@wandelbots/nova-api 25.9.0-dev.13 → 25.9.0-dev.15

package/dist/v2/index.js

@@ -129,7 +129,7 @@ const createRequestFunction = function(axiosArgs, globalAxios$1, BASE_PATH$1, co
 //#region v2/api.ts
 const AbbControllerKindEnum = { AbbController: "AbbController" };
 /**
-* ## BEHAVIOR_AUTOMATIC This is the default behavior. The motion groups of the controller take commanded joint configuration as actual joint state. Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the virtual robot will act like a physical one, e.g. with a cycle time of 8ms to respond to a new joint state command. ## BEHAVIOR_AUTOMATIC_NOT_COMPLY_WITH_CYCLETIME Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the robot will respond as fast as possible, limited only by software execution speed. Because of that the execution of a movement requires less time than with BEHAVIOR_AUTOMATIC. ## BEHAVIOR_EXTERNAL_SOURCE The external client is the only source of actual joint state changes. This mode is used to enable third party software indicating the current joint state via [externalJointsStream](externalJointsStream). 
+* ## BEHAVIOR_AUTOMATIC This is the default behavior. The motion groups of the controller take commanded joint configuration as actual joint state. Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the virtual robot will act like a physical one, e.g., with a cycle time of 8ms to respond to a new joint state command. ## BEHAVIOR_AUTOMATIC_NOT_COMPLY_WITH_CYCLETIME Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the robot will respond as fast as possible, limited only by software execution speed. Because of that the execution of a movement requires less time than with BEHAVIOR_AUTOMATIC. ## BEHAVIOR_EXTERNAL_SOURCE The external client is the only source of actual joint state changes. This mode is used to enable third party software indicating the current joint state via [externalJointsStream](externalJointsStream). 
 * @export
 * @enum {string}
 */
@@ -340,7 +340,7 @@ const PlaneShapeTypeEnum = { Plane: "plane" };
 const PlaybackSpeedRequestMessageTypeEnum = { PlaybackSpeedRequest: "PlaybackSpeedRequest" };
 const PlaybackSpeedResponseKindEnum = { PlaybackSpeedReceived: "PLAYBACK_SPEED_RECEIVED" };
 /**
-* 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.
+* 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}
 */
@@ -900,7 +900,7 @@ const ApplicationApiFactory = function(configuration, basePath, axios) {
 */
 var ApplicationApi = class extends BaseAPI {
 	/**
-	* Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The API endpoint accessible from within the application container. > - `NATS_BROKER`: The NATS broker endpoint accessible from within the application container. > - `BASE_PATH`: The application\'s root path, accessible at http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell hosting the deployed application. 
+	* Install a basic, containerized web application to the cell to control robots with a customized frontend.  #### Prerequisites - A Docker hub account or similar container registry account, with valid credentials.  #### Workflow  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](https://docs.wandelbots.io/latest/developing-introduction) for more information.  #### Predefined environment variables  <!-- theme: NOTE --> > **NOTE** > - `NOVA_API`: The API endpoint accessible from within the application container. > - `NATS_BROKER`: The NATS broker endpoint accessible from within the application container. > - `BASE_PATH`: The application\'s root path, accessible at http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell hosting the deployed application. 
 	* @summary Add Application
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {App} app 
@@ -938,7 +938,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).deleteApp(cell, app, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the configuration for an active GUI application in the cell. To update the configuration of a GUI application in the cell, use this configuration with the \'Update Configuration\' endpoint. 
+	* Get the configuration for an active GUI application in the cell.  To update the configuration of a GUI application in the cell, use this configuration with [updateApp](updateApp). 
 	* @summary Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} app 
@@ -950,7 +950,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).getApp(cell, app, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all GUI applications that have been added to a cell. with the \'Add Application\' endpoint. If the cell does not contain GUI applications, the list is returned empty. 
+	* List all GUI applications that have been added to a cell with [addApp](addApp).  If the cell does not contain GUI applications, the list is returned empty. 
 	* @summary List Applications
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1509,7 +1509,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).addBusIOService(cell, busIOType, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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). 
+	* 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.
@@ -1534,7 +1534,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).clearBusIOService(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes an input/output variable configuration from the PROFINET device, e.g. NOVA\'s PROFINET service. 
