@wandelbots/nova-api 25.7.0-dev.26 → 25.7.0-dev.28

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'
 };
@@ -312,16 +374,16 @@ export const ReleaseChannel = {
     Next: 'next'
 };
 /**
- * The system mode of the robot system.  ### ROBOT_SYSTEM_MODE_UNDEFINED  Indicates that the robot controller is currently performing a mode transition.  ### ROBOT_SYSTEM_MODE_DISCONNECT  There is no communication with the robot controller at all. All connections are closed. No command is sent to the robot controller while in this mode. No input/output interaction is possible in this mode! All move requests will be rejected in this mode!  ### ROBOT_SYSTEM_MODE_MONITOR  A connection to the robot controller is established to only read the robot controller state. No command is sent to the robot controller while in this mode. It is possible to receive input/output information. All move requests will be rejected in this mode!  ### ROBOT_SYSTEM_MODE_CONTROL  An active connection is established with the robot controller and the robot system is cyclic commanded to stay in its actual position. The robot controller state is received in the cycle time of the robot controller. Requests via the MotionService and JoggingService will be processed and executed in this mode. Input/Output interaction is possible in this mode! **In this mode the robot system can be commanded to move.**  ### ROBOT_SYSTEM_MODE_FREE_DRIVE  Like ROBOT_SYSTEM_MODE_MONITOR a connection to the robot controller is established to only read the robot controller state. The difference is that the motion groups can be moved by the user (Free Drive). Thus, the servo motors are turned on. All move requests will be rejected in this mode! **This mode is not supported by every robot!** Use [getSupportedModes](getSupportedModes) to evaluate if the device support free drive.
+ * Defines the current system mode of the robot system, including NOVA communicating with the robot controller.  ### MODE_CONTROLLER_NOT_CONFIGURED  No controller with the specified identifier is configured. Call [addRobotController](addRobotController) to register a controller.  ### MODE_INITIALIZING  Indicates that a connection to the robot controller is established or reestablished in case of a disconnect. On success, the controller is set to MODE_MONITOR. On failure, the initialization process is retried until successful or cancelled by the user.  ### MODE_MONITOR  Read-only mode with an active controller connection. - Receives robot state and I/O signals - Move requests are rejected - No commands are sent to the controller  ### MODE_CONTROL  Active control mode.  **Movement is possible in this mode**  The robot is cyclically commanded to hold its current position. The robot state is received in sync with the controller cycle. Motion and jogging requests are accepted and executed. Input/Output interaction is enabled.  ### MODE_FREE_DRIVE  Read-only mode with servo motors enabled for manual movement (Free Drive).  Move requests are rejected.  Not supported by all robots: Use [getSupportedModes](getSupportedModes) to check Free Drive availability.
  * @export
  * @enum {string}
  */
 export const RobotSystemMode = {
-    RobotSystemModeUndefined: 'ROBOT_SYSTEM_MODE_UNDEFINED',
-    RobotSystemModeDisconnect: 'ROBOT_SYSTEM_MODE_DISCONNECT',
-    RobotSystemModeMonitor: 'ROBOT_SYSTEM_MODE_MONITOR',
-    RobotSystemModeControl: 'ROBOT_SYSTEM_MODE_CONTROL',
-    RobotSystemModeFreeDrive: 'ROBOT_SYSTEM_MODE_FREE_DRIVE'
+    ModeControllerNotConfigured: 'MODE_CONTROLLER_NOT_CONFIGURED',
+    ModeInitializing: 'MODE_INITIALIZING',
+    ModeMonitor: 'MODE_MONITOR',
+    ModeControl: 'MODE_CONTROL',
+    ModeFreeDrive: 'MODE_FREE_DRIVE'
 };
 /**
  * Current safety state of the configured robot controller. Operation modes in which the attached motion groups can be moved are: - SAFETY_STATE_NORMAL - SAFETY_STATE_REDUCED All other modes are considered as non-operational.
