cell: string, controller: string, orientationType?: OrientationType, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ListCoordinateSystemsResponse>>;
     /**
      * List the names of all deployed robot controllers.
      * @summary List Robot Controllers
@@ -5410,15 +5372,6 @@ export declare const ControllerApiFactory: (configuration?: Configuration, baseP
      * @throws {RequiredError}
      */
     deleteRobotController(cell: string, controller: string, completionTimeout?: number, options?: RawAxiosRequestConfig): AxiosPromise<void>;
-    /**
-     * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group.
-     * @summary Description
-     * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     */
-    getControllerDescription(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<ControllerDescription>;
     /**
      * Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.
      * @summary Coordinate System
@@ -5458,14 +5411,14 @@ export declare const ControllerApiFactory: (configuration?: Configuration, baseP
      */
     getRobotController(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<RobotController>;
     /**
-     * Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman.
-     * @summary Virtual Controller Configuration
+     * Receive the configuration for a virtual robot controller. Used to configure a virtual robot controller via [addRobotController](addRobotController).  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman.
+     * @summary Virtual Robot Configuration
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getVirtualControllerConfiguration(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<VirtualRobotConfiguration>;
+    getVirtualRobotConfiguration(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<VirtualRobotConfiguration>;
     /**
      * Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.
      * @summary List Coordinate Systems
@@ -5475,7 +5428,7 @@ export declare const ControllerApiFactory: (configuration?: Configuration, baseP
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listCoordinateSystems(cell: string, controller: string, orientationType?: OrientationType, options?: RawAxiosRequestConfig): AxiosPromise<Array<CoordinateSystem>>;
+    listCoordinateSystems(cell: string, controller: string, orientationType?: OrientationType, options?: RawAxiosRequestConfig): AxiosPromise<ListCoordinateSystemsResponse>;
     /**
      * List the names of all deployed robot controllers.
      * @summary List Robot Controllers
@@ -5565,16 +5518,6 @@ export declare class ControllerApi extends BaseAPI {
      * @memberof ControllerApi
      */
     deleteRobotController(cell: string, controller: string, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
-    /**
-     * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group.
-     * @summary Description
-     * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     * @memberof ControllerApi
-     */
-    getControllerDescription(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ControllerDescription, any>>;
     /**
      * Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.
      * @summary Coordinate System
@@ -5618,15 +5561,15 @@ export declare class ControllerApi extends BaseAPI {
      */
     getRobotController(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<RobotController, any>>;
     /**
-     * Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman.
-     * @summary Virtual Controller Configuration
+     * Receive the configuration for a virtual robot controller. Used to configure a virtual robot controller via [addRobotController](addRobotController).  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman.
+     * @summary Virtual Robot Configuration
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ControllerApi
      */
-    getVirtualControllerConfiguration(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<VirtualRobotConfiguration, any>>;
+    getVirtualRobotConfiguration(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<VirtualRobotConfiguration, any>>;
     /**
      * Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.
      * @summary List Coordinate Systems
@@ -5637,7 +5580,7 @@ export declare class ControllerApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof ControllerApi
      */
-    listCoordinateSystems(cell: string, controller: string, orientationType?: OrientationType, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CoordinateSystem[], any>>;
+    listCoordinateSystems(cell: string, controller: string, orientationType?: OrientationType, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ListCoordinateSystemsResponse, any>>;
     /**
      * List the names of all deployed robot controllers.
      * @summary List Robot Controllers
@@ -5945,12 +5888,11 @@ export declare const JoggingApiAxiosParamCreator: (configuration?: Configuration
      * <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP (Tool Center Point). The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send InitializeJoggingRequest to configure the jogging.  Sets robot controller mode to control mode. Sets rate and coordinate system for the jogging response.  #### 2. Send JointVelocityRequest or TcpVelocityRequest to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with JointVelocityRequest or TcpVelocityRequest. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - InitializeJoggingResponse is sent to signal the success or failure of the InitializeJoggingRequest. - Jogging responses are streamed continuously after an InitializeJoggingRequest is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - JoggingErrorResponse with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the JoggingResponse, verify that the robot control is in the desired state, e.g. standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.
      * @summary Execute Jogging
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {ExecuteJoggingRequest} executeJoggingRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    executeJogging: (cell: string, controller: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    executeJogging: (cell: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
  * JoggingApi - functional programming interface
@@ -5961,12 +5903,11 @@ export declare const JoggingApiFp: (configuration?: Configuration) => {
      * <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP (Tool Center Point). The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send InitializeJoggingRequest to configure the jogging.  Sets robot controller mode to control mode. Sets rate and coordinate system for the jogging response.  #### 2. Send JointVelocityRequest or TcpVelocityRequest to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with JointVelocityRequest or TcpVelocityRequest. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - InitializeJoggingResponse is sent to signal the success or failure of the InitializeJoggingRequest. - Jogging responses are streamed continuously after an InitializeJoggingRequest is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - JoggingErrorResponse with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the JoggingResponse, verify that the robot control is in the desired state, e.g. standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.
      * @summary Execute Jogging
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {ExecuteJoggingRequest} executeJoggingRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    executeJogging(cell: string, controller: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ExecuteJoggingResponse>>;
+    executeJogging(cell: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ExecuteJoggingResponse>>;
 };
 /**
  * JoggingApi - factory interface
@@ -5977,12 +5918,11 @@ export declare const JoggingApiFactory: (configuration?: Configuration, basePath
      * <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP (Tool Center Point). The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send InitializeJoggingRequest to configure the jogging.  Sets robot controller mode to control mode. Sets rate and coordinate system for the jogging response.  #### 2. Send JointVelocityRequest or TcpVelocityRequest to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with JointVelocityRequest or TcpVelocityRequest. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - InitializeJoggingResponse is sent to signal the success or failure of the InitializeJoggingRequest. - Jogging responses are streamed continuously after an InitializeJoggingRequest is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - JoggingErrorResponse with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the JoggingResponse, verify that the robot control is in the desired state, e.g. standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.
      * @summary Execute Jogging
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {ExecuteJoggingRequest} executeJoggingRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    executeJogging(cell: string, controller: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig): AxiosPromise<ExecuteJoggingResponse>;
+    executeJogging(cell: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig): AxiosPromise<ExecuteJoggingResponse>;
 };
 /**
  * JoggingApi - object-oriented interface
@@ -5995,13 +5935,12 @@ export declare class JoggingApi extends BaseAPI {
      * <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP (Tool Center Point). The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send InitializeJoggingRequest to configure the jogging.  Sets robot controller mode to control mode. Sets rate and coordinate system for the jogging response.  #### 2. Send JointVelocityRequest or TcpVelocityRequest to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with JointVelocityRequest or TcpVelocityRequest. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - InitializeJoggingResponse is sent to signal the success or failure of the InitializeJoggingRequest. - Jogging responses are streamed continuously after an InitializeJoggingRequest is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - JoggingErrorResponse with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the JoggingResponse, verify that the robot control is in the desired state, e.g. standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.
      * @summary Execute Jogging
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {ExecuteJoggingRequest} executeJoggingRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof JoggingApi
      */
-    executeJogging(cell: string, controller: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ExecuteJoggingResponse, any>>;
+    executeJogging(cell: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ExecuteJoggingResponse, any>>;
 }
 /**
  * KinematicsApi - axios parameter creator
@@ -6221,35 +6160,32 @@ export declare const MotionGroupApiAxiosParamCreator: (configuration?: Configura
      * Returns the current state of the selected motion group including the current joint position, velocity, pose, and more.
      * @summary State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {string} [responseCoordinateSystem] Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getCurrentMotionGroupState: (cell: string, controller: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getCurrentMotionGroupState: (cell: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
      * @summary Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getMotionGroupDescription: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getMotionGroupDescription: (cell: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.
      * @summary Stream State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {number} [responseRate] Update rate for the response message in milliseconds (ms). Default is 200 ms. We recommend to use the step rate of the controller or a multiple of the step rate as NOVA updates the state in the controller\&#39;s step rate as well. Minimal response rate is the step rate of controller.