+	* 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.
@@ -1591,7 +1591,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).getProfinetDescription(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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. 
+	* 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] 
@@ -1604,7 +1604,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).getProfinetIOsFromFile(cell, inputOffset, outputOffset, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all input/output descriptions for configured BUS services.  The input/output descriptions contain information such as the name, the type and the unit. The input/output direction is given in perspective of the BUS service. 
+	* List all input/output descriptions for configured BUS services.  The input/output descriptions contain information like name, type and 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.
@@ -1615,7 +1615,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).listBusIODescriptions(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information such as the name, the type and the unit. The 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. 
+	* List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information like name, type and 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.
@@ -1638,7 +1638,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).setBusIOValues(cell, iOValue, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets input/output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService) and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs). For the PROFINET controller, 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. 
+	* 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.  #### Export variables 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 
@@ -1955,7 +1955,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).deleteCell(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](docs/wandelbots-nova-api/#create-a-cell) for more information.
+	* Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](https://docs.wandelbots.io/latest/setup-cell) for more information.
 	* @summary Add Cell
 	* @param {Cell} cell 
 	* @param {number} [completionTimeout] 
@@ -1967,7 +1967,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).deployCell(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all cell resources.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+	* List all cell resources. 
 	* @summary Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -2591,7 +2591,7 @@ const ControllerApiFactory = function(configuration, basePath, axios) {
 */
 var ControllerApi = class extends BaseAPI {
 	/**
-	* Add a robot controller to the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+	* Add a robot controller to the cell. 
 	* @summary Add Robot Controller
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {RobotController} robotController 
@@ -2604,7 +2604,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).addRobotController(cell, robotController, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with the \'Add Robot Controller\' endpoint.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+	* Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController). 
 	* @summary Clear Robot Controllers
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {number} [completionTimeout] 
@@ -2616,7 +2616,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).clearRobotControllers(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete a robot controller from the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+	* Delete a robot controller from the cell. 
 	* @summary Delete Robot Controller
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2641,7 +2641,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getControllerDescription(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+	* Request a coordinate system specification for a given identifier. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 	* @summary Coordinate System
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2679,7 +2679,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getRobotController(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+	* Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration. 
 	* @summary Virtual Controller Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2691,7 +2691,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getVirtualControllerConfiguration(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+	* Lists all specifications of coordinate systems from robot controllers. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 	* @summary List Coordinate Systems
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2715,7 +2715,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).listRobotControllers(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state \'normal\' or \'reduced\'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
+	* Switch between monitor and control usage as default for a robot controller.  Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network, monitoring mode is always possible.  To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state `normal` or `reduced`. If the robot controller is in `manual` operating mode, you have to manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
 	* @summary Set Default Mode
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2728,7 +2728,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).setDefaultMode(cell, controller, mode, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > Websocket endpoint  Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot.  <!-- theme: danger -->  > **DANGER**  > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being > crushed, drawn in or caught due to the robot\'s complex movement sequences. Before opening the websocket, ensure that  > - The robot is in a safe state,  > - The right payload is set (e.g by using the (getActivePayload)[getActivePayload] endpoint),  > - No humans or object are within the robot\'s reach or within the cell.  As long as the websocket connection is open you will get the current state of the robot system in the response in the specified response_rate. If the activation failed, the returned status will return possible reasons for the failure.  Free drive mode is only available for robot controllers that support it, in particular Collobarative Robots (\"Cobots\"). Use the (listController)[listController] endpoint to check if the robot controller supports free drive mode. 
+	* <!-- theme: success -->  > Websocket endpoint  Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot.  <!-- theme: danger -->  > **DANGER** > > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being > crushed, drawn in or caught due to the robot\'s complex movement sequences. Before opening the websocket, ensure that > > - The robot is in a safe state, > - The right payload is set, > - No humans or object are within the robot\'s reach or within the cell.  As long as the websocket connection is open you will get the current state of the robot system in the response in the specified `response_rate`. If the activation failed, the returned status will return possible reasons for the failure.  Free drive mode is only available for robot controllers that support it, in particular cobots. Use [listRobotControllers](listRobotControllers) to check if the robot controller supports free drive mode. 
