@wandelbots/nova-api 26.2.0-dev.6 → 26.2.0-dev.61

package/dist/v2/index.cjs

@@ -41,12 +41,6 @@ const DUMMY_BASE_URL = "https://example.com";
 const assertParamExists = function(functionName, paramName, paramValue) {
 	if (paramValue === null || paramValue === void 0) throw new RequiredError(paramName, `Required parameter ${paramName} was null or undefined when calling ${functionName}.`);
 };
-const setBasicAuthToObject = function(object, configuration) {
-	if (configuration && (configuration.username || configuration.password)) object["auth"] = {
-		username: configuration.username,
-		password: configuration.password
-	};
-};
 const setBearerAuthToObject = async function(object, configuration) {
 	if (configuration && configuration.accessToken) object["Authorization"] = "Bearer " + (typeof configuration.accessToken === "function" ? await configuration.accessToken() : await configuration.accessToken);
 };
@@ -83,7 +77,7 @@ const createRequestFunction = function(axiosArgs, globalAxios$2, BASE_PATH$1, co
 //#region v2/api.ts
 const AbbControllerKindEnum = { AbbController: "AbbController" };
 /**
-* ## BEHAVIOR_AUTOMATIC This is the default behavior. The motion groups of the controller take commanded joint configuration as actual joint state. Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the virtual robot will act like a physical one, e.g., with a cycle time of 8ms to respond to a new joint state command. ## BEHAVIOR_AUTOMATIC_NOT_COMPLY_WITH_CYCLETIME Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the robot will respond as fast as possible, limited only by software execution speed. Because of that the execution of a movement requires less time than with BEHAVIOR_AUTOMATIC. ## BEHAVIOR_EXTERNAL_SOURCE The external client is the only source of actual joint state changes. This mode is used to enable third party software indicating the current joint state via [externalJointsStream](externalJointsStream). 
+* ## BEHAVIOR_AUTOMATIC This is the default behavior. The motion groups of the controller take commanded joint configuration as actual joint state. Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the virtual robot will act like a physical one, e.g., with a cycle time of 8ms to respond to a new joint state command. ## BEHAVIOR_AUTOMATIC_NOT_COMPLY_WITH_CYCLETIME Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the robot will respond as fast as possible, limited only by software execution speed. Because of that, the execution of a movement requires less time than with BEHAVIOR_AUTOMATIC. ## BEHAVIOR_EXTERNAL_SOURCE The external client is the only source of actual joint state changes. This mode is used to enable third party software indicating the current joint state via [externalJointsStream](#/operations/externalJointsStream). 
 */
 const Behavior = {
 	BehaviorAutomatic: "BEHAVIOR_AUTOMATIC",
@@ -122,6 +116,7 @@ const BusIOsStateEnum = {
 	BusIosStateDisconnected: "BUS_IOS_STATE_DISCONNECTED"
 };
 const CapsuleShapeTypeEnum = { Capsule: "capsule" };
+const CollisionErrorKindEnum = { CollisionError: "CollisionError" };
 /**
 * Comparator for the comparison of two values. The comparator is used to compare two values and return a boolean result. The default comparator is unknown. 
 */
@@ -180,17 +175,24 @@ const IOValueType = {
 	IoValueAnalogFloat: "IO_VALUE_ANALOG_FLOAT",
 	IoValueAnalogInteger: "IO_VALUE_ANALOG_INTEGER"
 };
+const InconsistentTrajectorySizeErrorKindEnum = { InconsistentTrajectorySizeError: "InconsistentTrajectorySizeError" };
 const InitializeJoggingRequestMessageTypeEnum = { InitializeJoggingRequest: "InitializeJoggingRequest" };
 const InitializeJoggingResponseKindEnum = { InitializeReceived: "INITIALIZE_RECEIVED" };
 const InitializeMovementRequestMessageTypeEnum = { InitializeMovementRequest: "InitializeMovementRequest" };
 const InitializeMovementResponseKindEnum = { InitializeReceived: "INITIALIZE_RECEIVED" };
 const IntegerValueValueTypeEnum = { Integer: "integer" };
+const InvalidDofErrorKindEnum = { InvalidDofError: "InvalidDofError" };
 const JoggingDetailsKindEnum = { Jogging: "JOGGING" };
 const JoggingPausedByUserKindEnum = { PausedByUser: "PAUSED_BY_USER" };
 const JoggingPausedNearCollisionKindEnum = { PausedNearCollision: "PAUSED_NEAR_COLLISION" };
 const JoggingPausedNearJointLimitKindEnum = { PausedNearJointLimit: "PAUSED_NEAR_JOINT_LIMIT" };
 const JoggingPausedOnIOKindEnum = { PausedOnIo: "PAUSED_ON_IO" };
 const JoggingRunningKindEnum = { Running: "RUNNING" };
+const JointLimitExceededErrorKindEnum = { JointLimitExceededError: "JointLimitExceededError" };
+const JointTypeEnum = {
+	RevoluteJoint: "REVOLUTE_JOINT",
+	PrismaticJoint: "PRISMATIC_JOINT"
+};
 const JointVelocityRequestMessageTypeEnum = { JointVelocityRequest: "JointVelocityRequest" };