      * @param {string} [responseCoordinateSystem] Unique identifier addressing a coordinate system to which the cartesian data of the responses should be converted. Default is the world coordinate system.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    streamMotionGroupState: (cell: string, controller: string, motionGroup: string, responseRate?: number, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    streamMotionGroupState: (cell: string, motionGroup: string, responseRate?: number, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
  * MotionGroupApi - functional programming interface
@@ -6260,35 +6196,32 @@ export declare const MotionGroupApiFp: (configuration?: Configuration) => {
      * Returns the current state of the selected motion group including the current joint position, velocity, pose, and more.
      * @summary State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {string} [responseCoordinateSystem] Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getCurrentMotionGroupState(cell: string, controller: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupState>>;
+    getCurrentMotionGroupState(cell: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupState>>;
     /**
      * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
      * @summary Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getMotionGroupDescription(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupDescription>>;
+    getMotionGroupDescription(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupDescription>>;
     /**
      * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.
      * @summary Stream State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {number} [responseRate] Update rate for the response message in milliseconds (ms). Default is 200 ms. We recommend to use the step rate of the controller or a multiple of the step rate as NOVA updates the state in the controller\&#39;s step rate as well. Minimal response rate is the step rate of controller.
      * @param {string} [responseCoordinateSystem] Unique identifier addressing a coordinate system to which the cartesian data of the responses should be converted. Default is the world coordinate system.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    streamMotionGroupState(cell: string, controller: string, motionGroup: string, responseRate?: number, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupState>>;
+    streamMotionGroupState(cell: string, motionGroup: string, responseRate?: number, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupState>>;
 };
 /**
  * MotionGroupApi - factory interface
@@ -6299,35 +6232,32 @@ export declare const MotionGroupApiFactory: (configuration?: Configuration, base
      * Returns the current state of the selected motion group including the current joint position, velocity, pose, and more.
      * @summary State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {string} [responseCoordinateSystem] Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getCurrentMotionGroupState(cell: string, controller: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupState>;
+    getCurrentMotionGroupState(cell: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupState>;
     /**
      * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
      * @summary Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getMotionGroupDescription(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupDescription>;
+    getMotionGroupDescription(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupDescription>;
     /**
      * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.
      * @summary Stream State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {number} [responseRate] Update rate for the response message in milliseconds (ms). Default is 200 ms. We recommend to use the step rate of the controller or a multiple of the step rate as NOVA updates the state in the controller\&#39;s step rate as well. Minimal response rate is the step rate of controller.
      * @param {string} [responseCoordinateSystem] Unique identifier addressing a coordinate system to which the cartesian data of the responses should be converted. Default is the world coordinate system.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    streamMotionGroupState(cell: string, controller: string, motionGroup: string, responseRate?: number, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupState>;
+    streamMotionGroupState(cell: string, motionGroup: string, responseRate?: number, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupState>;
 };
 /**
  * MotionGroupApi - object-oriented interface
@@ -6340,30 +6270,27 @@ export declare class MotionGroupApi extends BaseAPI {
      * Returns the current state of the selected motion group including the current joint position, velocity, pose, and more.
      * @summary State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {string} [responseCoordinateSystem] Unique identifier addressing a coordinate system to which the responses should be converted. If not set, world coordinate system is used.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof MotionGroupApi
      */
-    getCurrentMotionGroupState(cell: string, controller: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupState, any>>;
+    getCurrentMotionGroupState(cell: string, motionGroup: string, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupState, any>>;
     /**
      * Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot.
      * @summary Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof MotionGroupApi
      */
-    getMotionGroupDescription(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupDescription, any>>;
+    getMotionGroupDescription(cell: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupDescription, any>>;
     /**
      * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected.
      * @summary Stream State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {number} [responseRate] Update rate for the response message in milliseconds (ms). Default is 200 ms. We recommend to use the step rate of the controller or a multiple of the step rate as NOVA updates the state in the controller\&#39;s step rate as well. Minimal response rate is the step rate of controller.
      * @param {string} [responseCoordinateSystem] Unique identifier addressing a coordinate system to which the cartesian data of the responses should be converted. Default is the world coordinate system.
@@ -6371,7 +6298,7 @@ export declare class MotionGroupApi extends BaseAPI {
      * @throws {RequiredError}
      * @memberof MotionGroupApi
      */
-    streamMotionGroupState(cell: string, controller: string, motionGroup: string, responseRate?: number, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupState, any>>;
+    streamMotionGroupState(cell: string, motionGroup: string, responseRate?: number, responseCoordinateSystem?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupState, any>>;
 }
 /**
  * MotionGroupModelsApi - axios parameter creator
@@ -7783,50 +7710,45 @@ export declare const TrajectoryCachingApiAxiosParamCreator: (configuration?: Con
      * <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint.
      * @summary Add Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {AddTrajectoryRequest} addTrajectoryRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    addTrajectory: (cell: string, controller: string, addTrajectoryRequest: AddTrajectoryRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    addTrajectory: (cell: string, addTrajectoryRequest: AddTrajectoryRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * Clear the trajectory cache.
      * @summary Clear Trajectories
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    clearTrajectories: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    clearTrajectories: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected.
      * @summary Delete Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} trajectory This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    deleteTrajectory: (cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    deleteTrajectory: (cell: string, trajectory: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories.
      * @summary Get Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} trajectory This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getTrajectory: (cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getTrajectory: (cell: string, trajectory: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects.
      * @summary List Trajectories
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listTrajectories: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    listTrajectories: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
  * TrajectoryCachingApi - functional programming interface
@@ -7837,50 +7759,45 @@ export declare const TrajectoryCachingApiFp: (configuration?: Configuration) =>
      * <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint.
      * @summary Add Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {AddTrajectoryRequest} addTrajectoryRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    addTrajectory(cell: string, controller: string, addTrajectoryRequest: AddTrajectoryRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<AddTrajectoryResponse>>;
+    addTrajectory(cell: string, addTrajectoryRequest: AddTrajectoryRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<AddTrajectoryResponse>>;
     /**
      * Clear the trajectory cache.
      * @summary Clear Trajectories
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    clearTrajectories(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    clearTrajectories(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected.
      * @summary Delete Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} trajectory This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    deleteTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    deleteTrajectory(cell: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories.
      * @summary Get Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} trajectory This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<GetTrajectoryResponse>>;
+    getTrajectory(cell: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<GetTrajectoryResponse>>;
     /**
      * List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects.
      * @summary List Trajectories
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listTrajectories(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ListTrajectoriesResponse>>;
+    listTrajectories(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ListTrajectoriesResponse>>;
 };
 /**
  * TrajectoryCachingApi - factory interface
@@ -7891,50 +7808,45 @@ export declare const TrajectoryCachingApiFactory: (configuration?: Configuration
      * <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint.
      * @summary Add Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {AddTrajectoryRequest} addTrajectoryRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    addTrajectory(cell: string, controller: string, addTrajectoryRequest: AddTrajectoryRequest, options?: RawAxiosRequestConfig): AxiosPromise<AddTrajectoryResponse>;
+    addTrajectory(cell: string, addTrajectoryRequest: AddTrajectoryRequest, options?: RawAxiosRequestConfig): AxiosPromise<AddTrajectoryResponse>;
     /**
      * Clear the trajectory cache.
      * @summary Clear Trajectories
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    clearTrajectories(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    clearTrajectories(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
      * Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected.
      * @summary Delete Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} trajectory This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    deleteTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    deleteTrajectory(cell: string, trajectory: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
      * Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories.
      * @summary Get Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} trajectory This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): AxiosPromise<GetTrajectoryResponse>;
+    getTrajectory(cell: string, trajectory: string, options?: RawAxiosRequestConfig): AxiosPromise<GetTrajectoryResponse>;
     /**
      * List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects.
      * @summary List Trajectories
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listTrajectories(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<ListTrajectoriesResponse>;
+    listTrajectories(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<ListTrajectoriesResponse>;
 };
 /**
  * TrajectoryCachingApi - object-oriented interface
@@ -7947,55 +7859,50 @@ export declare class TrajectoryCachingApi extends BaseAPI {
      * <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint.
      * @summary Add Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {AddTrajectoryRequest} addTrajectoryRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof TrajectoryCachingApi
      */
-    addTrajectory(cell: string, controller: string, addTrajectoryRequest: AddTrajectoryRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<AddTrajectoryResponse, any>>;
+    addTrajectory(cell: string, addTrajectoryRequest: AddTrajectoryRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<AddTrajectoryResponse, any>>;
     /**
      * Clear the trajectory cache.
