@wandelbots/nova-api 25.8.0-dev.7 → 25.8.0-dev.71

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
      */
@@ -373,7 +373,7 @@ export const BoxBoxTypeEnum = {
 export type BoxBoxTypeEnum = typeof BoxBoxTypeEnum[keyof typeof BoxBoxTypeEnum];
 
 /**
- * PROFINET BUS Inputs/Outputs Service configuration. 
+ * PROFINET BUS inputs/outputs service configuration. 
  * @export
  * @interface BusIOProfinet
  */
@@ -385,19 +385,19 @@ export interface BusIOProfinet {
      */
     'bus_type'?: BusIOProfinetBusTypeEnum;
     /**
-     * Path to the configuration file.
-     * @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;
     /**
-     * 
-     * @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 for the PROFINET port, should be get from another NOVA API endpoind?
+     * MAC address of the physical ethernet interface that you want to use for PROFINET communication. 
      * @type {string}
      * @memberof BusIOProfinet
      */
@@ -417,7 +417,7 @@ export const BusIOProfinetBusTypeEnum = {
 export type BusIOProfinetBusTypeEnum = typeof BusIOProfinetBusTypeEnum[keyof typeof BusIOProfinetBusTypeEnum];
 
 /**
- * Default route configuration for the PROFINET service. Will be removed before release by automatic default route configuration, if possible. 
+ * Current default route configuration of your NOVA instance. The default route is a setting that tells data where to go if there isn’t a specific path already known for its destination. Usually this will be the path to your router, enabling accessing the internet. On Linux, use `ip route show` to view your default routes and match the output `default via <gateway> dev <interface> ...` to get your gateway and interface. 
  * @export
  * @interface BusIOProfinetDefaultRoute
  */
@@ -436,25 +436,25 @@ export interface BusIOProfinetDefaultRoute {
     'interface': string;
 }
 /**
- * Network configuration for the PROFINET device
+ * Network configuration or IPv4 record of the virtual ethernet interface (pnio1) created by the PROFINET driver. The IPv4 record is used in combination with the Name of Station (NoS) to identify your device in the PROFINET network.  The `ip_config` will be used as IPv4 record if no REMA XML file is already present on your machine and no `rema_xml_content` is provided. 
  * @export
  * @interface BusIOProfinetIpConfig
  */
 export interface BusIOProfinetIpConfig {
     /**
-     * IP address for the PROFINET device
+     * IP address for the device\'s virtual ethernet interface (pnio1).
      * @type {string}
      * @memberof BusIOProfinetIpConfig
      */
     'ip': string;
     /**
-     * Network mask for the PROFINET device.
+     * Network mask for the device\'s virtual ethernet interface (pnio1).
      * @type {string}
      * @memberof BusIOProfinetIpConfig
      */
     'netmask': string;
     /**
-     * Gateway for the PROFINET device
+     * Gateway for connections to other devices outside of the virtual ethernet interface\'s subnet.
      * @type {string}
      * @memberof BusIOProfinetIpConfig
      */
@@ -467,7 +467,7 @@ export interface BusIOProfinetIpConfig {
  */
 export interface BusIOProfinetNetwork {
     /**
-     * Name of the PROFINET device.
+     * Name of Station (NoS) of the PROFINET device. The NoS is used in combination with IPv4 record to identify your device in the PROFINET network. The `device_name` will be used as NoS if no REMA XML file is already present on your machine and no `rema_xml_content` is provided. 
      * @type {string}
      * @memberof BusIOProfinetNetwork
      */
@@ -479,14 +479,14 @@ export interface BusIOProfinetNetwork {
      */
     'ip_config'?: BusIOProfinetIpConfig;
     /**
-     * Content of the PROFINET REMA XML file.
+     * Content of the PROFINET REMA XML file. Is used when PROFINET service is added for the first time to create the REMA XML file that holds data to be kept for the next session. Stores information like IP address, Name of Station (NoS) and hardware configuration. If you use a PROFINET controller to assign an IP address to the PROFINET device, this information will be written to the REMA XML file.  Refer to the PDF version of the \"PN Driver I/O Base programming interface\" documentation for more information and an example REMA file. 
