@wandelbots/nova-api 25.7.0-dev.25 → 25.7.0-dev.27

package/v2/api.js

@@ -46,6 +46,23 @@ export const BoxBoxTypeEnum = {
     Hollow: 'HOLLOW',
     Full: 'FULL'
 };
+export const BusIOProfinetBusTypeEnum = {
+    Profinet: 'profinet'
+};
+export const BusIOProfinetVirtualBusTypeEnum = {
+    VirtualProfinet: 'virtual_profinet'
+};
+/**
+ * Current state of the BUS input/output service.
+ * @export
+ * @enum {string}
+ */
+export const BusIOsStateEnum = {
+    BusIosStateUnknown: 'BUS_IOS_STATE_UNKNOWN',
+    BusIosStateInitializing: 'BUS_IOS_STATE_INITIALIZING',
+    BusIosStateConnected: 'BUS_IOS_STATE_CONNECTED',
+    BusIosStateDisconnected: 'BUS_IOS_STATE_DISCONNECTED'
+};
 export const CapsuleShapeTypeEnum = {
     Capsule: 'capsule'
 };
@@ -86,6 +103,18 @@ export const Direction = {
     DirectionForward: 'DIRECTION_FORWARD',
     DirectionBackward: 'DIRECTION_BACKWARD'
 };
+export const ErrorInvalidJointCountErrorFeedbackNameEnum = {
+    ErrorInvalidJointCount: 'ErrorInvalidJointCount'
+};
+export const ErrorJointLimitExceededErrorFeedbackNameEnum = {
+    ErrorJointLimitExceeded: 'ErrorJointLimitExceeded'
+};
+export const ErrorJointPositionCollisionErrorFeedbackNameEnum = {
+    ErrorJointPositionCollision: 'ErrorJointPositionCollision'
+};
+export const ErrorMaxIterationsExceededErrorFeedbackNameEnum = {
+    ErrorMaxIterationsExceeded: 'ErrorMaxIterationsExceeded'
+};
 export const FanucControllerKindEnum = {
     FanucController: 'FanucController'
 };
@@ -198,6 +227,9 @@ export const Manufacturer = {
     Universalrobots: 'universalrobots',
     Yaskawa: 'yaskawa'
 };
+export const MidpointInsertionAlgorithmAlgorithmNameEnum = {
+    MidpointInsertionAlgorithm: 'MidpointInsertionAlgorithm'
+};
 export const MovementErrorResponseKindEnum = {
     MotionError: 'MOTION_ERROR'
 };
@@ -296,6 +328,36 @@ export const PlaybackSpeedRequestMessageTypeEnum = {
 export const PlaybackSpeedResponseKindEnum = {
     PlaybackSpeedReceived: 'PLAYBACK_SPEED_RECEIVED'
 };
+/**
+ * Identifies the input/output type.
+ * @export
+ * @enum {string}
+ */
+export const ProfinetIODirection = {
+    ProfinetIoDirectionInput: 'PROFINET_IO_DIRECTION_INPUT',
+    ProfinetIoDirectionOutput: 'PROFINET_IO_DIRECTION_OUTPUT',
+    ProfinetIoDirectionInout: 'PROFINET_IO_DIRECTION_INOUT'
+};
+/**
+ * Value type of the PROFINET input/output.
+ * @export
+ * @enum {string}
+ */
+export const ProfinetIOTypeEnum = {
+    ProfinetIoTypeUnknown: 'PROFINET_IO_TYPE_UNKNOWN',
+    ProfinetIoTypeBool: 'PROFINET_IO_TYPE_BOOL',
+    ProfinetIoTypeUsint: 'PROFINET_IO_TYPE_USINT',
+    ProfinetIoTypeSint: 'PROFINET_IO_TYPE_SINT',
+    ProfinetIoTypeUint: 'PROFINET_IO_TYPE_UINT',
+    ProfinetIoTypeInt: 'PROFINET_IO_TYPE_INT',
+    ProfinetIoTypeUdint: 'PROFINET_IO_TYPE_UDINT',
+    ProfinetIoTypeDint: 'PROFINET_IO_TYPE_DINT',
+    ProfinetIoTypeReal: 'PROFINET_IO_TYPE_REAL',
+    ProfinetIoTypeLreal: 'PROFINET_IO_TYPE_LREAL'
+};
+export const RRTConnectAlgorithmAlgorithmNameEnum = {
+    RrtConnectAlgorithm: 'RRTConnectAlgorithm'
+};
 export const RectangleShapeTypeEnum = {
     Rectangle: 'rectangle'
 };
@@ -914,189 +976,1201 @@ export const ApplicationApiFp = function (configuration) {
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async listApps(cell, options) {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.listApps(cell, options);
-            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['ApplicationApi.listApps']?.[localVarOperationServerIndex]?.url;
-            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        async listApps(cell, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.listApps(cell, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['ApplicationApi.listApps']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Update the configuration of a GUI application in the cell.
+         * @summary Update Configuration
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} app
+         * @param {App} app2
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async updateApp(cell, app, app2, completionTimeout, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.updateApp(cell, app, app2, completionTimeout, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['ApplicationApi.updateApp']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+    };
+};
+/**
+ * ApplicationApi - factory interface
+ * @export
+ */
+export const ApplicationApiFactory = function (configuration, basePath, axios) {
+    const localVarFp = ApplicationApiFp(configuration);
+    return {
+        /**
+         * Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The API endpoint accessible from within the application container. > - `NATS_BROKER`: The NATS broker endpoint accessible from within the application container. > - `BASE_PATH`: The application\'s root path, accessible at http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell hosting the deployed application.
+         * @summary Add Application
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {App} app
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        addApp(cell, app, completionTimeout, options) {
+            return localVarFp.addApp(cell, app, completionTimeout, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Delete all GUI applications from the cell.
+         * @summary Clear Applications
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        clearApps(cell, completionTimeout, options) {
+            return localVarFp.clearApps(cell, completionTimeout, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Delete a GUI application from the cell.
+         * @summary Delete Application
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} app
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        deleteApp(cell, app, completionTimeout, options) {
+            return localVarFp.deleteApp(cell, app, completionTimeout, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Get the configuration for an active GUI application in the cell. To update the configuration of a GUI application in the cell, use this configuration with the \'Update Configuration\' endpoint.
+         * @summary Configuration
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} app
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getApp(cell, app, options) {
+            return localVarFp.getApp(cell, app, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * List all GUI applications that have been added to a cell. with the \'Add Application\' endpoint. If the cell does not contain GUI applications, the list is returned empty.
+         * @summary List Applications
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        listApps(cell, options) {
+            return localVarFp.listApps(cell, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Update the configuration of a GUI application in the cell.