      * @summary Clear Trajectories
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof TrajectoryCachingApi
      */
-    clearTrajectories(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    clearTrajectories(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
      * Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected.
      * @summary Delete Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} trajectory This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof TrajectoryCachingApi
      */
-    deleteTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    deleteTrajectory(cell: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
      * Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories.
      * @summary Get Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} trajectory This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof TrajectoryCachingApi
      */
-    getTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<GetTrajectoryResponse, any>>;
+    getTrajectory(cell: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<GetTrajectoryResponse, any>>;
     /**
      * List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects.
      * @summary List Trajectories
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof TrajectoryCachingApi
      */
-    listTrajectories(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ListTrajectoriesResponse, any>>;
+    listTrajectories(cell: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ListTrajectoriesResponse, any>>;
 }
 /**
  * TrajectoryExecutionApi - axios parameter creator
@@ -8006,12 +7913,11 @@ export declare const TrajectoryExecutionApiAxiosParamCreator: (configuration?: C
      * <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a previously planned trajectory. Enables the caller to attach input/output actions to the trajectory.  Understanding the concept of location:   The location or path parameter specifies the exact position along a trajectory.   The location is a scalar value that ranges from 0 to `n`,   where `n` denotes the number of motion commands, or trajectory segments, e.g. line, p2p, etc. See [planMotion](planMotion).   Each integer value of the location corresponds to one motion command, e.g. 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position are at start location specified with InitializeMovementRequest. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send InitializeMovementRequest to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send StartMovementRequest to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send PauseMovementRequest before the movement has reached its end location. - Change the movement\'s velocity with PlaybackSpeedRequest after initializing the movement with InitializeMovementRequest.  ### Responses  - InitializeMovementResponse is sent to signal the success or failure of the InitializeMovementRequest. - Movement responses are streamed after a StartMovementRequest successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by InitializeMovementRequest. - Standstill reponse  is sent once the movement has finished or has come to a standstill due to a pause. - PauseMovementResponse is sent to signal the success of the PauseMovementRequest. It does not signal the end of the movement.   End of movement is signaled by Standstill reponse . - PlaybackSpeedResponse is sent to signal the success of the PlaybackSpeedRequest. - MovementError with error details is sent in case of an unexpected error, e.g. controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending PauseMovementRequest and StartMovementRequest. - Send PlaybackSpeedRequest before StartMovementRequest to reduce the velocity of the movement before it starts. - Send PlaybackSpeedRequest repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send PlaybackSpeedRequest with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending StartMovementRequest after the movement has finished.
      * @summary Execute Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {ExecuteTrajectoryRequest} executeTrajectoryRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    executeTrajectory: (cell: string, controller: string, executeTrajectoryRequest: ExecuteTrajectoryRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    executeTrajectory: (cell: string, executeTrajectoryRequest: ExecuteTrajectoryRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
  * TrajectoryExecutionApi - functional programming interface
@@ -8022,12 +7928,11 @@ export declare const TrajectoryExecutionApiFp: (configuration?: Configuration) =
      * <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a previously planned trajectory. Enables the caller to attach input/output actions to the trajectory.  Understanding the concept of location:   The location or path parameter specifies the exact position along a trajectory.   The location is a scalar value that ranges from 0 to `n`,   where `n` denotes the number of motion commands, or trajectory segments, e.g. line, p2p, etc. See [planMotion](planMotion).   Each integer value of the location corresponds to one motion command, e.g. 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position are at start location specified with InitializeMovementRequest. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send InitializeMovementRequest to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send StartMovementRequest to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send PauseMovementRequest before the movement has reached its end location. - Change the movement\'s velocity with PlaybackSpeedRequest after initializing the movement with InitializeMovementRequest.  ### Responses  - InitializeMovementResponse is sent to signal the success or failure of the InitializeMovementRequest. - Movement responses are streamed after a StartMovementRequest successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by InitializeMovementRequest. - Standstill reponse  is sent once the movement has finished or has come to a standstill due to a pause. - PauseMovementResponse is sent to signal the success of the PauseMovementRequest. It does not signal the end of the movement.   End of movement is signaled by Standstill reponse . - PlaybackSpeedResponse is sent to signal the success of the PlaybackSpeedRequest. - MovementError with error details is sent in case of an unexpected error, e.g. controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending PauseMovementRequest and StartMovementRequest. - Send PlaybackSpeedRequest before StartMovementRequest to reduce the velocity of the movement before it starts. - Send PlaybackSpeedRequest repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send PlaybackSpeedRequest with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending StartMovementRequest after the movement has finished.
      * @summary Execute Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {ExecuteTrajectoryRequest} executeTrajectoryRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    executeTrajectory(cell: string, controller: string, executeTrajectoryRequest: ExecuteTrajectoryRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ExecuteTrajectoryResponse>>;
+    executeTrajectory(cell: string, executeTrajectoryRequest: ExecuteTrajectoryRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ExecuteTrajectoryResponse>>;
 };
 /**
  * TrajectoryExecutionApi - factory interface
@@ -8038,12 +7943,11 @@ export declare const TrajectoryExecutionApiFactory: (configuration?: Configurati
      * <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a previously planned trajectory. Enables the caller to attach input/output actions to the trajectory.  Understanding the concept of location:   The location or path parameter specifies the exact position along a trajectory.   The location is a scalar value that ranges from 0 to `n`,   where `n` denotes the number of motion commands, or trajectory segments, e.g. line, p2p, etc. See [planMotion](planMotion).   Each integer value of the location corresponds to one motion command, e.g. 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position are at start location specified with InitializeMovementRequest. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send InitializeMovementRequest to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send StartMovementRequest to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send PauseMovementRequest before the movement has reached its end location. - Change the movement\'s velocity with PlaybackSpeedRequest after initializing the movement with InitializeMovementRequest.  ### Responses  - InitializeMovementResponse is sent to signal the success or failure of the InitializeMovementRequest. - Movement responses are streamed after a StartMovementRequest successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by InitializeMovementRequest. - Standstill reponse  is sent once the movement has finished or has come to a standstill due to a pause. - PauseMovementResponse is sent to signal the success of the PauseMovementRequest. It does not signal the end of the movement.   End of movement is signaled by Standstill reponse . - PlaybackSpeedResponse is sent to signal the success of the PlaybackSpeedRequest. - MovementError with error details is sent in case of an unexpected error, e.g. controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending PauseMovementRequest and StartMovementRequest. - Send PlaybackSpeedRequest before StartMovementRequest to reduce the velocity of the movement before it starts. - Send PlaybackSpeedRequest repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send PlaybackSpeedRequest with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending StartMovementRequest after the movement has finished.
      * @summary Execute Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {ExecuteTrajectoryRequest} executeTrajectoryRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    executeTrajectory(cell: string, controller: string, executeTrajectoryRequest: ExecuteTrajectoryRequest, options?: RawAxiosRequestConfig): AxiosPromise<ExecuteTrajectoryResponse>;
+    executeTrajectory(cell: string, executeTrajectoryRequest: ExecuteTrajectoryRequest, options?: RawAxiosRequestConfig): AxiosPromise<ExecuteTrajectoryResponse>;
 };
 /**
  * TrajectoryExecutionApi - object-oriented interface
@@ -8056,13 +7960,12 @@ export declare class TrajectoryExecutionApi extends BaseAPI {
      * <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a previously planned trajectory. Enables the caller to attach input/output actions to the trajectory.  Understanding the concept of location:   The location or path parameter specifies the exact position along a trajectory.   The location is a scalar value that ranges from 0 to `n`,   where `n` denotes the number of motion commands, or trajectory segments, e.g. line, p2p, etc. See [planMotion](planMotion).   Each integer value of the location corresponds to one motion command, e.g. 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position are at start location specified with InitializeMovementRequest. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send InitializeMovementRequest to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send StartMovementRequest to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send PauseMovementRequest before the movement has reached its end location. - Change the movement\'s velocity with PlaybackSpeedRequest after initializing the movement with InitializeMovementRequest.  ### Responses  - InitializeMovementResponse is sent to signal the success or failure of the InitializeMovementRequest. - Movement responses are streamed after a StartMovementRequest successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by InitializeMovementRequest. - Standstill reponse  is sent once the movement has finished or has come to a standstill due to a pause. - PauseMovementResponse is sent to signal the success of the PauseMovementRequest. It does not signal the end of the movement.   End of movement is signaled by Standstill reponse . - PlaybackSpeedResponse is sent to signal the success of the PlaybackSpeedRequest. - MovementError with error details is sent in case of an unexpected error, e.g. controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending PauseMovementRequest and StartMovementRequest. - Send PlaybackSpeedRequest before StartMovementRequest to reduce the velocity of the movement before it starts. - Send PlaybackSpeedRequest repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send PlaybackSpeedRequest with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending StartMovementRequest after the movement has finished.