      * @type {string}
      * @memberof BusIOProfinetNetwork
      */
     'rema_xml_content'?: string;
 }
 /**
- * Virtual PROFINET BUS Inputs/Outputs Service configuration. 
+ * Virtual PROFINET BUS inputs/outputs service configuration. 
  * @export
  * @interface BusIOProfinetVirtual
  */
@@ -500,7 +500,7 @@ export interface BusIOProfinetVirtual {
 }
 
 export const BusIOProfinetVirtualBusTypeEnum = {
-    VirtualProfinet: 'virtual_profinet'
+    ProfinetVirtual: 'profinet_virtual'
 } as const;
 
 export type BusIOProfinetVirtualBusTypeEnum = typeof BusIOProfinetVirtualBusTypeEnum[keyof typeof BusIOProfinetVirtualBusTypeEnum];
@@ -524,7 +524,7 @@ export interface BusIOsState {
      */
     'state': BusIOsStateEnum;
     /**
-     * A message providing additional information on the input/output, e.g. BUS service status, encountered errors. May be empty if no additional information is available. 
+     * A message providing additional information on the input/output service, e.g. BUS service status, encountered errors. May be empty if no additional information is available. 
      * @type {string}
      * @memberof BusIOsState
      */
@@ -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>;
 }
 /**
@@ -1876,6 +1889,57 @@ export interface IODescription {
 }
 
 
+/**
+ * 
+ * @export
+ * @interface IODescription2
+ */
+export interface IODescription2 {
+    /**
+     * Unique identifier of the input/output. 
+     * @type {string}
+     * @memberof IODescription2
+     */
+    'io': string;
+    /**
+     * Descriptive name of the input/output. Customize it using the respective BUS service, e.g. [addProfinetIO](addProfinetIO) for PROFINET service. 
+     * @type {string}
+     * @memberof IODescription2
+     */
+    'name': string;
+    /**
+     * 
+     * @type {IODirection}
+     * @memberof IODescription2
+     */
+    'direction': IODirection;
+    /**
+     * 
+     * @type {IOValueType}
+     * @memberof IODescription2
+     */
+    'value_type': IOValueType;
+    /**
+     * 
+     * @type {UnitType}
+     * @memberof IODescription2
+     */
+    'unit'?: UnitType;
+    /**
+     * 
+     * @type {IODescriptionMin}
+     * @memberof IODescription2
+     */
+    'min'?: IODescriptionMin;
+    /**
+     * 
+     * @type {IODescriptionMin}
+     * @memberof IODescription2
+     */
+    'max'?: IODescriptionMin;
+}
+
+
 /**
  * @type IODescriptionMin
  * @export
@@ -1941,7 +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
      */
@@ -2068,24 +2132,12 @@ 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 = {
@@ -2144,12 +2196,6 @@ 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}
@@ -2204,7 +2250,7 @@ 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
  */
@@ -2581,7 +2627,7 @@ 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
      */
@@ -2801,25 +2847,6 @@ 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
@@ -2869,6 +2896,12 @@ 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. 
@@ -2944,13 +2977,13 @@ 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
      */
@@ -3043,13 +3076,13 @@ 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; }}
@@ -3070,10 +3103,10 @@ 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; }}
@@ -3849,11 +3882,11 @@ 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}
@@ -4071,17 +4104,17 @@ export interface ProfinetDescription {
      */
     'slots'?: Array<ProfinetSlotDescription>;
     /**
-     * Name of the PROFINET device
+     * Name of Station (NoS) of the PROFINET device. The NoS is used in combination with IPv4 record to identify your device in the PROFINET network. The `device_name` will be used as NoS if no REMA XML file is already present on your NOVA instance and no `rema_xml_content` is provided. 
