@wandelbots/nova-api 25.7.2-rc.2 → 25.8.0-dev.100

package/v2/api.ts

@@ -106,7 +106,7 @@ export interface AddTrajectoryError {
      */
     'message'?: string;
     /**
-     * The location of the error in the trajectory. 
+     * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g. in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path 
      * @type {number}
      * @memberof AddTrajectoryError
      */
@@ -385,19 +385,19 @@ export interface BusIOProfinet {
      */
     'bus_type'?: BusIOProfinetBusTypeEnum;
     /**
-     * Content of Configuration XML file for PROFINET device, typically known as PND_IOD.xml. Leave empty for the default configuration.  Refer to the official PROFINET driver documentation for further information. 
-     * @type {string}
+     * Used to enable IP communication through the same physical ethernet interface while PROFINET driver is active. 
+     * @type {BusIOProfinetNetwork}
      * @memberof BusIOProfinet
      */
-    'config_file_content'?: string;
+    'network_config'?: BusIOProfinetNetwork;
     /**
-     * Used to enable IP communication through the same physical interface while PN Driver is running.
-     * @type {BusIOProfinetNetwork}
+     * IP address of the PLC to establish PROFINET communication with.  The IP address is used to configure the host machine\'s firewall. The firewall configuration is applied while the BUS input/output service is active. Without proper firewall configuration, PROFINET device discovery, configuration exchanges, and real-time cyclic data communication will fail. 
+     * @type {string}
      * @memberof BusIOProfinet
      */
-    'network_config'?: BusIOProfinetNetwork;
+    'plc_ip': string;
     /**
-     * MAC address of the physical ethernet interface that you want to use for PROFINET communication.
+     * MAC address of the physical ethernet interface that you want to use for PROFINET communication. 
      * @type {string}
      * @memberof BusIOProfinet
      */
@@ -1782,9 +1782,22 @@ export interface GetTrajectoryResponse {
 export interface HTTPValidationError {
     /**
      * 
-     * @type {Array<ValidationError>}
+     * @type {Array<ValidationError2>}
      * @memberof HTTPValidationError
      */
+    'detail'?: Array<ValidationError2>;
+}
+/**
+ * 
+ * @export
+ * @interface HTTPValidationError2
+ */
+export interface HTTPValidationError2 {
+    /**
+     * 
+     * @type {Array<ValidationError>}
+     * @memberof HTTPValidationError2
+     */
     'detail'?: Array<ValidationError>;
 }
 /**
@@ -1889,7 +1902,7 @@ export interface IODescription2 {
      */
     'io': string;
     /**
-     * Descriptive name of the input/output. Customize it using the respective BUS service, e.g. [addProfinetIO](addProfinetIO) for PROFINET service. 
+     * Name of the input/output. Customize it using the respective BUS service, e.g. [addProfinetIO](addProfinetIO) for PROFINET service. 
      * @type {string}
      * @memberof IODescription2
      */
@@ -1992,7 +2005,7 @@ export interface IOIntegerValue {
      */
     'io': string;
     /**
-     * Value of an input/output with integer representation.  > The integral value is transmitted as a string to avoid precision loss during conversion to JSON. > We recommend to use int64 in your implementation. If you want to interact with int64 in numbers, > JS bigint libraries can help you to parse the string into an integral value. 
+     * Value of an input/output with integer representation.  > The integral value is transmitted as a string to avoid precision loss during conversion to JSON. > Recommended: Use int64 in your implementation. If you want to interact with int64 in numbers, > JS bigint libraries can help you to parse the string into an integral value. 
      * @type {string}
      * @memberof IOIntegerValue
      */
@@ -2011,6 +2024,20 @@ export const IOIntegerValueValueTypeEnum = {
 
 export type IOIntegerValueValueTypeEnum = typeof IOIntegerValueValueTypeEnum[keyof typeof IOIntegerValueValueTypeEnum];
 
+/**
+ * States the source of the input/output signal. 
+ * @export
+ * @enum {string}
+ */
+
+export const IOOrigin = {
+    Controller: 'CONTROLLER',
+    BusIo: 'BUS_IO'
+} as const;
+
+export type IOOrigin = typeof IOOrigin[keyof typeof IOOrigin];
+
+
 /**
  * @type IOValue
  * @export
@@ -2119,24 +2146,12 @@ export interface InitializeJoggingRequest {
      * @memberof InitializeJoggingRequest
      */
     'tcp'?: string;
-    /**
-     * Update rate for the response message in milliseconds (ms).  Recommendation: As Wandelbots NOVA updates states in the controller\'s step rate, use either the controller\'s step rate or a multiple of it.                 Wandelbots NOVA will not interpolate the state but round it to the nearest step rate below the configured response rate. Use [getOptimizerConfiguration](getOptimizerConfiguration) to get the controller\'s step rate.  Minimal response rate is the step rate of the controller. 
-     * @type {number}
-     * @memberof InitializeJoggingRequest
-     */
-    'response_rate'?: number;
     /**
      * Unique identifier addressing a coordinate system to which the responses are transformed. If not set, world coordinate system is used. 
      * @type {string}
      * @memberof InitializeJoggingRequest
      */
     'response_coordinate_system'?: string;
-    /**
-     * Defines an input/output that is listened to during the movement. Execution pauses if the defined comparator evaluates to `true`. 
-     * @type {string}
-     * @memberof InitializeJoggingRequest
-     */
-    'pause_on_io'?: string;
 }
 
 export const InitializeJoggingRequestMessageTypeEnum = {
@@ -2195,12 +2210,6 @@ export interface InitializeMovementRequest {
      * @memberof InitializeMovementRequest
      */
     'initial_location'?: number;
-    /**
-     * Update rate for the response message in milliseconds (ms). Default is 200 ms. Recommendation: As Wandelbots NOVA updates states in the controller\'s step rate, use either the controller\'s step rate or a multiple of it.                 Wandelbots NOVA will not interpolate the state but rather round it to the nearest step rate below the configured response rate. Minimal response rate is the step rate of controller. 
-     * @type {number}
-     * @memberof InitializeMovementRequest
-     */
-    'response_rate'?: number;
     /**
      * Unique identifier addressing a coordinate system to which the responses are transformed. If not set, world coordinate system is used. 
      * @type {string}
@@ -2255,7 +2264,7 @@ export const InitializeMovementResponseKindEnum = {
 export type InitializeMovementResponseKindEnum = typeof InitializeMovementResponseKindEnum[keyof typeof InitializeMovementResponseKindEnum];
 
 /**
- * Value of an input/output with integer representation.  > The integral value is transmitted as a string to avoid precision loss during conversion to JSON. > We recommend to use int64 in your implementation. If you want to interact with int64 in numbers, > JS bigint libraries can help you to parse the string into an integral value. 
+ * Value of an input/output with integer representation.  > The integral value is transmitted as a string to avoid precision loss during conversion to JSON. > Recommended: Use int64 in your implementation. If you want to interact with int64 in numbers, > JS bigint libraries can help you to parse the string into an integral value. 
  * @export
  * @interface IntegerValue
  */
@@ -2455,10 +2464,10 @@ export type JoggingDetailsKindEnum = typeof JoggingDetailsKindEnum[keyof typeof
  * @type JoggingDetailsState
  * @export
  */
-export type JoggingDetailsState = JoggingPausedByUser | JoggingPausedNearCollision | JoggingPausedNearJointLimit | JoggingPausedOnIO | JoggingRunning;
+export type JoggingDetailsState = { kind: 'PAUSED_BY_USER' } & JoggingPausedByUser | { kind: 'PAUSED_NEAR_COLLISION' } & JoggingPausedNearCollision | { kind: 'PAUSED_NEAR_JOINT_LIMIT' } & JoggingPausedNearJointLimit | { kind: 'PAUSED_ON_IO' } & JoggingPausedOnIO | { kind: 'RUNNING' } & JoggingRunning;
 