      * @summary Execute Trajectory
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {ExecuteTrajectoryRequest} executeTrajectoryRequest
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof TrajectoryExecutionApi
      */
-    executeTrajectory(cell: string, controller: string, executeTrajectoryRequest: ExecuteTrajectoryRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ExecuteTrajectoryResponse, any>>;
+    executeTrajectory(cell: string, executeTrajectoryRequest: ExecuteTrajectoryRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ExecuteTrajectoryResponse, any>>;
 }
 /**
  * TrajectoryPlanningApi - axios parameter creator
@@ -8128,64 +8031,79 @@ export declare class TrajectoryPlanningApi extends BaseAPI {
     planTrajectory(cell: string, planTrajectoryRequest?: PlanTrajectoryRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<PlanTrajectoryResponse, any>>;
 }
 /**
- * VirtualControllerApi - axios parameter creator
+ * VirtualRobotApi - axios parameter creator
  * @export
  */
-export declare const VirtualControllerApiAxiosParamCreator: (configuration?: Configuration) => {
+export declare const VirtualRobotApiAxiosParamCreator: (configuration?: Configuration) => {
     /**
-     * Adds a coordinate system to the robot controller.
-     * @summary Add Coordinate Systems
+     * Get the current motion group state which provides values for the joints\' position, velocity and acceleration.
+     * @summary Get Motion Group State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-     * @param {CoordinateSystemData} coordinateSystemData
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    addVirtualControllerCoordinateSystem: (cell: string, controller: string, coordinateSystem: string, coordinateSystemData: CoordinateSystemData, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getMotionGroupState: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
-     * @summary Add TCP
+     * Gets information on the motion group.
+     * @summary Motion Group Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {string} tcp The unique identifier of a TCP.
-     * @param {RobotTcpData} robotTcpData
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    addVirtualControllerTcp: (cell: string, controller: string, motionGroup: string, tcp: string, robotTcpData: RobotTcpData, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getMotionGroups: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
-     * @summary Remove Coordinate System
+     * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualRobotIODescriptions](listVirtualRobotIODescriptions).
+     * @summary Get Inputs/Outputs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-     * @param {boolean} [deleteDependent] If true, all dependent coordinate systems will be deleted as well.
+     * @param {Array<string>} ios
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     */
+    listIOs: (cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    /**
+     * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned.
+     * @summary List Input/Output Descriptions
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {Array<string>} [ios]
+     * @param {IODirection} [direction] Return only inputs/outputs with the specified direction.
+     * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type.
+     * @param {string} [group] Return only inputs/outputs from the specified group.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    deleteVirtualControllerCoordinateSystem: (cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    listVirtualRobotIODescriptions: (cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Removes the TCP from the motion group. An unknown TCP is a valid input.
-     * @summary Remove TCP
+     * Sets a list of values of a virtual controller inputs/outputs.
+     * @summary Set Input/Ouput Values
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {string} tcp The unique identifier of a TCP.
+     * @param {Array<IOValue>} iOValue
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    deleteVirtualControllerTcp: (cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    setIOValues: (cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers.
-     * @summary Get Emergency Stop State
+     * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
+     * @summary Set Motion Group State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {MotionGroupJoints} motionGroupJoints
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getEmergencyStop: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    setMotionGroupState: (cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+};
+/**
+ * VirtualRobotApi - functional programming interface
+ * @export
+ */
+export declare const VirtualRobotApiFp: (configuration?: Configuration) => {
     /**
      * Get the current motion group state which provides values for the joints\' position, velocity and acceleration.
      * @summary Get Motion Group State
@@ -8195,7 +8113,7 @@ export declare const VirtualControllerApiAxiosParamCreator: (configuration?: Con
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getMotionGroupState: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getMotionGroupState(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupJoints>>;
     /**
      * Gets information on the motion group.
      * @summary Motion Group Description
@@ -8204,297 +8122,365 @@ export declare const VirtualControllerApiAxiosParamCreator: (configuration?: Con
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getMotionGroups: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupInfos>>;
     /**
-     * Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers.
-     * @summary Get Operation Mode
+     * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualRobotIODescriptions](listVirtualRobotIODescriptions).
+     * @summary Get Inputs/Outputs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {Array<string>} ios
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getOperationMode: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IOValue>>>;
     /**
-     * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
-     * @summary Get Mounting
+     * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned.
+     * @summary List Input/Output Descriptions
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
+     * @param {Array<string>} [ios]
+     * @param {IODirection} [direction] Return only inputs/outputs with the specified direction.
+     * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type.
+     * @param {string} [group] Return only inputs/outputs from the specified group.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getVirtualControllerMounting: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    listVirtualRobotIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IODescription>>>;
     /**
-     * Lists all coordinate systems on the robot controller.
-     * @summary List Coordinate Systems
+     * Sets a list of values of a virtual controller inputs/outputs.
+     * @summary Set Input/Ouput Values
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {Array<IOValue>} iOValue
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listVirtualControllerCoordinateSystems: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    setIOValues(cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
-     * Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes.
-     * @summary List TCPs
+     * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
+     * @summary Set Motion Group State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
+     * @param {MotionGroupJoints} motionGroupJoints
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listVirtualControllerTcps: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+};
+/**
+ * VirtualRobotApi - factory interface
+ * @export
+ */
+export declare const VirtualRobotApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
     /**
-     * Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers.
-     * @summary Push or Release Emergency Stop
+     * Get the current motion group state which provides values for the joints\' position, velocity and acceleration.
+     * @summary Get Motion Group State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {boolean} [active]
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setEmergencyStop: (cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getMotionGroupState(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupJoints>;
     /**
-     * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
-     * @summary Set Motion Group State
+     * Gets information on the motion group.
+     * @summary Motion Group Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {MotionGroupJoints} motionGroupJoints
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setMotionGroupState: (cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupInfos>;
     /**
-     * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
-     * @summary Set Operation Mode
+     * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualRobotIODescriptions](listVirtualRobotIODescriptions).
+     * @summary Get Inputs/Outputs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {OperationMode} mode
+     * @param {Array<string>} ios
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setOperationMode: (cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig): AxiosPromise<Array<IOValue>>;
     /**
-     * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.
-     * @summary Set Mounting
+     * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned.
+     * @summary List Input/Output Descriptions
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {Array<string>} [ios]
+     * @param {IODirection} [direction] Return only inputs/outputs with the specified direction.
+     * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type.
+     * @param {string} [group] Return only inputs/outputs from the specified group.
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     */
+    listVirtualRobotIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<IODescription>>;
+    /**
+     * Sets a list of values of a virtual controller inputs/outputs.
+     * @summary Set Input/Ouput Values
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {Array<IOValue>} iOValue
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     */
+    setIOValues(cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    /**
+     * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
+     * @summary Set Motion Group State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
-     * @param {CoordinateSystem} coordinateSystem
+     * @param {MotionGroupJoints} motionGroupJoints
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setVirtualControllerMounting: (cell: string, controller: string, motionGroup: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): AxiosPromise<void>;
 };
 /**
- * VirtualControllerApi - functional programming interface
+ * VirtualRobotApi - object-oriented interface
  * @export
+ * @class VirtualRobotApi
+ * @extends {BaseAPI}
  */
-export declare const VirtualControllerApiFp: (configuration?: Configuration) => {
+export declare class VirtualRobotApi extends BaseAPI {
     /**
-     * Adds a coordinate system to the robot controller.
-     * @summary Add Coordinate Systems
+     * Get the current motion group state which provides values for the joints\' position, velocity and acceleration.