+         * @summary Update Configuration
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} app
+         * @param {App} app2
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        updateApp(cell, app, app2, completionTimeout, options) {
+            return localVarFp.updateApp(cell, app, app2, completionTimeout, options).then((request) => request(axios, basePath));
+        },
+    };
+};
+/**
+ * ApplicationApi - object-oriented interface
+ * @export
+ * @class ApplicationApi
+ * @extends {BaseAPI}
+ */
+export class ApplicationApi extends BaseAPI {
+    /**
+     * Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The API endpoint accessible from within the application container. > - `NATS_BROKER`: The NATS broker endpoint accessible from within the application container. > - `BASE_PATH`: The application\'s root path, accessible at http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell hosting the deployed application.
+     * @summary Add Application
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {App} app
+     * @param {number} [completionTimeout]
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ApplicationApi
+     */
+    addApp(cell, app, completionTimeout, options) {
+        return ApplicationApiFp(this.configuration).addApp(cell, app, completionTimeout, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * Delete all GUI applications from the cell.
+     * @summary Clear Applications
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {number} [completionTimeout]
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ApplicationApi
+     */
+    clearApps(cell, completionTimeout, options) {
+        return ApplicationApiFp(this.configuration).clearApps(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * Delete a GUI application from the cell.
+     * @summary Delete Application
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} app
+     * @param {number} [completionTimeout]
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ApplicationApi
+     */
+    deleteApp(cell, app, completionTimeout, options) {
+        return ApplicationApiFp(this.configuration).deleteApp(cell, app, completionTimeout, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * Get the configuration for an active GUI application in the cell. To update the configuration of a GUI application in the cell, use this configuration with the \'Update Configuration\' endpoint.
+     * @summary Configuration
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} app
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ApplicationApi
+     */
+    getApp(cell, app, options) {
+        return ApplicationApiFp(this.configuration).getApp(cell, app, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * List all GUI applications that have been added to a cell. with the \'Add Application\' endpoint. If the cell does not contain GUI applications, the list is returned empty.
+     * @summary List Applications
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ApplicationApi
+     */
+    listApps(cell, options) {
+        return ApplicationApiFp(this.configuration).listApps(cell, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * Update the configuration of a GUI application in the cell.
+     * @summary Update Configuration
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {string} app
+     * @param {App} app2
+     * @param {number} [completionTimeout]
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ApplicationApi
+     */
+    updateApp(cell, app, app2, completionTimeout, options) {
+        return ApplicationApiFp(this.configuration).updateApp(cell, app, app2, completionTimeout, options).then((request) => request(this.axios, this.basePath));
+    }
+}
+/**
+ * BUSInputsOutputsApi - axios parameter creator
+ * @export
+ */
+export const BUSInputsOutputsApiAxiosParamCreator = function (configuration) {
+    return {
+        /**
+         * Add a BUS Inputs/Outputs Service to the cell.
+         * @summary Add Service
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {BusIOType} busIOType
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        addBusIOService: async (cell, busIOType, completionTimeout, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('addBusIOService', 'cell', cell);
+            // verify required parameter 'busIOType' is not null or undefined
+            assertParamExists('addBusIOService', 'busIOType', busIOType);
+            const localVarPath = `/cells/{cell}/bus-ios`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'POST', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            if (completionTimeout !== undefined) {
+                localVarQueryParameter['completion_timeout'] = completionTimeout;
+            }
+            localVarHeaderParameter['Content-Type'] = 'application/json';
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            localVarRequestOptions.data = serializeDataIfNeeded(busIOType, localVarRequestOptions, configuration);
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Adds an input/output to or updates an input/output on the PROFINET device.
+         * @summary Add PROFINET Input/Output
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} io Unique identifier to address an Input/Output in the cell.
+         * @param {ProfinetIOData} profinetIOData
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        addProfinetIO: async (cell, io, profinetIOData, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('addProfinetIO', 'cell', cell);
+            // verify required parameter 'io' is not null or undefined
+            assertParamExists('addProfinetIO', 'io', io);
+            // verify required parameter 'profinetIOData' is not null or undefined
+            assertParamExists('addProfinetIO', 'profinetIOData', profinetIOData);
+            const localVarPath = `/cells/{cell}/bus-ios/profinet/ios/{io}`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
+                .replace(`{${"io"}}`, encodeURIComponent(String(io)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'PUT', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            localVarHeaderParameter['Content-Type'] = 'application/json';
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            localVarRequestOptions.data = serializeDataIfNeeded(profinetIOData, localVarRequestOptions, configuration);
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Delete BUS Inputs/Outputs Service from the cell.
+         * @summary Clear Service
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        clearBusIOService: async (cell, completionTimeout, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('clearBusIOService', 'cell', cell);
+            const localVarPath = `/cells/{cell}/bus-ios`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'DELETE', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            if (completionTimeout !== undefined) {
+                localVarQueryParameter['completion_timeout'] = completionTimeout;
+            }
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Removes the input/output from the PROFINET device.
+         * @summary Remove PROFINET Input/Ouptut
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} io Unique identifier to address an Input/Output in the cell.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        deleteProfinetIO: async (cell, io, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('deleteProfinetIO', 'cell', cell);
+            // verify required parameter 'io' is not null or undefined
+            assertParamExists('deleteProfinetIO', 'io', io);
+            const localVarPath = `/cells/{cell}/bus-ios/profinet/ios/{io}`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
+                .replace(`{${"io"}}`, encodeURIComponent(String(io)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'DELETE', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Get deployed BUS Inputs/Outputs Service.
+         * @summary Get Service
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getBusIOService: async (cell, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('getBusIOService', 'cell', cell);
+            const localVarPath = `/cells/{cell}/bus-ios`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Get the current state of the BUS Inputs/Outputs service.
+         * @summary State
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getBusIOState: async (cell, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('getBusIOState', 'cell', cell);
+            const localVarPath = `/cells/{cell}/bus-ios/state`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions).
+         * @summary Get Input/Output Values
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {Array<string>} [ios]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getBusIOValues: async (cell, ios, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('getBusIOValues', 'cell', cell);
+            const localVarPath = `/cells/{cell}/bus-ios/ios/values`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            if (ios) {
+                localVarQueryParameter['ios'] = ios;
+            }
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Get description of PROFINET
+         * @summary Get PROFINET Description
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getProfinetDescription: async (cell, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('getProfinetDescription', 'cell', cell);
+            const localVarPath = `/cells/{cell}/bus-ios/profinet/description`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Get input/output configuration of the PROFINET device as file.
+         * @summary PROFINET Inputs/Outputs to File
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {number} [inputOffset]
+         * @param {number} [outputOffset]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getProfinetIOsFromFile: async (cell, inputOffset, outputOffset, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('getProfinetIOsFromFile', 'cell', cell);
+            const localVarPath = `/cells/{cell}/bus-ios/profinet/iofile`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            if (inputOffset !== undefined) {
+                localVarQueryParameter['input_offset'] = inputOffset;
+            }
+            if (outputOffset !== undefined) {
+                localVarQueryParameter['output_offset'] = outputOffset;
+            }
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * List all BUS Input/Output descriptions.
+         * @summary List Descriptions
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        listBusIODescriptions: async (cell, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('listBusIODescriptions', 'cell', cell);
+            const localVarPath = `/cells/{cell}/bus-ios/ios/description`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * List all PROFINET input and outputs.