 	* @summary Stream Free Drive
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2741,7 +2741,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).streamFreeDrive(cell, controller, responseRate, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates. 
+	* <!-- theme: success -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates. 
 	* @summary Stream State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2755,7 +2755,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).streamRobotControllerState(cell, controller, responseRate, addControllerTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+	* Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller. 
 	* @summary Update Robot Controller
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3000,7 +3000,7 @@ const ControllerInputsOutputsApiFactory = function(configuration, basePath, axio
 */
 var ControllerInputsOutputsApi = class extends BaseAPI {
 	/**
-	* Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information such as the name of the input/output, the input/output type and the input/output unit. The set of available inputs/outputs is defined by the robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, the full list of available inputs/outputs is retrieved by this endpoint. Except when a filter (direction, value_type, group) is applied. Then only the inputs/outputs matching the filter are returned. 
+	* Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the robot controller\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 	* @summary List Descriptions
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3029,7 +3029,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).listIOValues(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This might take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
+	* Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This can take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
 	* @summary Set Output Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3042,7 +3042,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).setOutputValues(cell, controller, iOValue, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > Websocket endpoint  Continuously receive updates of input/output values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > Do not request too many values simultaneously as the request is then likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. Consider that this might lead to a high amount of data transmitted. 
+	* <!-- theme: success -->  > Websocket endpoint  Continuously receive updates of input/output values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > If you request many values simultaneously, the request is likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. This can lead to a high amount of data transmitted. 
 	* @summary Stream Input/Output Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3055,7 +3055,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).streamIOValues(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Wait until an input/output reaches a certain value. This call returns as soon as the condition is met or the request fails.  The comparison_type value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the value_type of the input/output, see (listIODescriptions)[listIODescriptions] for more information. Examples: If you want to wait until an analog input (\"AI_1\") is less than 10, you would set io to \"AI_1\" comparison_type to COMPARISON_LESS and only value to 10. If you want to wait until an analog input (\"AI_2\") is greater than 5.0, you would set io to \"AI_2\" comparison_type to COMPARISON_GREATER and only value to 5.0. If you want to wait until a digital input (\"DI_3\") is true, you would set io to \"DI_3\" comparison_type to COMPARISON_EQUAL and only value to true. 
+	* Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](listIODescriptions) for more information.  **Examples**  1. Wait until analog input `AI_1` < 10:     ```     io: \"AI_1\"     comparison_type: \"COMPARISON_LESS\"     value: 10     ```  2. Wait until analog input `AI_2` > 5.0:     ```     io: \"AI_2\"     comparison_type: \"COMPARISON_GREATER\"     value: 5.0     ```  3. Wait until digital input `DI_3` is true:     ```     io: \"DI_3\"     comparison_type: \"COMPARISON_EQUAL\"     value: true     ``` 
 	* @summary Wait For
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3136,7 +3136,7 @@ const JoggingApiFactory = function(configuration, basePath, axios) {
 */
 var JoggingApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP (Tool Center Point). The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send InitializeJoggingRequest to configure the jogging.  Sets robot controller mode to control mode. Sets rate and coordinate system for the jogging response.  #### 2. Send JointVelocityRequest or TcpVelocityRequest to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with JointVelocityRequest or TcpVelocityRequest. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - InitializeJoggingResponse is sent to signal the success or failure of the InitializeJoggingRequest. - Jogging responses are streamed continuously after an InitializeJoggingRequest is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - JoggingErrorResponse with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the JoggingResponse, verify that the robot control is in the desired state, e.g. standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops. 
+	* <!-- theme: success -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP. The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Sets rate and coordinate system for the jogging response.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with `JointVelocityRequest` or `TcpVelocityRequest`. - To stop the jogging motion, send zero velocities via either request.  ### Responses  - `InitializeJoggingResponse` is sent to signal the success or failure of the `InitializeJoggingRequest`. - Jogging responses are streamed continuously after an `InitializeJoggingRequest` is processed.   Jogging responses contain the robot controller state and the state of the jogging control. - `JoggingErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - In the `JoggingResponse`, verify that the robot control is in the desired state, e.g., standstill, with JoggingState. - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops. 
