@wandelbots/nova-api 26.2.0-dev.4 → 26.2.0-dev.54

package/dist/v2/index.d.cts

@@ -7,7 +7,7 @@ import { AxiosInstance, AxiosPromise, RawAxiosRequestConfig } from "axios";
  * Wandelbots NOVA API
  * Interact with robots in an easy and intuitive way.
  *
- * The version of the OpenAPI document: 2.1.0
+ * The version of the OpenAPI document: 2.2.0 dev
  *
  *
  * NOTE: This class is auto generated by OpenAPI Generator (https://openapi-generator.tech).
@@ -164,7 +164,7 @@ interface ActivateLicenseRequest {
 interface AddTrajectoryError {
   'message'?: string;
   /**
-   * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g., in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
+   * - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
    */
   'location'?: number;
   'data'?: AddTrajectoryErrorData;
@@ -188,11 +188,11 @@ interface AddTrajectoryRequest {
   'tcp'?: string;
 }
 /**
- * The response signals if the trajectory is valid or faulty resulting in an executable, partially executable or not executable state. - valid trajectory: response contains only the unique identifier for the trajectory - trajectory has error on path: response contains the unique identifier for the trajectory and information about the failure. It is executable up to the point of failure. - trajectory has error at start or invalid data: response contains only information about the failure.  To execute the trajectory use the unique identifier for calling [executeTrajectory](executeTrajectory). If you want to validate your trajectory before execution, execute it with a virtual motion group and check the state in the response stream of [executeTrajectory](executeTrajectory).
+ * The response signals if the trajectory is valid or faulty, resulting in an executable, partially executable or non-executable state. - valid trajectory: response contains only the unique identifier for the trajectory - trajectory has error on path: response contains the unique identifier for the trajectory and information about the failure. It is executable up to the point of failure. - trajectory has error at start or invalid data: response contains only information about the failure.  To execute the trajectory, use the unique identifier for calling [executeTrajectory](#/operations/executeTrajectory). If you want to validate your trajectory before execution, execute it with a virtual motion group and check the state in the response stream of [executeTrajectory](#/operations/executeTrajectory).
  */
 interface AddTrajectoryResponse {
   /**
-   * The unique identifier of the trajectory. Use this identifier to execute the trajectory with the [executeTrajectory](executeTrajectory) endpoint.
+   * The unique identifier of the trajectory. Use this identifier to execute the trajectory with the [executeTrajectory](#/operations/executeTrajectory) endpoint.
    */
   'trajectory'?: string;
   /**
@@ -200,6 +200,11 @@ interface AddTrajectoryResponse {
    */
   'error'?: AddTrajectoryError;
 }
+/**
+ * @type AddVirtualControllerMotionGroupRequest
+ * Request body wrapper for `addVirtualControllerMotionGroup`. Allow callers to either reference a predefined motion group model or upload a full JSON configuration that the backend extracts into a motion group description.
+ */
+type AddVirtualControllerMotionGroupRequest = MotionGroupFromJson | MotionGroupFromType;
 interface ApiVersion {
   /**
    * The version of the API.
@@ -239,7 +244,7 @@ interface App {
   'diagnosis_path'?: string;
 }
 /**
- * ## 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](#/operations/externalJointsStream).
  */
 declare const Behavior: {
   readonly BehaviorAutomatic: "BEHAVIOR_AUTOMATIC";
@@ -349,7 +354,7 @@ interface BusIODescription {
    */
   'io': string;
   /**
-   * Name of the input/output. Customize it using the respective BUS service, e.g., [addProfinetIO](addProfinetIO) for PROFINET service.
+   * Name of the input/output. Customize it using the respective BUS service, e.g., [addProfinetIO](#/operations/addProfinetIO) for PROFINET service.
    */
   'name': string;
   'direction': IODirection;
@@ -576,6 +581,10 @@ interface Cell {
    * A unique name for the cell used as an identifier for addressing the cell in all API calls. It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
    */
   'name': string;
+  /**
+   * Wandelbots NOVA version of the cell. This version must not exceed the current system version.
+   */
+  'version'?: string;
   /**
    * A description of the cell.
    */
@@ -777,7 +786,7 @@ interface ContainerResources {
   'memory_limit'?: string;
 }
 /**
- * The path and capacity of a volume that retains data across application restarts. The maximal requestable capacity is 300Mi. If you need more capacity consider using [storeObject](storeObject).
+ * The path and capacity of a volume that retains data across application restarts. The maximal requestable capacity is 300Mi. If you need more capacity consider using [storeObject](#/operations/storeObject).
  */
 interface ContainerStorage {
   'mount_path': string;
@@ -912,6 +921,7 @@ interface DHParameter {
    * True, if rotation direction of joint is reversed.
    */
   'reverse_rotation_direction'?: boolean;
+  'type'?: JointTypeEnum;
 }
 /**
  * The direction in which the trajectory is executed. Default: Forward.
@@ -985,7 +995,7 @@ type ErrorMaxIterationsExceededErrorFeedbackNameEnum = typeof ErrorMaxIterations
  */
 interface Execute {
   /**
-   * Commanded joint position of each joint in [rad]. This command was sent in the time step the corresponding state was received.
+   * Commanded joint position of each joint. This command was sent in the time step the corresponding state was received. The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
    */
   'joint_position': Array<number>;
   'details'?: ExecuteDetails;
@@ -1122,11 +1132,11 @@ interface ForwardKinematics422Response {
 }
 interface ForwardKinematicsRequest {
   /**
-   * String identifiying the model of a motion group.
+   * Identifies a single motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
    */
   'motion_group_model': string;
   /**
-   * List of joint positions [rad] for which TCP poses are computed.
+   * List of joint positions for which TCP poses are computed. The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
    */
   'joint_positions': Array<Array<number>>;
   'tcp_offset'?: Pose;
@@ -1343,7 +1353,7 @@ interface InitializeMovementRequest {
   'message_type': InitializeMovementRequestMessageTypeEnum;
   'trajectory': InitializeMovementRequestTrajectory;
   /**
-   * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g., in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
+   * - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
    */
   'initial_location'?: number;
   /**
@@ -1369,7 +1379,7 @@ interface InitializeMovementResponse {
    */
   'message'?: string;
   /**
-   * Error can occur if joint trajectory was added by [InitializeMovementRequest](InitializeMovementRequest) and the trajectory is invalid.
+   * Error can occur if joint trajectory was added by InitializeMovementRequest and the trajectory is invalid.
    */
   'add_trajectory_error'?: AddTrajectoryError;
   'kind': InitializeMovementResponseKindEnum;
@@ -1407,7 +1417,7 @@ interface InverseKinematics422Response {
 }
 interface InverseKinematicsRequest {
   /**
-   * String identifiying the model of a motion group.
+   * Identifies a single motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
    */
   'motion_group_model': string;
   /**
@@ -1420,7 +1430,7 @@ interface InverseKinematicsRequest {
    */
   'mounting'?: Pose;
   /**
-   * Joint position limits in [rad], indexed starting from base.
+   * Joint position limits, indexed starting from base. The unit depends on the type of joint: For revolute joints, the limit is given in [rad]; for prismatic joints, it is given in [mm].
    */
   'joint_position_limits'?: Array<LimitRange>;
   /**
@@ -1536,7 +1546,7 @@ interface JointLimits {
 }
 interface JointTrajectory {
   /**
-   * List of joint positions [rad] for each sample. The number of samples must match the number of timestamps provided in the times field.
+   * List of joint positions for each sample. The number of samples must match the number of timestamps provided in the times field. The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
    */
   'joint_positions': Array<Array<number>>;
   /**
@@ -1545,6 +1555,11 @@ interface JointTrajectory {
   'times': Array<number>;
   'locations': Array<number>;
 }
+declare const JointTypeEnum: {
+  readonly RevoluteJoint: "REVOLUTE_JOINT";
+  readonly PrismaticJoint: "PRISMATIC_JOINT";
+};
+type JointTypeEnum = typeof JointTypeEnum[keyof typeof JointTypeEnum];
 /**
  * Sets target joint velocities for jogging a motion group.
  */
@@ -1581,6 +1596,10 @@ type JointVelocityResponseKindEnum = typeof JointVelocityResponseKindEnum[keyof
  */
 interface KinematicModel {
   'dh_parameters'?: Array<DHParameter>;
+  /**
+   * Constant coordinate transformation between the motion group base frame and the start of the kinematic chain modeled by Denavit-Hartenberg parameters.
+   */
+  'kinematic_chain_offset'?: Pose;
   /**
    * Optional name of the inverse kinematics solver.
    */
@@ -1711,7 +1730,7 @@ interface LimitsOverride {
 }
 interface ListTrajectoriesResponse {
   /**
-   * Identifiers of trajectories which are currently cached. 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.
+   * Identifiers of trajectories which are currently cached. Use [addTrajectory](#/operations/addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects.
    */
   'trajectories'?: Array<string>;
 }
@@ -1833,11 +1852,11 @@ type MotionCommandBlending = BlendingAuto | BlendingPosition;
  */
 type MotionCommandPath = PathCartesianPTP | PathCircle | PathCubicSpline | PathJointPTP | PathLine;
 /**
- * The configuration of a motion-group used for motion planning.
+ * The configuration of a motion-group used for motion planning. The parameters `mounting`, `kinematic_chain_offset`, `dh_parameters` and `tcp_offset` are used to model the kinematic structure of the motion group. They can be used to compute the coordinate transformations from world to tcp frame: [world frame] -> mounting -> [base frame] -> kinematic chain offset + motion group kinematics (Denavit-Hartenberg parameters) -> [flange frame] -> tcp_offset -> [tcp frame].
  */
 interface MotionGroupDescription {
   /**
-   * String identifiying the model of a motion group.
+   * Identifies a single motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
    */
   'motion_group_model': string;
   /**
@@ -1882,14 +1901,50 @@ interface MotionGroupDescription {
    */
   'cycle_time'?: number;
   /**
-   * The DH parameters describing the motion group geometry, starting from base.
+   * The Denavit-Hartenberg parameters describing the motion group kinematics.
    */
   'dh_parameters'?: Array<DHParameter>;
+  /**
+   * Constant coordinate transformation between the motion group base frame and the start of the kinematic chain modelled by Denavit-Hartenberg parameters. Unlike the mounting, which is used to set the actual position and orientation of the motion group within a cell, this offset is fixed. It is part of the description of the kinematical structure of the motion group.
+   */
+  'kinematic_chain_offset'?: Pose;
   /**
    * The serial number of the motion group, if available. If not available, the serial number of the robot controller. If not available, empty.
    */
   'serial_number'?: string;
 }
+interface MotionGroupFromJson {
+  /**
+   * Unique identifier for the motion group to be added.
+   */
+  'motion_group': string;
+  /**
+   * Full JSON configuration of the virtual robot controller. This can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration).
+   */
+  'json': string;
+  /**
+   * The identifier of the motion group that needs to be extracted from the provided JSON configuration.
+   */
+  'extracted_motion_group_id': string;
+  /**
+   * Initial joint position of the added motion group. Provides the joint position as a JSON array of float values in radians, where the array length must match the robot\'s degrees of freedom (DOF), e.g., `\"[0, 0, 0, 0, 0, 0]\"` for a 6-DOF robot. If the provided array length does not match the robot\'s DOF, the array will be adjusted: if it is longer, extra values will be truncated; if it is shorter, missing values will be filled with zeros.
+   */
+  'initial_joint_position'?: string;
+}
+interface MotionGroupFromType {
+  /**
+   * Unique identifier for the motion group to be added.
+   */
+  'motion_group': string;
+  /**
+   * Identifies a single motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
+   */
+  'motion_group_model': string;
+  /**
+   * Initial joint position of the added motion group. Provides the joint position as a JSON array of float values in radians, where the array length must match the robot\'s degrees of freedom (DOF), e.g., `\"[0, 0, 0, 0, 0, 0]\"` for a 6-DOF robot. If the provided array length does not match the robot\'s DOF, the array will be adjusted; if it is longer, extra values will be truncated; if it is shorter, missing values will be filled with zeros.
+   */
+  'initial_joint_position'?: string;
+}
 interface MotionGroupInfo {
   /**
    * The unique identifier of the motion group. Use it to refer to the motion group in other calls.
@@ -1905,7 +1960,7 @@ interface MotionGroupInfo {
   'dof': number;
 }
 /**
- * Ensure to provide one value for each joint. See [getMotionGroups](getMotionGroups) for the number of joints. Everything but positions is optional.
+ * Ensure to provide one value for each joint. See [getMotionGroups](#/operations/getMotionGroups) for the number of joints. Everything but positions is optional.
  */
 interface MotionGroupJoints {
   /**
@@ -1927,7 +1982,7 @@ interface MotionGroupJoints {
 }
 interface MotionGroupSetup {
   /**
-   * String identifiying the model of a motion group.
+   * Identifies a single motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
    */
   'motion_group_model': string;
   /**
@@ -1985,7 +2040,7 @@ interface MotionGroupState {
    */
   'joint_current'?: Array<number>;
   /**
-   * Pose of the flange. Positions are in [mm]. Oriantations are in [rad]. The pose is relative to the response_coordinate_system specified in the request. For robot arms a flange pose is always returned, for positioners the flange might not be available, depending on the model.
+   * Pose of the flange. Positions are in [mm]. Orientations are in [rad]. The pose is relative to the response_coordinate_system specified in the request. For robot arms, a flange pose is always returned. For positioners, the flange might not be available, depending on the model.
    */
   'flange_pose'?: Pose;
   /**
@@ -1993,7 +2048,7 @@ interface MotionGroupState {
    */
   'tcp'?: string;
   /**
-   * Pose of the TCP selected on the robot control panel. Positions are in [mm]. Oriantations are in [rad]. The pose is relative to the response_coordinate_system specified in the request. Might not be returned for positioners as some do not support TCPs, depending on the model.