      * @type {string}
      * @memberof ProfinetDescription
      */
     'device_name'?: string;
     /**
-     * IP address for the PROFINET device
-     * @type {string}
+     * 
+     * @type {BusIOProfinetIpConfig}
      * @memberof ProfinetDescription
      */
-    'ip'?: string;
+    'ip_config'?: BusIOProfinetIpConfig;
 }
 /**
  * 
@@ -4090,7 +4123,7 @@ export interface ProfinetDescription {
  */
 export interface ProfinetIO {
     /**
-     * The name of the input/output value. This is a human-readable identifier for the value. It can be used to distinguish between different inputs/outputs in the system. 
+     * 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). 
      * @type {string}
      * @memberof ProfinetIO
      */
@@ -4102,25 +4135,25 @@ export interface ProfinetIO {
      */
     'type': ProfinetIOTypeEnum;
     /**
-     * The direction of the input/output value, indicating whether it is an input or output for the device. 
+     * The direction of the input/output variable, indicating whether it is an input or output for the PROFINET device, e.g. NOVA\'s PROFINET service. 
      * @type {ProfinetIODirection}
      * @memberof ProfinetIO
      */
     'direction': ProfinetIODirection;
     /**
-     * The byte address of the input/output value in the PROFINET device. The byte address is used to locate the specific input/output within the device\'s memory or data structure. 
+     * The byte address of the input/output variable in the PROFINET device, e.g. NOVA\'s PROFINET service. The byte address is used to locate the specific input/output variable within the device\'s memory or data structure. 
      * @type {number}
      * @memberof ProfinetIO
      */
     'byte_address': number;
     /**
-     * The bit address of the input/output value within the byte or word address. The bit address is used to specify the exact bit within the byte or word that corresponds to the input/output value. 
+     * The bit address of the input/output variable within the byte or word address. The bit address is used to specify the exact bit within the byte or word that corresponds to the input/output variable. 
      * @type {number}
      * @memberof ProfinetIO
      */
     'bit_address'?: number;
     /**
-     * The unique identifier for the input/output value. This identifier is used to reference the specific input/output in the NOVA system. 
+     * The unique identifier for the input/output value. This identifier is used to reference the specific input/output variable in the PROFINET device, e.g. NOVA\'s PROFINET service. 
      * @type {string}
      * @memberof ProfinetIO
      */
@@ -4135,7 +4168,7 @@ export interface ProfinetIO {
  */
 export interface ProfinetIOData {
     /**
-     * The name of the input/output value. This is a human-readable identifier for the value. It can be used to distinguish between different inputs/outputs in the system. 
+     * 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). 
      * @type {string}
      * @memberof ProfinetIOData
      */
@@ -4147,19 +4180,19 @@ export interface ProfinetIOData {
      */
     'type': ProfinetIOTypeEnum;
     /**
-     * The direction of the input/output value, indicating whether it is an input or output for the device. 
+     * The direction of the input/output variable, indicating whether it is an input or output for the PROFINET device, e.g. NOVA\'s PROFINET service. 
      * @type {ProfinetIODirection}
      * @memberof ProfinetIOData
      */
     'direction': ProfinetIODirection;
     /**
-     * The byte address of the input/output value in the PROFINET device. The byte address is used to locate the specific input/output within the device\'s memory or data structure. 
+     * The byte address of the input/output variable in the PROFINET device, e.g. NOVA\'s PROFINET service. The byte address is used to locate the specific input/output variable within the device\'s memory or data structure. 
      * @type {number}
      * @memberof ProfinetIOData
      */
     'byte_address': number;
     /**
-     * The bit address of the input/output value within the byte or word address. The bit address is used to specify the exact bit within the byte or word that corresponds to the input/output value. 
+     * The bit address of the input/output variable within the byte or word address. The bit address is used to specify the exact bit within the byte or word that corresponds to the input/output variable. 