 /**
- * 
+ * User has paused jogging. 
  * @export
  * @interface JoggingPausedByUser
  */
@@ -2478,7 +2487,7 @@ export const JoggingPausedByUserKindEnum = {
 export type JoggingPausedByUserKindEnum = typeof JoggingPausedByUserKindEnum[keyof typeof JoggingPausedByUserKindEnum];
 
 /**
- * 
+ * Jogging was paused because the motion group neared a collision. 
  * @export
  * @interface JoggingPausedNearCollision
  */
@@ -2504,7 +2513,7 @@ export const JoggingPausedNearCollisionKindEnum = {
 export type JoggingPausedNearCollisionKindEnum = typeof JoggingPausedNearCollisionKindEnum[keyof typeof JoggingPausedNearCollisionKindEnum];
 
 /**
- * 
+ * Jogging was paused because a joint is near its limit. 
  * @export
  * @interface JoggingPausedNearJointLimit
  */
@@ -2530,7 +2539,7 @@ export const JoggingPausedNearJointLimitKindEnum = {
 export type JoggingPausedNearJointLimitKindEnum = typeof JoggingPausedNearJointLimitKindEnum[keyof typeof JoggingPausedNearJointLimitKindEnum];
 
 /**
- * 
+ * Jogging was paused because of an I/O event. 
  * @export
  * @interface JoggingPausedOnIO
  */
@@ -2550,7 +2559,7 @@ export const JoggingPausedOnIOKindEnum = {
 export type JoggingPausedOnIOKindEnum = typeof JoggingPausedOnIOKindEnum[keyof typeof JoggingPausedOnIOKindEnum];
 
 /**
- * 
+ * Jogging is active. 
  * @export
  * @interface JoggingRunning
  */
@@ -2621,10 +2630,10 @@ export interface JointLimits {
 export interface JointTrajectory {
     /**
      * List of joint positions [rad] for each sample. The number of samples must match the number of timestamps provided in the times field. 
-     * @type {Array<Joints>}
+     * @type {Array<Array<number>>}
      * @memberof JointTrajectory
      */
-    'joint_positions': Array<Joints>;
+    'joint_positions': Array<Array<number>>;
     /**
      * Timestamp for each sample [s].
      * @type {Array<number>}
@@ -2632,7 +2641,7 @@ export interface JointTrajectory {
      */
     'times': Array<number>;
     /**
-     * Location for each sample, scalar value defining a position along a path. Typical range: 0 to `n`, `n` denoting the number of motion commands. Each integer value of the location corresponds to a specific motion command. If provided, the number of samples must match the number of timestamps provided in the times field. 
+     * 
      * @type {Array<number>}
      * @memberof JointTrajectory
      */
@@ -2651,11 +2660,11 @@ export interface JointVelocityRequest {
      */
     'message_type'?: JointVelocityRequestMessageTypeEnum;
     /**
-     * in [rad/s]
-     * @type {Joints}
+     * This structure describes a set of joint values (e.g. positions, currents, torques) of a motion group.  Float precision is the default. 
+     * @type {Array<number>}
      * @memberof JointVelocityRequest
      */
-    'velocity': Joints;
+    'velocity': Array<number>;
 }
 
 export const JointVelocityRequestMessageTypeEnum = {
@@ -2690,19 +2699,6 @@ export const JointVelocityResponseKindEnum = {
 
 export type JointVelocityResponseKindEnum = typeof JointVelocityResponseKindEnum[keyof typeof JointVelocityResponseKindEnum];
 
-/**
- * This structure describes a set of joint values of a motion group.  We call a set of joint values describing the current position in joint space of a motion group a \"joint position\". Joint position was chosen as the term to be consistent with the terms \"joint velocity\" and \"joint acceleration\".  `joints` must have as many entries as the motion group\'s degrees of freedom to be valid.  Float precision is the default. 
- * @export
- * @interface Joints
- */
-export interface Joints {
-    /**
-     * 
-     * @type {Array<number>}
-     * @memberof Joints
-     */
-    'joints': Array<number>;
-}
 /**
  * The configuration of a physical KUKA robot controller has to contain an IP address. Additionally an RSI server configuration has to be specified in order to control the robot. Deploying the server is a functionality of this API. 
  * @export
@@ -2733,6 +2729,12 @@ export interface KukaController {
      * @memberof KukaController
      */
     'rsi_server': KukaControllerRsiServer;
+    /**
+     * If true, uses slower cycle time of 12ms instead of 4ms. 
+     * @type {boolean}
+     * @memberof KukaController
+     */
+    'slow_cycle_rate'?: boolean;
 }
 
 export const KukaControllerKindEnum = {
@@ -2865,25 +2867,6 @@ export const LicenseStatusEnum = {
 export type LicenseStatusEnum = typeof LicenseStatusEnum[keyof typeof LicenseStatusEnum];
 
 
-/**
- * 
- * @export
- * @interface LimitConfig
- */
-export interface LimitConfig {
-    /**
-     * 
-     * @type {LimitSet}
-     * @memberof LimitConfig
-     */
-    'physical_limits'?: LimitSet;
-    /**
-     * 
-     * @type {OperationLimits}
-     * @memberof LimitConfig
-     */
-    'operation_limits'?: OperationLimits;
-}
 /**
  * The upper_limit must be greater then the lower_limit.
  * @export
@@ -2933,6 +2916,12 @@ export interface LimitSet {
      * @memberof LimitSet
      */
     'flange'?: CartesianLimits;
+    /**
+     * 
+     * @type {JointLimits}
+     * @memberof LimitSet
+     */
+    'coupled_shoulder_elbow_joint'?: JointLimits;
 }
 /**
  * If a limit is not set, the default value will be used. 
@@ -3008,13 +2997,13 @@ export type Manufacturer = typeof Manufacturer[keyof typeof Manufacturer];
 