+   * Pose of the TCP selected on the robot control panel. Positions are in [mm]. Orientations are in [rad]. The pose is relative to the response_coordinate_system specified in the request. Might not be returned for positioners as some do not support TCPs, depending on the model.
    */
   'tcp_pose'?: Pose;
   /**
@@ -2279,11 +2334,11 @@ declare const PauseMovementRequestMessageTypeEnum: {
 };
 type PauseMovementRequestMessageTypeEnum = typeof PauseMovementRequestMessageTypeEnum[keyof typeof PauseMovementRequestMessageTypeEnum];
 /**
- * Acknowledgment for PauseMovementRequest message. ATTENTION: No confirmation that the movement was paused. Confirmation that the PauseMovementRequest was received and is processed.            End of movement execution is signalled by [StillstandResponse](StillstandResponse).
+ * Acknowledgment for PauseMovementRequest message. ATTENTION: No confirmation that the movement was paused. Confirmation that the PauseMovementRequest was received and is processed.            End of movement execution is signalled by [state stream](#/operations/streamMotionGroupState) response.            See TrajectoryDetails of details in execute.
  */
 interface PauseMovementResponse {
   /**
-   * Error message in case of invalid PauseMovementResquest.
+   * Error message in case of invalid PauseMovementRequest.
    */
   'message'?: string;
   'kind': PauseMovementResponseKindEnum;
@@ -2329,7 +2384,7 @@ interface PlanCollisionFreeFailedResponse {
 }
 interface PlanCollisionFreeRequest {
   /**
-   * The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) endpoint.
+   * The data to assemble the robot setup can be retrieved from the [getMotionGroupDescription](#/operations/getMotionGroupDescription) endpoint.
    */
   'motion_group_setup': MotionGroupSetup;
   'start_joint_position': Array<number>;
@@ -2349,7 +2404,7 @@ type PlanCollisionFreeResponseResponse = JointTrajectory | PlanCollisionFreeFail
 interface PlanTrajectoryFailedResponse {
   'error_feedback': PlanTrajectoryFailedResponseErrorFeedback;
   /**
-   * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g., in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
+   * - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
    */
   'error_location_on_trajectory': number;
   /**
@@ -2363,7 +2418,7 @@ interface PlanTrajectoryFailedResponse {
 type PlanTrajectoryFailedResponseErrorFeedback = FeedbackCollision | FeedbackJointLimitExceeded | FeedbackOutOfWorkspace | FeedbackSingularity;
 interface PlanTrajectoryRequest {
   /**
-   * The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](getMotionGroupDescription) endpoint.
+   * The data to assemble the robot setup can be retrieved from [getMotionGroupDescription](#/operations/getMotionGroupDescription) endpoint.
    */
   'motion_group_setup': MotionGroupSetup;
   'start_joint_position': Array<number>;
@@ -2730,7 +2785,7 @@ declare const RectangularCapsuleShapeTypeEnum: {
 };
 type RectangularCapsuleShapeTypeEnum = typeof RectangularCapsuleShapeTypeEnum[keyof typeof RectangularCapsuleShapeTypeEnum];
 /**
- * The channel that defines what a new Wandelbots NOVA version is.    * `next` the over all latest version   * `stable` newes patch of the current version
+ * The channel that defines what a new Wandelbots NOVA version is.    * `next` the latest version   * `stable` newest patch of the current version
  */
 declare const ReleaseChannel: {
   readonly Stable: "stable";
@@ -2787,7 +2842,7 @@ interface RobotControllerState {
   'motion_groups': Array<MotionGroupState>;
 }
 /**
- * Defines the current system mode of the robot system, including NOVA communicating with the robot controller.  ### MODE_CONTROLLER_NOT_CONFIGURED  No controller with the specified identifier is configured. Call [addRobotController](addRobotController) to register a controller.  ### MODE_INITIALIZING  Indicates that a connection to the robot controller is established or reestablished in case of a disconnect. On success, the controller is set to MODE_MONITOR. On failure, the initialization process is retried until successful or cancelled by the user.  ### MODE_MONITOR  Read-only mode with an active controller connection. - Receives robot state and I/O signals - Move requests are rejected - No commands are sent to the controller  ### MODE_CONTROL  Active control mode.  **Movement is possible in this mode**  The robot is cyclically commanded to hold its current position. The robot state is received in sync with the controller cycle. Motion and jogging requests are accepted and executed. Input/Output interaction is enabled.  ### MODE_FREE_DRIVE  Read-only mode with servo motors enabled for manual movement (Free Drive).  Move requests are rejected.  Not supported by all robots: Use [getSupportedModes](getSupportedModes) to check Free Drive availability.
+ * Defines the current system mode of the robot system, including NOVA communicating with the robot controller.  ### MODE_CONTROLLER_NOT_CONFIGURED  No controller with the specified identifier is configured. Call [addRobotController](#/operations/addRobotController) to register a controller.  ### MODE_INITIALIZING  Indicates that a connection to the robot controller is established or reestablished in case of a disconnect. On success, the controller is set to MODE_MONITOR. On failure, the initialization process is retried until successful or cancelled by the user.  ### MODE_MONITOR  Read-only mode with an active controller connection. - Receives robot state and I/O signals - Move requests are rejected - No commands are sent to the controller  ### MODE_CONTROL  Active control mode.  **Movement is possible in this mode**  The robot is cyclically commanded to hold its current position. The robot state is received in sync with the controller cycle. Motion and jogging requests are accepted and executed. Input/Output interaction is enabled.  ### MODE_FREE_DRIVE  Read-only mode with servo motors enabled for manual movement (Free Drive).  Move requests are rejected.  Not supported by all robots: Use [getSupportedModes](#/operations/getSupportedModes) to check Free Drive availability.
  */
 declare const RobotSystemMode: {
   readonly ModeControllerNotConfigured: "MODE_CONTROLLER_NOT_CONFIGURED";
@@ -2911,9 +2966,14 @@ interface SetIO {
   'location': number;
   'io_origin': IOOrigin;
 }
+/**
+ * Defines available system modes of the robot system. Short versions (no \"ROBOT_SYSTEM_\" prefix) are provided, reusing strings from [getMode](#/operations/getMode) responses.
+ */
 declare const SettableRobotSystemMode: {
   readonly RobotSystemModeMonitor: "ROBOT_SYSTEM_MODE_MONITOR";
+  readonly ModeMonitor: "MODE_MONITOR";
   readonly RobotSystemModeControl: "ROBOT_SYSTEM_MODE_CONTROL";
+  readonly ModeControl: "MODE_CONTROL";
 };
 type SettableRobotSystemMode = typeof SettableRobotSystemMode[keyof typeof SettableRobotSystemMode];
 declare const SingularityTypeEnum: {
@@ -2937,7 +2997,7 @@ declare const SphereShapeTypeEnum: {
 };
 type SphereShapeTypeEnum = typeof SphereShapeTypeEnum[keyof typeof SphereShapeTypeEnum];
 /**
- * Moves the motion group along a trajectory, added via [planTrajectory](planTrajectory) or [planMotion](planMotion). Trajectories can be executed forwards or backwards(\"in reverse\").  Pause the execution with PauseMovementRequest. Resume execution with StartMovementRequest.  Precondition: To start execution, the motion group must be located at the trajectory\'s start location specified in InitializeMovementRequest.
+ * Moves the motion group along a trajectory, added via [planTrajectory](#/operations/planTrajectory) or [planMotion](#/operations/planMotion). Trajectories can be executed forwards or backwards(\"in reverse\").  Pause the execution with PauseMovementRequest. Resume execution with StartMovementRequest.  Precondition: To start execution, the motion group must be located at the trajectory\'s start location specified in InitializeMovementRequest.
  */
 interface StartMovementRequest {
   /**
@@ -2946,7 +3006,7 @@ interface StartMovementRequest {
   'message_type': StartMovementRequestMessageTypeEnum;
   'direction'?: Direction;
   /**
-   * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g., in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
+   * - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
    */
   'target_location'?: number;
   /**
@@ -2967,7 +3027,7 @@ declare const StartMovementRequestMessageTypeEnum: {
 };
 type StartMovementRequestMessageTypeEnum = typeof StartMovementRequestMessageTypeEnum[keyof typeof StartMovementRequestMessageTypeEnum];
 /**
- * Acknowledgment for StartMovementRequest message. ATTENTION: No confirmation that the movement was started. Confirmation that the StartMovementRequest was received and is processed. Fields `execute` and `standstill` of response of [streamMotionGroupState](streamMotionGroupState) signal start of movement execution.
+ * Acknowledgment for StartMovementRequest message. ATTENTION: No confirmation that the movement was started. Confirmation that the StartMovementRequest was received and is processed. Fields `execute` and `standstill` of response of [streamMotionGroupState](#/operations/streamMotionGroupState) signal start of movement execution.
  */
 interface StartMovementResponse {
   /**
@@ -3019,7 +3079,7 @@ interface TcpRequiredError {
   'tcp_missing'?: any;
 }
 /**
- * Sets target TCP velocities for jogging a motion group. The motion group needs to have an inverse kinematic solver to be jogged by TCP velocities. Check `supports_inverse_kinematics` field in response of [listController](listController) for the motion group.
+ * Sets target TCP velocities for jogging a motion group. The motion group needs to have an inverse kinematic solver to be jogged by TCP velocities. Check `supports_inverse_kinematics` field in response of [listController](#/operations/listController) for the motion group.
  */
 interface TcpVelocityRequest {
   /**
@@ -3101,7 +3161,7 @@ interface TrajectoryDetails {
    */
   'trajectory': string;
   /**
-   * Location on trajectory where the execution will start. The default value is the start (forward movement) or end (backward movement) of the trajectory. If you want to start your movement from an arbitrary location, e.g., in combination with [streamMoveToTrajectoryViaJointPTP](streamMoveToTrajectoryViaJointPTP), set the location by respecting the following format: - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
+   * - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,   where `n` denotes the number of motion commands - Each integer value of the location corresponds to a specific motion command,   while non-integer values interpolate positions within the segments. - The location is calculated from the joint path
    */
   'location': number;
   'state': TrajectoryDetailsState;
@@ -3144,7 +3204,7 @@ interface TrajectoryId {
    */
   'message_type': TrajectoryIdMessageTypeEnum;
   /**
-   * The identifier of the trajectory which was returned by the [addTrajectory](addTrajectory) endpoint.
+   * The identifier of the trajectory which was returned by the [addTrajectory](#/operations/addTrajectory) endpoint.
    */
   'id': string;
 }
@@ -3223,11 +3283,21 @@ declare const UniversalrobotsControllerKindEnum: {
   readonly UniversalrobotsController: "UniversalrobotsController";
 };
 type UniversalrobotsControllerKindEnum = typeof UniversalrobotsControllerKindEnum[keyof typeof UniversalrobotsControllerKindEnum];
+/**
+ * Update a single cell\'s Foundation chart version based on the indicated release channel.
+ */
+interface UpdateCellVersionRequest {
+  'channel': ReleaseChannel;
+}
 /**
  * An update is defined by the indicated Wandelbots NOVA release channel.
  */
 interface UpdateNovaVersionRequest {
   'channel': ReleaseChannel;
+  /**
+   * Update unpinned cells during system update. Cells with an explicit chart version are never updated by a system update, regardless of this setting.
+   */
+  'update_cells'?: boolean;
 }
 interface ValidationError {
   'loc': Array<ValidationErrorLocInner>;
@@ -3250,17 +3320,17 @@ interface ValidationError2 {
  */
 type ValidationErrorLocInner = number | string;
 /**
- * The configuration of a virtual robot controller has to contain the manufacturer string, an optional joint position string array and either a preset `type` **or** the complete JSON configuration.
+ * The configuration of a virtual robot controller has to contain the manufacturer string, an optional joint position string array, and either a preset `type` **or** the complete JSON configuration.
  */
 interface VirtualController {
   'kind': VirtualControllerKindEnum;
   'manufacturer': Manufacturer;
   /**
-   * Preset type of the virtual robot controller. See [getRobotConfigurations](getRobotConfigurations) for supported types.
+   * Preset type of the virtual robot controller. See [getRobotConfigurations](#/operations/getRobotConfigurations) for supported types.
    */
   'type'?: string;
   /**
-   * Complete JSON configuration of the virtual robot controller. Can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](getVirtualControllerConfiguration). If provided, the `type` field should not be used.
+   * Complete JSON configuration of the virtual robot controller. Can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration). If provided, the `type` field should not be used.
    */
   'json'?: string;
   /**
@@ -3278,7 +3348,7 @@ interface VirtualRobotConfiguration {
    */
   'name': string;
   /**
-   * Content of the configuration file. Copy & paste to the [addRobotController](addRobotController) configuration.json parameter.
+   * Content of the configuration file. Copy & paste to the [addRobotController](#/operations/addRobotController) configuration.json parameter.
    */
   'content': string;
 }
@@ -3337,7 +3407,7 @@ declare const ApplicationApiAxiosParamCreator: (configuration?: Configuration) =
    */
   deleteApp: (cell: string, app: string, completionTimeout?: number, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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).
+   * 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](#/operations/updateApp).
    * @summary Configuration
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {string} app
@@ -3346,7 +3416,7 @@ declare const ApplicationApiAxiosParamCreator: (configuration?: Configuration) =
    */
   getApp: (cell: string, app: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * List all GUI applications that have been added to a cell with [addApp](#/operations/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.
@@ -3399,7 +3469,7 @@ declare const ApplicationApiFp: (configuration?: Configuration) => {
    */
   deleteApp(cell: string, app: string, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * 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).
+   * 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](#/operations/updateApp).
    * @summary Configuration
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {string} app
@@ -3408,7 +3478,7 @@ declare const ApplicationApiFp: (configuration?: Configuration) => {
    */
   getApp(cell: string, app: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<App>>;
   /**
-   * 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.
+   * List all GUI applications that have been added to a cell with [addApp](#/operations/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.