@@ -1005,98 +1067,1110 @@ export const ApplicationApiFactory = function (configuration, basePath, axios) {
          * 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 {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));
+        },
+        /**
+         * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions).
+         * @summary Get Input/Output Values
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {Array<string>} [ios]
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getBusIOValues(cell, ios, options) {
+            return localVarFp.getBusIOValues(cell, ios, options).then((request) => request(axios, 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}
+         */
+        getProfinetDescription(cell, options) {
+            return localVarFp.getProfinetDescription(cell, options).then((request) => request(axios, 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}
+         */
+        getProfinetIOsFromFile(cell, inputOffset, outputOffset, options) {
+            return localVarFp.getProfinetIOsFromFile(cell, inputOffset, outputOffset, options).then((request) => request(axios, 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}
+         */
+        listBusIODescriptions(cell, options) {
+            return localVarFp.listBusIODescriptions(cell, options).then((request) => request(axios, 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}
+         */
+        listProfinetIOs(cell, options) {
+            return localVarFp.listProfinetIOs(cell, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
+         * @summary Set Output Values
+         * @param {string} cell Unique identifier addressing a cell in all API calls.
+         * @param {Array<IOValue>} iOValue
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        setBusIOValues(cell, iOValue, options) {
+            return localVarFp.setBusIOValues(cell, iOValue, options).then((request) => request(axios, 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}
          */
-        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));
     }
 }
 /**
@@ -1905,45 +2979,6 @@ export const ControllerApiAxiosParamCreator = function (configuration) {
                 options: localVarRequestOptions,
             };
         },
-        /**
-         * Get the current robot system mode of a registered robot controller. The robot system mode indicates if a robot controller can be used. See [setDefaultMode](setDefaultMode) for more information about the different modes. The mode is influenced by the operating mode of the robot controller. The operating mode can be changed via [setDefaultMode](setDefaultMode). Request the current operating mode of the robot controller via [getCurrentRobotControllerState](getCurrentRobotControllerState).
-         * @summary Current Mode
-         * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} controller Unique identifier to address a controller in the cell.
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getMode: async (cell, controller, options = {}) => {
-            // verify required parameter 'cell' is not null or undefined
-            assertParamExists('getMode', 'cell', cell);
-            // verify required parameter 'controller' is not null or undefined
-            assertParamExists('getMode', 'controller', controller);
-            const localVarPath = `/cells/{cell}/controllers/{controller}/mode`
-                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
-                .replace(`{${"controller"}}`, encodeURIComponent(String(controller)));
-            // 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 configuration for a robot controller.
          * @summary Robot Controller
@@ -2189,15 +3224,16 @@ export const ControllerApiAxiosParamCreator = function (configuration) {
             };
         },
         /**
-         * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.
+         * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates.
          * @summary Stream State
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {string} controller Unique identifier to address a controller in the cell.
          * @param {number} [responseRate]
+         * @param {number} [addControllerTimeout]
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        streamRobotControllerState: async (cell, controller, responseRate, options = {}) => {
+        streamRobotControllerState: async (cell, controller, responseRate, addControllerTimeout, options = {}) => {
             // verify required parameter 'cell' is not null or undefined
             assertParamExists('streamRobotControllerState', 'cell', cell);
             // verify required parameter 'controller' is not null or undefined
@@ -2223,6 +3259,9 @@ export const ControllerApiAxiosParamCreator = function (configuration) {
             if (responseRate !== undefined) {
                 localVarQueryParameter['response_rate'] = responseRate;
             }
+            if (addControllerTimeout !== undefined) {
+                localVarQueryParameter['add_controller_timeout'] = addControllerTimeout;
+            }
             setSearchParams(localVarUrlObj, localVarQueryParameter);
             let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
             localVarRequestOptions.headers = { ...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers };
@@ -2376,20 +3415,6 @@ export const ControllerApiFp = function (configuration) {
             const localVarOperationServerBasePath = operationServerMap['ControllerApi.getCurrentRobotControllerState']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
-        /**
-         * Get the current robot system mode of a registered robot controller. The robot system mode indicates if a robot controller can be used. See [setDefaultMode](setDefaultMode) for more information about the different modes. The mode is influenced by the operating mode of the robot controller. The operating mode can be changed via [setDefaultMode](setDefaultMode). Request the current operating mode of the robot controller via [getCurrentRobotControllerState](getCurrentRobotControllerState).