+         * @summary List PROFINET Input/Output Configuration
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        listProfinetIOs: async (cell, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('listProfinetIOs', 'cell', cell);
+            const localVarPath = `/cells/{cell}/bus-ios/profinet/ios`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
+         * @summary Set Output Values
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {Array<IOValue>} iOValue
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        setBusIOValues: async (cell, iOValue, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('setBusIOValues', 'cell', cell);
+            // verify required parameter 'iOValue' is not null or undefined
+            assertParamExists('setBusIOValues', 'iOValue', iOValue);
+            const localVarPath = `/cells/{cell}/bus-ios/ios/values`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'PUT', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            localVarHeaderParameter['Content-Type'] = 'application/json';
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            localVarRequestOptions.data = serializeDataIfNeeded(iOValue, localVarRequestOptions, configuration);
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Sets inputs/outputs on the PROFINET device from file.
+         * @summary Set PROFINET Inputs/Outputs from File
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {ProfinetInputOutputConfig} profinetInputOutputConfig
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        setProfinetIOsFromFile: async (cell, profinetInputOutputConfig, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('setProfinetIOsFromFile', 'cell', cell);
+            // verify required parameter 'profinetInputOutputConfig' is not null or undefined
+            assertParamExists('setProfinetIOsFromFile', 'profinetInputOutputConfig', profinetInputOutputConfig);
+            const localVarPath = `/cells/{cell}/bus-ios/profinet/iofile`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'PUT', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            localVarHeaderParameter['Content-Type'] = 'application/json';
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            localVarRequestOptions.data = serializeDataIfNeeded(profinetInputOutputConfig, localVarRequestOptions, configuration);
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+    };
+};
+/**
+ * BUSInputsOutputsApi - functional programming interface
+ * @export
+ */
+export const BUSInputsOutputsApiFp = function (configuration) {
+    const localVarAxiosParamCreator = BUSInputsOutputsApiAxiosParamCreator(configuration);
+    return {
+        /**
+         * Add a BUS Inputs/Outputs Service to the cell.
+         * @summary Add Service
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {BusIOType} busIOType
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async addBusIOService(cell, busIOType, completionTimeout, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.addBusIOService(cell, busIOType, completionTimeout, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.addBusIOService']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Adds an input/output to or updates an input/output on the PROFINET device.
+         * @summary Add PROFINET Input/Output
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} io Unique identifier to address an Input/Output in the cell.
+         * @param {ProfinetIOData} profinetIOData
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async addProfinetIO(cell, io, profinetIOData, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.addProfinetIO(cell, io, profinetIOData, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.addProfinetIO']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Delete BUS Inputs/Outputs Service from the cell.
+         * @summary Clear Service
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async clearBusIOService(cell, completionTimeout, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.clearBusIOService(cell, completionTimeout, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.clearBusIOService']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Removes the input/output from the PROFINET device.
+         * @summary Remove PROFINET Input/Ouptut
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} io Unique identifier to address an Input/Output in the cell.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async deleteProfinetIO(cell, io, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.deleteProfinetIO(cell, io, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.deleteProfinetIO']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Get deployed BUS Inputs/Outputs Service.
+         * @summary Get Service
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async getBusIOService(cell, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getBusIOService(cell, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.getBusIOService']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Get the current state of the BUS Inputs/Outputs service.
+         * @summary State
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async getBusIOState(cell, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getBusIOState(cell, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.getBusIOState']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions).
+         * @summary Get Input/Output Values
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {Array<string>} [ios]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async getBusIOValues(cell, ios, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getBusIOValues(cell, ios, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.getBusIOValues']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Get description of PROFINET
+         * @summary Get PROFINET Description
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async getProfinetDescription(cell, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getProfinetDescription(cell, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.getProfinetDescription']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Get input/output configuration of the PROFINET device as file.
+         * @summary PROFINET Inputs/Outputs to File
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {number} [inputOffset]
+         * @param {number} [outputOffset]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async getProfinetIOsFromFile(cell, inputOffset, outputOffset, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getProfinetIOsFromFile(cell, inputOffset, outputOffset, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.getProfinetIOsFromFile']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * List all BUS Input/Output descriptions.
+         * @summary List Descriptions
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async listBusIODescriptions(cell, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.listBusIODescriptions(cell, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.listBusIODescriptions']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * List all PROFINET input and outputs.
+         * @summary List PROFINET Input/Output Configuration
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async listProfinetIOs(cell, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.listProfinetIOs(cell, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.listProfinetIOs']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
+         * @summary Set Output Values
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {Array<IOValue>} iOValue
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async setBusIOValues(cell, iOValue, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.setBusIOValues(cell, iOValue, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.setBusIOValues']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Sets inputs/outputs on the PROFINET device from file.
+         * @summary Set PROFINET Inputs/Outputs from File
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {ProfinetInputOutputConfig} profinetInputOutputConfig
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async setProfinetIOsFromFile(cell, profinetInputOutputConfig, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.setProfinetIOsFromFile(cell, profinetInputOutputConfig, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.setProfinetIOsFromFile']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+    };
+};
+/**
+ * BUSInputsOutputsApi - factory interface
+ * @export
+ */
+export const BUSInputsOutputsApiFactory = function (configuration, basePath, axios) {
+    const localVarFp = BUSInputsOutputsApiFp(configuration);
+    return {
+        /**
+         * Add a BUS Inputs/Outputs Service to the cell.
+         * @summary Add Service
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {BusIOType} busIOType
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        addBusIOService(cell, busIOType, completionTimeout, options) {
+            return localVarFp.addBusIOService(cell, busIOType, completionTimeout, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Adds an input/output to or updates an input/output on the PROFINET device.
+         * @summary Add PROFINET Input/Output
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} io Unique identifier to address an Input/Output in the cell.
+         * @param {ProfinetIOData} profinetIOData
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        addProfinetIO(cell, io, profinetIOData, options) {
+            return localVarFp.addProfinetIO(cell, io, profinetIOData, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Delete BUS Inputs/Outputs Service from the cell.
+         * @summary Clear Service
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {number} [completionTimeout]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        clearBusIOService(cell, completionTimeout, options) {
+            return localVarFp.clearBusIOService(cell, completionTimeout, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Removes the input/output from the PROFINET device.
+         * @summary Remove PROFINET Input/Ouptut
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {string} io Unique identifier to address an Input/Output in the cell.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        deleteProfinetIO(cell, io, options) {
+            return localVarFp.deleteProfinetIO(cell, io, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Get deployed BUS Inputs/Outputs Service.
+         * @summary Get Service
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getBusIOService(cell, options) {
+            return localVarFp.getBusIOService(cell, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Get the current state of the BUS Inputs/Outputs service.
+         * @summary State
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getBusIOState(cell, options) {
+            return localVarFp.getBusIOState(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * Update the configuration of a GUI application in the cell.
-         * @summary Update Configuration
+         * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions).