      * @type {number}
      * @memberof ProfinetIOData
      */
@@ -4168,7 +4201,7 @@ export interface ProfinetIOData {
 
 
 /**
- * Identifies the input/output type.
+ * The direction of the input/output variable, indicating whether it is an input or output for the PROFINET device, e.g. NOVA\'s PROFINET service.
  * @export
  * @enum {string}
  */
@@ -4183,7 +4216,7 @@ export type ProfinetIODirection = typeof ProfinetIODirection[keyof typeof Profin
 
 
 /**
- * Value type of the PROFINET input/output. 
+ * Value type of the PROFINET input/output variable. Is used to interpret the corresponding bits correctly. 
  * @export
  * @enum {string}
  */
@@ -4211,38 +4244,38 @@ export type ProfinetIOTypeEnum = typeof ProfinetIOTypeEnum[keyof typeof Profinet
  */
 export interface ProfinetInputOutputConfig {
     /**
-     * Content of the input output configuration file.
+     * Content of the input/output variable configuration XML file. The XML File has to be embedded as a string by escaping quotes, line breaks and so forth. 
      * @type {string}
      * @memberof ProfinetInputOutputConfig
      */
     'config': string;
     /**
-     * Offset in bytes for the input data.
+     * Offset in bytes for the address of the input (perspective of the controller) variables. The offset will be subtracted from to the byte addresses of the sent XML content.
      * @type {number}
      * @memberof ProfinetInputOutputConfig
      */
     'input_offset': number;
     /**
-     * Offset in bytes for the output data.
+     * Offset in bytes for the address of the output (perspective of the controller) variables. The offset will be subtracted from to the byte addresses of the sent XML content.
      * @type {number}
      * @memberof ProfinetInputOutputConfig
      */
     'output_offset': number;
 }
 /**
- * 
+ * An array of PROFINET slots.  PROFINET models each device’s input/output hardware as a hierarchy of slots (modules) and subslots (submodules). A slot can represent a physical or virtual input/output card and each subslot one of its individual channels or functions. Every slot and subslot has unique identifiers that the controller uses to map cyclic input/output data and parameter records to its process image. This slot/subslot separation enables e.g. addressing each input/output stream when establishing input/output application relations (I/O-AR). 
  * @export
  * @interface ProfinetSlotDescription
  */
 export interface ProfinetSlotDescription {
     /**
-     * The number of the PROFINET slot. 
+     * The number/index of the PROFINET slot. Per default, slot 0 is reserved for the device access point (DAP). Slots that are part of the cyclic input/output data exchange start at number 1. 
      * @type {number}
      * @memberof ProfinetSlotDescription
      */
     'number': number;
     /**
-     * The API number of the PROFINET input, used to identify the specific API for the input. 
+     * The application process identifier (API) number of the PROFINET input. The API identifies the application relation (AR) that is using the slot. 
      * @type {number}
      * @memberof ProfinetSlotDescription
      */
@@ -4261,32 +4294,180 @@ export interface ProfinetSlotDescription {
  */
 export interface ProfinetSubSlotDescription {
     /**
-     * The identifier of the PROFINET subslot. 
+     * The number/index of the PROFINET subslot. 
      * @type {number}
      * @memberof ProfinetSubSlotDescription
      */
     'number': number;
     /**
-     * The length in bytes of the PROFINET input. 
+     * The amount of bytes allocated for the subslot in the input process image buffer. 
      * @type {number}
      * @memberof ProfinetSubSlotDescription
      */
     'input_length': number;
     /**
-     * The length in bytes of the PROFINET output. 
+     * The amount of bytes allocated for the subslot in the output process image buffer. 
      * @type {number}
      * @memberof 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
      */
@@ -4297,6 +4478,30 @@ 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 = {
@@ -4726,6 +4931,25 @@ 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;
+}
 /**
  * 
  * @export
@@ -4801,10 +5025,10 @@ export interface StartMovementRequest {
     'direction'?: Direction;
     /**
      * 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}
@@ -5076,7 +5300,7 @@ 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
      */
@@ -5138,7 +5362,7 @@ 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}
@@ -5333,6 +5557,31 @@ 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
@@ -5460,11 +5709,13 @@ 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',
@@ -6150,7 +6401,7 @@ export class ApplicationApi extends BaseAPI {
 export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Configuration) {
     return {
         /**
-         * Add a BUS Inputs/Outputs Service to the cell. 