+     * @summary Get Motion Group State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-     * @param {CoordinateSystemData} coordinateSystemData
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotApi
      */
-    addVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, coordinateSystemData: CoordinateSystemData, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    getMotionGroupState(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupJoints, any>>;
     /**
-     * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
-     * @summary Add TCP
+     * Gets information on the motion group.
+     * @summary Motion Group Description
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {string} tcp The unique identifier of a TCP.
-     * @param {RobotTcpData} robotTcpData
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotApi
      */
-    addVirtualControllerTcp(cell: string, controller: string, motionGroup: string, tcp: string, robotTcpData: RobotTcpData, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupInfos, any>>;
     /**
-     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
-     * @summary Remove Coordinate System
+     * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualRobotIODescriptions](listVirtualRobotIODescriptions).
+     * @summary Get Inputs/Outputs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-     * @param {boolean} [deleteDependent] If true, all dependent coordinate systems will be deleted as well.
+     * @param {Array<string>} ios
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotApi
      */
-    deleteVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<IOValue[], any>>;
     /**
-     * Removes the TCP from the motion group. An unknown TCP is a valid input.
-     * @summary Remove TCP
+     * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned.
+     * @summary List Input/Output Descriptions
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {string} tcp The unique identifier of a TCP.
+     * @param {Array<string>} [ios]
+     * @param {IODirection} [direction] Return only inputs/outputs with the specified direction.
+     * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type.
+     * @param {string} [group] Return only inputs/outputs from the specified group.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotApi
      */
-    deleteVirtualControllerTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    listVirtualRobotIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<IODescription[], any>>;
     /**
-     * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers.
-     * @summary Get Emergency Stop State
+     * Sets a list of values of a virtual controller inputs/outputs.
+     * @summary Set Input/Ouput Values
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {Array<IOValue>} iOValue
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotApi
      */
-    getEmergencyStop(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Flag>>;
+    setIOValues(cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
-     * Get the current motion group state which provides values for the joints\' position, velocity and acceleration.
-     * @summary Get Motion Group State
+     * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
+     * @summary Set Motion Group State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
+     * @param {MotionGroupJoints} motionGroupJoints
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotApi
      */
-    getMotionGroupState(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupJoints>>;
+    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+}
+/**
+ * VirtualRobotBehaviorApi - axios parameter creator
+ * @export
+ */
+export declare const VirtualRobotBehaviorApiAxiosParamCreator: (configuration?: Configuration) => {
     /**
-     * Gets information on the motion group.
-     * @summary Motion Group Description
+     * <!-- theme: danger -->  > Websocket endpoint  This stream provides the commanded joint state and sets a motion groups joint configuration, e.g. to move a motion group. The concept is that an application is using the Motion Service to move a motion group. The Motion Service is commanding the desired joint configuration of a motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! It is __not__ providing the *actual* joint state! (Please file a request - if you need a stream of the *actual* joint state)  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configurations. CAUTION: Incoming joint configurations are not visualized and their velocity limits are not checked. we don\'t even check limits!  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion group.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.
+     * @summary Stream Joint Configuration
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {ExternalJointStreamDatapoint} externalJointStreamDatapoint
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<MotionGroupInfo>>>;
+    externalJointsStream: (cell: string, controller: string, externalJointStreamDatapoint: ExternalJointStreamDatapoint, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers.
-     * @summary Get Operation Mode
+     * Get the current robot motion group behavior - please see the setter [setMotionGroupBehavior](setMotionGroupBehavior) and the enum for details.
+     * @summary Behavior
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getOperationMode(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<OpMode>>;
+    getMotionGroupBehavior: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
-     * @summary Get Mounting
+     * Switch robot motion group behavior.
+     * @summary Switch Behavior
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
+     * @param {Behavior} [behavior]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getVirtualControllerMounting(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CoordinateSystem>>;
+    setMotionGroupBehavior: (cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+};
+/**
+ * VirtualRobotBehaviorApi - functional programming interface
+ * @export
+ */
+export declare const VirtualRobotBehaviorApiFp: (configuration?: Configuration) => {
     /**
-     * Lists all coordinate systems on the robot controller.
-     * @summary List Coordinate Systems
+     * <!-- theme: danger -->  > Websocket endpoint  This stream provides the commanded joint state and sets a motion groups joint configuration, e.g. to move a motion group. The concept is that an application is using the Motion Service to move a motion group. The Motion Service is commanding the desired joint configuration of a motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! It is __not__ providing the *actual* joint state! (Please file a request - if you need a stream of the *actual* joint state)  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configurations. CAUTION: Incoming joint configurations are not visualized and their velocity limits are not checked. we don\'t even check limits!  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion group.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.
+     * @summary Stream Joint Configuration
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {ExternalJointStreamDatapoint} externalJointStreamDatapoint
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listVirtualControllerCoordinateSystems(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<CoordinateSystem>>>;
+    externalJointsStream(cell: string, controller: string, externalJointStreamDatapoint: ExternalJointStreamDatapoint, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupJoints>>;
     /**
-     * Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes.
-     * @summary List TCPs
+     * Get the current robot motion group behavior - please see the setter [setMotionGroupBehavior](setMotionGroupBehavior) and the enum for details.
+     * @summary Behavior
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listVirtualControllerTcps(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<RobotTcp>>>;
+    getMotionGroupBehavior(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<MotionGroupBehaviorGetter>>;
     /**
-     * Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers.
-     * @summary Push or Release Emergency Stop
+     * Switch robot motion group behavior.
+     * @summary Switch Behavior
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {boolean} [active]
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {Behavior} [behavior]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+};
+/**
+ * VirtualRobotBehaviorApi - factory interface
+ * @export
+ */
+export declare const VirtualRobotBehaviorApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
     /**
-     * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
-     * @summary Set Motion Group State
+     * <!-- theme: danger -->  > Websocket endpoint  This stream provides the commanded joint state and sets a motion groups joint configuration, e.g. to move a motion group. The concept is that an application is using the Motion Service to move a motion group. The Motion Service is commanding the desired joint configuration of a motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! It is __not__ providing the *actual* joint state! (Please file a request - if you need a stream of the *actual* joint state)  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configurations. CAUTION: Incoming joint configurations are not visualized and their velocity limits are not checked. we don\'t even check limits!  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion group.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.
+     * @summary Stream Joint Configuration
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {MotionGroupJoints} motionGroupJoints
+     * @param {ExternalJointStreamDatapoint} externalJointStreamDatapoint
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    externalJointsStream(cell: string, controller: string, externalJointStreamDatapoint: ExternalJointStreamDatapoint, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupJoints>;
     /**
-     * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
-     * @summary Set Operation Mode
+     * Get the current robot motion group behavior - please see the setter [setMotionGroupBehavior](setMotionGroupBehavior) and the enum for details.
+     * @summary Behavior
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {OperationMode} mode
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+    getMotionGroupBehavior(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupBehaviorGetter>;
     /**
-     * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.
-     * @summary Set Mounting
+     * Switch robot motion group behavior.
+     * @summary Switch Behavior
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
-     * @param {CoordinateSystem} coordinateSystem
+     * @param {Behavior} [behavior]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setVirtualControllerMounting(cell: string, controller: string, motionGroup: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CoordinateSystem>>;
+    setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): AxiosPromise<void>;
 };
 /**
- * VirtualControllerApi - factory interface
+ * VirtualRobotBehaviorApi - object-oriented interface
  * @export
+ * @class VirtualRobotBehaviorApi
+ * @extends {BaseAPI}
  */
-export declare const VirtualControllerApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
+export declare class VirtualRobotBehaviorApi extends BaseAPI {
     /**
-     * Adds a coordinate system to the robot controller.
-     * @summary Add Coordinate Systems
+     * <!-- theme: danger -->  > Websocket endpoint  This stream provides the commanded joint state and sets a motion groups joint configuration, e.g. to move a motion group. The concept is that an application is using the Motion Service to move a motion group. The Motion Service is commanding the desired joint configuration of a motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! It is __not__ providing the *actual* joint state! (Please file a request - if you need a stream of the *actual* joint state)  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configurations. CAUTION: Incoming joint configurations are not visualized and their velocity limits are not checked. we don\'t even check limits!  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion group.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.
