@wandelbots/nova-api 25.7.0-dev.9 → 25.7.0-rc.2

package/v2/api.js

@@ -86,8 +86,17 @@ export const Direction = {
     DirectionForward: 'DIRECTION_FORWARD',
     DirectionBackward: 'DIRECTION_BACKWARD'
 };
-export const EndOfTrajectoryKindEnum = {
-    EndOfTrajectory: 'END_OF_TRAJECTORY'
+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'
@@ -153,6 +162,21 @@ export const IntegerValueValueTypeEnum = {
 export const JoggingDetailsKindEnum = {
     Jogging: 'JOGGING'
 };
+export const JoggingPausedByUserKindEnum = {
+    PausedByUser: 'PAUSED_BY_USER'
+};
+export const JoggingPausedNearCollisionKindEnum = {
+    PausedNearCollision: 'PAUSED_NEAR_COLLISION'
+};
+export const JoggingPausedNearJointLimitKindEnum = {
+    PausedNearJointLimit: 'PAUSED_NEAR_JOINT_LIMIT'
+};
+export const JoggingPausedOnIOKindEnum = {
+    PausedOnIo: 'PAUSED_ON_IO'
+};
+export const JoggingRunningKindEnum = {
+    Running: 'RUNNING'
+};
 export const JointVelocityRequestMessageTypeEnum = {
     JointVelocityRequest: 'JointVelocityRequest'
 };
@@ -186,6 +210,9 @@ export const Manufacturer = {
     Universalrobots: 'universalrobots',
     Yaskawa: 'yaskawa'
 };
+export const MidpointInsertionAlgorithmAlgorithmNameEnum = {
+    MidpointInsertionAlgorithm: 'MidpointInsertionAlgorithm'
+};
 export const MovementErrorResponseKindEnum = {
     MotionError: 'MOTION_ERROR'
 };
@@ -275,21 +302,6 @@ export const PauseMovementRequestMessageTypeEnum = {
 export const PauseMovementResponseKindEnum = {
     PauseReceived: 'PAUSE_RECEIVED'
 };
-export const PausedByRequestKindEnum = {
-    PausedByUser: 'PAUSED_BY_USER'
-};
-export const PausedByUserKindEnum = {
-    PausedByUser: 'PAUSED_BY_USER'
-};
-export const PausedNearCollisionKindEnum = {
-    PausedNearCollision: 'PAUSED_NEAR_COLLISION'
-};
-export const PausedNearJointLimitKindEnum = {
-    PausedNearJointLimit: 'PAUSED_NEAR_JOINT_LIMIT'
-};
-export const PausedOnIOKindEnum = {
-    PausedOnIo: 'PAUSED_ON_IO'
-};
 export const PlaneShapeTypeEnum = {
     Plane: 'plane'
 };
@@ -299,6 +311,9 @@ export const PlaybackSpeedRequestMessageTypeEnum = {
 export const PlaybackSpeedResponseKindEnum = {
     PlaybackSpeedReceived: 'PLAYBACK_SPEED_RECEIVED'
 };
+export const RRTConnectAlgorithmAlgorithmNameEnum = {
+    RrtConnectAlgorithm: 'RRTConnectAlgorithm'
+};
 export const RectangleShapeTypeEnum = {
     Rectangle: 'rectangle'
 };
@@ -315,22 +330,16 @@ 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'
-};
-export const RunningKindEnum = {
-    Running: 'RUNNING'
-};
-export const Running1KindEnum = {
-    Running: 'RUNNING'
+    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.
@@ -437,9 +446,24 @@ export const TrajectoryDataMessageTypeEnum = {
 export const TrajectoryDetailsKindEnum = {
     Trajectory: 'TRAJECTORY'
 };
+export const TrajectoryEndedKindEnum = {
+    EndOfTrajectory: 'END_OF_TRAJECTORY'
+};
 export const TrajectoryIdMessageTypeEnum = {
     TrajectoryId: 'TrajectoryId'
 };
+export const TrajectoryPausedByUserKindEnum = {
+    PausedByUser: 'PAUSED_BY_USER'
+};
+export const TrajectoryPausedOnIOKindEnum = {
+    PausedOnIo: 'PAUSED_ON_IO'
+};
+export const TrajectoryRunningKindEnum = {
+    Running: 'RUNNING'
+};
+export const TrajectoryWaitForIOKindEnum = {
+    WaitForIo: 'WAIT_FOR_IO'
+};
 /**
  * The unit of input/output value.