@@ -3461,7 +3531,7 @@ declare const ApplicationApiFactory: (configuration?: Configuration, basePath?:
    */
   deleteApp(cell: string, app: string, completionTimeout?: number, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * 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).
+   * 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](#/operations/updateApp).
    * @summary Configuration
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {string} app
@@ -3470,7 +3540,7 @@ declare const ApplicationApiFactory: (configuration?: Configuration, basePath?:
    */
   getApp(cell: string, app: string, options?: RawAxiosRequestConfig): AxiosPromise<App>;
   /**
-   * 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.
+   * List all GUI applications that have been added to a cell with [addApp](#/operations/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.
@@ -3523,7 +3593,7 @@ declare class ApplicationApi extends BaseAPI {
    */
   deleteApp(cell: string, app: string, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * 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).
+   * 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](#/operations/updateApp).
    * @summary Configuration
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {string} app
@@ -3532,7 +3602,7 @@ declare class ApplicationApi extends BaseAPI {
    */
   getApp(cell: string, app: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<App, any>>;
   /**
-   * 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.
+   * List all GUI applications that have been added to a cell with [addApp](#/operations/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.
@@ -3566,7 +3636,7 @@ declare const BUSInputsOutputsApiAxiosParamCreator: (configuration?: Configurati
    */
   addBusIOService: (cell: string, busIOType: BusIOType, completionTimeout?: number, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](listModbusIOs).
+   * Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](#/operations/listModbusIOs).
    * @summary Add MODBUS 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.
@@ -3576,7 +3646,7 @@ declare const BUSInputsOutputsApiAxiosParamCreator: (configuration?: Configurati
    */
   addModbusIO: (cell: string, io: string, modbusIOData: ModbusIOData, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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](#/operations/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](#/operations/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.
@@ -3612,7 +3682,7 @@ declare const BUSInputsOutputsApiAxiosParamCreator: (configuration?: Configurati
   deleteAllProfinetIOs: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
    * Removes an input/output variable configuration from the MODBUS device, e.g., NOVA\'s MODBUS service.
-   * @summary Remove MODBUS Input/Ouptut
+   * @summary Remove MODBUS Input/Output
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {string} io Unique identifier to address an Input/Output in the cell.
    * @param {*} [options] Override http request option.
@@ -3645,7 +3715,7 @@ declare const BUSInputsOutputsApiAxiosParamCreator: (configuration?: Configurati
    */
   getBusIOState: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions).
+   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](#/operations/listBusIODescriptions).
    * @summary Get Input/Output Values
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {Array<string>} [ios]
@@ -3680,7 +3750,7 @@ declare const BUSInputsOutputsApiAxiosParamCreator: (configuration?: Configurati
    */
   listBusIODescriptions: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller as well as NOVA\'s MODBUS service use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](addModbusIO).
+   * List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type, and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller, as well as NOVA\'s MODBUS service, use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](#/operations/addModbusIO).
    * @summary List MODBUS Input/Output Configuration
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {*} [options] Override http request option.
@@ -3688,7 +3758,7 @@ declare const BUSInputsOutputsApiAxiosParamCreator: (configuration?: Configurati
    */
   listModbusIOs: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * 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](#/operations/addProfinetIO) and [setProfinetIOsFromFile](#/operations/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.
@@ -3696,7 +3766,7 @@ declare const BUSInputsOutputsApiAxiosParamCreator: (configuration?: Configurati
    */
   listProfinetIOs: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
+   * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](#/operations/listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
    * @summary Set Output Values
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {Array<IOValue>} iOValue
@@ -3705,7 +3775,7 @@ declare const BUSInputsOutputsApiAxiosParamCreator: (configuration?: Configurati
    */
   setBusIOValues: (cell: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * 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](#/operations/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](#/operations/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 an 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
@@ -3729,7 +3799,7 @@ declare const BUSInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   addBusIOService(cell: string, busIOType: BusIOType, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](listModbusIOs).
+   * Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](#/operations/listModbusIOs).
    * @summary Add MODBUS 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.
@@ -3739,7 +3809,7 @@ declare const BUSInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   addModbusIO(cell: string, io: string, modbusIOData: ModbusIOData, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * 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](#/operations/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](#/operations/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.
@@ -3775,7 +3845,7 @@ declare const BUSInputsOutputsApiFp: (configuration?: Configuration) => {
   deleteAllProfinetIOs(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
    * Removes an input/output variable configuration from the MODBUS device, e.g., NOVA\'s MODBUS service.
-   * @summary Remove MODBUS Input/Ouptut
+   * @summary Remove MODBUS Input/Output
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {string} io Unique identifier to address an Input/Output in the cell.
    * @param {*} [options] Override http request option.
@@ -3808,7 +3878,7 @@ declare const BUSInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   getBusIOState(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<BusIOsState>>;
   /**
-   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions).
+   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](#/operations/listBusIODescriptions).
    * @summary Get Input/Output Values
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {Array<string>} [ios]
@@ -3843,7 +3913,7 @@ declare const BUSInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<BusIODescription>>>;
   /**
-   * List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller as well as NOVA\'s MODBUS service use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](addModbusIO).
+   * List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type, and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller, as well as NOVA\'s MODBUS service, use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](#/operations/addModbusIO).
    * @summary List MODBUS Input/Output Configuration
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {*} [options] Override http request option.
@@ -3851,7 +3921,7 @@ declare const BUSInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   listModbusIOs(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<ModbusIO>>>;
   /**
-   * 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.
+   * 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](#/operations/addProfinetIO) and [setProfinetIOsFromFile](#/operations/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.
@@ -3859,7 +3929,7 @@ declare const BUSInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   listProfinetIOs(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<ProfinetIO>>>;
   /**
-   * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
+   * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](#/operations/listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
    * @summary Set Output Values
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {Array<IOValue>} iOValue
@@ -3868,7 +3938,7 @@ declare const BUSInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   setBusIOValues(cell: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * 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.
+   * 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](#/operations/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](#/operations/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 an 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
@@ -3892,7 +3962,7 @@ declare const BUSInputsOutputsApiFactory: (configuration?: Configuration, basePa
    */
   addBusIOService(cell: string, busIOType: BusIOType, completionTimeout?: number, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](listModbusIOs).
+   * Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](#/operations/listModbusIOs).
    * @summary Add MODBUS 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.
@@ -3902,7 +3972,7 @@ declare const BUSInputsOutputsApiFactory: (configuration?: Configuration, basePa
    */
   addModbusIO(cell: string, io: string, modbusIOData: ModbusIOData, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * 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](#/operations/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](#/operations/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.
@@ -3938,7 +4008,7 @@ declare const BUSInputsOutputsApiFactory: (configuration?: Configuration, basePa
   deleteAllProfinetIOs(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
    * Removes an input/output variable configuration from the MODBUS device, e.g., NOVA\'s MODBUS service.
-   * @summary Remove MODBUS Input/Ouptut
+   * @summary Remove MODBUS Input/Output
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {string} io Unique identifier to address an Input/Output in the cell.
    * @param {*} [options] Override http request option.
@@ -3971,7 +4041,7 @@ declare const BUSInputsOutputsApiFactory: (configuration?: Configuration, basePa
    */
   getBusIOState(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<BusIOsState>;
   /**
-   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions).
+   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](#/operations/listBusIODescriptions).
    * @summary Get Input/Output Values
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {Array<string>} [ios]
@@ -4006,7 +4076,7 @@ declare const BUSInputsOutputsApiFactory: (configuration?: Configuration, basePa
    */
   listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<BusIODescription>>;
   /**
-   * List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller as well as NOVA\'s MODBUS service use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](addModbusIO).
+   * List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type, and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller, as well as NOVA\'s MODBUS service, use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](#/operations/addModbusIO).
    * @summary List MODBUS Input/Output Configuration
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {*} [options] Override http request option.
@@ -4014,7 +4084,7 @@ declare const BUSInputsOutputsApiFactory: (configuration?: Configuration, basePa
    */
   listModbusIOs(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<ModbusIO>>;
   /**
-   * 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.
+   * 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](#/operations/addProfinetIO) and [setProfinetIOsFromFile](#/operations/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.
@@ -4022,7 +4092,7 @@ declare const BUSInputsOutputsApiFactory: (configuration?: Configuration, basePa
    */
   listProfinetIOs(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<ProfinetIO>>;
   /**
-   * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
+   * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](#/operations/listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
    * @summary Set Output Values
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {Array<IOValue>} iOValue
@@ -4031,7 +4101,7 @@ declare const BUSInputsOutputsApiFactory: (configuration?: Configuration, basePa
    */
   setBusIOValues(cell: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * 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.
+   * 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](#/operations/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](#/operations/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 an 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
@@ -4055,7 +4125,7 @@ declare class BUSInputsOutputsApi extends BaseAPI {
    */
   addBusIOService(cell: string, busIOType: BusIOType, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](listModbusIOs).
+   * Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](#/operations/listModbusIOs).
    * @summary Add MODBUS 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.
@@ -4065,7 +4135,7 @@ declare class BUSInputsOutputsApi extends BaseAPI {
    */
   addModbusIO(cell: string, io: string, modbusIOData: ModbusIOData, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * 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](#/operations/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](#/operations/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.
@@ -4101,7 +4171,7 @@ declare class BUSInputsOutputsApi extends BaseAPI {
   deleteAllProfinetIOs(cell: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
    * Removes an input/output variable configuration from the MODBUS device, e.g., NOVA\'s MODBUS service.
-   * @summary Remove MODBUS Input/Ouptut
+   * @summary Remove MODBUS Input/Output
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {string} io Unique identifier to address an Input/Output in the cell.
    * @param {*} [options] Override http request option.
@@ -4134,7 +4204,7 @@ declare class BUSInputsOutputsApi extends BaseAPI {
    */
   getBusIOState(cell: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<BusIOsState, any>>;
   /**
-   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](listBusIODescriptions).
+   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](#/operations/listBusIODescriptions).
    * @summary Get Input/Output Values
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {Array<string>} [ios]
@@ -4169,7 +4239,7 @@ declare class BUSInputsOutputsApi extends BaseAPI {
    */
   listBusIODescriptions(cell: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<BusIODescription[], any>>;
   /**
-   * List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller as well as NOVA\'s MODBUS service use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](addModbusIO).
+   * List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type, and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller, as well as NOVA\'s MODBUS service, use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](#/operations/addModbusIO).
    * @summary List MODBUS Input/Output Configuration
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {*} [options] Override http request option.
@@ -4177,7 +4247,7 @@ declare class BUSInputsOutputsApi extends BaseAPI {
    */
   listModbusIOs(cell: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<ModbusIO[], any>>;
   /**
-   * 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.
+   * 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](#/operations/addProfinetIO) and [setProfinetIOsFromFile](#/operations/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.
@@ -4185,7 +4255,7 @@ declare class BUSInputsOutputsApi extends BaseAPI {
    */
   listProfinetIOs(cell: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<ProfinetIO[], any>>;
   /**
-   * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
+   * Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](#/operations/listBusIODescriptions).  The call will return once the values have been set and accepted by the service.
    * @summary Set Output Values
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {Array<IOValue>} iOValue
@@ -4194,7 +4264,7 @@ declare class BUSInputsOutputsApi extends BaseAPI {
    */
   setBusIOValues(cell: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * 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.
+   * 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](#/operations/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](#/operations/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 an 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
@@ -4207,6 +4277,15 @@ declare class BUSInputsOutputsApi extends BaseAPI {
  * CellApi - axios parameter creator
  */
 declare const CellApiAxiosParamCreator: (configuration?: Configuration) => {
+  /**
+   * Check if a more recent Wandelbots NOVA version is available for the cell. Updates greater than the system version are ignored.
+   * @summary Check Cell Update
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ReleaseChannel} channel
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  checkCellVersionUpdate: (cell: string, channel: ReleaseChannel, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
    * Delete an entire cell.
    * @summary Delete Cell
@@ -4267,11 +4346,29 @@ declare const CellApiAxiosParamCreator: (configuration?: Configuration) => {
    * @throws {RequiredError}
    */
   updateCell: (cell: string, cell2: Cell, completionTimeout?: number, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+  /**
+   * Update the Foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
+   * @summary Update Cell Version
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {UpdateCellVersionRequest} updateCellVersionRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  updateCellVersion: (cell: string, updateCellVersionRequest: UpdateCellVersionRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
  * CellApi - functional programming interface
  */
 declare const CellApiFp: (configuration?: Configuration) => {
+  /**
+   * Check if a more recent Wandelbots NOVA version is available for the cell. Updates greater than the system version are ignored.
+   * @summary Check Cell Update
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ReleaseChannel} channel
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  checkCellVersionUpdate(cell: string, channel: ReleaseChannel, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<string>>;
   /**
    * Delete an entire cell.
    * @summary Delete Cell
@@ -4332,11 +4429,29 @@ declare const CellApiFp: (configuration?: Configuration) => {
    * @throws {RequiredError}
    */
   updateCell(cell: string, cell2: Cell, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+  /**
+   * Update the Foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
+   * @summary Update Cell Version
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {UpdateCellVersionRequest} updateCellVersionRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  updateCellVersion(cell: string, updateCellVersionRequest: UpdateCellVersionRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
 };
 /**
  * CellApi - factory interface
  */
 declare const CellApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
+  /**
+   * Check if a more recent Wandelbots NOVA version is available for the cell. Updates greater than the system version are ignored.
+   * @summary Check Cell Update
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ReleaseChannel} channel
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  checkCellVersionUpdate(cell: string, channel: ReleaseChannel, options?: RawAxiosRequestConfig): AxiosPromise<string>;
   /**
    * Delete an entire cell.