-         * @summary Current Mode
-         * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} controller Unique identifier to address a controller in the cell.
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        async getMode(cell, controller, options) {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.getMode(cell, controller, options);
-            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
-            const localVarOperationServerBasePath = operationServerMap['ControllerApi.getMode']?.[localVarOperationServerIndex]?.url;
-            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
-        },
         /**
          * Get the configuration for a robot controller.
          * @summary Robot Controller
@@ -2477,16 +3502,17 @@ export const ControllerApiFp = function (configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.
+         * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates.
          * @summary Stream State
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {string} controller Unique identifier to address a controller in the cell.
          * @param {number} [responseRate]
+         * @param {number} [addControllerTimeout]
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        async streamRobotControllerState(cell, controller, responseRate, options) {
-            const localVarAxiosArgs = await localVarAxiosParamCreator.streamRobotControllerState(cell, controller, responseRate, options);
+        async streamRobotControllerState(cell, controller, responseRate, addControllerTimeout, options) {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.streamRobotControllerState(cell, controller, responseRate, addControllerTimeout, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['ControllerApi.streamRobotControllerState']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
@@ -2586,17 +3612,6 @@ export const ControllerApiFactory = function (configuration, basePath, axios) {
         getCurrentRobotControllerState(cell, controller, options) {
             return localVarFp.getCurrentRobotControllerState(cell, controller, options).then((request) => request(axios, basePath));
         },
-        /**
-         * Get the current robot system mode of a registered robot controller. The robot system mode indicates if a robot controller can be used. See [setDefaultMode](setDefaultMode) for more information about the different modes. The mode is influenced by the operating mode of the robot controller. The operating mode can be changed via [setDefaultMode](setDefaultMode). Request the current operating mode of the robot controller via [getCurrentRobotControllerState](getCurrentRobotControllerState).
-         * @summary Current Mode
-         * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} controller Unique identifier to address a controller in the cell.
-         * @param {*} [options] Override http request option.
-         * @throws {RequiredError}
-         */
-        getMode(cell, controller, options) {
-            return localVarFp.getMode(cell, controller, options).then((request) => request(axios, basePath));
-        },
         /**
          * Get the configuration for a robot controller.
          * @summary Robot Controller
@@ -2666,16 +3681,17 @@ export const ControllerApiFactory = function (configuration, basePath, axios) {
             return localVarFp.streamFreeDrive(cell, controller, responseRate, options).then((request) => request(axios, basePath));
         },
         /**
-         * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.
+         * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates.
          * @summary Stream State
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {string} controller Unique identifier to address a controller in the cell.
          * @param {number} [responseRate]
+         * @param {number} [addControllerTimeout]
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        streamRobotControllerState(cell, controller, responseRate, options) {
-            return localVarFp.streamRobotControllerState(cell, controller, responseRate, options).then((request) => request(axios, basePath));
+        streamRobotControllerState(cell, controller, responseRate, addControllerTimeout, options) {
+            return localVarFp.streamRobotControllerState(cell, controller, responseRate, addControllerTimeout, options).then((request) => request(axios, basePath));
         },
         /**
          * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior.