 
 /**
- * Midpoint insertion algorithm configuration for collision-free path planning. This algorithm iteratively inserts midpoints between the start and target joint position to find collision-free paths. 
+ * 
  * @export
  * @interface MidpointInsertionAlgorithm
  */
 export interface MidpointInsertionAlgorithm {
     /**
-     * Algorithm discriminator. 
+     * Algorithm discriminator.  Midpoint insertion algorithm configuration for collision-free path planning. This algorithm adds a single midpoint between the start and target joint position to find collision-free paths. 
      * @type {string}
      * @memberof MidpointInsertionAlgorithm
      */
@@ -3107,13 +3096,13 @@ export interface MotionGroupDescription {
      * @type {Pose}
      * @memberof MotionGroupDescription
      */
-    'mounting': Pose;
+    'mounting'?: Pose;
     /**
      * Maps a TCP name to its offset relative to the flange coordinate system. Key must be a TCP identifier. Values are TcpOffsets. 
      * @type {{ [key: string]: TcpOffset; }}
      * @memberof MotionGroupDescription
      */
-    'tcps': { [key: string]: TcpOffset; };
+    'tcps'?: { [key: string]: TcpOffset; };
     /**
      * A collection of identifiable colliders.
      * @type {{ [key: string]: Collider; }}
@@ -3134,10 +3123,10 @@ export interface MotionGroupDescription {
     'safety_tool_colliders'?: { [key: string]: { [key: string]: Collider; }; };
     /**
      * 
-     * @type {LimitConfig}
+     * @type {OperationLimits}
      * @memberof MotionGroupDescription
      */
-    'global_limits': LimitConfig;
+    'operation_limits': OperationLimits;
     /**
      * Maps a payload name to its configuration. Key must be a payload identifier. Values are payload objects. 
      * @type {{ [key: string]: Payload; }}
@@ -3293,11 +3282,11 @@ export interface MotionGroupState {
      */
     'controller': string;
     /**
-     * Current joint position of each joint in [rad] 
-     * @type {Joints}
+     * This structure describes a set of joint values (e.g. positions, currents, torques) of a motion group.  Float precision is the default. 
+     * @type {Array<number>}
      * @memberof MotionGroupState
      */
-    'joint_position': Joints;
+    'joint_position': Array<number>;
     /**
      * Indicates whether the joint is in a limit for all joints of the motion group. 
      * @type {MotionGroupStateJointLimitReached}
@@ -3305,17 +3294,17 @@ export interface MotionGroupState {
      */
     'joint_limit_reached': MotionGroupStateJointLimitReached;
     /**
-     * Current joint torque of each joint in [Nm]. Is only available if the robot controller supports it, e.g. available for UR controllers. 
-     * @type {Joints}
+     * This structure describes a set of joint values (e.g. positions, currents, torques) of a motion group.  Float precision is the default. 
+     * @type {Array<number>}
      * @memberof MotionGroupState
      */
-    'joint_torque'?: Joints;
+    'joint_torque'?: Array<number>;
     /**
-     * Current at TCP in [A]. Is only available if the robot controller supports it, e.g. available for UR controllers. 
-     * @type {Joints}
+     * This structure describes a set of joint values (e.g. positions, currents, torques) of a motion group.  Float precision is the default. 
+     * @type {Array<number>}
      * @memberof MotionGroupState
      */
-    'joint_current'?: Joints;
+    'joint_current'?: Array<number>;
     /**
      * Pose of the flange. Positions are in [mm]. Oriantations are in [rad]. The pose is relative to the response_coordinate_system specified in the request. For robot arms a flange pose is always returned, for positioners the flange might not be available, depending on the model. 
      * @type {Pose}
@@ -3790,6 +3779,12 @@ export interface PauseOnIO {
      * @memberof PauseOnIO
      */
     'comparator': Comparator;
+    /**
+     * 
+     * @type {IOOrigin}
+     * @memberof PauseOnIO
+     */
+    'io_origin': IOOrigin;
 }
 
 
@@ -3913,11 +3908,11 @@ export interface PlanTrajectoryFailedResponse {
      */
     'error_feedback': PlanTrajectoryFailedResponseErrorFeedback;
     /**
-     * 
+     * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g. in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path 
      * @type {number}
      * @memberof PlanTrajectoryFailedResponse
      */
-    'error_location_on_trajectory'?: number;
+    'error_location_on_trajectory': number;
     /**
      * The joint trajectory from the start joint position to the error. 
      * @type {JointTrajectory}
@@ -4154,11 +4149,11 @@ export interface ProfinetDescription {
  */
 export interface ProfinetIO {
     /**
-     * The name of the input/output variable. This is a human-readable identifier for the value. It distinguishes between different inputs/outputs variables in the system. The variables may be used to set bits or bytes at their pointed to address via [setBusIOValues](setBusIOValues). 
+     * Descriptive name or note for the input/output variable. 
      * @type {string}
      * @memberof ProfinetIO
      */
-    'name': string;
+    'description': string;
     /**
      * 
      * @type {ProfinetIOTypeEnum}
@@ -4199,11 +4194,11 @@ export interface ProfinetIO {
  */
 export interface ProfinetIOData {
     /**
-     * The name of the input/output variable. This is a human-readable identifier for the value. It distinguishes between different inputs/outputs variables in the system. The variables may be used to set bits or bytes at their pointed to address via [setBusIOValues](setBusIOValues). 
+     * Descriptive name or note for the input/output variable. 
      * @type {string}
      * @memberof ProfinetIOData
      */
-    'name': string;
+    'description': string;
     /**
      * 
      * @type {ProfinetIOTypeEnum}
@@ -4344,13 +4339,161 @@ export interface ProfinetSubSlotDescription {
     'output_length': number;
 }
 /**
- * <!-- theme: danger -->  > **Experimental**  RRT Connect algorithm configuration for collision-free path planning. Rapidly-exploring Random Trees (RRT) builds trees of valid configurations by randomly sampling the joint space and connecting feasible points. RRT Connect grows two trees simultaneously from start and target positions until they meet. This is a custom implementation optimized for manipulator kinematics and collision checking in industrial contexts. 
+ * A program is a collection of instructions that are executed in the robot cell.
+ * @export
+ * @interface Program
+ */
+export interface Program {
+    /**
+     * 
+     * @type {string}
+     * @memberof Program
+     */
+    'program': string;
+    /**
+     * 
+     * @type {string}
+     * @memberof Program
+     */
+    'name'?: string;
+    /**
+     * 
+     * @type {string}
+     * @memberof Program
+     */
+    'description'?: string;
+    /**
+     * 
+     * @type {string}
+     * @memberof Program
+     */
+    'app': string;
+    /**
+     * 
+     * @type {object}
+     * @memberof Program
+     */
+    'input_schema'?: object;
+    /**
+     * 
+     * @type {object}
+     * @memberof Program
+     */
+    'preconditions'?: object;
+}
+/**
+ * Holds the state of a program run.
+ * @export
+ * @interface ProgramRun
+ */
+export interface ProgramRun {
+    /**
+     * Unique identifier of the program run
+     * @type {string}
+     * @memberof ProgramRun
+     */
+    'run': string;
+    /**
+     * Unique identifier of the program
+     * @type {string}
+     * @memberof ProgramRun
+     */
+    'program': string;
+    /**
+     * State of the program run
+     * @type {ProgramRunState}
+     * @memberof ProgramRun
+     */
+    'state': ProgramRunState;
+    /**
+     * Logs of the program run
+     * @type {string}
+     * @memberof ProgramRun
+     */
+    'logs'?: string;
+    /**
+     * Stdout of the program run
+     * @type {string}
+     * @memberof ProgramRun
+     */
+    'stdout'?: string;
+    /**
+     * Stderr of the program run
+     * @type {string}
+     * @memberof ProgramRun
+     */
+    'stderr'?: string;
+    /**
+     * Error message of the program run, if any
+     * @type {string}
+     * @memberof ProgramRun
+     */
+    'error'?: string;
+    /**
+     * Traceback of the program run, if any
+     * @type {string}
+     * @memberof ProgramRun
+     */
+    'traceback'?: string;
+    /**
+     * Start time of the program run
+     * @type {string}
+     * @memberof ProgramRun
+     */
+    'start_time'?: string;
+    /**
+     * End time of the program run
+     * @type {string}
+     * @memberof ProgramRun
+     */
+    'end_time'?: string;
+    /**
+     * Input data of the program run
+     * @type {object}
+     * @memberof ProgramRun
+     */
+    'input_data'?: object;
+}
+
+
+/**
+ * The state of a program run.
+ * @export
+ * @enum {string}
+ */
+
+export const ProgramRunState = {
+    Preparing: 'PREPARING',
+    Running: 'RUNNING',
+    Completed: 'COMPLETED',
+    Failed: 'FAILED',
+    Stopped: 'STOPPED'
+} as const;
+
+export type ProgramRunState = typeof ProgramRunState[keyof typeof ProgramRunState];
+
+
+/**
+ * The state of a program run.
+ * @export
+ * @interface ProgramStartRequest
+ */
+export interface ProgramStartRequest {
+    /**
+     * The arguments to pass to the program.
+     * @type {object}
+     * @memberof ProgramStartRequest
+     */
+    'arguments': object;
+}
+/**
+ * 
  * @export
  * @interface RRTConnectAlgorithm
  */
 export interface RRTConnectAlgorithm {
     /**
-     * Algorithm discriminator. 
+     * Algorithm discriminator.  RRT Connect algorithm configuration for collision-free path planning. Rapidly-exploring Random Trees (RRT) builds trees of valid configurations by randomly sampling the joint space and connecting feasible points with JointPTP motions. RRT Connect grows two trees simultaneously from start and target positions until they meet. This is a custom implementation optimized for manipulator kinematics and collision checking in industrial contexts. 
      * @type {string}
      * @memberof RRTConnectAlgorithm
      */
@@ -4361,6 +4504,30 @@ export interface RRTConnectAlgorithm {
      * @memberof RRTConnectAlgorithm
      */
     'max_iterations'?: number;
+    /**
+     * Maximum step size for tree extension in joint space.
+     * @type {number}
+     * @memberof RRTConnectAlgorithm
+     */
+    'max_step_size'?: number;
+    /**
+     * Adjust the maximum step size during the search based on the recent success rate of tree expansion.
+     * @type {boolean}
+     * @memberof RRTConnectAlgorithm
+     */
+    'adaptive_step_size'?: boolean;
+    /**
+     * Apply smoothing after the search has succeeded. This will remove as many intermediate points as possible while keeping the path valid.
+     * @type {boolean}
+     * @memberof RRTConnectAlgorithm
+     */
+    'apply_smoothing'?: boolean;
+    /**
+     * Apply blending after the search has succeeded and smoothing has been applied. This will apply the largest viable blending at each intermediate point.
+     * @type {boolean}
+     * @memberof RRTConnectAlgorithm
+     */
+    'apply_blending'?: boolean;
 }
 