 	* @summary Execute Jogging
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3477,7 +3477,7 @@ var LicenseApi = class extends BaseAPI {
 		return LicenseApiFp(this.configuration).deactivateLicense(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get information on the license used with the Wandelbots NOVA instance, e.g. licensed product, expiration date, license status.
+	* Get information on the license used with the Wandelbots NOVA instance, e.g., licensed product, expiration date, license status.
 	* @summary Get license
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -3487,7 +3487,7 @@ var LicenseApi = class extends BaseAPI {
 		return LicenseApiFp(this.configuration).getLicense(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the license status. If `valid`, Wandelbots NOVA can be used. If `expired`, the license has to be renewed in order to use Wandelbots NOVA.
+	* Get the license status.  - If `valid`, Wandelbots NOVA can be used. - If `expired`, the license has to be renewed in order to use Wandelbots NOVA. 
 	* @summary Get license status
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -3662,7 +3662,7 @@ var MotionGroupApi = class extends BaseAPI {
 		return MotionGroupApiFp(this.configuration).getCurrentMotionGroupState(cell, controller, motionGroup, responseCoordinateSystem, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc. This data might change upon connection to the robot. 
+	* Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc.  This data can change upon connection to the robot. 
 	* @summary Description
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3675,7 +3675,7 @@ var MotionGroupApi = class extends BaseAPI {
 		return MotionGroupApiFp(this.configuration).getMotionGroupDescription(cell, controller, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > Websocket endpoint  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected. 
+	* <!-- theme: success -->  > Websocket endpoint  Receive updates of the motion group state.  The stream will be closed from the server if the controller is disconnected. 
 	* @summary Stream State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3800,7 +3800,7 @@ var MotionGroupModelsApi = class extends BaseAPI {
 	* 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). 
+	* @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). 
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
 	* @memberof MotionGroupModelsApi
@@ -4641,7 +4641,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listStoredCollisionTools(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stores collider.  If the collider does not exist, it will be created. If the collider exists, it will be updated. 
+	* Stores collider.  - If the collider does not exist, it will be created. - If the collider exists, it will be updated. 
 	* @summary Store Collider
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} collider Unique identifier addressing a collider.
@@ -4654,7 +4654,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).storeCollider(cell, collider, collider2, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stores link chain.  If the link chain does not exist, it will be created. If the link chain exists, it will be updated. 
+	* Stores link chain.  - If the link chain does not exist, it will be created. - If the link chain exists, it will be updated. 
 	* @summary Store Link Chain
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} linkChain Unique identifier addressing a collision link chain.
@@ -4667,7 +4667,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).storeCollisionLinkChain(cell, linkChain, collider, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stores the tool.  If the tool does not exist, it will be created. If the tool exists, it will be updated. 
+	* Stores the tool.  - If the tool does not exist, it will be created. - If the tool exists, it will be updated. 
 	* @summary Store Tool
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} tool Unique identifier addressing a collision tool.
@@ -4899,7 +4899,7 @@ var StoreCollisionSetupsApi = class extends BaseAPI {
 		return StoreCollisionSetupsApiFp(this.configuration).listStoredCollisionSetups(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stores collision setup.  If the collision setup does not exist, it will be created. If the collision setup exists, it will be updated. 
+	* Stores collision setup.  - If the collision setup does not exist, it will be created. - If the collision setup exists, it will be updated. 
 	* @summary Store Collision Setup
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} setup Identifier of the collision setup
@@ -5194,7 +5194,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).deleteObject(cell, key, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the object.  This request returns the object and any metadata attached to it. 
+	* Returns content and metadata of a stored object. 
 	* @summary Get Object
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -5206,7 +5206,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).getObject(cell, key, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get object metadata.  Objects can be large. Therefore this request only returns metadata without fetching the object\'s content. 
+	* Returns metadata. Object content is not returned. 
 	* @summary Get Object Metadata
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -5229,7 +5229,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).listAllObjectKeys(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](getObjectMetadata) to verify that the key does not contain objects.  Optional: Specify metadata as a dictionary with names and values. 
+	* Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](getObjectMetadata) to verify that the key does not contain objects.  #### Optional Specify metadata as a dictionary with names and values. 