+         * @summary Get Input/Output Values
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} app
-         * @param {App} app2
-         * @param {number} [completionTimeout]
+         * @param {Array<string>} [ios]
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async updateApp(cell, app, app2, completionTimeout, options) {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.updateApp(cell, app, app2, completionTimeout, options);
-            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['ApplicationApi.updateApp']?.[localVarOperationServerIndex]?.url;
-            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        getBusIOValues(cell, ios, options) {
+            return localVarFp.getBusIOValues(cell, ios, options).then((request) => request(axios, basePath));
         },
-    };
-};
-/**
- * ApplicationApi - factory interface
- * @export
- */
-export const ApplicationApiFactory = function (configuration, basePath, axios) {
-    const localVarFp = ApplicationApiFp(configuration);
-    return {
         /**
-         * Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The API endpoint accessible from within the application container. > - `NATS_BROKER`: The NATS broker endpoint accessible from within the application container. > - `BASE_PATH`: The application\'s root path, accessible at http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell hosting the deployed application.
-         * @summary Add Application
+         * Get description of PROFINET
+         * @summary Get PROFINET Description
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {App} app
-         * @param {number} [completionTimeout]
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        addApp(cell, app, completionTimeout, options) {
-            return localVarFp.addApp(cell, app, completionTimeout, options).then((request) => request(axios, basePath));
+        getProfinetDescription(cell, options) {
+            return localVarFp.getProfinetDescription(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * Delete all GUI applications from the cell.
-         * @summary Clear Applications
+         * Get input/output configuration of the PROFINET device as file.
+         * @summary PROFINET Inputs/Outputs to File
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {number} [completionTimeout]
+         * @param {number} [inputOffset]
+         * @param {number} [outputOffset]
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        clearApps(cell, completionTimeout, options) {
-            return localVarFp.clearApps(cell, completionTimeout, options).then((request) => request(axios, basePath));
+        getProfinetIOsFromFile(cell, inputOffset, outputOffset, options) {
+            return localVarFp.getProfinetIOsFromFile(cell, inputOffset, outputOffset, options).then((request) => request(axios, basePath));
         },
         /**
-         * Delete a GUI application from the cell.
-         * @summary Delete Application
+         * List all BUS Input/Output descriptions.
+         * @summary List Descriptions
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} app
-         * @param {number} [completionTimeout]
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        deleteApp(cell, app, completionTimeout, options) {
-            return localVarFp.deleteApp(cell, app, completionTimeout, options).then((request) => request(axios, basePath));
+        listBusIODescriptions(cell, options) {
+            return localVarFp.listBusIODescriptions(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * Get the configuration for an active GUI application in the cell. To update the configuration of a GUI application in the cell, use this configuration with the \'Update Configuration\' endpoint.
-         * @summary Configuration
+         * List all PROFINET input and outputs.
+         * @summary List PROFINET Input/Output Configuration
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} app
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        getApp(cell, app, options) {
-            return localVarFp.getApp(cell, app, options).then((request) => request(axios, basePath));
+        listProfinetIOs(cell, options) {
+            return localVarFp.listProfinetIOs(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * List all GUI applications that have been added to a cell. with the \'Add Application\' endpoint. If the cell does not contain GUI applications, the list is returned empty.
-         * @summary List Applications
+         * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
+         * @summary Set Output Values
          * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {Array<IOValue>} iOValue
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        listApps(cell, options) {
-            return localVarFp.listApps(cell, options).then((request) => request(axios, basePath));
+        setBusIOValues(cell, iOValue, options) {
+            return localVarFp.setBusIOValues(cell, iOValue, options).then((request) => request(axios, basePath));
         },
         /**
-         * Update the configuration of a GUI application in the cell.
-         * @summary Update Configuration
+         * Sets inputs/outputs on the PROFINET device from file.
+         * @summary Set PROFINET Inputs/Outputs from File
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} app
-         * @param {App} app2
-         * @param {number} [completionTimeout]
+         * @param {ProfinetInputOutputConfig} profinetInputOutputConfig
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        updateApp(cell, app, app2, completionTimeout, options) {
-            return localVarFp.updateApp(cell, app, app2, completionTimeout, options).then((request) => request(axios, basePath));
+        setProfinetIOsFromFile(cell, profinetInputOutputConfig, options) {
+            return localVarFp.setProfinetIOsFromFile(cell, profinetInputOutputConfig, options).then((request) => request(axios, basePath));
         },
     };
 };
 /**
- * ApplicationApi - object-oriented interface
+ * BUSInputsOutputsApi - object-oriented interface
  * @export
- * @class ApplicationApi
+ * @class BUSInputsOutputsApi
  * @extends {BaseAPI}
  */
-export class ApplicationApi extends BaseAPI {
+export class BUSInputsOutputsApi extends BaseAPI {
     /**
-     * Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The API endpoint accessible from within the application container. > - `NATS_BROKER`: The NATS broker endpoint accessible from within the application container. > - `BASE_PATH`: The application\'s root path, accessible at http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell hosting the deployed application.
-     * @summary Add Application
+     * Add a BUS Inputs/Outputs Service to the cell.
+     * @summary Add Service
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {App} app
+     * @param {BusIOType} busIOType
      * @param {number} [completionTimeout]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof ApplicationApi
+     * @memberof BUSInputsOutputsApi
      */
-    addApp(cell, app, completionTimeout, options) {
-        return ApplicationApiFp(this.configuration).addApp(cell, app, completionTimeout, options).then((request) => request(this.axios, this.basePath));
+    addBusIOService(cell, busIOType, completionTimeout, options) {
+        return BUSInputsOutputsApiFp(this.configuration).addBusIOService(cell, busIOType, completionTimeout, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * Delete all GUI applications from the cell.
-     * @summary Clear Applications
+     * Adds an input/output to or updates an input/output on the PROFINET device.
+     * @summary Add PROFINET Input/Output
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {number} [completionTimeout]
+     * @param {string} io Unique identifier to address an Input/Output in the cell.
+     * @param {ProfinetIOData} profinetIOData
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof ApplicationApi
+     * @memberof BUSInputsOutputsApi
      */
-    clearApps(cell, completionTimeout, options) {
-        return ApplicationApiFp(this.configuration).clearApps(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
+    addProfinetIO(cell, io, profinetIOData, options) {
+        return BUSInputsOutputsApiFp(this.configuration).addProfinetIO(cell, io, profinetIOData, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * Delete a GUI application from the cell.
-     * @summary Delete Application
+     * Delete BUS Inputs/Outputs Service from the cell.
+     * @summary Clear Service
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} app
      * @param {number} [completionTimeout]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof ApplicationApi
+     * @memberof BUSInputsOutputsApi
      */
-    deleteApp(cell, app, completionTimeout, options) {
-        return ApplicationApiFp(this.configuration).deleteApp(cell, app, completionTimeout, options).then((request) => request(this.axios, this.basePath));
+    clearBusIOService(cell, completionTimeout, options) {
+        return BUSInputsOutputsApiFp(this.configuration).clearBusIOService(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * Get the configuration for an active GUI application in the cell. To update the configuration of a GUI application in the cell, use this configuration with the \'Update Configuration\' endpoint.