 export const RRTConnectAlgorithmAlgorithmNameEnum = {
@@ -4790,6 +4957,33 @@ export interface ServiceStatusStatus {
 }
 
 
+/**
+ * Defines an input/output that should be set upon reaching a specified location on the trajectory.
+ * @export
+ * @interface SetIO
+ */
+export interface SetIO {
+    /**
+     * 
+     * @type {IOValue}
+     * @memberof SetIO
+     */
+    'io': IOValue;
+    /**
+     * The location on the trajectory where the input/output should be set.
+     * @type {number}
+     * @memberof SetIO
+     */
+    'location': number;
+    /**
+     * 
+     * @type {IOOrigin}
+     * @memberof SetIO
+     */
+    'io_origin': IOOrigin;
+}
+
+
 /**
  * 
  * @export
@@ -4863,12 +5057,18 @@ export interface StartMovementRequest {
      * @memberof StartMovementRequest
      */
     'direction'?: Direction;
+    /**
+     * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g. in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path 
+     * @type {number}
+     * @memberof StartMovementRequest
+     */
+    'target_location'?: number;
     /**
      * Attaches a list of output commands to the trajectory. The outputs are set to the specified values right after the specified location was reached. If the specified location is located before the start location (forward direction: value is smaller, backward direction: value is bigger), the output is not set. 
-     * @type {Array<IOValue>}
+     * @type {Array<SetIO>}
      * @memberof StartMovementRequest
      */
-    'set_outputs'?: Array<IOValue>;
+    'set_outputs'?: Array<SetIO>;
     /**
      * Defines an input/output that is listened to before the movement. Execution starts if the defined comparator evaluates to `true`. 
      * @type {StartOnIO}
@@ -4933,6 +5133,12 @@ export interface StartOnIO {
      * @memberof StartOnIO
      */
     'comparator': Comparator;
+    /**
+     * 
+     * @type {IOOrigin}
+     * @memberof StartOnIO
+     */
+    'io_origin': IOOrigin;
 }
 
 
@@ -5140,7 +5346,7 @@ export interface TrajectoryDetails {
      */
     'trajectory': string;
     /**
-     * Current location of motion group on the trajectory.
+     * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g. in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path 
      * @type {number}
      * @memberof TrajectoryDetails
      */
@@ -5169,10 +5375,10 @@ export type TrajectoryDetailsKindEnum = typeof TrajectoryDetailsKindEnum[keyof t
  * @type TrajectoryDetailsState
  * @export
  */
-export type TrajectoryDetailsState = TrajectoryEnded | TrajectoryPausedByUser | TrajectoryPausedOnIO | TrajectoryRunning | TrajectoryWaitForIO;
+export type TrajectoryDetailsState = { kind: 'END_OF_TRAJECTORY' } & TrajectoryEnded | { kind: 'PAUSED_BY_USER' } & TrajectoryPausedByUser | { kind: 'PAUSED_ON_IO' } & TrajectoryPausedOnIO | { kind: 'RUNNING' } & TrajectoryRunning | { kind: 'WAIT_FOR_IO' } & TrajectoryWaitForIO;
 
 /**
- * 
+ * First or last sample (depending on direction) of trajectory has been sent. 
  * @export
  * @interface TrajectoryEnded
  */
@@ -5202,7 +5408,7 @@ export interface TrajectoryId {
      * @type {string}
      * @memberof TrajectoryId
      */
-    'message_type'?: TrajectoryIdMessageTypeEnum;
+    'message_type': TrajectoryIdMessageTypeEnum;
     /**
      * The identifier of the trajectory which was returned by the [addTrajectory](addTrajectory) endpoint. 
      * @type {string}
@@ -5218,7 +5424,7 @@ export const TrajectoryIdMessageTypeEnum = {
 export type TrajectoryIdMessageTypeEnum = typeof TrajectoryIdMessageTypeEnum[keyof typeof TrajectoryIdMessageTypeEnum];
 
 /**
- * 
+ * User has paused execution. 
  * @export
  * @interface TrajectoryPausedByUser
  */
@@ -5238,7 +5444,7 @@ export const TrajectoryPausedByUserKindEnum = {
 export type TrajectoryPausedByUserKindEnum = typeof TrajectoryPausedByUserKindEnum[keyof typeof TrajectoryPausedByUserKindEnum];
 
 /**
- * 
+ * Execution was paused because of an I/O event. 
  * @export
  * @interface TrajectoryPausedOnIO
  */
@@ -5258,7 +5464,7 @@ export const TrajectoryPausedOnIOKindEnum = {
 export type TrajectoryPausedOnIOKindEnum = typeof TrajectoryPausedOnIOKindEnum[keyof typeof TrajectoryPausedOnIOKindEnum];
 
 /**
- * 
+ * Trajectory is being executed. 
  * @export
  * @interface TrajectoryRunning
  */
@@ -5284,7 +5490,7 @@ export const TrajectoryRunningKindEnum = {
 export type TrajectoryRunningKindEnum = typeof TrajectoryRunningKindEnum[keyof typeof TrajectoryRunningKindEnum];
 