 	* @summary Store Object
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -5918,7 +5918,7 @@ const TrajectoryCachingApiFactory = function(configuration, basePath, axios) {
 */
 var TrajectoryCachingApi = class extends BaseAPI {
 	/**
-	* <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
+	* Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable.  <!-- theme: info -->  > #### NOTE > > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
 	* @summary Add Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -5943,7 +5943,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).clearTrajectories(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
+	* Delete a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
 	* @summary Delete Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -5956,7 +5956,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).deleteTrajectory(cell, controller, trajectory, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. 
+	* Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. 
 	* @summary Get Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -5969,7 +5969,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).getTrajectory(cell, controller, trajectory, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
+	* List currently cached trajectories.  Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
 	* @summary List Trajectories
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6049,7 +6049,7 @@ const TrajectoryExecutionApiFactory = function(configuration, basePath, axios) {
 */
 var TrajectoryExecutionApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger -->  > Websocket endpoint  Provides execution control over a previously planned trajectory. Enables the caller to attach input/output actions to the trajectory.  Understanding the concept of location:   The location or path parameter specifies the exact position along a trajectory.   The location is a scalar value that ranges from 0 to `n`,   where `n` denotes the number of motion commands, or trajectory segments, e.g. line, p2p, etc. See [planMotion](planMotion).   Each integer value of the location corresponds to one motion command, e.g. 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position are at start location specified with InitializeMovementRequest. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send InitializeMovementRequest to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send StartMovementRequest to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send PauseMovementRequest before the movement has reached its end location. - Change the movement\'s velocity with PlaybackSpeedRequest after initializing the movement with InitializeMovementRequest.  ### Responses  - InitializeMovementResponse is sent to signal the success or failure of the InitializeMovementRequest. - Movement responses are streamed after a StartMovementRequest successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by InitializeMovementRequest. - Standstill reponse  is sent once the movement has finished or has come to a standstill due to a pause. - PauseMovementResponse is sent to signal the success of the PauseMovementRequest. It does not signal the end of the movement.   End of movement is signaled by Standstill reponse . - PlaybackSpeedResponse is sent to signal the success of the PlaybackSpeedRequest. - MovementError with error details is sent in case of an unexpected error, e.g. controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending PauseMovementRequest and StartMovementRequest. - Send PlaybackSpeedRequest before StartMovementRequest to reduce the velocity of the movement before it starts. - Send PlaybackSpeedRequest repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send PlaybackSpeedRequest with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending StartMovementRequest after the movement has finished. 
+	* <!-- theme: success -->  > Websocket endpoint  Provides execution control over a previously [planned trajectory](planTrajectory). Enables the caller to attach input/output actions to the trajectory.  ### Movement behavior  | Virtual controller | Physical controller | |------------------|-------------------| | Desired joint configurations are commanded to each motion group and **applied immediately** | Move to desired **actual joint configuration**, **if possible** |  ### Concept of location    - The location or path parameter specifies the exact position along a trajectory.   - The location is a scalar value that ranges from 0 to `n`, where `n` denotes the number of motion commands, or trajectory segments, e.g., line, p2p, etc. See [planTrajectory](planTrajectory).   - Each integer value of the location corresponds to one motion command, e.g., 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position are at start location specified with `InitializeMovementRequest`. - Use [executeToTrajectory](executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send `InitializeMovementRequest` to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send `StartMovementRequest` to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send `PauseMovementRequest` before the movement has reached its end location. - Change the movement\'s velocity with `PlaybackSpeedRequest` after initializing the movement with `InitializeMovementRequest`.  ### Responses  - `InitializeMovementResponse` is sent to signal the success or failure of the `InitializeMovementRequest`. - Movement responses are streamed after a `StartMovementRequest` successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by `InitializeMovementRequest`. - Standstill response is sent once the movement has finished or has come to a standstill due to a pause. - `PauseMovementResponse` is sent to signal the success of the `PauseMovementRequest`. It does not signal the end of the movement.   End of movement is signaled by Standstill response. - `PlaybackSpeedResponse` is sent to signal the success of the `PlaybackSpeedRequest`. - `MovementError` with error details is sent in case of an unexpected error, e.g., controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending `PauseMovementRequest` and `StartMovementRequest`. - Send `PlaybackSpeedRequest` before `StartMovementRequest` to reduce the velocity of the movement before it starts. - Send `PlaybackSpeedRequest` repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send `PlaybackSpeedRequest` with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending `StartMovementRequest` after the movement has finished. 