-     * @summary Configuration
+     * Removes the input/output from the PROFINET device.
+     * @summary Remove PROFINET Input/Ouptut
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} app
+     * @param {string} io Unique identifier to address an Input/Output in the cell.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof ApplicationApi
+     * @memberof BUSInputsOutputsApi
      */
-    getApp(cell, app, options) {
-        return ApplicationApiFp(this.configuration).getApp(cell, app, options).then((request) => request(this.axios, this.basePath));
+    deleteProfinetIO(cell, io, options) {
+        return BUSInputsOutputsApiFp(this.configuration).deleteProfinetIO(cell, io, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * List all GUI applications that have been added to a cell. with the \'Add Application\' endpoint. If the cell does not contain GUI applications, the list is returned empty.
-     * @summary List Applications
+     * Get deployed BUS Inputs/Outputs Service.
+     * @summary Get Service
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof ApplicationApi
+     * @memberof BUSInputsOutputsApi
      */
-    listApps(cell, options) {
-        return ApplicationApiFp(this.configuration).listApps(cell, options).then((request) => request(this.axios, this.basePath));
+    getBusIOService(cell, options) {
+        return BUSInputsOutputsApiFp(this.configuration).getBusIOService(cell, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * Update the configuration of a GUI application in the cell.
-     * @summary Update Configuration
+     * Get the current state of the BUS Inputs/Outputs service.
+     * @summary State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} app
-     * @param {App} app2
-     * @param {number} [completionTimeout]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof ApplicationApi
+     * @memberof BUSInputsOutputsApi
      */
-    updateApp(cell, app, app2, completionTimeout, options) {
-        return ApplicationApiFp(this.configuration).updateApp(cell, app, app2, completionTimeout, options).then((request) => request(this.axios, this.basePath));
+    getBusIOState(cell, options) {
+        return BUSInputsOutputsApiFp(this.configuration).getBusIOState(cell, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions).
+     * @summary Get Input/Output Values
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {Array<string>} [ios]
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof BUSInputsOutputsApi
+     */
+    getBusIOValues(cell, ios, options) {
+        return BUSInputsOutputsApiFp(this.configuration).getBusIOValues(cell, ios, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * Get description of PROFINET
+     * @summary Get PROFINET Description
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof BUSInputsOutputsApi
+     */
+    getProfinetDescription(cell, options) {
+        return BUSInputsOutputsApiFp(this.configuration).getProfinetDescription(cell, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * Get input/output configuration of the PROFINET device as file.
+     * @summary PROFINET Inputs/Outputs to File
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {number} [inputOffset]
+     * @param {number} [outputOffset]
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof BUSInputsOutputsApi
+     */
+    getProfinetIOsFromFile(cell, inputOffset, outputOffset, options) {
+        return BUSInputsOutputsApiFp(this.configuration).getProfinetIOsFromFile(cell, inputOffset, outputOffset, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * List all BUS Input/Output descriptions.
+     * @summary List Descriptions
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof BUSInputsOutputsApi
+     */
+    listBusIODescriptions(cell, options) {
+        return BUSInputsOutputsApiFp(this.configuration).listBusIODescriptions(cell, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * List all PROFINET input and outputs.
+     * @summary List PROFINET Input/Output Configuration
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof BUSInputsOutputsApi
+     */
+    listProfinetIOs(cell, options) {
+        return BUSInputsOutputsApiFp(this.configuration).listProfinetIOs(cell, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
+     * @summary Set Output Values
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {Array<IOValue>} iOValue
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof BUSInputsOutputsApi
+     */
+    setBusIOValues(cell, iOValue, options) {
+        return BUSInputsOutputsApiFp(this.configuration).setBusIOValues(cell, iOValue, options).then((request) => request(this.axios, this.basePath));
+    }
+    /**
+     * Sets inputs/outputs on the PROFINET device from file.
+     * @summary Set PROFINET Inputs/Outputs from File
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {ProfinetInputOutputConfig} profinetInputOutputConfig
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof BUSInputsOutputsApi
+     */
+    setProfinetIOsFromFile(cell, profinetInputOutputConfig, options) {
+        return BUSInputsOutputsApiFp(this.configuration).setProfinetIOsFromFile(cell, profinetInputOutputConfig, options).then((request) => request(this.axios, this.basePath));
     }
 }
 /**
@@ -3485,6 +4559,44 @@ export class JoggingApi extends BaseAPI {
  */
 export const KinematicsApiAxiosParamCreator = function (configuration) {
     return {
+        /**
+         * Returns the TCP poses for a list of given joint positions.
+         * @summary Forward kinematics
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {ForwardKinematicsRequest} [forwardKinematicsRequest]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        forwardKinematics: async (cell, forwardKinematicsRequest, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('forwardKinematics', 'cell', cell);
+            const localVarPath = `/cells/{cell}/kinematic/forward`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'POST', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            localVarHeaderParameter['Content-Type'] = 'application/json';
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            localVarRequestOptions.data = serializeDataIfNeeded(forwardKinematicsRequest, localVarRequestOptions, configuration);
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
         /**
          * Returns the reachable joint positions for a list of given poses.
          * @summary Inverse kinematics
@@ -3532,6 +4644,20 @@ export const KinematicsApiAxiosParamCreator = function (configuration) {
 export const KinematicsApiFp = function (configuration) {
     const localVarAxiosParamCreator = KinematicsApiAxiosParamCreator(configuration);
     return {
+        /**
+         * Returns the TCP poses for a list of given joint positions.
+         * @summary Forward kinematics
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {ForwardKinematicsRequest} [forwardKinematicsRequest]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async forwardKinematics(cell, forwardKinematicsRequest, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.forwardKinematics(cell, forwardKinematicsRequest, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['KinematicsApi.forwardKinematics']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
         /**
          * Returns the reachable joint positions for a list of given poses.
          * @summary Inverse kinematics
@@ -3555,6 +4681,17 @@ export const KinematicsApiFp = function (configuration) {
 export const KinematicsApiFactory = function (configuration, basePath, axios) {
     const localVarFp = KinematicsApiFp(configuration);
     return {
+        /**
+         * Returns the TCP poses for a list of given joint positions.
+         * @summary Forward kinematics
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {ForwardKinematicsRequest} [forwardKinematicsRequest]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        forwardKinematics(cell, forwardKinematicsRequest, options) {
+            return localVarFp.forwardKinematics(cell, forwardKinematicsRequest, options).then((request) => request(axios, basePath));
+        },
         /**
          * Returns the reachable joint positions for a list of given poses.
          * @summary Inverse kinematics
@@ -3575,6 +4712,18 @@ export const KinematicsApiFactory = function (configuration, basePath, axios) {
  * @extends {BaseAPI}
  */
 export class KinematicsApi extends BaseAPI {
+    /**
+     * Returns the TCP poses for a list of given joint positions.