  * @export
@@ -503,6 +527,7 @@ export const VirtualControllerTypes = {
     FanucCrx20ial: 'fanuc-crx20ial',
     FanucCrx25ia: 'fanuc-crx25ia',
     FanucCrx30ia: 'fanuc-crx30ia',
+    FanucCrx5ia: 'fanuc-crx5ia',
     FanucLrMate200iD: 'fanuc-lr_mate_200iD',
     FanucLrMate200iD4S: 'fanuc-lr_mate_200iD4S',
     FanucLrMate200iD7L: 'fanuc-lr_mate_200iD7L',
@@ -510,6 +535,7 @@ export const VirtualControllerTypes = {
     FanucM10iD16S: 'fanuc-m10iD16S',
     FanucM20iD25: 'fanuc-m20iD25',
     FanucM20iD35: 'fanuc-m20iD35',
+    FanucM710iC20L: 'fanuc-m710iC20L',
     FanucM900iB280L: 'fanuc-m900iB280L',
     FanucM900iB360E: 'fanuc-m900iB360E',
     FanucR2000ic125l: 'fanuc-r2000ic125l',
@@ -577,9 +603,6 @@ export const VirtualControllerTypes = {
     YaskawaHc10dtp: 'yaskawa-hc10dtp',
     YaskawaHc20dtp: 'yaskawa-hc20dtp'
 };
-export const WaitForIOKindEnum = {
-    WaitForIo: 'WAIT_FOR_IO'
-};
 export const YaskawaControllerKindEnum = {
     YaskawaController: 'YaskawaController'
 };
@@ -590,7 +613,7 @@ export const YaskawaControllerKindEnum = {
 export const ApplicationApiAxiosParamCreator = function (configuration) {
     return {
         /**
-         * Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The endpoint where the API is reachable from the container serving the Application. > - `BASE_PATH`: The root path of the deployed Application. It will be reachable via: http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell where the application is deployed.
+         * 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
@@ -847,7 +870,7 @@ export const ApplicationApiFp = function (configuration) {
     const localVarAxiosParamCreator = ApplicationApiAxiosParamCreator(configuration);
     return {
         /**
-         * Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The endpoint where the API is reachable from the container serving the Application. > - `BASE_PATH`: The root path of the deployed Application. It will be reachable via: http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell where the application is deployed.
+         * 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
@@ -943,7 +966,7 @@ export const ApplicationApiFactory = function (configuration, basePath, axios) {
     const localVarFp = ApplicationApiFp(configuration);
     return {
         /**
-         * Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The endpoint where the API is reachable from the container serving the Application. > - `BASE_PATH`: The root path of the deployed Application. It will be reachable via: http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell where the application is deployed.
+         * 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
@@ -1021,7 +1044,7 @@ export const ApplicationApiFactory = function (configuration, basePath, axios) {
  */
 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 endpoint where the API is reachable from the container serving the Application. > - `BASE_PATH`: The root path of the deployed Application. It will be reachable via: http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell where the application is deployed.
+     * 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
@@ -1902,45 +1925,6 @@ 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
@@ -2098,7 +2082,7 @@ export const ControllerApiAxiosParamCreator = function (configuration) {
             };
         },
         /**
-         * Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state \'normal\' or \'reduced\'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change.
+         * Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state \'normal\' or \'reduced\'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change.
          * @summary Set Default 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.
@@ -2186,15 +2170,16 @@ 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
@@ -2220,6 +2205,9 @@ 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 };
@@ -2373,20 +2361,6 @@ 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
@@ -2444,7 +2418,7 @@ export const ControllerApiFp = function (configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state \'normal\' or \'reduced\'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change.
+         * Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state \'normal\' or \'reduced\'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change.
          * @summary Set Default 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.
@@ -2474,16 +2448,17 @@ 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);
@@ -2583,17 +2558,6 @@ 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
@@ -2639,7 +2603,7 @@ export const ControllerApiFactory = function (configuration, basePath, axios) {
             return localVarFp.listRobotControllers(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state \'normal\' or \'reduced\'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change.
+         * Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state \'normal\' or \'reduced\'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change.
          * @summary Set Default 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.
@@ -2663,16 +2627,17 @@ 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.
@@ -2772,18 +2737,6 @@ 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
@@ -2833,7 +2786,7 @@ export class ControllerApi extends BaseAPI {
         return ControllerApiFp(this.configuration).listRobotControllers(cell, options).then((request) => request(this.axios, this.basePath));
     }
     /**
-     * Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state \'normal\' or \'reduced\'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change.
+     * Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state \'normal\' or \'reduced\'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change.
      * @summary Set Default 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.
@@ -2859,17 +2812,18 @@ 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.