 	* @summary Execute Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6184,7 +6184,7 @@ var TrajectoryPlanningApi = class extends BaseAPI {
 		return TrajectoryPlanningApiFp(this.configuration).planCollisionFree(cell, planCollisionFreeRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the [PlanTrajectoryResponse](PlanTrajectoryResponse) will contain the joint trajectory up until the error, e.g. all samples until a collision occurs. EXCEPTION: If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion. 
+	* Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the response will contain the joint trajectory up until the error, e.g., all samples until a collision occurs.   <!-- theme: info -->  > #### Exception > > If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion. 
 	* @summary Plan Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {PlanTrajectoryRequest} [planTrajectoryRequest] 
@@ -6812,7 +6812,7 @@ const VirtualControllerApiFactory = function(configuration, basePath, axios) {
 */
 var VirtualControllerApi = class extends BaseAPI {
 	/**
-	* Adds a coordinate system to the robot controller.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
+	* Adds a coordinate system to the robot controller.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is added, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 	* @summary Add Coordinate Systems
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6826,7 +6826,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).addVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, coordinateSystemData, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Adds a new TCP (Tool Center Point) or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange\'s coordinate system.  > **NOTE** > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot\'s documentation or data sheet for details like joint limits or reach.  **Important notes:** - Adding or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
+	* Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange\'s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot\'s documentation or data sheet for details like joint limits or reach.  <!-- theme: info -->  > #### NOTE > > When adding or updating a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the TCP is available for operation. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the TCP may not yet be visible nor usable. 
 	* @summary Add TCP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6841,7 +6841,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be   available for visualization or program execution. 
+	* Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is removed, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 	* @summary Delete Coordinate System
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6855,7 +6855,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).deleteVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, deleteDependent, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  **Important notes:** - Removing or updating a TCP triggers a **virtual robot restart** to apply the new configuration. - During this restart:   - The robot visualization in the UI may temporarily disappear.   - The TCP visualization may not immediately appear, or may look outdated during the first test/rerun.   - All active connections to the virtual robot are closed and then re-established. This creates a delay before the TCP is available in both the UI and robot programs. - The API call itself does **not wait until the restart and synchronization are complete**.   Even if the request succeeds, the new or updated TCP may not yet be visible in the GUI or available for use. 
+	* Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  <!-- theme: info -->  > #### NOTE > > When removing a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The removal of the TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the then used TCP may not yet be visible nor usable. 
 	* @summary Remove TCP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6869,7 +6869,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
+	* Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
 	* @summary Get Emergency Stop State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6906,7 +6906,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).getMotionGroups(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers. 
+	* Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The operation mode can only be changed via API when using virtual robot controllers. 
 	* @summary Get Operation Mode
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6918,7 +6918,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).getOperationMode(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Gets motion group mounting. The motion group is based on the origin of the returned coordinate system. 
+	* Gets motion group mounting.  The motion group is based on the origin of the returned coordinate system. 
 	* @summary Get Mounting
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6943,7 +6943,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).listVirtualControllerCoordinateSystems(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes. 
+	* Lists TCPs of the motion group.  An empty TCP list is valid, e.g., for external axes. 
 	* @summary List TCPs
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6956,7 +6956,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).listVirtualControllerTcps(cell, controller, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+	* Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths.  Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
 	* @summary Push or Release Emergency Stop
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6969,7 +6969,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).setEmergencyStop(cell, controller, active, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur. 
+	* Sets the values for joint position, joint velocity or joint acceleration of a motion group state.  The values are immediately applied to the joints of the motion group.  <!-- theme: info -->  > #### NOTE > > Only use the endpoint when the motion group is in monitor mode. If the motion group is controlled, currently jogging or planning motions, > the values are overridden by the controller or an error may occur. 
 	* @summary Set Motion Group State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6983,7 +6983,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).setMotionGroupState(cell, controller, motionGroup, motionGroupJoints, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers. 