+     * @summary Forward kinematics
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {ForwardKinematicsRequest} [forwardKinematicsRequest]
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof KinematicsApi
+     */
+    forwardKinematics(cell, forwardKinematicsRequest, options) {
+        return KinematicsApiFp(this.configuration).forwardKinematics(cell, forwardKinematicsRequest, options).then((request) => request(this.axios, this.basePath));
+    }
     /**
      * Returns the reachable joint positions for a list of given poses.
      * @summary Inverse kinematics
@@ -5311,27 +6460,27 @@ export class StoreCollisionComponentsApi extends BaseAPI {
     }
 }
 /**
- * StoreCollisionScenesApi - axios parameter creator
+ * StoreCollisionSetupsApi - axios parameter creator
  * @export
  */
-export const StoreCollisionScenesApiAxiosParamCreator = function (configuration) {
+export const StoreCollisionSetupsApiAxiosParamCreator = function (configuration) {
     return {
         /**
-         * Deletes the stored scene.  <!-- theme: danger --> > This will delete persistently stored data.
-         * @summary Delete Scene
+         * Deletes the stored collision setup.  <!-- theme: danger --> > This will delete persistently stored data.
+         * @summary Delete Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
+         * @param {string} setup Identifier of the collision setup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        deleteStoredCollisionScene: async (cell, scene, options = {}) => {
+        deleteStoredCollisionSetup: async (cell, setup, options = {}) => {
             // verify required parameter 'cell' is not null or undefined
-            assertParamExists('deleteStoredCollisionScene', 'cell', cell);
-            // verify required parameter 'scene' is not null or undefined
-            assertParamExists('deleteStoredCollisionScene', 'scene', scene);
-            const localVarPath = `/cells/{cell}/store/collision/scenes/{scene}`
+            assertParamExists('deleteStoredCollisionSetup', 'cell', cell);
+            // verify required parameter 'setup' is not null or undefined
+            assertParamExists('deleteStoredCollisionSetup', 'setup', setup);
+            const localVarPath = `/cells/{cell}/store/collision/setups/{setup}`
                 .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
-                .replace(`{${"scene"}}`, encodeURIComponent(String(scene)));
+                .replace(`{${"setup"}}`, encodeURIComponent(String(setup)));
             // use dummy base URL string because the URL constructor only accepts absolute URLs.
             const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
             let baseOptions;
@@ -5356,21 +6505,21 @@ export const StoreCollisionScenesApiAxiosParamCreator = function (configuration)
             };
         },
         /**
-         * Returns the stored scene.
-         * @summary Get Scene
+         * Returns the stored collision setup.
+         * @summary Get Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
+         * @param {string} setup Identifier of the collision setup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        getStoredCollisionScene: async (cell, scene, options = {}) => {
+        getStoredCollisionSetup: async (cell, setup, options = {}) => {
             // verify required parameter 'cell' is not null or undefined
-            assertParamExists('getStoredCollisionScene', 'cell', cell);
-            // verify required parameter 'scene' is not null or undefined
-            assertParamExists('getStoredCollisionScene', 'scene', scene);
-            const localVarPath = `/cells/{cell}/store/collision/scenes/{scene}`
+            assertParamExists('getStoredCollisionSetup', 'cell', cell);
+            // verify required parameter 'setup' is not null or undefined
+            assertParamExists('getStoredCollisionSetup', 'setup', setup);
+            const localVarPath = `/cells/{cell}/store/collision/setups/{setup}`
                 .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
-                .replace(`{${"scene"}}`, encodeURIComponent(String(scene)));
+                .replace(`{${"setup"}}`, encodeURIComponent(String(setup)));
             // use dummy base URL string because the URL constructor only accepts absolute URLs.
             const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
             let baseOptions;
@@ -5395,16 +6544,16 @@ export const StoreCollisionScenesApiAxiosParamCreator = function (configuration)
             };
         },
         /**
-         * Returns a list of stored scenes.
-         * @summary List Scenes
+         * Returns a list of stored collision setups.
+         * @summary List Collision Setups
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        listStoredCollisionScenes: async (cell, options = {}) => {
+        listStoredCollisionSetups: async (cell, options = {}) => {
             // verify required parameter 'cell' is not null or undefined
-            assertParamExists('listStoredCollisionScenes', 'cell', cell);
-            const localVarPath = `/cells/{cell}/store/collision/scenes`
+            assertParamExists('listStoredCollisionSetups', 'cell', cell);
+            const localVarPath = `/cells/{cell}/store/collision/setups`
                 .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
             // use dummy base URL string because the URL constructor only accepts absolute URLs.
             const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
@@ -5430,24 +6579,24 @@ export const StoreCollisionScenesApiAxiosParamCreator = function (configuration)
             };
         },
         /**
-         * Creates or replaces the stored collision scene.  The scene is assembled from components as defined in the request body.  <!-- theme: info --> > This endpoint allows indicating previously stored components. > Components used within the request will be copied into the new or updated scene.  An error is returned if an indicated component does not exist.
-         * @summary Store Scene
+         * Stores collision setup.  If the collision setup does not exist, it will be created. If the collision setup exists, it will be updated.
+         * @summary Store Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
-         * @param {CollisionSceneAssembly} collisionSceneAssembly
+         * @param {string} setup Identifier of the collision setup
+         * @param {CollisionSetup} collisionSetup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        storeCollisionScene: async (cell, scene, collisionSceneAssembly, options = {}) => {
+        storeCollisionSetup: async (cell, setup, collisionSetup, options = {}) => {
             // verify required parameter 'cell' is not null or undefined
-            assertParamExists('storeCollisionScene', 'cell', cell);
-            // verify required parameter 'scene' is not null or undefined
-            assertParamExists('storeCollisionScene', 'scene', scene);
-            // verify required parameter 'collisionSceneAssembly' is not null or undefined
-            assertParamExists('storeCollisionScene', 'collisionSceneAssembly', collisionSceneAssembly);
-            const localVarPath = `/cells/{cell}/store/collision/scenes/{scene}`
+            assertParamExists('storeCollisionSetup', 'cell', cell);
+            // verify required parameter 'setup' is not null or undefined
+            assertParamExists('storeCollisionSetup', 'setup', setup);
+            // verify required parameter 'collisionSetup' is not null or undefined
+            assertParamExists('storeCollisionSetup', 'collisionSetup', collisionSetup);
+            const localVarPath = `/cells/{cell}/store/collision/setups/{setup}`
                 .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
-                .replace(`{${"scene"}}`, encodeURIComponent(String(scene)));
+                .replace(`{${"setup"}}`, encodeURIComponent(String(setup)));
             // use dummy base URL string because the URL constructor only accepts absolute URLs.
             const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
             let baseOptions;
@@ -5467,7 +6616,7 @@ export const StoreCollisionScenesApiAxiosParamCreator = function (configuration)
             setSearchParams(localVarUrlObj, localVarQueryParameter);
             let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
             localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
-            localVarRequestOptions.data = serializeDataIfNeeded(collisionSceneAssembly, localVarRequestOptions, configuration);
+            localVarRequestOptions.data = serializeDataIfNeeded(collisionSetup, localVarRequestOptions, configuration);
             return {
                 url: toPathString(localVarUrlObj),
                 options: localVarRequestOptions,
@@ -5476,177 +6625,177 @@ export const StoreCollisionScenesApiAxiosParamCreator = function (configuration)
     };
 };
 /**
- * StoreCollisionScenesApi - functional programming interface
+ * StoreCollisionSetupsApi - functional programming interface
  * @export
  */
-export const StoreCollisionScenesApiFp = function (configuration) {
-    const localVarAxiosParamCreator = StoreCollisionScenesApiAxiosParamCreator(configuration);
+export const StoreCollisionSetupsApiFp = function (configuration) {
+    const localVarAxiosParamCreator = StoreCollisionSetupsApiAxiosParamCreator(configuration);
     return {
         /**
-         * Deletes the stored scene.  <!-- theme: danger --> > This will delete persistently stored data.