@@ -3482,6 +3436,44 @@ 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
@@ -3529,6 +3521,20 @@ 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
@@ -3552,6 +3558,17 @@ 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
@@ -3572,6 +3589,18 @@ 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
@@ -5308,27 +5337,27 @@ 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;
@@ -5353,21 +5382,21 @@ 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(`{${"setup"}}`, encodeURIComponent(String(setup)));
             // use dummy base URL string because the URL constructor only accepts absolute URLs.
             const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
             let baseOptions;
@@ -5392,16 +5421,16 @@ export const StoreCollisionScenesApiAxiosParamCreator = function (configuration)
             };
         },
         /**
-         * Returns a list of stored scenes.
-         * @summary List Scenes
+         * Returns a list of stored collision setups.
+         * @summary List Collision Setups
          * @param {string} cell Unique identifier addressing a cell in all API calls.
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
-        listStoredCollisionScenes: async (cell, options = {}) => {
+        listStoredCollisionSetups: async (cell, options = {}) => {
             // verify required parameter 'cell' is not null or undefined
-            assertParamExists('listStoredCollisionScenes', 'cell', cell);
-            const localVarPath = `/cells/{cell}/store/collision/scenes`
+            assertParamExists('listStoredCollisionSetups', 'cell', cell);
+            const localVarPath = `/cells/{cell}/store/collision/setups`
                 .replace(`{${"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);
@@ -5427,24 +5456,24 @@ 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;
@@ -5464,7 +5493,7 @@ 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,
@@ -5473,177 +5502,177 @@ 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));
     }
 }
 /**
@@ -6148,16 +6177,14 @@ export class StoreObjectApi extends BaseAPI {
 export const SystemApiAxiosParamCreator = function (configuration) {
     return {
         /**
-         * Retrieves a configuration backup based on provided resource identifiers.
+         * Retrieves a configuration backup based on provided resource identifiers. If an empty array of resources is provided, a backup for all resources will be retrieved.
          * @summary Retrieve Configuration Backup
-         * @param {Array<string>} resources List of resource identifiers to included in the backup and restore operations.
+         * @param {Array<string>} [resources] List of resource identifiers to include in the retrieval.
          * @param {{ [key: string]: string; }} [metadata] Additional metadata to add to the backup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
          */
         backupConfiguration: async (resources, metadata, options = {}) => {
-            // verify required parameter 'resources' is not null or undefined
-            assertParamExists('backupConfiguration', 'resources', resources);
             const localVarPath = `/system/configuration`;
             // use dummy base URL string because the URL constructor only accepts absolute URLs.
             const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
@@ -6474,9 +6501,9 @@ export const SystemApiFp = function (configuration) {
     const localVarAxiosParamCreator = SystemApiAxiosParamCreator(configuration);
     return {
         /**
-         * Retrieves a configuration backup based on provided resource identifiers.
+         * Retrieves a configuration backup based on provided resource identifiers. If an empty array of resources is provided, a backup for all resources will be retrieved.
          * @summary Retrieve Configuration Backup
-         * @param {Array<string>} resources List of resource identifiers to included in the backup and restore operations.
+         * @param {Array<string>} [resources] List of resource identifiers to include in the retrieval.
          * @param {{ [key: string]: string; }} [metadata] Additional metadata to add to the backup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
@@ -6598,9 +6625,9 @@ export const SystemApiFactory = function (configuration, basePath, axios) {
     const localVarFp = SystemApiFp(configuration);
     return {
         /**
-         * Retrieves a configuration backup based on provided resource identifiers.
+         * Retrieves a configuration backup based on provided resource identifiers. If an empty array of resources is provided, a backup for all resources will be retrieved.
          * @summary Retrieve Configuration Backup
-         * @param {Array<string>} resources List of resource identifiers to included in the backup and restore operations.
+         * @param {Array<string>} [resources] List of resource identifiers to include in the retrieval.
          * @param {{ [key: string]: string; }} [metadata] Additional metadata to add to the backup
          * @param {*} [options] Override http request option.
          * @throws {RequiredError}
@@ -6695,9 +6722,9 @@ export const SystemApiFactory = function (configuration, basePath, axios) {
  */
 export class SystemApi extends BaseAPI {
     /**
-     * Retrieves a configuration backup based on provided resource identifiers.
+     * Retrieves a configuration backup based on provided resource identifiers. If an empty array of resources is provided, a backup for all resources will be retrieved.
      * @summary Retrieve Configuration Backup
-     * @param {Array<string>} resources List of resource identifiers to included in the backup and restore operations.
+     * @param {Array<string>} [resources] List of resource identifiers to include in the retrieval.
      * @param {{ [key: string]: string; }} [metadata] Additional metadata to add to the backup
      * @param {*} [options] Override http request option.
      * @throws {RequiredError}
@@ -7352,6 +7379,44 @@ 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
@@ -7399,6 +7464,20 @@ 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
@@ -7422,6 +7501,17 @@ 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
@@ -7442,6 +7532,18 @@ 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