+     * @summary Stream Joint Configuration
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-     * @param {CoordinateSystemData} coordinateSystemData
+     * @param {ExternalJointStreamDatapoint} externalJointStreamDatapoint
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotBehaviorApi
      */
-    addVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, coordinateSystemData: CoordinateSystemData, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    externalJointsStream(cell: string, controller: string, externalJointStreamDatapoint: ExternalJointStreamDatapoint, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupJoints, any>>;
     /**
-     * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
-     * @summary Add TCP
+     * Get the current robot motion group behavior - please see the setter [setMotionGroupBehavior](setMotionGroupBehavior) and the enum for details.
+     * @summary Behavior
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
-     * @param {string} tcp The unique identifier of a TCP.
-     * @param {RobotTcpData} robotTcpData
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotBehaviorApi
      */
-    addVirtualControllerTcp(cell: string, controller: string, motionGroup: string, tcp: string, robotTcpData: RobotTcpData, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    getMotionGroupBehavior(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupBehaviorGetter, any>>;
     /**
-     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
-     * @summary Remove Coordinate System
+     * Switch robot motion group behavior.
+     * @summary Switch Behavior
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-     * @param {boolean} [deleteDependent] If true, all dependent coordinate systems will be deleted as well.
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {Behavior} [behavior]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotBehaviorApi
      */
-    deleteVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    setMotionGroupBehavior(cell: string, controller: string, motionGroup: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+}
+/**
+ * VirtualRobotModeApi - axios parameter creator
+ * @export
+ */
+export declare const VirtualRobotModeApiAxiosParamCreator: (configuration?: Configuration) => {
     /**
-     * Removes the TCP from the motion group. An unknown TCP is a valid input.
-     * @summary Remove TCP
+     * Get the cycle time of controller communication in [ms].
+     * @summary Cycle Time
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {string} tcp The unique identifier of a TCP.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    deleteVirtualControllerTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    getCycleTime: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
      * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers.
      * @summary Get Emergency Stop State
@@ -8503,64 +8489,69 @@ export declare const VirtualControllerApiFactory: (configuration?: Configuration
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getEmergencyStop(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<Flag>;
+    getEmergencyStop: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Get the current motion group state which provides values for the joints\' position, velocity and acceleration.
-     * @summary Get Motion Group State
+     * Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers.
+     * @summary Get Operation Mode
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getMotionGroupState(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<MotionGroupJoints>;
+    getOperationMode: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Gets information on the motion group.
-     * @summary Motion Group Description
+     * Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers.
+     * @summary Push or Release Emergency Stop
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {boolean} [active]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<MotionGroupInfo>>;
+    setEmergencyStop: (cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers.
-     * @summary Get Operation Mode
+     * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
+     * @summary Set Operation Mode
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {OperationMode} mode
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getOperationMode(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<OpMode>;
+    setOperationMode: (cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+};
+/**
+ * VirtualRobotModeApi - functional programming interface
+ * @export
+ */
+export declare const VirtualRobotModeApiFp: (configuration?: Configuration) => {
     /**
-     * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
-     * @summary Get Mounting
+     * Get the cycle time of controller communication in [ms].
+     * @summary Cycle Time
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getVirtualControllerMounting(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<CoordinateSystem>;
+    getCycleTime(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CycleTime>>;
     /**
-     * Lists all coordinate systems on the robot controller.
-     * @summary List Coordinate Systems
+     * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers.
+     * @summary Get Emergency Stop State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listVirtualControllerCoordinateSystems(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<CoordinateSystem>>;
+    getEmergencyStop(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Flag>>;
     /**
-     * Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes.
-     * @summary List TCPs
+     * Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers.
+     * @summary Get Operation Mode
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listVirtualControllerTcps(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<RobotTcp>>;
+    getOperationMode(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<OpMode>>;
     /**
      * Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers.
      * @summary Push or Release Emergency Stop
@@ -8570,18 +8561,7 @@ export declare const VirtualControllerApiFactory: (configuration?: Configuration
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): AxiosPromise<void>;
-    /**
-     * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
-     * @summary Set Motion Group State
-     * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {MotionGroupJoints} motionGroupJoints
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     */
-    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
      * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
      * @summary Set Operation Mode
@@ -8591,106 +8571,88 @@ export declare const VirtualControllerApiFactory: (configuration?: Configuration
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): AxiosPromise<void>;
-    /**
-     * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.
-     * @summary Set Mounting
-     * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {CoordinateSystem} coordinateSystem
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     */
-    setVirtualControllerMounting(cell: string, controller: string, motionGroup: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): AxiosPromise<CoordinateSystem>;
+    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
 };
 /**
- * VirtualControllerApi - object-oriented interface
+ * VirtualRobotModeApi - factory interface
  * @export
- * @class VirtualControllerApi
- * @extends {BaseAPI}
  */
-export declare class VirtualControllerApi extends BaseAPI {
+export declare const VirtualRobotModeApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
     /**
-     * Adds a coordinate system to the robot controller.
-     * @summary Add Coordinate Systems
+     * Get the cycle time of controller communication in [ms].
+     * @summary Cycle Time
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-     * @param {CoordinateSystemData} coordinateSystemData
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
      */
-    addVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, coordinateSystemData: CoordinateSystemData, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    getCycleTime(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<CycleTime>;
     /**
-     * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
-     * @summary Add TCP
+     * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers.
+     * @summary Get Emergency Stop State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {string} tcp The unique identifier of a TCP.
-     * @param {RobotTcpData} robotTcpData
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
      */
-    addVirtualControllerTcp(cell: string, controller: string, motionGroup: string, tcp: string, robotTcpData: RobotTcpData, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    getEmergencyStop(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<Flag>;
     /**
-     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
-     * @summary Remove Coordinate System
+     * Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers.
+     * @summary Get Operation Mode
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
-     * @param {boolean} [deleteDependent] If true, all dependent coordinate systems will be deleted as well.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
      */
-    deleteVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    getOperationMode(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<OpMode>;
     /**
-     * Removes the TCP from the motion group. An unknown TCP is a valid input.
-     * @summary Remove TCP
+     * Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers.
+     * @summary Push or Release Emergency Stop
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {string} tcp The unique identifier of a TCP.
+     * @param {boolean} [active]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
      */
-    deleteVirtualControllerTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
-     * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers.
-     * @summary Get Emergency Stop State
+     * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
+     * @summary Set Operation Mode
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {OperationMode} mode
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
      */
-    getEmergencyStop(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<Flag, any>>;
+    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+};
+/**
+ * VirtualRobotModeApi - object-oriented interface
+ * @export
+ * @class VirtualRobotModeApi
+ * @extends {BaseAPI}
+ */
+export declare class VirtualRobotModeApi extends BaseAPI {
     /**
-     * Get the current motion group state which provides values for the joints\' position, velocity and acceleration.
-     * @summary Get Motion Group State
+     * Get the cycle time of controller communication in [ms].
+     * @summary Cycle Time
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
+     * @memberof VirtualRobotModeApi
      */
-    getMotionGroupState(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupJoints, any>>;
+    getCycleTime(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CycleTime, any>>;
     /**
-     * Gets information on the motion group.
-     * @summary Motion Group Description
+     * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers.
+     * @summary Get Emergency Stop State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
+     * @memberof VirtualRobotModeApi
      */
-    getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<MotionGroupInfo[], any>>;
+    getEmergencyStop(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<Flag, any>>;
     /**
      * Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers.
      * @summary Get Operation Mode
@@ -8698,428 +8660,395 @@ export declare class VirtualControllerApi extends BaseAPI {
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
+     * @memberof VirtualRobotModeApi
      */
     getOperationMode(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<OpMode, any>>;
     /**
-     * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
-     * @summary Get Mounting
-     * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     * @memberof VirtualControllerApi
-     */
-    getVirtualControllerMounting(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CoordinateSystem, any>>;
-    /**
-     * Lists all coordinate systems on the robot controller.
-     * @summary List Coordinate Systems
+     * Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers.
+     * @summary Push or Release Emergency Stop
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {boolean} [active]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
+     * @memberof VirtualRobotModeApi
      */
-    listVirtualControllerCoordinateSystems(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CoordinateSystem[], any>>;
+    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
-     * Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes.
-     * @summary List TCPs
+     * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
+     * @summary Set Operation Mode
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {string} motionGroup The motion-group identifier.