-         * @summary Delete Scene
+         * Deletes the stored collision setup.  <!-- theme: danger --> > This will delete persistently stored data.
+         * @summary Delete Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
+         * @param {string} setup Identifier of the collision setup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async deleteStoredCollisionScene(cell, scene, options) {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.deleteStoredCollisionScene(cell, scene, options);
+        async deleteStoredCollisionSetup(cell, setup, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.deleteStoredCollisionSetup(cell, setup, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['StoreCollisionScenesApi.deleteStoredCollisionScene']?.[localVarOperationServerIndex]?.url;
+            const localVarOperationServerBasePath = operationServerMap['StoreCollisionSetupsApi.deleteStoredCollisionSetup']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Returns the stored scene.
-         * @summary Get Scene
+         * Returns the stored collision setup.
+         * @summary Get Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
+         * @param {string} setup Identifier of the collision setup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async getStoredCollisionScene(cell, scene, options) {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.getStoredCollisionScene(cell, scene, options);
+        async getStoredCollisionSetup(cell, setup, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getStoredCollisionSetup(cell, setup, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['StoreCollisionScenesApi.getStoredCollisionScene']?.[localVarOperationServerIndex]?.url;
+            const localVarOperationServerBasePath = operationServerMap['StoreCollisionSetupsApi.getStoredCollisionSetup']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Returns a list of stored scenes.
-         * @summary List Scenes
+         * Returns a list of stored collision setups.
+         * @summary List Collision Setups
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async listStoredCollisionScenes(cell, options) {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.listStoredCollisionScenes(cell, options);
+        async listStoredCollisionSetups(cell, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.listStoredCollisionSetups(cell, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['StoreCollisionScenesApi.listStoredCollisionScenes']?.[localVarOperationServerIndex]?.url;
+            const localVarOperationServerBasePath = operationServerMap['StoreCollisionSetupsApi.listStoredCollisionSetups']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Creates or replaces the stored collision scene.  The scene is assembled from components as defined in the request body.  <!-- theme: info --> > This endpoint allows indicating previously stored components. > Components used within the request will be copied into the new or updated scene.  An error is returned if an indicated component does not exist.
-         * @summary Store Scene
+         * Stores collision setup.  If the collision setup does not exist, it will be created. If the collision setup exists, it will be updated.
+         * @summary Store Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
-         * @param {CollisionSceneAssembly} collisionSceneAssembly
+         * @param {string} setup Identifier of the collision setup
+         * @param {CollisionSetup} collisionSetup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async storeCollisionScene(cell, scene, collisionSceneAssembly, options) {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.storeCollisionScene(cell, scene, collisionSceneAssembly, options);
+        async storeCollisionSetup(cell, setup, collisionSetup, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.storeCollisionSetup(cell, setup, collisionSetup, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['StoreCollisionScenesApi.storeCollisionScene']?.[localVarOperationServerIndex]?.url;
+            const localVarOperationServerBasePath = operationServerMap['StoreCollisionSetupsApi.storeCollisionSetup']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
     };
 };
 /**
- * StoreCollisionScenesApi - factory interface
+ * StoreCollisionSetupsApi - factory interface
  * @export
  */
-export const StoreCollisionScenesApiFactory = function (configuration, basePath, axios) {
-    const localVarFp = StoreCollisionScenesApiFp(configuration);
+export const StoreCollisionSetupsApiFactory = function (configuration, basePath, axios) {
+    const localVarFp = StoreCollisionSetupsApiFp(configuration);
     return {
         /**
-         * Deletes the stored scene.  <!-- theme: danger --> > This will delete persistently stored data.
-         * @summary Delete Scene
+         * Deletes the stored collision setup.  <!-- theme: danger --> > This will delete persistently stored data.
+         * @summary Delete Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
+         * @param {string} setup Identifier of the collision setup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        deleteStoredCollisionScene(cell, scene, options) {
-            return localVarFp.deleteStoredCollisionScene(cell, scene, options).then((request) => request(axios, basePath));
+        deleteStoredCollisionSetup(cell, setup, options) {
+            return localVarFp.deleteStoredCollisionSetup(cell, setup, options).then((request) => request(axios, basePath));
         },
         /**
-         * Returns the stored scene.
-         * @summary Get Scene
+         * Returns the stored collision setup.
+         * @summary Get Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
+         * @param {string} setup Identifier of the collision setup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        getStoredCollisionScene(cell, scene, options) {
-            return localVarFp.getStoredCollisionScene(cell, scene, options).then((request) => request(axios, basePath));
+        getStoredCollisionSetup(cell, setup, options) {
+            return localVarFp.getStoredCollisionSetup(cell, setup, options).then((request) => request(axios, basePath));
         },
         /**
-         * Returns a list of stored scenes.
-         * @summary List Scenes
+         * Returns a list of stored collision setups.
+         * @summary List Collision Setups
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        listStoredCollisionScenes(cell, options) {
-            return localVarFp.listStoredCollisionScenes(cell, options).then((request) => request(axios, basePath));
+        listStoredCollisionSetups(cell, options) {
+            return localVarFp.listStoredCollisionSetups(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * Creates or replaces the stored collision scene.  The scene is assembled from components as defined in the request body.  <!-- theme: info --> > This endpoint allows indicating previously stored components. > Components used within the request will be copied into the new or updated scene.  An error is returned if an indicated component does not exist.
-         * @summary Store Scene
+         * Stores collision setup.  If the collision setup does not exist, it will be created. If the collision setup exists, it will be updated.
+         * @summary Store Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
-         * @param {CollisionSceneAssembly} collisionSceneAssembly
+         * @param {string} setup Identifier of the collision setup
+         * @param {CollisionSetup} collisionSetup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        storeCollisionScene(cell, scene, collisionSceneAssembly, options) {
-            return localVarFp.storeCollisionScene(cell, scene, collisionSceneAssembly, options).then((request) => request(axios, basePath));
+        storeCollisionSetup(cell, setup, collisionSetup, options) {
+            return localVarFp.storeCollisionSetup(cell, setup, collisionSetup, options).then((request) => request(axios, basePath));
         },
     };
 };
 /**
- * StoreCollisionScenesApi - object-oriented interface
+ * StoreCollisionSetupsApi - object-oriented interface
  * @export
- * @class StoreCollisionScenesApi
+ * @class StoreCollisionSetupsApi
  * @extends {BaseAPI}
  */
-export class StoreCollisionScenesApi extends BaseAPI {
+export class StoreCollisionSetupsApi extends BaseAPI {
     /**
-     * Deletes the stored scene.  <!-- theme: danger --> > This will delete persistently stored data.