 /**
- * 
+ * Waiting for an I/O event to start execution. 
  * @export
  * @interface TrajectoryWaitForIO
  */
@@ -5397,6 +5603,31 @@ export interface ValidationError {
      */
     'input': { [key: string]: any; };
 }
+/**
+ * A validation error of a program.
+ * @export
+ * @interface ValidationError2
+ */
+export interface ValidationError2 {
+    /**
+     * 
+     * @type {Array<number>}
+     * @memberof ValidationError2
+     */
+    'loc': Array<number>;
+    /**
+     * 
+     * @type {string}
+     * @memberof ValidationError2
+     */
+    'msg': string;
+    /**
+     * 
+     * @type {string}
+     * @memberof ValidationError2
+     */
+    'type': string;
+}
 /**
  * @type ValidationErrorLocInner
  * @export
@@ -5524,11 +5755,13 @@ export const VirtualControllerTypes = {
     KukaKr4R600: 'kuka-kr4_r600',
     KukaKr500L3403: 'kuka-kr500_l340_3',
     KukaKr50R2500: 'kuka-kr50_r2500',
+    KukaKr60R3: 'kuka-kr60_r3',
     KukaKr6R1820: 'kuka-kr6_r1820',
     KukaKr6R7002: 'kuka-kr6_r700_2',
     KukaKr6R700Sixx: 'kuka-kr6_r700_sixx',
     KukaKr6R900: 'kuka-kr6_r900',
     KukaKr6R9002: 'kuka-kr6_r900_2',
+    KukaKr70R2100: 'kuka-kr70_r2100',
     KukaLbrIisy11R1300: 'kuka-lbr_iisy_11_r1300',
     UniversalrobotsUr10cb: 'universalrobots-ur10cb',
     UniversalrobotsUr10e: 'universalrobots-ur10e',
@@ -6637,7 +6870,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * List all input/output descriptions for configured BUS services.  The input/output descriptions contain information such as the name, the type and the unit. The I/O direction is given in perspective of the BUS service. 
+         * List all input/output descriptions for configured BUS services.  The input/output descriptions contain information such as the name, the type and the unit. The input/output direction is given in perspective of the BUS service. 
          * @summary List Descriptions
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -6679,7 +6912,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information such as the name, the type and the unit. The I/O direction is given in perspective of the PROFINET Device, e.g. the configured PROFINET service.  The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. The PROFINET controller as well as NOVA\'s PROFINET service use an I/O variable configuration to interpret the bits of the input and output process image. The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](addProfinetIO) and [setProfinetIOsFromFile](setProfinetIOsFromFile). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding third party software, e.g. TIA portal. 
+         * List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information such as the name, the type and the unit. The input/output direction is given in perspective of the PROFINET Device, e.g. the configured PROFINET service.  The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input and output process image. The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](addProfinetIO) and [setProfinetIOsFromFile](setProfinetIOsFromFile). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding third party software, e.g. TIA portal. 
          * @summary List PROFINET Input/Output Configuration
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -6769,7 +7002,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * Sets Input/Output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The Inputs/Outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService) and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs). For the PROFINET controller (i.e. a connected PLC), refer to the corresponding engineering system (i.e. TIA portal).  You can export the variable configuration of the PROFINET controller as XML file from you engineering system, i.e. TIA portal. The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output) is internally handled, meaning that you can paste the exported XML file here without modifying. 
+         * Sets input/output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService) and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding engineering system, e.g. TIA portal.  You can export the variable configuration of the PROFINET controller as XML file from your engineering system, e.g. TIA portal. The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output) is internally handled (PROFINET device input is PROFINET controller output), meaning that you can paste the exported XML file here without modifying. 
          * @summary Set PROFINET Inputs/Outputs from File
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {ProfinetInputOutputConfig} profinetInputOutputConfig 
@@ -6953,7 +7186,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * List all input/output descriptions for configured BUS services.  The input/output descriptions contain information such as the name, the type and the unit. The I/O direction is given in perspective of the BUS service. 
+         * List all input/output descriptions for configured BUS services.  The input/output descriptions contain information such as the name, the type and the unit. The input/output direction is given in perspective of the BUS service. 
          * @summary List Descriptions
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -6966,7 +7199,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information such as the name, the type and the unit. The I/O direction is given in perspective of the PROFINET Device, e.g. the configured PROFINET service.  The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. The PROFINET controller as well as NOVA\'s PROFINET service use an I/O variable configuration to interpret the bits of the input and output process image. The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](addProfinetIO) and [setProfinetIOsFromFile](setProfinetIOsFromFile). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding third party software, e.g. TIA portal. 
+         * List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information such as the name, the type and the unit. The input/output direction is given in perspective of the PROFINET Device, e.g. the configured PROFINET service.  The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input and output process image. The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](addProfinetIO) and [setProfinetIOsFromFile](setProfinetIOsFromFile). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding third party software, e.g. TIA portal. 
          * @summary List PROFINET Input/Output Configuration
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -6993,7 +7226,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Sets Input/Output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The Inputs/Outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService) and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs). For the PROFINET controller (i.e. a connected PLC), refer to the corresponding engineering system (i.e. TIA portal).  You can export the variable configuration of the PROFINET controller as XML file from you engineering system, i.e. TIA portal. The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output) is internally handled, meaning that you can paste the exported XML file here without modifying. 
+         * Sets input/output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService) and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding engineering system, e.g. TIA portal.  You can export the variable configuration of the PROFINET controller as XML file from your engineering system, e.g. TIA portal. The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output) is internally handled (PROFINET device input is PROFINET controller output), meaning that you can paste the exported XML file here without modifying. 
          * @summary Set PROFINET Inputs/Outputs from File
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {ProfinetInputOutputConfig} profinetInputOutputConfig 
@@ -7116,7 +7349,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.getProfinetIOsFromFile(cell, inputOffset, outputOffset, options).then((request) => request(axios, basePath));
         },
         /**
-         * List all input/output descriptions for configured BUS services.  The input/output descriptions contain information such as the name, the type and the unit. The I/O direction is given in perspective of the BUS service. 
+         * List all input/output descriptions for configured BUS services.  The input/output descriptions contain information such as the name, the type and the unit. The input/output direction is given in perspective of the BUS service. 
          * @summary List Descriptions
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -7126,7 +7359,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.listBusIODescriptions(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information such as the name, the type and the unit. The I/O direction is given in perspective of the PROFINET Device, e.g. the configured PROFINET service.  The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. The PROFINET controller as well as NOVA\'s PROFINET service use an I/O variable configuration to interpret the bits of the input and output process image. The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](addProfinetIO) and [setProfinetIOsFromFile](setProfinetIOsFromFile). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding third party software, e.g. TIA portal. 