+     * @param {OperationMode} mode
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
+     * @memberof VirtualRobotModeApi
      */
-    listVirtualControllerTcps(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<RobotTcp[], any>>;
+    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+}
+/**
+ * VirtualRobotSetupApi - axios parameter creator
+ * @export
+ */
+export declare const VirtualRobotSetupApiAxiosParamCreator: (configuration?: Configuration) => {
     /**
-     * Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers.
-     * @summary Push or Release Emergency Stop
+     * Adds a coordinate system to the robot controller.
+     * @summary Add Coordinate Systems
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {boolean} [active]
+     * @param {CoordinateSystem} coordinateSystem
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
      */
-    setEmergencyStop(cell: string, controller: string, active?: boolean, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    addVirtualRobotCoordinateSystem: (cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur.
-     * @summary Set Motion Group State
+     * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
+     * @summary Add TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
-     * @param {MotionGroupJoints} motionGroupJoints
+     * @param {RobotTcp} robotTcp
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
      */
-    setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    addVirtualRobotTcp: (cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers.
-     * @summary Set Operation Mode
+     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
+     * @summary Remove Coordinate System
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {OperationMode} mode
+     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
+     * @param {boolean} [deleteDependent] If true, all dependent coordinate systems will be deleted as well.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
      */
-    setOperationMode(cell: string, controller: string, mode: OperationMode, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    deleteVirtualRobotCoordinateSystem: (cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.
-     * @summary Set Mounting
+     * Removes the TCP from the motion group. An unknown TCP is a valid input.
+     * @summary Remove TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} motionGroup The motion-group identifier.
-     * @param {CoordinateSystem} coordinateSystem
+     * @param {string} tcp The unique identifier of a TCP.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerApi
      */
-    setVirtualControllerMounting(cell: string, controller: string, motionGroup: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CoordinateSystem, any>>;
-}
-/**
- * VirtualControllerBehaviorApi - axios parameter creator
- * @export
- */
-export declare const VirtualControllerBehaviorApiAxiosParamCreator: (configuration?: Configuration) => {
+    deleteVirtualRobotTcp: (cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * <!-- theme: danger -->  > Websocket endpoint  This stream sends the commanded state (joint positions, velocities, accelerations, torques) for each motion group of the virtual controller and sets the joint configuration. Moving motion groups on virtual controllers can be executed by using Trajectory Planning and Trajectory Execution. Trajectory Execution commands the desired joint configuration to each motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! > **NOTE** > > This stream provides *commanded* joint states, it **doesn\'t provide actual joint states**.  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configuration. > **CAUTION** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.
-     * @summary Stream Joint Configuration
+     * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
+     * @summary Get Mounting
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {ExternalJointStreamRequest} externalJointStreamRequest
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    externalJointsStream: (cell: string, controller: string, externalJointStreamRequest: ExternalJointStreamRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getVirtualRobotMounting: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Get the cycle time of controller communication in [ms].
-     * @summary Get Cycle Time
+     * Lists all coordinate systems on the robot controller.
+     * @summary List Coordinate Systems
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getCycleTime: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    listVirtualRobotCoordinateSystems: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details.
-     * @summary Get Behavior
+     * Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes.
+     * @summary List TCPs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getVirtualControllerBehavior: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    listVirtualRobotTcps: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
     /**
-     * Set virtual controller behavior.
-     * @summary Set Behavior
+     * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.
+     * @summary Set Mounting
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Behavior} [behavior]
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {CoordinateSystem} coordinateSystem
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setVirtualControllerBehavior: (cell: string, controller: string, behavior?: Behavior, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    setVirtualRobotMounting: (cell: string, controller: string, motionGroup: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
- * VirtualControllerBehaviorApi - functional programming interface
+ * VirtualRobotSetupApi - functional programming interface
  * @export
  */
-export declare const VirtualControllerBehaviorApiFp: (configuration?: Configuration) => {
+export declare const VirtualRobotSetupApiFp: (configuration?: Configuration) => {
     /**
-     * <!-- theme: danger -->  > Websocket endpoint  This stream sends the commanded state (joint positions, velocities, accelerations, torques) for each motion group of the virtual controller and sets the joint configuration. Moving motion groups on virtual controllers can be executed by using Trajectory Planning and Trajectory Execution. Trajectory Execution commands the desired joint configuration to each motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! > **NOTE** > > This stream provides *commanded* joint states, it **doesn\'t provide actual joint states**.  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configuration. > **CAUTION** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.
-     * @summary Stream Joint Configuration
+     * Adds a coordinate system to the robot controller.
+     * @summary Add Coordinate Systems
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {ExternalJointStreamRequest} externalJointStreamRequest
+     * @param {CoordinateSystem} coordinateSystem
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    externalJointsStream(cell: string, controller: string, externalJointStreamRequest: ExternalJointStreamRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<ExternalJointStreamDatapoint>>>;
+    addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
-     * Get the cycle time of controller communication in [ms].
-     * @summary Get Cycle Time
+     * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
+     * @summary Add TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {RobotTcp} robotTcp
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getCycleTime(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CycleTime>>;
+    addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
-     * Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details.
-     * @summary Get Behavior
+     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
+     * @summary Remove Coordinate System
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
+     * @param {boolean} [deleteDependent] If true, all dependent coordinate systems will be deleted as well.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getVirtualControllerBehavior(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Behavior>>;
+    deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
-     * Set virtual controller behavior.
-     * @summary Set Behavior
+     * Removes the TCP from the motion group. An unknown TCP is a valid input.
+     * @summary Remove TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Behavior} [behavior]
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {string} tcp The unique identifier of a TCP.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setVirtualControllerBehavior(cell: string, controller: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
-};
-/**
- * VirtualControllerBehaviorApi - factory interface
- * @export
- */
-export declare const VirtualControllerBehaviorApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
+    deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
     /**
-     * <!-- theme: danger -->  > Websocket endpoint  This stream sends the commanded state (joint positions, velocities, accelerations, torques) for each motion group of the virtual controller and sets the joint configuration. Moving motion groups on virtual controllers can be executed by using Trajectory Planning and Trajectory Execution. Trajectory Execution commands the desired joint configuration to each motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! > **NOTE** > > This stream provides *commanded* joint states, it **doesn\'t provide actual joint states**.  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configuration. > **CAUTION** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.
-     * @summary Stream Joint Configuration
+     * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
+     * @summary Get Mounting
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {ExternalJointStreamRequest} externalJointStreamRequest
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    externalJointsStream(cell: string, controller: string, externalJointStreamRequest: ExternalJointStreamRequest, options?: RawAxiosRequestConfig): AxiosPromise<Array<ExternalJointStreamDatapoint>>;
+    getVirtualRobotMounting(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CoordinateSystem>>;
     /**
-     * Get the cycle time of controller communication in [ms].
-     * @summary Get Cycle Time
+     * Lists all coordinate systems on the robot controller.
+     * @summary List Coordinate Systems
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getCycleTime(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<CycleTime>;
+    listVirtualRobotCoordinateSystems(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CoordinateSystems>>;
     /**
-     * Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details.
-     * @summary Get Behavior
+     * Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes.
+     * @summary List TCPs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    getVirtualControllerBehavior(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<Behavior>;
+    listVirtualRobotTcps(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<RobotTcps>>;
     /**
-     * Set virtual controller behavior.
-     * @summary Set Behavior
+     * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.
+     * @summary Set Mounting
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Behavior} [behavior]
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {CoordinateSystem} coordinateSystem
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setVirtualControllerBehavior(cell: string, controller: string, behavior?: Behavior, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+    setVirtualRobotMounting(cell: string, controller: string, motionGroup: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CoordinateSystem>>;
 };
 /**
- * VirtualControllerBehaviorApi - object-oriented interface
+ * VirtualRobotSetupApi - factory interface
  * @export
- * @class VirtualControllerBehaviorApi
- * @extends {BaseAPI}
  */
-export declare class VirtualControllerBehaviorApi extends BaseAPI {
+export declare const VirtualRobotSetupApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
     /**
-     * <!-- theme: danger -->  > Websocket endpoint  This stream sends the commanded state (joint positions, velocities, accelerations, torques) for each motion group of the virtual controller and sets the joint configuration. Moving motion groups on virtual controllers can be executed by using Trajectory Planning and Trajectory Execution. Trajectory Execution commands the desired joint configuration to each motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! > **NOTE** > > This stream provides *commanded* joint states, it **doesn\'t provide actual joint states**.  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configuration. > **CAUTION** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits.