    * @summary Delete Cell
@@ -4397,11 +4512,29 @@ declare const CellApiFactory: (configuration?: Configuration, basePath?: string,
    * @throws {RequiredError}
    */
   updateCell(cell: string, cell2: Cell, completionTimeout?: number, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+  /**
+   * Update the Foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
+   * @summary Update Cell Version
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {UpdateCellVersionRequest} updateCellVersionRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  updateCellVersion(cell: string, updateCellVersionRequest: UpdateCellVersionRequest, options?: RawAxiosRequestConfig): AxiosPromise<void>;
 };
 /**
  * CellApi - object-oriented interface
  */
 declare class CellApi extends BaseAPI {
+  /**
+   * Check if a more recent Wandelbots NOVA version is available for the cell. Updates greater than the system version are ignored.
+   * @summary Check Cell Update
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ReleaseChannel} channel
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  checkCellVersionUpdate(cell: string, channel: ReleaseChannel, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<string, any>>;
   /**
    * Delete an entire cell.
    * @summary Delete Cell
@@ -4462,6 +4595,15 @@ declare class CellApi extends BaseAPI {
    * @throws {RequiredError}
    */
   updateCell(cell: string, cell2: Cell, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
+  /**
+   * Update the Foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version.
+   * @summary Update Cell Version
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {UpdateCellVersionRequest} updateCellVersionRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  updateCellVersion(cell: string, updateCellVersionRequest: UpdateCellVersionRequest, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
 }
 /**
  * ControllerApi - axios parameter creator
@@ -4478,7 +4620,7 @@ declare const ControllerApiAxiosParamCreator: (configuration?: Configuration) =>
    */
   addRobotController: (cell: string, robotController: RobotController, completionTimeout?: number, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController).
+   * Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](#/operations/addRobotController).
    * @summary Clear Robot Controllers
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {number} [completionTimeout]
@@ -4497,7 +4639,7 @@ declare const ControllerApiAxiosParamCreator: (configuration?: Configuration) =>
    */
   deleteRobotController: (cell: string, controller: string, completionTimeout?: number, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group.
+   * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](#/operations/getMotionGroupDescription) to get more information about the motion group.
    * @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.
@@ -4535,7 +4677,7 @@ declare const ControllerApiAxiosParamCreator: (configuration?: Configuration) =>
    */
   getRobotController: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -4562,7 +4704,7 @@ declare const ControllerApiAxiosParamCreator: (configuration?: Configuration) =>
    */
   listRobotControllers: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -4572,7 +4714,7 @@ declare const ControllerApiAxiosParamCreator: (configuration?: Configuration) =>
    */
   setDefaultMode: (cell: string, controller: string, mode: SettableRobotSystemMode, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/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.
@@ -4582,7 +4724,7 @@ declare const ControllerApiAxiosParamCreator: (configuration?: Configuration) =>
    */
   streamFreeDrive: (cell: string, controller: string, responseRate?: number, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/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.
@@ -4593,7 +4735,7 @@ declare const ControllerApiAxiosParamCreator: (configuration?: Configuration) =>
    */
   streamRobotControllerState: (cell: string, controller: string, responseRate?: number, addControllerTimeout?: number, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController).
+   * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](#/operations/getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](#/operations/deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](#/operations/addRobotController).
    * @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.
@@ -4619,7 +4761,7 @@ declare const ControllerApiFp: (configuration?: Configuration) => {
    */
   addRobotController(cell: string, robotController: RobotController, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController).
+   * Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](#/operations/addRobotController).
    * @summary Clear Robot Controllers
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {number} [completionTimeout]
@@ -4638,7 +4780,7 @@ declare const ControllerApiFp: (configuration?: Configuration) => {
    */
   deleteRobotController(cell: string, controller: string, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group.
+   * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](#/operations/getMotionGroupDescription) to get more information about the motion group.
    * @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.
@@ -4676,7 +4818,7 @@ declare const ControllerApiFp: (configuration?: Configuration) => {
    */
   getRobotController(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<RobotController>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -4703,7 +4845,7 @@ declare const ControllerApiFp: (configuration?: Configuration) => {
    */
   listRobotControllers(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<string>>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -4713,7 +4855,7 @@ declare const ControllerApiFp: (configuration?: Configuration) => {
    */
   setDefaultMode(cell: string, controller: string, mode: SettableRobotSystemMode, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/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.
@@ -4723,7 +4865,7 @@ declare const ControllerApiFp: (configuration?: Configuration) => {
    */
   streamFreeDrive(cell: string, controller: string, responseRate?: number, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<RobotControllerState>>;
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/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.
@@ -4734,7 +4876,7 @@ declare const ControllerApiFp: (configuration?: Configuration) => {
    */
   streamRobotControllerState(cell: string, controller: string, responseRate?: number, addControllerTimeout?: number, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<RobotControllerState>>;
   /**
-   * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController).
+   * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](#/operations/getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](#/operations/deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](#/operations/addRobotController).
    * @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.
@@ -4760,7 +4902,7 @@ declare const ControllerApiFactory: (configuration?: Configuration, basePath?: s
    */
   addRobotController(cell: string, robotController: RobotController, completionTimeout?: number, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController).
+   * Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](#/operations/addRobotController).
    * @summary Clear Robot Controllers
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {number} [completionTimeout]
@@ -4779,7 +4921,7 @@ declare const ControllerApiFactory: (configuration?: Configuration, basePath?: s
    */
   deleteRobotController(cell: string, controller: string, completionTimeout?: number, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group.
+   * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](#/operations/getMotionGroupDescription) to get more information about the motion group.
    * @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.
@@ -4817,7 +4959,7 @@ declare const ControllerApiFactory: (configuration?: Configuration, basePath?: s
    */
   getRobotController(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<RobotController>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -4844,7 +4986,7 @@ declare const ControllerApiFactory: (configuration?: Configuration, basePath?: s
    */
   listRobotControllers(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<string>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -4854,7 +4996,7 @@ declare const ControllerApiFactory: (configuration?: Configuration, basePath?: s
    */
   setDefaultMode(cell: string, controller: string, mode: SettableRobotSystemMode, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/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.
@@ -4864,7 +5006,7 @@ declare const ControllerApiFactory: (configuration?: Configuration, basePath?: s
    */
   streamFreeDrive(cell: string, controller: string, responseRate?: number, options?: RawAxiosRequestConfig): AxiosPromise<RobotControllerState>;
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/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.
@@ -4875,7 +5017,7 @@ declare const ControllerApiFactory: (configuration?: Configuration, basePath?: s
    */
   streamRobotControllerState(cell: string, controller: string, responseRate?: number, addControllerTimeout?: number, options?: RawAxiosRequestConfig): AxiosPromise<RobotControllerState>;
   /**
-   * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController).
+   * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](#/operations/getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](#/operations/deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](#/operations/addRobotController).
    * @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.
@@ -4901,7 +5043,7 @@ declare class ControllerApi extends BaseAPI {
    */
   addRobotController(cell: string, robotController: RobotController, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController).
+   * Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](#/operations/addRobotController).
    * @summary Clear Robot Controllers
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {number} [completionTimeout]
@@ -4920,7 +5062,7 @@ declare class ControllerApi extends BaseAPI {
    */
   deleteRobotController(cell: string, controller: string, completionTimeout?: number, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group.
+   * Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](#/operations/getMotionGroupDescription) to get more information about the motion group.
    * @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.
@@ -4958,7 +5100,7 @@ declare class ControllerApi extends BaseAPI {
    */
   getRobotController(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<RobotController, any>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -4985,7 +5127,7 @@ declare class ControllerApi extends BaseAPI {
    */
   listRobotControllers(cell: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<string[], any>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -4995,7 +5137,7 @@ declare class ControllerApi extends BaseAPI {
    */
   setDefaultMode(cell: string, controller: string, mode: SettableRobotSystemMode, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/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.
@@ -5005,7 +5147,7 @@ declare class ControllerApi extends BaseAPI {
    */
   streamFreeDrive(cell: string, controller: string, responseRate?: number, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<RobotControllerState, any>>;
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/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.
@@ -5016,7 +5158,7 @@ declare class ControllerApi extends BaseAPI {
    */
   streamRobotControllerState(cell: string, controller: string, responseRate?: number, addControllerTimeout?: number, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<RobotControllerState, any>>;
   /**
-   * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController).
+   * Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](#/operations/getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](#/operations/deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](#/operations/addRobotController).
    * @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.
@@ -5045,7 +5187,7 @@ declare const ControllerInputsOutputsApiAxiosParamCreator: (configuration?: Conf
    */
   listIODescriptions: (cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](listIODescriptions).
+   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](#/operations/listIODescriptions).
    * @summary Get 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.
@@ -5055,7 +5197,7 @@ declare const ControllerInputsOutputsApiAxiosParamCreator: (configuration?: Conf
    */
   listIOValues: (cell: string, controller: string, ios?: Array<string>, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](#/operations/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.
@@ -5075,7 +5217,7 @@ declare const ControllerInputsOutputsApiAxiosParamCreator: (configuration?: Conf
    */
   streamIOValues: (cell: string, controller: string, ios?: Array<string>, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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     ```
+   * 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](#/operations/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.
@@ -5103,7 +5245,7 @@ declare const ControllerInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   listIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IODescription>>>;
   /**
-   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](listIODescriptions).
+   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](#/operations/listIODescriptions).
    * @summary Get 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.
@@ -5113,7 +5255,7 @@ declare const ControllerInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   listIOValues(cell: string, controller: string, ios?: Array<string>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<IOValue>>>;
   /**
-   * 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.
+   * Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](#/operations/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.
@@ -5133,7 +5275,7 @@ declare const ControllerInputsOutputsApiFp: (configuration?: Configuration) => {
    */
   streamIOValues(cell: string, controller: string, ios?: Array<string>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<StreamIOValuesResponse>>;
   /**
-   * 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     ```
+   * 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](#/operations/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.
@@ -5161,7 +5303,7 @@ declare const ControllerInputsOutputsApiFactory: (configuration?: Configuration,
    */
   listIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<IODescription>>;
   /**
-   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](listIODescriptions).
+   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](#/operations/listIODescriptions).
    * @summary Get 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.
@@ -5171,7 +5313,7 @@ declare const ControllerInputsOutputsApiFactory: (configuration?: Configuration,
    */
   listIOValues(cell: string, controller: string, ios?: Array<string>, options?: RawAxiosRequestConfig): AxiosPromise<Array<IOValue>>;
   /**
-   * 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.
+   * Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](#/operations/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.
@@ -5191,7 +5333,7 @@ declare const ControllerInputsOutputsApiFactory: (configuration?: Configuration,
    */
   streamIOValues(cell: string, controller: string, ios?: Array<string>, options?: RawAxiosRequestConfig): AxiosPromise<StreamIOValuesResponse>;
   /**
-   * 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     ```
+   * 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](#/operations/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.
@@ -5219,7 +5361,7 @@ declare class ControllerInputsOutputsApi extends BaseAPI {
    */
   listIODescriptions(cell: string, controller: string, ios?: Array<string>, direction?: IODirection, valueType?: IOValueType, group?: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<IODescription[], any>>;
   /**
-   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](listIODescriptions).
+   * Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](#/operations/listIODescriptions).
    * @summary Get 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.
@@ -5229,7 +5371,7 @@ declare class ControllerInputsOutputsApi extends BaseAPI {
    */
   listIOValues(cell: string, controller: string, ios?: Array<string>, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<IOValue[], any>>;
   /**
-   * 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.
+   * Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](#/operations/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.
@@ -5249,7 +5391,7 @@ declare class ControllerInputsOutputsApi extends BaseAPI {
    */
   streamIOValues(cell: string, controller: string, ios?: Array<string>, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<StreamIOValuesResponse, any>>;
   /**
-   * 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     ```
+   * 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](#/operations/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.
@@ -5264,7 +5406,7 @@ declare class ControllerInputsOutputsApi extends BaseAPI {
  */
 declare const JoggingApiAxiosParamCreator: (configuration?: Configuration) => {
   /**
-   * <!-- 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](#/operations/streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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.
@@ -5279,7 +5421,7 @@ declare const JoggingApiAxiosParamCreator: (configuration?: Configuration) => {
  */
 declare const JoggingApiFp: (configuration?: Configuration) => {
   /**
-   * <!-- 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](#/operations/streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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.
@@ -5294,7 +5436,7 @@ declare const JoggingApiFp: (configuration?: Configuration) => {
  */
 declare const JoggingApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
   /**
-   * <!-- 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](#/operations/streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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.
@@ -5309,7 +5451,7 @@ declare const JoggingApiFactory: (configuration?: Configuration, basePath?: stri
  */
 declare class JoggingApi extends BaseAPI {
   /**
-   * <!-- 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](#/operations/streamMotionGroupState), which can be subscribed to via nats as well.  #### 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 or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - 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.
@@ -5704,25 +5846,25 @@ declare class MotionGroupApi extends BaseAPI {
  */
 declare const MotionGroupModelsApiAxiosParamCreator: (configuration?: Configuration) => {
   /**
-   * 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.
+   * Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](#/operations/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} 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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
   getMotionGroupCollisionModel: (motionGroupModel: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers.
+   * Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers.
    * @summary Download GLB Model
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
   getMotionGroupGlbModel: (motionGroupModel: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models.
+   * Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported motion group models.
    * @summary Get Kinematics
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5735,9 +5877,9 @@ declare const MotionGroupModelsApiAxiosParamCreator: (configuration?: Configurat
    */
   getMotionGroupModels: (options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers.
+   * Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers.
    * @summary Download USD Model
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5748,9 +5890,9 @@ declare const MotionGroupModelsApiAxiosParamCreator: (configuration?: Configurat
  */
 declare const MotionGroupModelsApiFp: (configuration?: Configuration) => {
   /**
-   * 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.
+   * Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](#/operations/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} 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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5758,17 +5900,17 @@ declare const MotionGroupModelsApiFp: (configuration?: Configuration) => {
     [key: string]: Collider;
   }>>>;
   /**
-   * Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers.
+   * Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers.
    * @summary Download GLB Model
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
   getMotionGroupGlbModel(motionGroupModel: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<File>>;
   /**
-   * Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models.
+   * Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported motion group models.