+         * List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information such as the name, the type and the unit. The input/output direction is given in perspective of the PROFINET Device, e.g. the configured PROFINET service.  The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input and output process image. The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](addProfinetIO) and [setProfinetIOsFromFile](setProfinetIOsFromFile). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding third party software, e.g. TIA portal. 
          * @summary List PROFINET Input/Output Configuration
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -7147,7 +7380,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.setBusIOValues(cell, iOValue, options).then((request) => request(axios, basePath));
         },
         /**
-         * Sets Input/Output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The Inputs/Outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService) and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs). For the PROFINET controller (i.e. a connected PLC), refer to the corresponding engineering system (i.e. TIA portal).  You can export the variable configuration of the PROFINET controller as XML file from you engineering system, i.e. TIA portal. The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output) is internally handled, meaning that you can paste the exported XML file here without modifying. 
+         * Sets input/output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService) and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding engineering system, e.g. TIA portal.  You can export the variable configuration of the PROFINET controller as XML file from your engineering system, e.g. TIA portal. The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output) is internally handled (PROFINET device input is PROFINET controller output), meaning that you can paste the exported XML file here without modifying. 
          * @summary Set PROFINET Inputs/Outputs from File
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {ProfinetInputOutputConfig} profinetInputOutputConfig 
@@ -7285,7 +7518,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * List all input/output descriptions for configured BUS services.  The input/output descriptions contain information such as the name, the type and the unit. The I/O direction is given in perspective of the BUS service. 
+     * List all input/output descriptions for configured BUS services.  The input/output descriptions contain information such as the name, the type and the unit. The input/output direction is given in perspective of the BUS service. 
      * @summary List Descriptions
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {*} [options] Override http request option.
@@ -7297,7 +7530,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information such as the name, the type and the unit. The I/O direction is given in perspective of the PROFINET Device, e.g. the configured PROFINET service.  The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. The PROFINET controller as well as NOVA\'s PROFINET service use an I/O variable configuration to interpret the bits of the input and output process image. The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](addProfinetIO) and [setProfinetIOsFromFile](setProfinetIOsFromFile). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding third party software, e.g. TIA portal. 
+     * List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information such as the name, the type and the unit. The input/output direction is given in perspective of the PROFINET Device, e.g. the configured PROFINET service.  The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input and output process image. The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](addProfinetIO) and [setProfinetIOsFromFile](setProfinetIOsFromFile). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding third party software, e.g. TIA portal. 
      * @summary List PROFINET Input/Output Configuration
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {*} [options] Override http request option.
@@ -7322,7 +7555,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * Sets Input/Output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The Inputs/Outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService) and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs). For the PROFINET controller (i.e. a connected PLC), refer to the corresponding engineering system (i.e. TIA portal).  You can export the variable configuration of the PROFINET controller as XML file from you engineering system, i.e. TIA portal. The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output) is internally handled, meaning that you can paste the exported XML file here without modifying. 
+     * Sets input/output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService) and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs). For the PROFINET controller, e.g. a connected PLC, refer to the corresponding engineering system, e.g. TIA portal.  You can export the variable configuration of the PROFINET controller as XML file from your engineering system, e.g. TIA portal. The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output) is internally handled (PROFINET device input is PROFINET controller output), meaning that you can paste the exported XML file here without modifying. 
      * @summary Set PROFINET Inputs/Outputs from File
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {ProfinetInputOutputConfig} profinetInputOutputConfig 
@@ -10789,7 +11022,7 @@ export class MotionGroupApi extends BaseAPI {
 export const MotionGroupModelsApiAxiosParamCreator = function (configuration?: Configuration) {
     return {
         /**
-         * Returns the default collision link chain for a given motion group model.  See [getMotionGroupDescription](getMotionGroupDescription) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+         * Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](getMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Attach additional shapes to the link reference frames by extending the link dictionaries before further use. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
          * @summary Get Collision Model
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
@@ -10887,7 +11120,7 @@ export const MotionGroupModelsApiFp = function(configuration?: Configuration) {
     const localVarAxiosParamCreator = MotionGroupModelsApiAxiosParamCreator(configuration)
     return {
         /**
-         * Returns the default collision link chain for a given motion group model.  See [getMotionGroupDescription](getMotionGroupDescription) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+         * Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](getMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Attach additional shapes to the link reference frames by extending the link dictionaries before further use. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
          * @summary Get Collision Model
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
@@ -10924,7 +11157,7 @@ export const MotionGroupModelsApiFactory = function (configuration?: Configurati
     const localVarFp = MotionGroupModelsApiFp(configuration)
     return {
         /**
-         * Returns the default collision link chain for a given motion group model.  See [getMotionGroupDescription](getMotionGroupDescription) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+         * Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](getMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Attach additional shapes to the link reference frames by extending the link dictionaries before further use. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
          * @summary Get Collision Model
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
@@ -10955,7 +11188,7 @@ export const MotionGroupModelsApiFactory = function (configuration?: Configurati
  */
 export class MotionGroupModelsApi extends BaseAPI {
     /**
-     * Returns the default collision link chain for a given motion group model.  See [getMotionGroupDescription](getMotionGroupDescription) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+     * Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](getMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Attach additional shapes to the link reference frames by extending the link dictionaries before further use. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
      * @summary Get Collision Model
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g. &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](getOptimizerConfiguration). 
@@ -10982,6 +11215,383 @@ export class MotionGroupModelsApi extends BaseAPI {
 