+         * Add the BUS inputs/outputs service to the cell.  Starts a containerized service that enables BUS connections via the specified ethernet port. 
          * @summary Add Service
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {BusIOType} busIOType 
@@ -6203,7 +6454,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * Adds an input/output to or updates an input/output on the PROFINET device. 
+         * Adds an input/output variable to or updates an input/output variable on the PROFINET device, e.g. NOVA\'s PROFINET service.  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 third party software, e.g. TIA portal). 
          * @summary Add PROFINET Input/Output
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -6255,7 +6506,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * Delete BUS Inputs/Outputs Service from the cell. 
+         * Remove the BUS inputs/outputs service from the cell. 
          * @summary Clear Service
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {number} [completionTimeout] 
@@ -6302,7 +6553,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * Removes the input/output from the PROFINET device. 
+         * Removes an input/output variable configuration from the PROFINET device, e.g. NOVA\'s PROFINET service. 
          * @summary Remove PROFINET Input/Ouptut
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -6348,7 +6599,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * Get deployed BUS Inputs/Outputs Service.
+         * Get deployed BUS inputs/outputs service.
          * @summary Get Service
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -6479,7 +6730,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * Get description of PROFINET 
+         * Get description of NOVA as a PROFINET device. 
          * @summary Get PROFINET Description
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -6521,7 +6772,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * Get input/output configuration of the PROFINET device as file. 
+         * Get input/output variable configuration of the PROFINET device, e.g. NOVA\'s PROFINET service as file.  You can specify byte offsets for the input and output variable addresses to get an XML tagmap that is ready to paste to the third party software, e.g. TIA portal. 
          * @summary PROFINET Inputs/Outputs to File
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {number} [inputOffset] 
@@ -6573,7 +6824,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * List all BUS Input/Output descriptions. 
+         * 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.
@@ -6615,7 +6866,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * List all PROFINET input and outputs. 
+         * 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.
@@ -6705,7 +6956,7 @@ export const BUSInputsOutputsApiAxiosParamCreator = function (configuration?: Co
             };
         },
         /**
-         * Sets inputs/outputs on the PROFINET device from file. 
+         * 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 
@@ -6763,7 +7014,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
     const localVarAxiosParamCreator = BUSInputsOutputsApiAxiosParamCreator(configuration)
     return {
         /**
-         * Add a BUS Inputs/Outputs Service to the cell. 
+         * Add the BUS inputs/outputs service to the cell.  Starts a containerized service that enables BUS connections via the specified ethernet port. 
          * @summary Add Service
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {BusIOType} busIOType 
@@ -6778,7 +7029,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Adds an input/output to or updates an input/output on the PROFINET device. 
+         * Adds an input/output variable to or updates an input/output variable on the PROFINET device, e.g. NOVA\'s PROFINET service.  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 third party software, e.g. TIA portal). 
          * @summary Add PROFINET Input/Output
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -6793,7 +7044,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Delete BUS Inputs/Outputs Service from the cell. 
+         * Remove the BUS inputs/outputs service from the cell. 
          * @summary Clear Service
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {number} [completionTimeout] 
@@ -6807,7 +7058,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Removes the input/output from the PROFINET device. 
+         * Removes an input/output variable configuration from the PROFINET device, e.g. NOVA\'s PROFINET service. 
          * @summary Remove PROFINET Input/Ouptut
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -6821,7 +7072,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Get deployed BUS Inputs/Outputs Service.
+         * Get deployed BUS inputs/outputs service.
          * @summary Get Service
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -6861,7 +7112,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Get description of PROFINET 
+         * Get description of NOVA as a PROFINET device. 