    * @summary Get Kinematics
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5781,9 +5923,9 @@ declare const MotionGroupModelsApiFp: (configuration?: Configuration) => {
    */
   getMotionGroupModels(options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<string>>>;
   /**
-   * Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers.
+   * Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers.
    * @summary Download USD Model
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5794,9 +5936,9 @@ declare const MotionGroupModelsApiFp: (configuration?: Configuration) => {
  */
 declare const MotionGroupModelsApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
   /**
-   * 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.
+   * Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](#/operations/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} 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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5804,17 +5946,17 @@ declare const MotionGroupModelsApiFactory: (configuration?: Configuration, baseP
     [key: string]: Collider;
   }>>;
   /**
-   * Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers.
+   * Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers.
    * @summary Download GLB Model
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
   getMotionGroupGlbModel(motionGroupModel: string, options?: RawAxiosRequestConfig): AxiosPromise<File>;
   /**
-   * Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models.
+   * Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported motion group models.
    * @summary Get Kinematics
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5827,9 +5969,9 @@ declare const MotionGroupModelsApiFactory: (configuration?: Configuration, baseP
    */
   getMotionGroupModels(options?: RawAxiosRequestConfig): AxiosPromise<Array<string>>;
   /**
-   * Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers.
+   * Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers.
    * @summary Download USD Model
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5840,9 +5982,9 @@ declare const MotionGroupModelsApiFactory: (configuration?: Configuration, baseP
  */
 declare class MotionGroupModelsApi 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.
+   * Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](#/operations/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} 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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5850,17 +5992,17 @@ declare class MotionGroupModelsApi extends BaseAPI {
     [key: string]: Collider;
   }[], any>>;
   /**
-   * Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers.
+   * Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers.
    * @summary Download GLB Model
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
   getMotionGroupGlbModel(motionGroupModel: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<File, any>>;
   /**
-   * Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported motion group models.
+   * Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported motion group models.
    * @summary Get Kinematics
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -5873,9 +6015,9 @@ declare class MotionGroupModelsApi extends BaseAPI {
    */
   getMotionGroupModels(options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<string[], any>>;
   /**
-   * Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](getMotionGroupModels) for supported identifiers.
+   * Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers.
    * @summary Download USD Model
-   * @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](#/operations/getOptimizerConfiguration).
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
    */
@@ -6961,7 +7103,7 @@ declare const StoreObjectApiAxiosParamCreator: (configuration?: Configuration) =
    */
   listAllObjectKeys: (cell: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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](#/operations/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
@@ -7022,7 +7164,7 @@ declare const StoreObjectApiFp: (configuration?: Configuration) => {
    */
   listAllObjectKeys(cell: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<string>>>;
   /**
-   * 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](#/operations/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
@@ -7083,7 +7225,7 @@ declare const StoreObjectApiFactory: (configuration?: Configuration, basePath?:
    */
   listAllObjectKeys(cell: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<string>>;
   /**
-   * 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](#/operations/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
@@ -7144,7 +7286,7 @@ declare class StoreObjectApi extends BaseAPI {
    */
   listAllObjectKeys(cell: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<string[], any>>;
   /**
-   * 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](#/operations/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
@@ -7250,7 +7392,7 @@ declare const SystemApiAxiosParamCreator: (configuration?: Configuration) => {
    */
   restoreConfiguration: (body: File, resources?: Array<string>, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Update the Wandelbots NOVA version and all attached services.  Sending this API Request will trigger an update of all NOVA services that are part of a cell. Previous cells and cell configurations will remain on the instance.  If the update fails, the previous Wandelbots NOVA version is restored.
+   * Update the Wandelbots NOVA version and all attached services.  Sending this API Request will trigger an update of all NOVA services that are part of a cell. Previous cells and cell configurations will remain on the instance.  If the update fails, the previous Wandelbots NOVA version is restored.  System updates only apply to cells without an explicit chart version. Pinned versions are always preserved; setting `update_cells=false` pins unversioned cells to the current system version before updating.
    * @summary Update Wandelbots NOVA version
    * @param {UpdateNovaVersionRequest} updateNovaVersionRequest
    * @param {*} [options] Override http request option.
@@ -7351,7 +7493,7 @@ declare const SystemApiFp: (configuration?: Configuration) => {
    */
   restoreConfiguration(body: File, resources?: Array<string>, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * Update the Wandelbots NOVA version and all attached services.  Sending this API Request will trigger an update of all NOVA services that are part of a cell. Previous cells and cell configurations will remain on the instance.  If the update fails, the previous Wandelbots NOVA version is restored.
+   * Update the Wandelbots NOVA version and all attached services.  Sending this API Request will trigger an update of all NOVA services that are part of a cell. Previous cells and cell configurations will remain on the instance.  If the update fails, the previous Wandelbots NOVA version is restored.  System updates only apply to cells without an explicit chart version. Pinned versions are always preserved; setting `update_cells=false` pins unversioned cells to the current system version before updating.
    * @summary Update Wandelbots NOVA version
    * @param {UpdateNovaVersionRequest} updateNovaVersionRequest
    * @param {*} [options] Override http request option.
@@ -7452,7 +7594,7 @@ declare const SystemApiFactory: (configuration?: Configuration, basePath?: strin
    */
   restoreConfiguration(body: File, resources?: Array<string>, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * Update the Wandelbots NOVA version and all attached services.  Sending this API Request will trigger an update of all NOVA services that are part of a cell. Previous cells and cell configurations will remain on the instance.  If the update fails, the previous Wandelbots NOVA version is restored.
+   * Update the Wandelbots NOVA version and all attached services.  Sending this API Request will trigger an update of all NOVA services that are part of a cell. Previous cells and cell configurations will remain on the instance.  If the update fails, the previous Wandelbots NOVA version is restored.  System updates only apply to cells without an explicit chart version. Pinned versions are always preserved; setting `update_cells=false` pins unversioned cells to the current system version before updating.
    * @summary Update Wandelbots NOVA version
    * @param {UpdateNovaVersionRequest} updateNovaVersionRequest
    * @param {*} [options] Override http request option.
@@ -7553,7 +7695,7 @@ declare class SystemApi extends BaseAPI {
    */
   restoreConfiguration(body: File, resources?: Array<string>, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * Update the Wandelbots NOVA version and all attached services.  Sending this API Request will trigger an update of all NOVA services that are part of a cell. Previous cells and cell configurations will remain on the instance.  If the update fails, the previous Wandelbots NOVA version is restored.
+   * Update the Wandelbots NOVA version and all attached services.  Sending this API Request will trigger an update of all NOVA services that are part of a cell. Previous cells and cell configurations will remain on the instance.  If the update fails, the previous Wandelbots NOVA version is restored.  System updates only apply to cells without an explicit chart version. Pinned versions are always preserved; setting `update_cells=false` pins unversioned cells to the current system version before updating.
    * @summary Update Wandelbots NOVA version
    * @param {UpdateNovaVersionRequest} updateNovaVersionRequest
    * @param {*} [options] Override http request option.
@@ -7566,7 +7708,7 @@ declare class SystemApi extends BaseAPI {
  */
 declare const TrajectoryCachingApiAxiosParamCreator: (configuration?: Configuration) => {
   /**
-   * 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.
+   * 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](#/operations/executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](#/operations/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](#/operations/listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](#/operations/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.
@@ -7585,7 +7727,7 @@ declare const TrajectoryCachingApiAxiosParamCreator: (configuration?: Configurat
    */
   clearTrajectories: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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](#/operations/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.
@@ -7595,7 +7737,7 @@ declare const TrajectoryCachingApiAxiosParamCreator: (configuration?: Configurat
    */
   deleteTrajectory: (cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories.
+   * Get a previously created trajectory from cache.  Use [listTrajectories](#/operations/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.
@@ -7605,7 +7747,7 @@ declare const TrajectoryCachingApiAxiosParamCreator: (configuration?: Configurat
    */
   getTrajectory: (cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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](#/operations/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.
@@ -7619,7 +7761,7 @@ declare const TrajectoryCachingApiAxiosParamCreator: (configuration?: Configurat
  */
 declare const TrajectoryCachingApiFp: (configuration?: Configuration) => {
   /**
-   * 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.
+   * 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](#/operations/executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](#/operations/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](#/operations/listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](#/operations/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.
@@ -7638,7 +7780,7 @@ declare const TrajectoryCachingApiFp: (configuration?: Configuration) => {
    */
   clearTrajectories(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * 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](#/operations/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.
@@ -7648,7 +7790,7 @@ declare const TrajectoryCachingApiFp: (configuration?: Configuration) => {
    */
   deleteTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories.
+   * Get a previously created trajectory from cache.  Use [listTrajectories](#/operations/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.
@@ -7658,7 +7800,7 @@ declare const TrajectoryCachingApiFp: (configuration?: Configuration) => {
    */
   getTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<GetTrajectoryResponse>>;
   /**
-   * 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](#/operations/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.
@@ -7672,7 +7814,7 @@ declare const TrajectoryCachingApiFp: (configuration?: Configuration) => {
  */
 declare const TrajectoryCachingApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
   /**
-   * 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.
+   * 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](#/operations/executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](#/operations/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](#/operations/listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](#/operations/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.
@@ -7691,7 +7833,7 @@ declare const TrajectoryCachingApiFactory: (configuration?: Configuration, baseP
    */
   clearTrajectories(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * 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](#/operations/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.
@@ -7701,7 +7843,7 @@ declare const TrajectoryCachingApiFactory: (configuration?: Configuration, baseP
    */
   deleteTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories.
+   * Get a previously created trajectory from cache.  Use [listTrajectories](#/operations/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.
@@ -7711,7 +7853,7 @@ declare const TrajectoryCachingApiFactory: (configuration?: Configuration, baseP
    */
   getTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): AxiosPromise<GetTrajectoryResponse>;
   /**
-   * 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](#/operations/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.
@@ -7725,7 +7867,7 @@ declare const TrajectoryCachingApiFactory: (configuration?: Configuration, baseP
  */
 declare class TrajectoryCachingApi extends BaseAPI {
   /**
-   * 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.
+   * 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](#/operations/executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](#/operations/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](#/operations/listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](#/operations/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.
@@ -7744,7 +7886,7 @@ declare class TrajectoryCachingApi extends BaseAPI {
    */
   clearTrajectories(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * 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](#/operations/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.
@@ -7754,7 +7896,7 @@ declare class TrajectoryCachingApi extends BaseAPI {
    */
   deleteTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories.
+   * Get a previously created trajectory from cache.  Use [listTrajectories](#/operations/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.
@@ -7764,7 +7906,7 @@ declare class TrajectoryCachingApi extends BaseAPI {
    */
   getTrajectory(cell: string, controller: string, trajectory: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<GetTrajectoryResponse, any>>;
   /**
-   * 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](#/operations/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.
@@ -7778,7 +7920,7 @@ declare class TrajectoryCachingApi extends BaseAPI {
  */
 declare const TrajectoryExecutionApiAxiosParamCreator: (configuration?: Configuration) => {
   /**
-   * <!-- 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.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 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  To monitor the state of the movement, listen to the [state stream](streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, 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](#/operations/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](#/operations/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](#/operations/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.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 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  To monitor the state of the movement, listen to the [state stream](#/operations/streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, 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.
@@ -7793,7 +7935,7 @@ declare const TrajectoryExecutionApiAxiosParamCreator: (configuration?: Configur
  */
 declare const TrajectoryExecutionApiFp: (configuration?: Configuration) => {
   /**
-   * <!-- 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.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 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  To monitor the state of the movement, listen to the [state stream](streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, 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](#/operations/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](#/operations/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](#/operations/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.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 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  To monitor the state of the movement, listen to the [state stream](#/operations/streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, 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.
@@ -7808,7 +7950,7 @@ declare const TrajectoryExecutionApiFp: (configuration?: Configuration) => {
  */
 declare const TrajectoryExecutionApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
   /**
-   * <!-- 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.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 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  To monitor the state of the movement, listen to the [state stream](streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, 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](#/operations/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](#/operations/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](#/operations/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.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 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  To monitor the state of the movement, listen to the [state stream](#/operations/streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, 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.
@@ -7823,7 +7965,7 @@ declare const TrajectoryExecutionApiFactory: (configuration?: Configuration, bas
  */
 declare class TrajectoryExecutionApi extends BaseAPI {
   /**
-   * <!-- 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.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 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  To monitor the state of the movement, listen to the [state stream](streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, 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](#/operations/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](#/operations/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](#/operations/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.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 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  To monitor the state of the movement, listen to the [state stream](#/operations/streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, 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.
@@ -7838,7 +7980,7 @@ declare class TrajectoryExecutionApi extends BaseAPI {
  */
 declare const TrajectoryPlanningApiAxiosParamCreator: (configuration?: Configuration) => {
   /**
-   * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
+   * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
    * @summary Plan Collision-Free Trajectory
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {PlanCollisionFreeRequest} planCollisionFreeRequest
@@ -7847,7 +7989,7 @@ declare const TrajectoryPlanningApiAxiosParamCreator: (configuration?: Configura
    */
   planCollisionFree: (cell: string, planCollisionFreeRequest: PlanCollisionFreeRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * 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](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/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
@@ -7861,7 +8003,7 @@ declare const TrajectoryPlanningApiAxiosParamCreator: (configuration?: Configura
  */
 declare const TrajectoryPlanningApiFp: (configuration?: Configuration) => {
   /**
-   * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
+   * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
    * @summary Plan Collision-Free Trajectory
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {PlanCollisionFreeRequest} planCollisionFreeRequest
@@ -7870,7 +8012,7 @@ declare const TrajectoryPlanningApiFp: (configuration?: Configuration) => {
    */
   planCollisionFree(cell: string, planCollisionFreeRequest: PlanCollisionFreeRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<PlanCollisionFreeResponse>>;
   /**
-   * 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.