 
 
+/**
+ * ProgramApi - axios parameter creator
+ * @export
+ */
+export const ProgramApiAxiosParamCreator = function (configuration?: Configuration) {
+    return {
+        /**
+         * Get details of a program.
+         * @summary Get program
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} program 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getProgram: async (cell: string, program: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('getProgram', 'cell', cell)
+            // verify required parameter 'program' is not null or undefined
+            assertParamExists('getProgram', 'program', program)
+            const localVarPath = `/experimental/cells/{cell}/programs/{program}`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
+                .replace(`{${"program"}}`, encodeURIComponent(String(program)));
+            // 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 = {} as any;
+            const localVarQueryParameter = {} as any;
+
+            // authentication BasicAuth required
+            // http basic authentication required
+            setBasicAuthToObject(localVarRequestOptions, configuration)
+
+            // authentication BearerAuth required
+            // http bearer authentication required
+            await setBearerAuthToObject(localVarHeaderParameter, configuration)
+
+
+    
+            setSearchParams(localVarUrlObj, localVarQueryParameter);
+            let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+            localVarRequestOptions.headers = {...localVarHeaderParameter, ...headersFromBaseOptions, ...options.headers};
+
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * List details of all existing programs.
+         * @summary List programs
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        listPrograms: async (cell: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('listPrograms', 'cell', cell)
+            const localVarPath = `/experimental/cells/{cell}/programs`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)));
+            // use dummy base URL string because the URL constructor only accepts absolute URLs.
+            const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+            let baseOptions;
+            if (configuration) {
+                baseOptions = configuration.baseOptions;
+            }
+
+            const localVarRequestOptions = { method: 'GET', ...baseOptions, ...options};
+            const localVarHeaderParameter = {} as any;
+            const localVarQueryParameter = {} as any;
+
+            // 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,
+            };
+        },
+        /**
+         * This endpoint starts a new program execution.  The program will be executed asynchronously. 
+         * @summary Start the program
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} program 
+         * @param {ProgramStartRequest} programStartRequest 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        startProgram: async (cell: string, program: string, programStartRequest: ProgramStartRequest, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('startProgram', 'cell', cell)
+            // verify required parameter 'program' is not null or undefined
+            assertParamExists('startProgram', 'program', program)
+            // verify required parameter 'programStartRequest' is not null or undefined
+            assertParamExists('startProgram', 'programStartRequest', programStartRequest)
+            const localVarPath = `/experimental/cells/{cell}/programs/{program}/start`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
+                .replace(`{${"program"}}`, encodeURIComponent(String(program)));
+            // 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 = {} as any;
+            const localVarQueryParameter = {} as any;
+
+            // 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(programStartRequest, localVarRequestOptions, configuration)
+
+            return {
+                url: toPathString(localVarUrlObj),
+                options: localVarRequestOptions,
+            };
+        },
+        /**
+         * Stop a specific program run.
+         * @summary Stop program run
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} program 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        stopProgram: async (cell: string, program: string, options: RawAxiosRequestConfig = {}): Promise<RequestArgs> => {
+            // verify required parameter 'cell' is not null or undefined
+            assertParamExists('stopProgram', 'cell', cell)
+            // verify required parameter 'program' is not null or undefined
+            assertParamExists('stopProgram', 'program', program)
+            const localVarPath = `/experimental/cells/{cell}/programs/{program}/stop`
+                .replace(`{${"cell"}}`, encodeURIComponent(String(cell)))
+                .replace(`{${"program"}}`, encodeURIComponent(String(program)));
+            // 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 = {} as any;
+            const localVarQueryParameter = {} as any;
+
+            // 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,
+            };
+        },
+    }
+};
+
+/**
+ * ProgramApi - functional programming interface
+ * @export
+ */
+export const ProgramApiFp = function(configuration?: Configuration) {
+    const localVarAxiosParamCreator = ProgramApiAxiosParamCreator(configuration)
+    return {
+        /**
+         * Get details of a program.
+         * @summary Get program
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} program 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async getProgram(cell: string, program: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Program>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.getProgram(cell, program, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['ProgramApi.getProgram']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * List details of all existing programs.
+         * @summary List programs
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async listPrograms(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<Program>>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.listPrograms(cell, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['ProgramApi.listPrograms']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * This endpoint starts a new program execution.  The program will be executed asynchronously. 
+         * @summary Start the program
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} program 
+         * @param {ProgramStartRequest} programStartRequest 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async startProgram(cell: string, program: string, programStartRequest: ProgramStartRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ProgramRun>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.startProgram(cell, program, programStartRequest, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['ProgramApi.startProgram']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+        /**
+         * Stop a specific program run.
+         * @summary Stop program run
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} program 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        async stopProgram(cell: string, program: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>> {
+            const localVarAxiosArgs = await localVarAxiosParamCreator.stopProgram(cell, program, options);
+            const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+            const localVarOperationServerBasePath = operationServerMap['ProgramApi.stopProgram']?.[localVarOperationServerIndex]?.url;
+            return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
+        },
+    }
+};
+
+/**
+ * ProgramApi - factory interface
+ * @export
+ */
+export const ProgramApiFactory = function (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) {
+    const localVarFp = ProgramApiFp(configuration)
+    return {
+        /**
+         * Get details of a program.
+         * @summary Get program
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} program 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        getProgram(cell: string, program: string, options?: RawAxiosRequestConfig): AxiosPromise<Program> {
+            return localVarFp.getProgram(cell, program, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * List details of all existing programs.
+         * @summary List programs
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        listPrograms(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<Program>> {
+            return localVarFp.listPrograms(cell, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * This endpoint starts a new program execution.  The program will be executed asynchronously. 
+         * @summary Start the program
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} program 
+         * @param {ProgramStartRequest} programStartRequest 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        startProgram(cell: string, program: string, programStartRequest: ProgramStartRequest, options?: RawAxiosRequestConfig): AxiosPromise<ProgramRun> {
+            return localVarFp.startProgram(cell, program, programStartRequest, options).then((request) => request(axios, basePath));
+        },
+        /**
+         * Stop a specific program run.
+         * @summary Stop program run
+         * @param {string} cell Unique identifier addressing a cell in all API calls. 
+         * @param {string} program 
+         * @param {*} [options] Override http request option.
+         * @throws {RequiredError}
+         */
+        stopProgram(cell: string, program: string, options?: RawAxiosRequestConfig): AxiosPromise<void> {
+            return localVarFp.stopProgram(cell, program, options).then((request) => request(axios, basePath));
+        },
+    };
+};
+
+/**
+ * ProgramApi - object-oriented interface
+ * @export
+ * @class ProgramApi
+ * @extends {BaseAPI}
+ */
+export class ProgramApi extends BaseAPI {
+    /**
+     * Get details of a program.
+     * @summary Get program
+     * @param {string} cell Unique identifier addressing a cell in all API calls. 
+     * @param {string} program 
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ProgramApi
+     */
+    public getProgram(cell: string, program: string, options?: RawAxiosRequestConfig) {
+        return ProgramApiFp(this.configuration).getProgram(cell, program, options).then((request) => request(this.axios, this.basePath));
+    }
+
+    /**
+     * List details of all existing programs.
+     * @summary List programs
+     * @param {string} cell Unique identifier addressing a cell in all API calls. 
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ProgramApi
+     */
+    public listPrograms(cell: string, options?: RawAxiosRequestConfig) {
+        return ProgramApiFp(this.configuration).listPrograms(cell, options).then((request) => request(this.axios, this.basePath));
+    }
+
+    /**
+     * This endpoint starts a new program execution.  The program will be executed asynchronously. 
+     * @summary Start the program
+     * @param {string} cell Unique identifier addressing a cell in all API calls. 
+     * @param {string} program 
+     * @param {ProgramStartRequest} programStartRequest 
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ProgramApi
+     */
+    public startProgram(cell: string, program: string, programStartRequest: ProgramStartRequest, options?: RawAxiosRequestConfig) {
+        return ProgramApiFp(this.configuration).startProgram(cell, program, programStartRequest, options).then((request) => request(this.axios, this.basePath));
+    }
+
+    /**
+     * Stop a specific program run.
+     * @summary Stop program run
+     * @param {string} cell Unique identifier addressing a cell in all API calls. 
+     * @param {string} program 
+     * @param {*} [options] Override http request option.
+     * @throws {RequiredError}
+     * @memberof ProgramApi
+     */
+    public stopProgram(cell: string, program: string, options?: RawAxiosRequestConfig) {
+        return ProgramApiFp(this.configuration).stopProgram(cell, program, options).then((request) => request(this.axios, this.basePath));
+    }
+}
+
+
+
 /**
  * StoreCollisionComponentsApi - axios parameter creator
  * @export
@@ -11307,7 +11917,7 @@ export const StoreCollisionComponentsApiAxiosParamCreator = function (configurat
             };
         },
         /**
-         * Returns a list of colliders in a scene. This excludes colliders that are part of a motion group. 
+         * Returns all stored colliders. 
          * @summary List Colliders
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -11654,7 +12264,7 @@ export const StoreCollisionComponentsApiFp = function(configuration?: Configurat
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Returns a list of colliders in a scene. This excludes colliders that are part of a motion group. 
+         * Returns all stored colliders. 
          * @summary List Colliders
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -11811,7 +12421,7 @@ export const StoreCollisionComponentsApiFactory = function (configuration?: Conf
             return localVarFp.listCollisionLinkChains(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * Returns a list of colliders in a scene. This excludes colliders that are part of a motion group. 
+         * Returns all stored colliders. 
          * @summary List Colliders
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -11967,7 +12577,7 @@ export class StoreCollisionComponentsApi extends BaseAPI {
     }
 