          * @summary Get PROFINET Description
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -6874,7 +7125,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Get input/output configuration of the PROFINET device as file. 
+         * Get input/output variable configuration of the PROFINET device, e.g. NOVA\'s PROFINET service as file.  You can specify byte offsets for the input and output variable addresses to get an XML tagmap that is ready to paste to the third party software, e.g. TIA portal. 
          * @summary PROFINET Inputs/Outputs to File
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {number} [inputOffset] 
@@ -6889,20 +7140,20 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * List all BUS Input/Output descriptions. 
+         * 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.
          * @throws {RequiredError}
          */
-        async listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IODescription>>> {
+        async listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IODescription2>>> {
             const localVarAxiosArgs = await localVarAxiosParamCreator.listBusIODescriptions(cell, options);
             const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
             const localVarOperationServerBasePath = operationServerMap['BUSInputsOutputsApi.listBusIODescriptions']?.[localVarOperationServerIndex]?.url;
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * List all PROFINET input and outputs. 
+         * 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.
@@ -6929,7 +7180,7 @@ export const BUSInputsOutputsApiFp = function(configuration?: Configuration) {
             return (axios, basePath) => createRequestFunction(localVarAxiosArgs, globalAxios, BASE_PATH, configuration)(axios, localVarOperationServerBasePath || basePath);
         },
         /**
-         * Sets inputs/outputs on the PROFINET device from file. 
+         * 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 +7204,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
     const localVarFp = BUSInputsOutputsApiFp(configuration)
     return {
         /**
-         * Add a BUS Inputs/Outputs Service to the cell. 
+         * Add the BUS inputs/outputs service to the cell.  Starts a containerized service that enables BUS connections via the specified ethernet port. 
          * @summary Add Service
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {BusIOType} busIOType 
@@ -6965,7 +7216,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.addBusIOService(cell, busIOType, completionTimeout, options).then((request) => request(axios, basePath));
         },
         /**
-         * Adds an input/output to or updates an input/output on the PROFINET device. 
+         * Adds an input/output variable to or updates an input/output variable on the PROFINET device, e.g. NOVA\'s PROFINET service.  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 third party software, e.g. TIA portal). 
          * @summary Add PROFINET Input/Output
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -6977,7 +7228,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.addProfinetIO(cell, io, profinetIOData, options).then((request) => request(axios, basePath));
         },
         /**
-         * Delete BUS Inputs/Outputs Service from the cell. 
+         * Remove the BUS inputs/outputs service from the cell. 
          * @summary Clear Service
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {number} [completionTimeout] 
@@ -6988,7 +7239,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.clearBusIOService(cell, completionTimeout, options).then((request) => request(axios, basePath));
         },
         /**
-         * Removes the input/output from the PROFINET device. 
+         * Removes an input/output variable configuration from the PROFINET device, e.g. NOVA\'s PROFINET service. 
          * @summary Remove PROFINET Input/Ouptut
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -6999,7 +7250,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.deleteProfinetIO(cell, io, options).then((request) => request(axios, basePath));
         },
         /**
-         * Get deployed BUS Inputs/Outputs Service.
+         * Get deployed BUS inputs/outputs service.
          * @summary Get Service
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -7030,7 +7281,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.getBusIOValues(cell, ios, options).then((request) => request(axios, basePath));
         },
         /**
-         * Get description of PROFINET 
+         * Get description of NOVA as a PROFINET device. 
          * @summary Get PROFINET Description
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {*} [options] Override http request option.
@@ -7040,7 +7291,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.getProfinetDescription(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * Get input/output configuration of the PROFINET device as file. 
+         * Get input/output variable configuration of the PROFINET device, e.g. NOVA\'s PROFINET service as file.  You can specify byte offsets for the input and output variable addresses to get an XML tagmap that is ready to paste to the third party software, e.g. TIA portal. 