-     * @summary Delete Scene
+     * Deletes the stored collision setup.  <!-- theme: danger --> > This will delete persistently stored data.
+     * @summary Delete Collision Setup
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} scene Unique identifier addressing a collision scene.
+     * @param {string} setup Identifier of the collision setup
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof StoreCollisionScenesApi
+     * @memberof StoreCollisionSetupsApi
      */
-    deleteStoredCollisionScene(cell, scene, options) {
-        return StoreCollisionScenesApiFp(this.configuration).deleteStoredCollisionScene(cell, scene, options).then((request) => request(this.axios, this.basePath));
+    deleteStoredCollisionSetup(cell, setup, options) {
+        return StoreCollisionSetupsApiFp(this.configuration).deleteStoredCollisionSetup(cell, setup, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * Returns the stored scene.
-     * @summary Get Scene
+     * Returns the stored collision setup.
+     * @summary Get Collision Setup
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} scene Unique identifier addressing a collision scene.
+     * @param {string} setup Identifier of the collision setup
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof StoreCollisionScenesApi
+     * @memberof StoreCollisionSetupsApi
      */
-    getStoredCollisionScene(cell, scene, options) {
-        return StoreCollisionScenesApiFp(this.configuration).getStoredCollisionScene(cell, scene, options).then((request) => request(this.axios, this.basePath));
+    getStoredCollisionSetup(cell, setup, options) {
+        return StoreCollisionSetupsApiFp(this.configuration).getStoredCollisionSetup(cell, setup, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * Returns a list of stored scenes.
-     * @summary List Scenes
+     * Returns a list of stored collision setups.
+     * @summary List Collision Setups
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof StoreCollisionScenesApi
+     * @memberof StoreCollisionSetupsApi
      */
-    listStoredCollisionScenes(cell, options) {
-        return StoreCollisionScenesApiFp(this.configuration).listStoredCollisionScenes(cell, options).then((request) => request(this.axios, this.basePath));
+    listStoredCollisionSetups(cell, options) {
+        return StoreCollisionSetupsApiFp(this.configuration).listStoredCollisionSetups(cell, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * Creates or replaces the stored collision scene.  The scene is assembled from components as defined in the request body.  <!-- theme: info --> > This endpoint allows indicating previously stored components. > Components used within the request will be copied into the new or updated scene.  An error is returned if an indicated component does not exist.
-     * @summary Store Scene
+     * Stores collision setup.  If the collision setup does not exist, it will be created. If the collision setup exists, it will be updated.
+     * @summary Store Collision Setup
      * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} scene Unique identifier addressing a collision scene.
-     * @param {CollisionSceneAssembly} collisionSceneAssembly
+     * @param {string} setup Identifier of the collision setup
+     * @param {CollisionSetup} collisionSetup
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
-     * @memberof StoreCollisionScenesApi
+     * @memberof StoreCollisionSetupsApi
      */
-    storeCollisionScene(cell, scene, collisionSceneAssembly, options) {
-        return StoreCollisionScenesApiFp(this.configuration).storeCollisionScene(cell, scene, collisionSceneAssembly, options).then((request) => request(this.axios, this.basePath));
+    storeCollisionSetup(cell, setup, collisionSetup, options) {
+        return StoreCollisionSetupsApiFp(this.configuration).storeCollisionSetup(cell, setup, collisionSetup, options).then((request) => request(this.axios, this.basePath));
     }
 }
 /**
@@ -7355,6 +8504,44 @@ export class TrajectoryExecutionApi extends BaseAPI {
  */
 export const TrajectoryPlanningApiAxiosParamCreator = function (configuration) {
     return {
+        /**
+         * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
+         * @summary Plan Collision-Free Trajectory
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {PlanCollisionFreeRequest} [planCollisionFreeRequest]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        planCollisionFree: async (cell, planCollisionFreeRequest, options = {}) => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('planCollisionFree', 'cell', cell);
+            const localVarPath = `/cells/{cell}/trajectory-planning/plan-collision-free`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+            const localVarRequestOptions = { method: 'POST', ...baseOptions, ...options };
+            const localVarHeaderParameter = {};
+            const localVarQueryParameter = {};
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration);
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration);
+            localVarHeaderParameter['Content-Type'] = 'application/json';
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
+            localVarRequestOptions.data = serializeDataIfNeeded(planCollisionFreeRequest, localVarRequestOptions, configuration);
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
         /**
          * Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
          * @summary Plan Trajectory
@@ -7402,6 +8589,20 @@ export const TrajectoryPlanningApiAxiosParamCreator = function (configuration) {
 export const TrajectoryPlanningApiFp = function (configuration) {
     const localVarAxiosParamCreator = TrajectoryPlanningApiAxiosParamCreator(configuration);
     return {
+        /**
+         * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
+         * @summary Plan Collision-Free Trajectory
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {PlanCollisionFreeRequest} [planCollisionFreeRequest]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async planCollisionFree(cell, planCollisionFreeRequest, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.planCollisionFree(cell, planCollisionFreeRequest, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['TrajectoryPlanningApi.planCollisionFree']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
         /**
          * Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
          * @summary Plan Trajectory
@@ -7425,6 +8626,17 @@ export const TrajectoryPlanningApiFp = function (configuration) {
 export const TrajectoryPlanningApiFactory = function (configuration, basePath, axios) {
     const localVarFp = TrajectoryPlanningApiFp(configuration);
     return {
+        /**
+         * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
+         * @summary Plan Collision-Free Trajectory
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {PlanCollisionFreeRequest} [planCollisionFreeRequest]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        planCollisionFree(cell, planCollisionFreeRequest, options) {
+            return localVarFp.planCollisionFree(cell, planCollisionFreeRequest, options).then((request) => request(axios, basePath));
+        },
         /**
          * Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
          * @summary Plan Trajectory
@@ -7445,6 +8657,18 @@ export const TrajectoryPlanningApiFactory = function (configuration, basePath, a
  * @extends {BaseAPI}
  */
 export class TrajectoryPlanningApi extends BaseAPI {
+    /**
+     * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
+     * @summary Plan Collision-Free Trajectory
+     * @param {string} cell Unique identifier addressing a cell in all API calls.
+     * @param {PlanCollisionFreeRequest} [planCollisionFreeRequest]
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof TrajectoryPlanningApi
+     */
+    planCollisionFree(cell, planCollisionFreeRequest, options) {
+        return TrajectoryPlanningApiFp(this.configuration).planCollisionFree(cell, planCollisionFreeRequest, options).then((request) => request(this.axios, this.basePath));
+    }
     /**
      * Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion.
      * @summary Plan Trajectory