+   * 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](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/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
@@ -7884,7 +8026,7 @@ declare const TrajectoryPlanningApiFp: (configuration?: Configuration) => {
  */
 declare const TrajectoryPlanningApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
   /**
-   * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
+   * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
    * @summary Plan Collision-Free Trajectory
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {PlanCollisionFreeRequest} planCollisionFreeRequest
@@ -7893,7 +8035,7 @@ declare const TrajectoryPlanningApiFactory: (configuration?: Configuration, base
    */
   planCollisionFree(cell: string, planCollisionFreeRequest: PlanCollisionFreeRequest, options?: RawAxiosRequestConfig): AxiosPromise<PlanCollisionFreeResponse>;
   /**
-   * 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.
+   * 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](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/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
@@ -7907,7 +8049,7 @@ declare const TrajectoryPlanningApiFactory: (configuration?: Configuration, base
  */
 declare class TrajectoryPlanningApi extends BaseAPI {
   /**
-   * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
+   * Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure.
    * @summary Plan Collision-Free Trajectory
    * @param {string} cell Unique identifier addressing a cell in all API calls.
    * @param {PlanCollisionFreeRequest} planCollisionFreeRequest
@@ -7916,7 +8058,7 @@ declare class TrajectoryPlanningApi extends BaseAPI {
    */
   planCollisionFree(cell: string, planCollisionFreeRequest: PlanCollisionFreeRequest, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<PlanCollisionFreeResponse, any>>;
   /**
-   * 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.
+   * 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](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/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
@@ -7988,6 +8130,16 @@ declare const VirtualControllerApiAxiosParamCreator: (configuration?: Configurat
    * @throws {RequiredError}
    */
   addVirtualControllerCoordinateSystem: (cell: string, controller: string, coordinateSystem: string, coordinateSystemData: CoordinateSystemData, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+  /**
+   * Adds a motion group configuration for the virtual robot controller.  Fields: - Only one of **motion_group_model** or **json** should be set. - **motion_group_model**: Identifies a single motion group. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types. - **json**: Full JSON configuration of the virtual robot controller.   This can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration). - **extracted_motion_group_id** (required when using json): The motion group identifier to extract from the provided JSON configuration. - **motion_group**: Unique identifier for the motion group to be added. - **initial_joint_position**: Specifies the initial joint position for the added motion group.  <!-- theme: info -->  > #### NOTE > > When a motion group 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. > - Motion group 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 motion group may not yet be available for use.
+   * @summary Add Motion Group
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {AddVirtualControllerMotionGroupRequest} addVirtualControllerMotionGroupRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  addVirtualControllerMotionGroup: (cell: string, controller: string, addVirtualControllerMotionGroupRequest: AddVirtualControllerMotionGroupRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
    * 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
@@ -8011,6 +8163,16 @@ declare const VirtualControllerApiAxiosParamCreator: (configuration?: Configurat
    * @throws {RequiredError}
    */
   deleteVirtualControllerCoordinateSystem: (cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+  /**
+   * Removes a motion group configuration from the virtual controller.  <!-- theme: info -->  > #### NOTE > > When a motion group 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. > - Motion group 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**.
+   * @summary Delete Motion Group
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {string} motionGroup The motion-group identifier.
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  deleteVirtualControllerMotionGroup: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
    * 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
@@ -8023,7 +8185,7 @@ declare const VirtualControllerApiAxiosParamCreator: (configuration?: Configurat
    */
   deleteVirtualControllerTcp: (cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](#/operations/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.
@@ -8051,7 +8213,7 @@ declare const VirtualControllerApiAxiosParamCreator: (configuration?: Configurat
    */
   getMotionGroups: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](#/operations/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.
@@ -8089,7 +8251,7 @@ declare const VirtualControllerApiAxiosParamCreator: (configuration?: Configurat
    */
   listVirtualControllerTcps: (cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -8110,7 +8272,7 @@ declare const VirtualControllerApiAxiosParamCreator: (configuration?: Configurat
    */
   setMotionGroupState: (cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -8146,6 +8308,16 @@ declare const VirtualControllerApiFp: (configuration?: Configuration) => {
    * @throws {RequiredError}
    */
   addVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, coordinateSystemData: CoordinateSystemData, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+  /**
+   * Adds a motion group configuration for the virtual robot controller.  Fields: - Only one of **motion_group_model** or **json** should be set. - **motion_group_model**: Identifies a single motion group. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types. - **json**: Full JSON configuration of the virtual robot controller.   This can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration). - **extracted_motion_group_id** (required when using json): The motion group identifier to extract from the provided JSON configuration. - **motion_group**: Unique identifier for the motion group to be added. - **initial_joint_position**: Specifies the initial joint position for the added motion group.  <!-- theme: info -->  > #### NOTE > > When a motion group 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. > - Motion group 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 motion group may not yet be available for use.
+   * @summary Add Motion Group
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {AddVirtualControllerMotionGroupRequest} addVirtualControllerMotionGroupRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  addVirtualControllerMotionGroup(cell: string, controller: string, addVirtualControllerMotionGroupRequest: AddVirtualControllerMotionGroupRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
    * 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
@@ -8169,6 +8341,16 @@ declare const VirtualControllerApiFp: (configuration?: Configuration) => {
    * @throws {RequiredError}
    */
   deleteVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
+  /**
+   * Removes a motion group configuration from the virtual controller.  <!-- theme: info -->  > #### NOTE > > When a motion group 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. > - Motion group 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**.
+   * @summary Delete Motion Group
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {string} motionGroup The motion-group identifier.
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  deleteVirtualControllerMotionGroup(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
    * 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
@@ -8181,7 +8363,7 @@ declare const VirtualControllerApiFp: (configuration?: Configuration) => {
    */
   deleteVirtualControllerTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * 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.
+   * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](#/operations/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.
@@ -8209,7 +8391,7 @@ declare const VirtualControllerApiFp: (configuration?: Configuration) => {
    */
   getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<MotionGroupInfo>>>;
   /**
-   * 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.
+   * Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](#/operations/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.
@@ -8247,7 +8429,7 @@ declare const VirtualControllerApiFp: (configuration?: Configuration) => {
    */
   listVirtualControllerTcps(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<RobotTcp>>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -8268,7 +8450,7 @@ declare const VirtualControllerApiFp: (configuration?: Configuration) => {
    */
   setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -8304,6 +8486,16 @@ declare const VirtualControllerApiFactory: (configuration?: Configuration, baseP
    * @throws {RequiredError}
    */
   addVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, coordinateSystemData: CoordinateSystemData, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+  /**
+   * Adds a motion group configuration for the virtual robot controller.  Fields: - Only one of **motion_group_model** or **json** should be set. - **motion_group_model**: Identifies a single motion group. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types. - **json**: Full JSON configuration of the virtual robot controller.   This can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration). - **extracted_motion_group_id** (required when using json): The motion group identifier to extract from the provided JSON configuration. - **motion_group**: Unique identifier for the motion group to be added. - **initial_joint_position**: Specifies the initial joint position for the added motion group.  <!-- theme: info -->  > #### NOTE > > When a motion group 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. > - Motion group 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 motion group may not yet be available for use.
+   * @summary Add Motion Group
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {AddVirtualControllerMotionGroupRequest} addVirtualControllerMotionGroupRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  addVirtualControllerMotionGroup(cell: string, controller: string, addVirtualControllerMotionGroupRequest: AddVirtualControllerMotionGroupRequest, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
    * 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
@@ -8327,6 +8519,16 @@ declare const VirtualControllerApiFactory: (configuration?: Configuration, baseP
    * @throws {RequiredError}
    */
   deleteVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): AxiosPromise<void>;
+  /**
+   * Removes a motion group configuration from the virtual controller.  <!-- theme: info -->  > #### NOTE > > When a motion group 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. > - Motion group 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**.
+   * @summary Delete Motion Group
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {string} motionGroup The motion-group identifier.
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  deleteVirtualControllerMotionGroup(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
    * 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
@@ -8339,7 +8541,7 @@ declare const VirtualControllerApiFactory: (configuration?: Configuration, baseP
    */
   deleteVirtualControllerTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * 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.
+   * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](#/operations/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.
@@ -8367,7 +8569,7 @@ declare const VirtualControllerApiFactory: (configuration?: Configuration, baseP
    */
   getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<MotionGroupInfo>>;
   /**
-   * 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.
+   * Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](#/operations/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.
@@ -8405,7 +8607,7 @@ declare const VirtualControllerApiFactory: (configuration?: Configuration, baseP
    */
   listVirtualControllerTcps(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): AxiosPromise<Array<RobotTcp>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -8426,7 +8628,7 @@ declare const VirtualControllerApiFactory: (configuration?: Configuration, baseP
    */
   setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -8462,6 +8664,16 @@ declare class VirtualControllerApi extends BaseAPI {
    * @throws {RequiredError}
    */
   addVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, coordinateSystemData: CoordinateSystemData, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
+  /**
+   * Adds a motion group configuration for the virtual robot controller.  Fields: - Only one of **motion_group_model** or **json** should be set. - **motion_group_model**: Identifies a single motion group. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types. - **json**: Full JSON configuration of the virtual robot controller.   This can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration). - **extracted_motion_group_id** (required when using json): The motion group identifier to extract from the provided JSON configuration. - **motion_group**: Unique identifier for the motion group to be added. - **initial_joint_position**: Specifies the initial joint position for the added motion group.  <!-- theme: info -->  > #### NOTE > > When a motion group 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. > - Motion group 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 motion group may not yet be available for use.
+   * @summary Add Motion Group
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {AddVirtualControllerMotionGroupRequest} addVirtualControllerMotionGroupRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  addVirtualControllerMotionGroup(cell: string, controller: string, addVirtualControllerMotionGroupRequest: AddVirtualControllerMotionGroupRequest, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
    * 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
@@ -8485,6 +8697,16 @@ declare class VirtualControllerApi extends BaseAPI {
    * @throws {RequiredError}
    */
   deleteVirtualControllerCoordinateSystem(cell: string, controller: string, coordinateSystem: string, deleteDependent?: boolean, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
+  /**
+   * Removes a motion group configuration from the virtual controller.  <!-- theme: info -->  > #### NOTE > > When a motion group 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. > - Motion group 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**.
+   * @summary Delete Motion Group
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {string} motionGroup The motion-group identifier.
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  deleteVirtualControllerMotionGroup(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
    * 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
@@ -8497,7 +8719,7 @@ declare class VirtualControllerApi extends BaseAPI {
    */
   deleteVirtualControllerTcp(cell: string, controller: string, motionGroup: string, tcp: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * 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.
+   * Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](#/operations/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.
@@ -8525,7 +8747,7 @@ declare class VirtualControllerApi extends BaseAPI {
    */
   getMotionGroups(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<MotionGroupInfo[], any>>;
   /**
-   * 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.
+   * Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](#/operations/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.
@@ -8563,7 +8785,7 @@ declare class VirtualControllerApi extends BaseAPI {
    */
   listVirtualControllerTcps(cell: string, controller: string, motionGroup: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<RobotTcp[], any>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -8584,7 +8806,7 @@ declare class VirtualControllerApi extends BaseAPI {
    */
   setMotionGroupState(cell: string, controller: string, motionGroup: string, motionGroupJoints: MotionGroupJoints, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
   /**
-   * 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.
+   * 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](#/operations/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.
@@ -8610,7 +8832,7 @@ declare class VirtualControllerApi extends BaseAPI {
  */
 declare const VirtualControllerBehaviorApiAxiosParamCreator: (configuration?: Configuration) => {
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/planTrajectory) and [executeTrajectory](#/operations/executeTrajectory) to move motion groups on virtual controllers.  Learn more about the [movement behavior of virtual controllers in comparison to physical controllers](#/operations/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.
@@ -8629,7 +8851,7 @@ declare const VirtualControllerBehaviorApiAxiosParamCreator: (configuration?: Co
    */
   getCycleTime: (cell: string, controller: string, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details.
+   * Get the current virtual controller behavior.  See [setVirtualControllerBehavior](#/operations/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.
@@ -8653,7 +8875,7 @@ declare const VirtualControllerBehaviorApiAxiosParamCreator: (configuration?: Co
  */
 declare const VirtualControllerBehaviorApiFp: (configuration?: Configuration) => {
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/planTrajectory) and [executeTrajectory](#/operations/executeTrajectory) to move motion groups on virtual controllers.  Learn more about the [movement behavior of virtual controllers in comparison to physical controllers](#/operations/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.
@@ -8672,7 +8894,7 @@ declare const VirtualControllerBehaviorApiFp: (configuration?: Configuration) =>
    */
   getCycleTime(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<CycleTime>>;
   /**
-   * Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details.
+   * Get the current virtual controller behavior.  See [setVirtualControllerBehavior](#/operations/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.
@@ -8696,7 +8918,7 @@ declare const VirtualControllerBehaviorApiFp: (configuration?: Configuration) =>
  */
 declare const VirtualControllerBehaviorApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/planTrajectory) and [executeTrajectory](#/operations/executeTrajectory) to move motion groups on virtual controllers.  Learn more about the [movement behavior of virtual controllers in comparison to physical controllers](#/operations/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.
@@ -8715,7 +8937,7 @@ declare const VirtualControllerBehaviorApiFactory: (configuration?: Configuratio
    */
   getCycleTime(cell: string, controller: string, options?: RawAxiosRequestConfig): AxiosPromise<CycleTime>;
   /**
-   * Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details.
+   * Get the current virtual controller behavior.  See [setVirtualControllerBehavior](#/operations/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.
@@ -8739,7 +8961,7 @@ declare const VirtualControllerBehaviorApiFactory: (configuration?: Configuratio
  */
 declare class VirtualControllerBehaviorApi extends BaseAPI {
   /**
-   * <!-- 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.
+   * <!-- 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](#/operations/planTrajectory) and [executeTrajectory](#/operations/executeTrajectory) to move motion groups on virtual controllers.  Learn more about the [movement behavior of virtual controllers in comparison to physical controllers](#/operations/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.