@@ -2775,18 +3791,6 @@ export class ControllerApi extends BaseAPI {
     getCurrentRobotControllerState(cell, controller, options) {
         return ControllerApiFp(this.configuration).getCurrentRobotControllerState(cell, controller, options).then((request) => request(this.axios, this.basePath));
     }
-    /**
-     * Get the current robot system mode of a registered robot controller. The robot system mode indicates if a robot controller can be used. See [setDefaultMode](setDefaultMode) for more information about the different modes. The mode is influenced by the operating mode of the robot controller. The operating mode can be changed via [setDefaultMode](setDefaultMode). Request the current operating mode of the robot controller via [getCurrentRobotControllerState](getCurrentRobotControllerState).
-     * @summary Current Mode
-     * @param {string} cell Unique identifier addressing a cell in all API calls.
-     * @param {string} controller Unique identifier to address a controller in the cell.
-     * @param {*} [options] Override http request option.
-     * @throws {RequiredError}
-     * @memberof ControllerApi
-     */
-    getMode(cell, controller, options) {
-        return ControllerApiFp(this.configuration).getMode(cell, controller, options).then((request) => request(this.axios, this.basePath));
-    }
     /**
      * Get the configuration for a robot controller.
      * @summary Robot Controller
@@ -2862,17 +3866,18 @@ export class ControllerApi extends BaseAPI {
         return ControllerApiFp(this.configuration).streamFreeDrive(cell, controller, responseRate, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.
+     * <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates.
      * @summary Stream State
      * @param {string} cell Unique identifier addressing a cell in all API calls.
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {number} [responseRate]
+     * @param {number} [addControllerTimeout]
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
      * @memberof ControllerApi
      */
-    streamRobotControllerState(cell, controller, responseRate, options) {
-        return ControllerApiFp(this.configuration).streamRobotControllerState(cell, controller, responseRate, options).then((request) => request(this.axios, this.basePath));
+    streamRobotControllerState(cell, controller, responseRate, addControllerTimeout, options) {
+        return ControllerApiFp(this.configuration).streamRobotControllerState(cell, controller, responseRate, addControllerTimeout, options).then((request) => request(this.axios, this.basePath));
     }
     /**
      * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior.
@@ -3485,6 +4490,44 @@ 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 +4575,20 @@ 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 +4612,17 @@ 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 +4643,18 @@ 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 +6391,27 @@ 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(`{${"setup"}}`, encodeURIComponent(String(setup)));
             // use dummy base URL string because the URL constructor only accepts absolute URLs.
             const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
             let baseOptions;
@@ -5356,21 +6436,21 @@ export const StoreCollisionScenesApiAxiosParamCreator = function (configuration)
             };
         },
         /**
-         * Returns the stored scene.
-         * @summary Get Scene
+         * Returns the stored collision setup.
+         * @summary Get Collision Setup
          * @param {string} cell Unique identifier addressing a cell in all API calls.
-         * @param {string} scene Unique identifier addressing a collision scene.
+         * @param {string} setup Identifier of the collision setup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        getStoredCollisionScene: async (cell, scene, options = {}) => {
+        getStoredCollisionSetup: async (cell, setup, options = {}) => {
             // verify required parameter 'cell' is not null or undefined
-            assertParamExists('getStoredCollisionScene', 'cell', cell);
-            // verify required parameter 'scene' is not null or undefined
-            assertParamExists('getStoredCollisionScene', 'scene', scene);
-            const localVarPath = `/cells/{cell}/store/collision/scenes/{scene}`
+            assertParamExists('getStoredCollisionSetup', 'cell', cell);
+            // verify required parameter 'setup' is not null or undefined
+            assertParamExists('getStoredCollisionSetup', 'setup', setup);
+            const localVarPath = `/cells/{cell}/store/collision/setups/{setup}`
                 .replace(`{${"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 +6475,16 @@ 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 +6510,24 @@ 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 +6547,7 @@ 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 +6556,177 @@ 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 +8435,44 @@ 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 +8520,20 @@ 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 +8557,17 @@ 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 +8588,18 @@ 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