+	* Changes the operation mode of the virtual robot controller to the specified value.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The operation mode can only be changed via API when using virtual robot controllers. 
 	* @summary Set Operation Mode
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6996,7 +6996,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).setOperationMode(cell, controller, mode, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets the motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  **Important notes:** - Changing the mounting configuration is treated as a setup change. - When the mounting is set to a new coordinate system, the **virtual robot restarts** in the background to apply the new configuration. - During this process:   - Robot visualization may temporarily disappear or not reflect the new mounting immediately.   - Motion group state and coordinate system alignment may not be instantly updated in the UI.   - All connections to the virtual robot are closed and then re-established, which can cause a short delay before the system is ready again. - The API call itself does **not wait until the restart and synchronization are complete**.   A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
+	* Sets the motion group mounting by specifying a coordinate system.  The motion group will be based on the coordinate system\'s origin.  The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  <!-- theme: info -->  > #### Changing the mounting configuration is considered a setup change > > When the mounting is set to a new coordinate system, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or not reflect the new mounting immediately. > - Motion group state and coordinate system alignment may not be immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
 	* @summary Set Mounting
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7196,7 +7196,7 @@ const VirtualControllerBehaviorApiFactory = function(configuration, basePath, ax
 */
 var VirtualControllerBehaviorApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger -->  > Websocket endpoint  This stream sends the commanded state (joint positions, velocities, accelerations, torques) for each motion group of the virtual controller and sets the joint configuration. Moving motion groups on virtual controllers can be executed by using Trajectory Planning and Trajectory Execution. Trajectory Execution commands the desired joint configuration to each motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! > **NOTE** > > This stream provides *commanded* joint states, it **doesn\'t provide actual joint states**.  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configuration. > **CAUTION** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.  The stream only sends data to the robot controller if a motion is executed.  If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs. Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic Freedrive motions.  <!-- theme: danger -->  > **DANGER** > > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration > will be executed with maximum speed regardless of safety zones and mechanical limits. 
+	* <!-- theme: success -->  > Websocket endpoint  Sends the **commanded** state, e.g., joint positions, velocities, accelerations, torques, for each motion group of the virtual controller and sets the joint configuration.  Use [planTrajectory](planTrajectory) and [executeTrajectory](executeTrajectory) to move motion groups on virtual controllers.  Learn more about the [movement behavior of virtual controllers in comparison to physical controllers](executeTrajectory#movement-behavior).  > **NOTE** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  #### Use cases  1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.\\     The stream only sends data to the robot controller if a motion is executed.\\     If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs.     Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic freedrive motions.     <!-- theme: danger -->      > **DANGER**     >     > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration     > will be executed with maximum speed regardless of safety zones and mechanical limits. 
 	* @summary Stream Joint Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7221,7 +7221,7 @@ var VirtualControllerBehaviorApi = class extends BaseAPI {
 		return VirtualControllerBehaviorApiFp(this.configuration).getCycleTime(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the current virtual controller behavior - please see the setter [setVirtualControllerBehavior](setVirtualControllerBehavior) and the enum for details. 
+	* Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details. 
 	* @summary Get Behavior
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7233,7 +7233,7 @@ var VirtualControllerBehaviorApi = class extends BaseAPI {
 		return VirtualControllerBehaviorApiFp(this.configuration).getVirtualControllerBehavior(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Set virtual controller behavior. 
+	* Set virtual controller behavior.  See query parameters for details. 
 	* @summary Set Behavior
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7413,7 +7413,7 @@ var VirtualControllerInputsOutputsApi = class extends BaseAPI {
 		return VirtualControllerInputsOutputsApiFp(this.configuration).listIOs(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists the input/output descriptions of the virtual robot controller.  The input/output descriptions contain information like name, type and unit. Available inputs/outputs are defined by the virtual robot controller. Each input/output has a unique identifier. If no identifiers are specified in the request, all available inputs/outputs are retrieved by this endpoint. Exception: When a filter (e.g., direction, value_type, group) is applied, only matching inputs/outputs are returned. 
+	* Lists the input/output descriptions of the virtual robot controller.   The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the virtual robot controller.\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 	* @summary List Descriptions
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.