@@ -8758,7 +8980,7 @@ declare class VirtualControllerBehaviorApi extends BaseAPI {
    */
   getCycleTime(cell: string, controller: string, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<CycleTime, any>>;
   /**
-   * Get the current virtual controller behavior.  See [setVirtualControllerBehavior](setVirtualControllerBehavior) and the body for details.
+   * Get the current virtual controller behavior.  See [setVirtualControllerBehavior](#/operations/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.
@@ -8782,7 +9004,7 @@ declare class VirtualControllerBehaviorApi extends BaseAPI {
  */
 declare const VirtualControllerInputsOutputsApiAxiosParamCreator: (configuration?: Configuration) => {
   /**
-   * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](listVirtualControllerIODescriptions).
+   * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](#/operations/listVirtualControllerIODescriptions).
    * @summary Get 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.
@@ -8820,7 +9042,7 @@ declare const VirtualControllerInputsOutputsApiAxiosParamCreator: (configuration
  */
 declare const VirtualControllerInputsOutputsApiFp: (configuration?: Configuration) => {
   /**
-   * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](listVirtualControllerIODescriptions).
+   * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](#/operations/listVirtualControllerIODescriptions).
    * @summary Get 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.
@@ -8858,7 +9080,7 @@ declare const VirtualControllerInputsOutputsApiFp: (configuration?: Configuratio
  */
 declare const VirtualControllerInputsOutputsApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
   /**
-   * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](listVirtualControllerIODescriptions).
+   * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](#/operations/listVirtualControllerIODescriptions).
    * @summary Get 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.
@@ -8896,7 +9118,7 @@ declare const VirtualControllerInputsOutputsApiFactory: (configuration?: Configu
  */
 declare class VirtualControllerInputsOutputsApi extends BaseAPI {
   /**
-   * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](listVirtualControllerIODescriptions).
+   * Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](#/operations/listVirtualControllerIODescriptions).
    * @summary Get 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.
@@ -8930,4 +9152,4 @@ declare class VirtualControllerInputsOutputsApi extends BaseAPI {
   setIOValues(cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<axios0.AxiosResponse<void, any>>;
 }
 //#endregion
-export { AbbController, AbbControllerEgmServer, AbbControllerKindEnum, ActivateLicenseRequest, AddTrajectoryError, AddTrajectoryErrorData, AddTrajectoryRequest, AddTrajectoryResponse, ApiVersion, App, ApplicationApi, ApplicationApiAxiosParamCreator, ApplicationApiFactory, ApplicationApiFp, BASE_PATH, BUSInputsOutputsApi, BUSInputsOutputsApiAxiosParamCreator, BUSInputsOutputsApiFactory, BUSInputsOutputsApiFp, BaseAPI, Behavior, BlendingAuto, BlendingAutoBlendingNameEnum, BlendingPosition, BlendingPositionBlendingNameEnum, BlendingSpace, BooleanValue, BooleanValueValueTypeEnum, Box, BoxBoxTypeEnum, BoxShapeTypeEnum, BusIODescription, BusIOModbusClient, BusIOModbusClientBusTypeEnum, BusIOModbusServer, BusIOModbusServerBusTypeEnum, BusIOModbusTCPClient, BusIOModbusTCPClientNetworkTypeEnum, BusIOModbusTCPServer, BusIOModbusTCPServerNetworkTypeEnum, BusIOModbusVirtual, BusIOModbusVirtualBusTypeEnum, BusIOProfinet, BusIOProfinetBusTypeEnum, BusIOProfinetDefaultRoute, BusIOProfinetIpConfig, BusIOProfinetNetwork, BusIOProfinetVirtual, BusIOProfinetVirtualBusTypeEnum, BusIOType, BusIOsState, BusIOsStateEnum, COLLECTION_FORMATS, Capsule, CapsuleShapeTypeEnum, CartesianLimits, Cell, CellApi, CellApiAxiosParamCreator, CellApiFactory, CellApiFp, Collider, ColliderShape, Collision, CollisionContact, CollisionError, CollisionFreeAlgorithm, CollisionSetup, Comparator, Configuration, ConfigurationArchiveStatus, ConfigurationArchiveStatusCreating, ConfigurationArchiveStatusCreatingStatusEnum, ConfigurationArchiveStatusError, ConfigurationArchiveStatusErrorStatusEnum, ConfigurationArchiveStatusSuccess, ConfigurationArchiveStatusSuccessStatusEnum, ConfigurationParameters, ConfigurationResource, ContainerEnvironmentInner, ContainerImage, ContainerImageSecretsInner, ContainerResources, ContainerStorage, ControllerApi, ControllerApiAxiosParamCreator, ControllerApiFactory, ControllerApiFp, ControllerDescription, ControllerInputsOutputsApi, ControllerInputsOutputsApiAxiosParamCreator, ControllerInputsOutputsApiFactory, ControllerInputsOutputsApiFp, ConvexHull, ConvexHullShapeTypeEnum, CoordinateSystem, CoordinateSystemData, CubicSplineParameter, CycleTime, Cylinder, CylinderShapeTypeEnum, DHParameter, Direction, ErrorInvalidJointCount, ErrorInvalidJointCountErrorFeedbackNameEnum, ErrorJointLimitExceeded, ErrorJointLimitExceededErrorFeedbackNameEnum, ErrorJointPositionCollision, ErrorJointPositionCollisionErrorFeedbackNameEnum, ErrorMaxIterationsExceeded, ErrorMaxIterationsExceededErrorFeedbackNameEnum, Execute, ExecuteDetails, ExecuteJoggingRequest, ExecuteJoggingResponse, ExecuteTrajectoryRequest, ExecuteTrajectoryResponse, ExternalJointStreamDatapoint, ExternalJointStreamRequest, FanucController, FanucControllerKindEnum, FeedbackCollision, FeedbackCollisionErrorFeedbackNameEnum, FeedbackJointLimitExceeded, FeedbackJointLimitExceededErrorFeedbackNameEnum, FeedbackOutOfWorkspace, FeedbackOutOfWorkspaceErrorFeedbackNameEnum, FeedbackSingularity, FeedbackSingularityErrorFeedbackNameEnum, Flag, FloatValue, FloatValueValueTypeEnum, ForwardKinematics422Response, ForwardKinematicsRequest, ForwardKinematicsResponse, ForwardKinematicsValidationError, GetTrajectoryResponse, HTTPValidationError, IOBooleanValue, IOBooleanValueValueTypeEnum, IOBoundary, IODescription, IODirection, IOFloatValue, IOFloatValueValueTypeEnum, IOIntegerValue, IOIntegerValueValueTypeEnum, IOOrigin, IOValue, IOValueType, ImageCredentials, InconsistentTrajectorySizeError, InconsistentTrajectorySizeErrorInconsistentTrajectorySize, InitializeJoggingRequest, InitializeJoggingRequestMessageTypeEnum, InitializeJoggingResponse, InitializeJoggingResponseKindEnum, InitializeMovementRequest, InitializeMovementRequestMessageTypeEnum, InitializeMovementRequestTrajectory, InitializeMovementResponse, InitializeMovementResponseKindEnum, IntegerValue, IntegerValueValueTypeEnum, InvalidDofError, InvalidDofErrorInvalidDof, InverseKinematics422Response, InverseKinematicsRequest, InverseKinematicsResponse, InverseKinematicsValidationError, InverseKinematicsValidationErrorAllOfData, JoggingApi, JoggingApiAxiosParamCreator, JoggingApiFactory, JoggingApiFp, JoggingDetails, JoggingDetailsKindEnum, JoggingDetailsState, JoggingPausedByUser, JoggingPausedByUserKindEnum, JoggingPausedNearCollision, JoggingPausedNearCollisionKindEnum, JoggingPausedNearJointLimit, JoggingPausedNearJointLimitKindEnum, JoggingPausedOnIO, JoggingPausedOnIOKindEnum, JoggingRunning, JoggingRunningKindEnum, JointLimitExceededError, JointLimits, JointTrajectory, JointVelocityRequest, JointVelocityRequestMessageTypeEnum, JointVelocityResponse, JointVelocityResponseKindEnum, KinematicModel, KinematicsApi, KinematicsApiAxiosParamCreator, KinematicsApiFactory, KinematicsApiFp, KukaController, KukaControllerKindEnum, KukaControllerRsiServer, License, LicenseApi, LicenseApiAxiosParamCreator, LicenseApiFactory, LicenseApiFp, LicenseStatus, LicenseStatusEnum, LimitRange, LimitSet, LimitsOverride, ListTrajectoriesResponse, Manufacturer, MidpointInsertionAlgorithm, MidpointInsertionAlgorithmAlgorithmNameEnum, ModbusIO, ModbusIOArea, ModbusIOByteOrder, ModbusIOData, ModbusIOTypeEnum, ModelError, MotionCommand, MotionCommandBlending, MotionCommandPath, MotionGroupApi, MotionGroupApiAxiosParamCreator, MotionGroupApiFactory, MotionGroupApiFp, MotionGroupDescription, MotionGroupInfo, MotionGroupJoints, MotionGroupModelsApi, MotionGroupModelsApiAxiosParamCreator, MotionGroupModelsApiFactory, MotionGroupModelsApiFp, MotionGroupSetup, MotionGroupState, MotionGroupStateJointLimitReached, MovementErrorResponse, MovementErrorResponseKindEnum, NanValueError, NanValueErrorNanValue, NetworkDevice, NetworkInterface, NetworkState, NetworkStateConnectionTypeEnum, OpMode, OperatingState, OperationLimits, OperationMode, OrientationType, PathCartesianPTP, PathCartesianPTPPathDefinitionNameEnum, PathCircle, PathCirclePathDefinitionNameEnum, PathCubicSpline, PathCubicSplinePathDefinitionNameEnum, PathJointPTP, PathJointPTPPathDefinitionNameEnum, PathLine, PathLinePathDefinitionNameEnum, PauseJoggingRequest, PauseJoggingRequestMessageTypeEnum, PauseJoggingResponse, PauseJoggingResponseKindEnum, PauseMovementRequest, PauseMovementRequestMessageTypeEnum, PauseMovementResponse, PauseMovementResponseKindEnum, PauseOnIO, Payload, Plan422Response, PlanCollisionFreeFailedResponse, PlanCollisionFreeRequest, PlanCollisionFreeResponse, PlanCollisionFreeResponseResponse, PlanTrajectoryFailedResponse, PlanTrajectoryFailedResponseErrorFeedback, PlanTrajectoryRequest, PlanTrajectoryResponse, PlanTrajectoryResponseResponse, PlanValidationError, PlanValidationErrorAllOfData, Plane, PlaneShapeTypeEnum, PlaybackSpeedRequest, PlaybackSpeedRequestMessageTypeEnum, PlaybackSpeedResponse, PlaybackSpeedResponseKindEnum, Pose, ProfinetDescription, ProfinetIO, ProfinetIOData, ProfinetIODirection, ProfinetIOTypeEnum, ProfinetInputOutputConfig, ProfinetSlotDescription, ProfinetSubSlotDescription, Program, ProgramApi, ProgramApiAxiosParamCreator, ProgramApiFactory, ProgramApiFp, ProgramRun, ProgramRunState, ProgramStartRequest, RRTConnectAlgorithm, RRTConnectAlgorithmAlgorithmNameEnum, Rectangle, RectangleShapeTypeEnum, RectangularCapsule, RectangularCapsuleShapeTypeEnum, ReleaseChannel, RequestArgs, RequiredError, RobotConfigurationsApi, RobotConfigurationsApiAxiosParamCreator, RobotConfigurationsApiFactory, RobotConfigurationsApiFp, RobotController, RobotControllerConfiguration, RobotControllerState, RobotSystemMode, RobotTcp, RobotTcpData, SafetyStateType, ServiceGroup, ServiceStatus, ServiceStatusPhase, ServiceStatusResponse, ServiceStatusSeverity, ServiceStatusStatus, SetIO, SettableRobotSystemMode, SingularityTypeEnum, Sphere, SphereShapeTypeEnum, StartMovementRequest, StartMovementRequestMessageTypeEnum, StartMovementResponse, StartMovementResponseKindEnum, StartOnIO, StoreCollisionComponentsApi, StoreCollisionComponentsApiAxiosParamCreator, StoreCollisionComponentsApiFactory, StoreCollisionComponentsApiFp, StoreCollisionSetupsApi, StoreCollisionSetupsApiAxiosParamCreator, StoreCollisionSetupsApiFactory, StoreCollisionSetupsApiFp, StoreObjectApi, StoreObjectApiAxiosParamCreator, StoreObjectApiFactory, StoreObjectApiFp, StreamIOValuesResponse, SystemApi, SystemApiAxiosParamCreator, SystemApiFactory, SystemApiFp, TcpOffset, TcpRequiredError, TcpVelocityRequest, TcpVelocityRequestMessageTypeEnum, TcpVelocityResponse, TcpVelocityResponseKindEnum, TorqueExceededError, TorqueExceededErrorTorqueExceeded, TrajectoryCachingApi, TrajectoryCachingApiAxiosParamCreator, TrajectoryCachingApiFactory, TrajectoryCachingApiFp, TrajectoryData, TrajectoryDataMessageTypeEnum, TrajectoryDetails, TrajectoryDetailsKindEnum, TrajectoryDetailsState, TrajectoryEnded, TrajectoryEndedKindEnum, TrajectoryExecutionApi, TrajectoryExecutionApiAxiosParamCreator, TrajectoryExecutionApiFactory, TrajectoryExecutionApiFp, TrajectoryId, TrajectoryIdMessageTypeEnum, TrajectoryPausedByUser, TrajectoryPausedByUserKindEnum, TrajectoryPausedOnIO, TrajectoryPausedOnIOKindEnum, TrajectoryPlanningApi, TrajectoryPlanningApiAxiosParamCreator, TrajectoryPlanningApiFactory, TrajectoryPlanningApiFp, TrajectoryRunning, TrajectoryRunningKindEnum, TrajectoryWaitForIO, TrajectoryWaitForIOKindEnum, UnitType, UniversalrobotsController, UniversalrobotsControllerKindEnum, UpdateNovaVersionRequest, ValidationError, ValidationError2, ValidationErrorLocInner, VersionApi, VersionApiAxiosParamCreator, VersionApiFactory, VersionApiFp, VirtualController, VirtualControllerApi, VirtualControllerApiAxiosParamCreator, VirtualControllerApiFactory, VirtualControllerApiFp, VirtualControllerBehaviorApi, VirtualControllerBehaviorApiAxiosParamCreator, VirtualControllerBehaviorApiFactory, VirtualControllerBehaviorApiFp, VirtualControllerInputsOutputsApi, VirtualControllerInputsOutputsApiAxiosParamCreator, VirtualControllerInputsOutputsApiFactory, VirtualControllerInputsOutputsApiFp, VirtualControllerKindEnum, VirtualRobotConfiguration, WaitForIOEventRequest, YaskawaController, YaskawaControllerKindEnum, operationServerMap };