-     * @summary Stream Joint Configuration
+     * Adds a coordinate system to the robot controller.
+     * @summary Add Coordinate Systems
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {ExternalJointStreamRequest} externalJointStreamRequest
+     * @param {CoordinateSystem} coordinateSystem
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerBehaviorApi
      */
-    externalJointsStream(cell: string, controller: string, externalJointStreamRequest: ExternalJointStreamRequest, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<ExternalJointStreamDatapoint[], any>>;
+    addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
-     * Get the cycle time of controller communication in [ms].
-     * @summary Get Cycle Time
+     * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
+     * @summary Add TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {RobotTcp} robotTcp
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerBehaviorApi
      */
-    getCycleTime(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CycleTime, any>>;
+    addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
-     * Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details.
-     * @summary Get Behavior
+     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
+     * @summary Remove Coordinate System
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
+     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
+     * @param {boolean} [deleteDependent] If true, all dependent coordinate systems will be deleted as well.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerBehaviorApi
      */
-    getVirtualControllerBehavior(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<Behavior, any>>;
+    deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
-     * Set virtual controller behavior.
-     * @summary Set Behavior
+     * Removes the TCP from the motion group. An unknown TCP is a valid input.
+     * @summary Remove TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Behavior} [behavior]
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {string} tcp The unique identifier of a TCP.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerBehaviorApi
      */
-    setVirtualControllerBehavior(cell: string, controller: string, behavior?: Behavior, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
-}
-/**
- * VirtualControllerInputsOutputsApi - axios parameter creator
- * @export
- */
-export declare const VirtualControllerInputsOutputsApiAxiosParamCreator: (configuration?: Configuration) => {
+    deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
     /**
-     * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](listVirtualControllerIODescriptions).
-     * @summary Get Input/Output Values
+     * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
+     * @summary Get Mounting
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<string>} ios
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listIOs: (cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    getVirtualRobotMounting(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<CoordinateSystem>;
     /**
-     * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned.
-     * @summary List Descriptions
+     * Lists all coordinate systems on the robot controller.
+     * @summary List Coordinate Systems
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<string>} [ios]
-     * @param {IODirection} [direction] Return only inputs/outputs with the specified direction.
-     * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type.
-     * @param {string} [group] Return only inputs/outputs from the specified group.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listVirtualControllerIODescriptions: (cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+    listVirtualRobotCoordinateSystems(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<CoordinateSystems>;
     /**
-     * Sets a list of values of a virtual controller inputs/outputs.
-     * @summary Set Input/Ouput Values
+     * Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes.
+     * @summary List TCPs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<IOValue>} iOValue
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    setIOValues: (cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
-};
-/**
- * VirtualControllerInputsOutputsApi - functional programming interface
- * @export
- */
-export declare const VirtualControllerInputsOutputsApiFp: (configuration?: Configuration) => {
+    listVirtualRobotTcps(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<RobotTcps>;
     /**
-     * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](listVirtualControllerIODescriptions).
-     * @summary Get Input/Output Values
+     * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.
+     * @summary Set Mounting
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<string>} ios
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {CoordinateSystem} coordinateSystem
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      */
-    listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IOValue>>>;
+    setVirtualRobotMounting(cell: string, controller: string, motionGroup: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): AxiosPromise<CoordinateSystem>;
+};
+/**
+ * VirtualRobotSetupApi - object-oriented interface
+ * @export
+ * @class VirtualRobotSetupApi
+ * @extends {BaseAPI}
+ */
+export declare class VirtualRobotSetupApi extends BaseAPI {
     /**
-     * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned.
-     * @summary List Descriptions
+     * Adds a coordinate system to the robot controller.
+     * @summary Add Coordinate Systems
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<string>} [ios]
-     * @param {IODirection} [direction] Return only inputs/outputs with the specified direction.
-     * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type.
-     * @param {string} [group] Return only inputs/outputs from the specified group.
+     * @param {CoordinateSystem} coordinateSystem
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotSetupApi
      */
-    listVirtualControllerIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IODescription>>>;
+    addVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
-     * Sets a list of values of a virtual controller inputs/outputs.
-     * @summary Set Input/Ouput Values
+     * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach.
+     * @summary Add TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<IOValue>} iOValue
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {RobotTcp} robotTcp
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotSetupApi
      */
-    setIOValues(cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
-};
-/**
- * VirtualControllerInputsOutputsApi - factory interface
- * @export
- */
-export declare const VirtualControllerInputsOutputsApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
+    addVirtualRobotTcp(cell: string, controller: string, motionGroup: string, robotTcp: RobotTcp, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
-     * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](listVirtualControllerIODescriptions).
-     * @summary Get Input/Output Values
+     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference.
+     * @summary Remove Coordinate System
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<string>} ios
+     * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
+     * @param {boolean} [deleteDependent] If true, all dependent coordinate systems will be deleted as well.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotSetupApi
      */
-    listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig): AxiosPromise<Array<IOValue>>;
+    deleteVirtualRobotCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
-     * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned.
-     * @summary List Descriptions
+     * Removes the TCP from the motion group. An unknown TCP is a valid input.
+     * @summary Remove TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<string>} [ios]
-     * @param {IODirection} [direction] Return only inputs/outputs with the specified direction.
-     * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type.
-     * @param {string} [group] Return only inputs/outputs from the specified group.
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {string} tcp The unique identifier of a TCP.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotSetupApi
      */
-    listVirtualControllerIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<IODescription>>;
+    deleteVirtualRobotTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
     /**
-     * Sets a list of values of a virtual controller inputs/outputs.
-     * @summary Set Input/Ouput Values
+     * Gets motion group mounting. The motion group is based on the origin of the returned coordinate system.
+     * @summary Get Mounting
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<IOValue>} iOValue
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
+     * @memberof VirtualRobotSetupApi
      */
-    setIOValues(cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): AxiosPromise<void>;
-};
-/**
- * VirtualControllerInputsOutputsApi - object-oriented interface
- * @export
- * @class VirtualControllerInputsOutputsApi
- * @extends {BaseAPI}
- */
-export declare class VirtualControllerInputsOutputsApi extends BaseAPI {
+    getVirtualRobotMounting(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CoordinateSystem, any>>;
     /**
-     * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](listVirtualControllerIODescriptions).
-     * @summary Get Input/Output Values
+     * Lists all coordinate systems on the robot controller.
+     * @summary List Coordinate Systems
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<string>} ios
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerInputsOutputsApi
+     * @memberof VirtualRobotSetupApi
      */
-    listIOs(cell: string, controller: string, ios: Array<string>, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<IOValue[], any>>;
+    listVirtualRobotCoordinateSystems(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CoordinateSystems, any>>;
     /**
-     * Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned.
-     * @summary List Descriptions
+     * Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes.
+     * @summary List TCPs
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<string>} [ios]
-     * @param {IODirection} [direction] Return only inputs/outputs with the specified direction.
-     * @param {IOValueType} [valueType] Return only inputs/outputs with the specified value type.
-     * @param {string} [group] Return only inputs/outputs from the specified group.
+     * @param {string} motionGroup The motion-group identifier.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerInputsOutputsApi
+     * @memberof VirtualRobotSetupApi
      */
-    listVirtualControllerIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<IODescription[], any>>;
+    listVirtualRobotTcps(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<RobotTcps, any>>;
     /**
-     * Sets a list of values of a virtual controller inputs/outputs.
-     * @summary Set Input/Ouput Values
+     * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.
+     * @summary Set Mounting
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {Array<IOValue>} iOValue
+     * @param {string} motionGroup The motion-group identifier.
+     * @param {CoordinateSystem} coordinateSystem
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof VirtualControllerInputsOutputsApi
+     * @memberof VirtualRobotSetupApi
      */
-    setIOValues(cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<void, any>>;
+    setVirtualRobotMounting(cell: string, controller: string, motionGroup: string, coordinateSystem: CoordinateSystem, options?: RawAxiosRequestConfig): Promise<import("axios").AxiosResponse<CoordinateSystem, any>>;
 }