          * @summary PROFINET Inputs/Outputs to File
          * @param {string} cell Unique identifier addressing a cell in all API calls. 
          * @param {number} [inputOffset] 
@@ -7052,17 +7303,17 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.getProfinetIOsFromFile(cell, inputOffset, outputOffset, options).then((request) => request(axios, basePath));
         },
         /**
-         * List all BUS Input/Output descriptions. 
+         * 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.
          * @throws {RequiredError}
          */
-        listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<IODescription>> {
+        listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<IODescription2>> {
             return localVarFp.listBusIODescriptions(cell, options).then((request) => request(axios, basePath));
         },
         /**
-         * List all PROFINET input and outputs. 
+         * 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.
@@ -7083,7 +7334,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
             return localVarFp.setBusIOValues(cell, iOValue, options).then((request) => request(axios, basePath));
         },
         /**
-         * Sets inputs/outputs on the PROFINET device from file. 
+         * 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 
@@ -7104,7 +7355,7 @@ export const BUSInputsOutputsApiFactory = function (configuration?: Configuratio
  */
 export class BUSInputsOutputsApi extends BaseAPI {
     /**
-     * Add a BUS Inputs/Outputs Service to the cell. 
+     * Add the BUS inputs/outputs service to the cell.  Starts a containerized service that enables BUS connections via the specified ethernet port. 
      * @summary Add Service
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {BusIOType} busIOType 
@@ -7118,7 +7369,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * Adds an input/output to or updates an input/output on the PROFINET device. 
+     * Adds an input/output variable to or updates an input/output variable on the PROFINET device, e.g. NOVA\'s PROFINET service.  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 third party software, e.g. TIA portal). 
      * @summary Add PROFINET Input/Output
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -7132,7 +7383,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * Delete BUS Inputs/Outputs Service from the cell. 
+     * Remove the BUS inputs/outputs service from the cell. 
      * @summary Clear Service
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {number} [completionTimeout] 
@@ -7145,7 +7396,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * Removes the input/output from the PROFINET device. 
+     * Removes an input/output variable configuration from the PROFINET device, e.g. NOVA\'s PROFINET service. 
      * @summary Remove PROFINET Input/Ouptut
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -7158,7 +7409,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * Get deployed BUS Inputs/Outputs Service.
+     * Get deployed BUS inputs/outputs service.
      * @summary Get Service
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {*} [options] Override http request option.
@@ -7195,7 +7446,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * Get description of PROFINET 
+     * Get description of NOVA as a PROFINET device. 
      * @summary Get PROFINET Description
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {*} [options] Override http request option.
@@ -7207,7 +7458,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * Get input/output configuration of the PROFINET device as file. 
+     * Get input/output variable configuration of the PROFINET device, e.g. NOVA\'s PROFINET service as file.  You can specify byte offsets for the input and output variable addresses to get an XML tagmap that is ready to paste to the third party software, e.g. TIA portal. 
      * @summary PROFINET Inputs/Outputs to File
      * @param {string} cell Unique identifier addressing a cell in all API calls. 
      * @param {number} [inputOffset] 
@@ -7221,7 +7472,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * List all BUS Input/Output descriptions. 
+     * 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.
@@ -7233,7 +7484,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * List all PROFINET input and outputs. 
+     * 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.
@@ -7258,7 +7509,7 @@ export class BUSInputsOutputsApi extends BaseAPI {
     }
 
     /**
-     * Sets inputs/outputs on the PROFINET device from file. 
+     * 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 
@@ -10725,7 +10976,7 @@ 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). 
@@ -10823,7 +11074,7 @@ 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). 
@@ -10860,7 +11111,7 @@ 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). 
@@ -10891,7 +11142,7 @@ 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). 
@@ -10918,6 +11169,383 @@ 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
@@ -11243,7 +11871,7 @@ 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.
@@ -11590,7 +12218,7 @@ 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.
@@ -11747,7 +12375,7 @@ 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.
@@ -11903,7 +12531,7 @@ 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.