+export { AbbController, AbbControllerEgmServer, AbbControllerKindEnum, ActivateLicenseRequest, AddTrajectoryError, AddTrajectoryErrorData, AddTrajectoryRequest, AddTrajectoryResponse, AddVirtualControllerMotionGroupRequest, ApiVersion, App, ApplicationApi, ApplicationApiAxiosParamCreator, ApplicationApiFactory, ApplicationApiFp, BASE_PATH, BUSInputsOutputsApi, BUSInputsOutputsApiAxiosParamCreator, BUSInputsOutputsApiFactory, BUSInputsOutputsApiFp, BaseAPI, Behavior, BlendingAuto, BlendingAutoBlendingNameEnum, BlendingPosition, BlendingPositionBlendingNameEnum, BlendingSpace, BooleanValue, BooleanValueValueTypeEnum, Box, BoxBoxTypeEnum, BoxShapeTypeEnum, BusIODescription, BusIOModbusClient, BusIOModbusClientBusTypeEnum, BusIOModbusServer, BusIOModbusServerBusTypeEnum, BusIOModbusTCPClient, BusIOModbusTCPClientNetworkTypeEnum, BusIOModbusTCPServer, BusIOModbusTCPServerNetworkTypeEnum, BusIOModbusVirtual, BusIOModbusVirtualBusTypeEnum, BusIOProfinet, BusIOProfinetBusTypeEnum, BusIOProfinetDefaultRoute, BusIOProfinetIpConfig, BusIOProfinetNetwork, BusIOProfinetVirtual, BusIOProfinetVirtualBusTypeEnum, BusIOType, BusIOsState, BusIOsStateEnum, COLLECTION_FORMATS, Capsule, CapsuleShapeTypeEnum, CartesianLimits, Cell, CellApi, CellApiAxiosParamCreator, CellApiFactory, CellApiFp, Collider, ColliderShape, Collision, CollisionContact, CollisionError, CollisionFreeAlgorithm, CollisionSetup, Comparator, Configuration, ConfigurationArchiveStatus, ConfigurationArchiveStatusCreating, ConfigurationArchiveStatusCreatingStatusEnum, ConfigurationArchiveStatusError, ConfigurationArchiveStatusErrorStatusEnum, ConfigurationArchiveStatusSuccess, ConfigurationArchiveStatusSuccessStatusEnum, ConfigurationParameters, ConfigurationResource, ContainerEnvironmentInner, ContainerImage, ContainerImageSecretsInner, ContainerResources, ContainerStorage, ControllerApi, ControllerApiAxiosParamCreator, ControllerApiFactory, ControllerApiFp, ControllerDescription, ControllerInputsOutputsApi, ControllerInputsOutputsApiAxiosParamCreator, ControllerInputsOutputsApiFactory, ControllerInputsOutputsApiFp, ConvexHull, ConvexHullShapeTypeEnum, CoordinateSystem, CoordinateSystemData, CubicSplineParameter, CycleTime, Cylinder, CylinderShapeTypeEnum, DHParameter, Direction, ErrorInvalidJointCount, ErrorInvalidJointCountErrorFeedbackNameEnum, ErrorJointLimitExceeded, ErrorJointLimitExceededErrorFeedbackNameEnum, ErrorJointPositionCollision, ErrorJointPositionCollisionErrorFeedbackNameEnum, ErrorMaxIterationsExceeded, ErrorMaxIterationsExceededErrorFeedbackNameEnum, Execute, ExecuteDetails, ExecuteJoggingRequest, ExecuteJoggingResponse, ExecuteTrajectoryRequest, ExecuteTrajectoryResponse, ExternalJointStreamDatapoint, ExternalJointStreamRequest, FanucController, FanucControllerKindEnum, FeedbackCollision, FeedbackCollisionErrorFeedbackNameEnum, FeedbackJointLimitExceeded, FeedbackJointLimitExceededErrorFeedbackNameEnum, FeedbackOutOfWorkspace, FeedbackOutOfWorkspaceErrorFeedbackNameEnum, FeedbackSingularity, FeedbackSingularityErrorFeedbackNameEnum, Flag, FloatValue, FloatValueValueTypeEnum, ForwardKinematics422Response, ForwardKinematicsRequest, ForwardKinematicsResponse, ForwardKinematicsValidationError, GetTrajectoryResponse, HTTPValidationError, IOBooleanValue, IOBooleanValueValueTypeEnum, IOBoundary, IODescription, IODirection, IOFloatValue, IOFloatValueValueTypeEnum, IOIntegerValue, IOIntegerValueValueTypeEnum, IOOrigin, IOValue, IOValueType, ImageCredentials, InconsistentTrajectorySizeError, InconsistentTrajectorySizeErrorInconsistentTrajectorySize, InitializeJoggingRequest, InitializeJoggingRequestMessageTypeEnum, InitializeJoggingResponse, InitializeJoggingResponseKindEnum, InitializeMovementRequest, InitializeMovementRequestMessageTypeEnum, InitializeMovementRequestTrajectory, InitializeMovementResponse, InitializeMovementResponseKindEnum, IntegerValue, IntegerValueValueTypeEnum, InvalidDofError, InvalidDofErrorInvalidDof, InverseKinematics422Response, InverseKinematicsRequest, InverseKinematicsResponse, InverseKinematicsValidationError, InverseKinematicsValidationErrorAllOfData, JoggingApi, JoggingApiAxiosParamCreator, JoggingApiFactory, JoggingApiFp, JoggingDetails, JoggingDetailsKindEnum, JoggingDetailsState, JoggingPausedByUser, JoggingPausedByUserKindEnum, JoggingPausedNearCollision, JoggingPausedNearCollisionKindEnum, JoggingPausedNearJointLimit, JoggingPausedNearJointLimitKindEnum, JoggingPausedOnIO, JoggingPausedOnIOKindEnum, JoggingRunning, JoggingRunningKindEnum, JointLimitExceededError, JointLimits, JointTrajectory, JointTypeEnum, JointVelocityRequest, JointVelocityRequestMessageTypeEnum, JointVelocityResponse, JointVelocityResponseKindEnum, KinematicModel, KinematicsApi, KinematicsApiAxiosParamCreator, KinematicsApiFactory, KinematicsApiFp, KukaController, KukaControllerKindEnum, KukaControllerRsiServer, License, LicenseApi, LicenseApiAxiosParamCreator, LicenseApiFactory, LicenseApiFp, LicenseStatus, LicenseStatusEnum, LimitRange, LimitSet, LimitsOverride, ListTrajectoriesResponse, Manufacturer, MidpointInsertionAlgorithm, MidpointInsertionAlgorithmAlgorithmNameEnum, ModbusIO, ModbusIOArea, ModbusIOByteOrder, ModbusIOData, ModbusIOTypeEnum, ModelError, MotionCommand, MotionCommandBlending, MotionCommandPath, MotionGroupApi, MotionGroupApiAxiosParamCreator, MotionGroupApiFactory, MotionGroupApiFp, MotionGroupDescription, MotionGroupFromJson, MotionGroupFromType, MotionGroupInfo, MotionGroupJoints, MotionGroupModelsApi, MotionGroupModelsApiAxiosParamCreator, MotionGroupModelsApiFactory, MotionGroupModelsApiFp, MotionGroupSetup, MotionGroupState, MotionGroupStateJointLimitReached, MovementErrorResponse, MovementErrorResponseKindEnum, NanValueError, NanValueErrorNanValue, NetworkDevice, NetworkInterface, NetworkState, NetworkStateConnectionTypeEnum, OpMode, OperatingState, OperationLimits, OperationMode, OrientationType, PathCartesianPTP, PathCartesianPTPPathDefinitionNameEnum, PathCircle, PathCirclePathDefinitionNameEnum, PathCubicSpline, PathCubicSplinePathDefinitionNameEnum, PathJointPTP, PathJointPTPPathDefinitionNameEnum, PathLine, PathLinePathDefinitionNameEnum, PauseJoggingRequest, PauseJoggingRequestMessageTypeEnum, PauseJoggingResponse, PauseJoggingResponseKindEnum, PauseMovementRequest, PauseMovementRequestMessageTypeEnum, PauseMovementResponse, PauseMovementResponseKindEnum, PauseOnIO, Payload, Plan422Response, PlanCollisionFreeFailedResponse, PlanCollisionFreeRequest, PlanCollisionFreeResponse, PlanCollisionFreeResponseResponse, PlanTrajectoryFailedResponse, PlanTrajectoryFailedResponseErrorFeedback, PlanTrajectoryRequest, PlanTrajectoryResponse, PlanTrajectoryResponseResponse, PlanValidationError, PlanValidationErrorAllOfData, Plane, PlaneShapeTypeEnum, PlaybackSpeedRequest, PlaybackSpeedRequestMessageTypeEnum, PlaybackSpeedResponse, PlaybackSpeedResponseKindEnum, Pose, ProfinetDescription, ProfinetIO, ProfinetIOData, ProfinetIODirection, ProfinetIOTypeEnum, ProfinetInputOutputConfig, ProfinetSlotDescription, ProfinetSubSlotDescription, Program, ProgramApi, ProgramApiAxiosParamCreator, ProgramApiFactory, ProgramApiFp, ProgramRun, ProgramRunState, ProgramStartRequest, RRTConnectAlgorithm, RRTConnectAlgorithmAlgorithmNameEnum, Rectangle, RectangleShapeTypeEnum, RectangularCapsule, RectangularCapsuleShapeTypeEnum, ReleaseChannel, RequestArgs, RequiredError, RobotConfigurationsApi, RobotConfigurationsApiAxiosParamCreator, RobotConfigurationsApiFactory, RobotConfigurationsApiFp, RobotController, RobotControllerConfiguration, RobotControllerState, RobotSystemMode, RobotTcp, RobotTcpData, SafetyStateType, ServiceGroup, ServiceStatus, ServiceStatusPhase, ServiceStatusResponse, ServiceStatusSeverity, ServiceStatusStatus, SetIO, SettableRobotSystemMode, SingularityTypeEnum, Sphere, SphereShapeTypeEnum, StartMovementRequest, StartMovementRequestMessageTypeEnum, StartMovementResponse, StartMovementResponseKindEnum, StartOnIO, StoreCollisionComponentsApi, StoreCollisionComponentsApiAxiosParamCreator, StoreCollisionComponentsApiFactory, StoreCollisionComponentsApiFp, StoreCollisionSetupsApi, StoreCollisionSetupsApiAxiosParamCreator, StoreCollisionSetupsApiFactory, StoreCollisionSetupsApiFp, StoreObjectApi, StoreObjectApiAxiosParamCreator, StoreObjectApiFactory, StoreObjectApiFp, StreamIOValuesResponse, SystemApi, SystemApiAxiosParamCreator, SystemApiFactory, SystemApiFp, TcpOffset, TcpRequiredError, TcpVelocityRequest, TcpVelocityRequestMessageTypeEnum, TcpVelocityResponse, TcpVelocityResponseKindEnum, TorqueExceededError, TorqueExceededErrorTorqueExceeded, TrajectoryCachingApi, TrajectoryCachingApiAxiosParamCreator, TrajectoryCachingApiFactory, TrajectoryCachingApiFp, TrajectoryData, TrajectoryDataMessageTypeEnum, TrajectoryDetails, TrajectoryDetailsKindEnum, TrajectoryDetailsState, TrajectoryEnded, TrajectoryEndedKindEnum, TrajectoryExecutionApi, TrajectoryExecutionApiAxiosParamCreator, TrajectoryExecutionApiFactory, TrajectoryExecutionApiFp, TrajectoryId, TrajectoryIdMessageTypeEnum, TrajectoryPausedByUser, TrajectoryPausedByUserKindEnum, TrajectoryPausedOnIO, TrajectoryPausedOnIOKindEnum, TrajectoryPlanningApi, TrajectoryPlanningApiAxiosParamCreator, TrajectoryPlanningApiFactory, TrajectoryPlanningApiFp, TrajectoryRunning, TrajectoryRunningKindEnum, TrajectoryWaitForIO, TrajectoryWaitForIOKindEnum, UnitType, UniversalrobotsController, UniversalrobotsControllerKindEnum, UpdateCellVersionRequest, UpdateNovaVersionRequest, ValidationError, ValidationError2, ValidationErrorLocInner, VersionApi, VersionApiAxiosParamCreator, VersionApiFactory, VersionApiFp, VirtualController, VirtualControllerApi, VirtualControllerApiAxiosParamCreator, VirtualControllerApiFactory, VirtualControllerApiFp, VirtualControllerBehaviorApi, VirtualControllerBehaviorApiAxiosParamCreator, VirtualControllerBehaviorApiFactory, VirtualControllerBehaviorApiFp, VirtualControllerInputsOutputsApi, VirtualControllerInputsOutputsApiAxiosParamCreator, VirtualControllerInputsOutputsApiFactory, VirtualControllerInputsOutputsApiFp, VirtualControllerKindEnum, VirtualRobotConfiguration, WaitForIOEventRequest, YaskawaController, YaskawaControllerKindEnum, operationServerMap };