     /**
-     * Returns a list of colliders in a scene. This excludes colliders that are part of a motion group. 
+     * Returns all stored colliders. 
      * @summary List Colliders
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {*} [options] Override http request option.
@@ -14523,7 +15133,7 @@ export class TrajectoryPlanningApi extends BaseAPI {
 export const VirtualControllerApiAxiosParamCreator = function (configuration?: Configuration) {
     return {
         /**
-         * Adds a coordinate system to the robot controller. 
+         * Adds a coordinate system to the robot controller.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
          * @summary Add Coordinate Systems
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -14579,7 +15189,7 @@ export const VirtualControllerApiAxiosParamCreator = function (configuration?: C
             };
         },
         /**
-         * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach. 
+         * Adds a new TCP (Tool Center Point) or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange\'s coordinate system.  > **NOTE** > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot\'s documentation or data sheet for details like joint limits or reach.  **Important notes:** - Adding or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
          * @summary Add TCP
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -14639,8 +15249,8 @@ export const VirtualControllerApiAxiosParamCreator = function (configuration?: C
             };
         },
         /**
-         * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference. 
-         * @summary Remove Coordinate System
+         * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be   available for visualization or program execution. 
+         * @summary Delete Coordinate System
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
          * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
@@ -14694,7 +15304,7 @@ export const VirtualControllerApiAxiosParamCreator = function (configuration?: C
             };
         },
         /**
-         * Removes the TCP from the motion group. An unknown TCP is a valid input. 
+         * Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  **Important notes:** - Removing or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
          * @summary Remove TCP
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15242,7 +15852,7 @@ export const VirtualControllerApiAxiosParamCreator = function (configuration?: C
             };
         },
         /**
-         * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system. 
+         * Sets the motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  **Important notes:** - Changing the mounting configuration is treated as a setup change. - When the mounting is set to a new coordinate system, the **virtual robot restarts** in the background to apply the new configuration. - During this process:   - Robot visualization may temporarily disappear or not reflect the new mounting immediately.   - Motion group state and coordinate system alignment may not be instantly updated in the UI.   - All connections to the virtual robot are closed and then re-established, which can cause a short delay before the system is ready again. - The API call itself does **not wait until the restart and synchronization are complete**.   A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
          * @summary Set Mounting
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15308,7 +15918,7 @@ export const VirtualControllerApiFp = function(configuration?: Configuration) {
     const localVarAxiosParamCreator = VirtualControllerApiAxiosParamCreator(configuration)
     return {
         /**
-         * Adds a coordinate system to the robot controller. 
+         * Adds a coordinate system to the robot controller.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
          * @summary Add Coordinate Systems
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15324,7 +15934,7 @@ export const VirtualControllerApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach. 
+         * Adds a new TCP (Tool Center Point) or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange\'s coordinate system.  > **NOTE** > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot\'s documentation or data sheet for details like joint limits or reach.  **Important notes:** - Adding or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
          * @summary Add TCP
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15341,8 +15951,8 @@ export const VirtualControllerApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference. 
-         * @summary Remove Coordinate System
+         * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be   available for visualization or program execution. 
+         * @summary Delete Coordinate System
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
          * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
@@ -15357,7 +15967,7 @@ export const VirtualControllerApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Removes the TCP from the motion group. An unknown TCP is a valid input. 
+         * Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  **Important notes:** - Removing or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
          * @summary Remove TCP
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15520,7 +16130,7 @@ export const VirtualControllerApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system. 
+         * Sets the motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  **Important notes:** - Changing the mounting configuration is treated as a setup change. - When the mounting is set to a new coordinate system, the **virtual robot restarts** in the background to apply the new configuration. - During this process:   - Robot visualization may temporarily disappear or not reflect the new mounting immediately.   - Motion group state and coordinate system alignment may not be instantly updated in the UI.   - All connections to the virtual robot are closed and then re-established, which can cause a short delay before the system is ready again. - The API call itself does **not wait until the restart and synchronization are complete**.   A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
          * @summary Set Mounting
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15546,7 +16156,7 @@ export const VirtualControllerApiFactory = function (configuration?: Configurati
     const localVarFp = VirtualControllerApiFp(configuration)
     return {
         /**
-         * Adds a coordinate system to the robot controller. 
+         * Adds a coordinate system to the robot controller.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
          * @summary Add Coordinate Systems
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15559,7 +16169,7 @@ export const VirtualControllerApiFactory = function (configuration?: Configurati
             return localVarFp.addVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, coordinateSystemData, options).then((request) => request(axios, basePath));
         },
         /**
-         * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach. 
+         * Adds a new TCP (Tool Center Point) or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange\'s coordinate system.  > **NOTE** > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot\'s documentation or data sheet for details like joint limits or reach.  **Important notes:** - Adding or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
          * @summary Add TCP
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15573,8 +16183,8 @@ export const VirtualControllerApiFactory = function (configuration?: Configurati
             return localVarFp.addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options).then((request) => request(axios, basePath));
         },
         /**
-         * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference. 
-         * @summary Remove Coordinate System
+         * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be   available for visualization or program execution. 
+         * @summary Delete Coordinate System
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
          * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
@@ -15586,7 +16196,7 @@ export const VirtualControllerApiFactory = function (configuration?: Configurati
             return localVarFp.deleteVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, deleteDependent, options).then((request) => request(axios, basePath));
         },
         /**
-         * Removes the TCP from the motion group. An unknown TCP is a valid input. 
+         * Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  **Important notes:** - Removing or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
          * @summary Remove TCP
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15716,7 +16326,7 @@ export const VirtualControllerApiFactory = function (configuration?: Configurati
             return localVarFp.setOperationMode(cell, controller, mode, options).then((request) => request(axios, basePath));
         },
         /**
-         * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system. 
+         * Sets the motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  **Important notes:** - Changing the mounting configuration is treated as a setup change. - When the mounting is set to a new coordinate system, the **virtual robot restarts** in the background to apply the new configuration. - During this process:   - Robot visualization may temporarily disappear or not reflect the new mounting immediately.   - Motion group state and coordinate system alignment may not be instantly updated in the UI.   - All connections to the virtual robot are closed and then re-established, which can cause a short delay before the system is ready again. - The API call itself does **not wait until the restart and synchronization are complete**.   A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
          * @summary Set Mounting
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15739,7 +16349,7 @@ export const VirtualControllerApiFactory = function (configuration?: Configurati
  */
 export class VirtualControllerApi extends BaseAPI {
     /**
-     * Adds a coordinate system to the robot controller. 
+     * Adds a coordinate system to the robot controller.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
      * @summary Add Coordinate Systems
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15754,7 +16364,7 @@ export class VirtualControllerApi extends BaseAPI {
     }
 
     /**
-     * Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange’s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot’s documentation or data sheet for details like joint limits or reach. 
+     * Adds a new TCP (Tool Center Point) or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange\'s coordinate system.  > **NOTE** > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot\'s documentation or data sheet for details like joint limits or reach.  **Important notes:** - Adding or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
      * @summary Add TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15770,8 +16380,8 @@ export class VirtualControllerApi extends BaseAPI {
     }
 
     /**
-     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and remove all dependent coordinate systems which use the deleted coordinate system as reference. 
-     * @summary Remove Coordinate System
+     * Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be   available for visualization or program execution. 
+     * @summary Delete Coordinate System
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} controller Unique identifier to address a controller in the cell.
      * @param {string} coordinateSystem Unique identifier addressing a coordinate system.
@@ -15785,7 +16395,7 @@ export class VirtualControllerApi extends BaseAPI {
     }
 
     /**
-     * Removes the TCP from the motion group. An unknown TCP is a valid input. 
+     * Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  **Important notes:** - Removing or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
      * @summary Remove TCP
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} controller Unique identifier to address a controller in the cell.
@@ -15937,7 +16547,7 @@ export class VirtualControllerApi extends BaseAPI {
     }
 
     /**
-     * Sets motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset. The transformation offset is defined by a unique identifier, a name for front end usage and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system. 
+     * Sets the motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  **Important notes:** - Changing the mounting configuration is treated as a setup change. - When the mounting is set to a new coordinate system, the **virtual robot restarts** in the background to apply the new configuration. - During this process:   - Robot visualization may temporarily disappear or not reflect the new mounting immediately.   - Motion group state and coordinate system alignment may not be instantly updated in the UI.   - All connections to the virtual robot are closed and then re-established, which can cause a short delay before the system is ready again. - The API call itself does **not wait until the restart and synchronization are complete**.   A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
      * @summary Set Mounting
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} controller Unique identifier to address a controller in the cell.