 const JointVelocityResponseKindEnum = { JointVelocityReceived: "JOINT_VELOCITY_RECEIVED" };
 const KukaControllerKindEnum = { KukaController: "KukaController" };
@@ -239,6 +241,7 @@ const ModbusIOTypeEnum = {
 	ModbusIoTypeFloat32: "MODBUS_IO_TYPE_FLOAT32"
 };
 const MovementErrorResponseKindEnum = { MotionError: "MOTION_ERROR" };
+const NanValueErrorKindEnum = { NanValueError: "NanValueError" };
 const NetworkStateConnectionTypeEnum = {
 	Ethernet: "ethernet",
 	Wifi: "wifi",
@@ -348,14 +351,14 @@ const RRTConnectAlgorithmAlgorithmNameEnum = { RrtConnectAlgorithm: "RRTConnectA
 const RectangleShapeTypeEnum = { Rectangle: "rectangle" };
 const RectangularCapsuleShapeTypeEnum = { RectangularCapsule: "rectangular_capsule" };
 /**
-* 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 
 */
 const ReleaseChannel = {
 	Stable: "stable",
 	Next: "next"
 };
 /**
-* 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. 
 */
 const RobotSystemMode = {
 	ModeControllerNotConfigured: "MODE_CONTROLLER_NOT_CONFIGURED",
@@ -412,9 +415,14 @@ const ServiceStatusSeverity = {
 	Warning: "WARNING",
 	Error: "ERROR"
 };
+/**
+* Defines available system modes of the robot system. Short versions (no \"ROBOT_SYSTEM_\" prefix) are provided, reusing strings from [getMode](#/operations/getMode) responses. 
+*/
 const SettableRobotSystemMode = {
 	RobotSystemModeMonitor: "ROBOT_SYSTEM_MODE_MONITOR",
-	RobotSystemModeControl: "ROBOT_SYSTEM_MODE_CONTROL"
+	ModeMonitor: "MODE_MONITOR",
+	RobotSystemModeControl: "ROBOT_SYSTEM_MODE_CONTROL",
+	ModeControl: "MODE_CONTROL"
 };
 const SingularityTypeEnum = {
 	Wrist: "WRIST",
@@ -424,8 +432,10 @@ const SingularityTypeEnum = {
 const SphereShapeTypeEnum = { Sphere: "sphere" };
 const StartMovementRequestMessageTypeEnum = { StartMovementRequest: "StartMovementRequest" };
 const StartMovementResponseKindEnum = { StartReceived: "START_RECEIVED" };
+const TcpRequiredErrorKindEnum = { TcpRequiredError: "TcpRequiredError" };
 const TcpVelocityRequestMessageTypeEnum = { TcpVelocityRequest: "TcpVelocityRequest" };
 const TcpVelocityResponseKindEnum = { TcpVelocityReceived: "TCP_VELOCITY_RECEIVED" };
+const TorqueExceededErrorKindEnum = { TorqueExceededError: "TorqueExceededError" };
 const TrajectoryDataMessageTypeEnum = { TrajectoryData: "TrajectoryData" };
 const TrajectoryDetailsKindEnum = { Trajectory: "TRAJECTORY" };
 const TrajectoryEndedKindEnum = { EndOfTrajectory: "END_OF_TRAJECTORY" };
@@ -471,7 +481,6 @@ const ApplicationApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			localVarHeaderParameter["Content-Type"] = "application/json";
@@ -501,7 +510,6 @@ const ApplicationApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -530,7 +538,6 @@ const ApplicationApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -559,7 +566,6 @@ const ApplicationApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -586,7 +592,6 @@ const ApplicationApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -615,7 +620,6 @@ const ApplicationApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			localVarHeaderParameter["Content-Type"] = "application/json";
@@ -744,7 +748,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).deleteApp(cell, app, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the configuration for an active GUI application in the cell.  To update the configuration of a GUI application in the cell, use this configuration with [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 
@@ -755,7 +759,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).getApp(cell, app, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all GUI applications that have been added to a cell with [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.
@@ -797,7 +801,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			localVarHeaderParameter["Content-Type"] = "application/json";
@@ -829,7 +832,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -860,7 +862,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -889,7 +890,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -917,7 +917,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -944,7 +943,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -972,7 +970,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1000,7 +997,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1027,7 +1023,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1054,7 +1049,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1081,7 +1075,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (ios) localVarQueryParameter["ios"] = ios;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -1109,7 +1102,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1136,7 +1128,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (inputOffset !== void 0) localVarQueryParameter["input_offset"] = inputOffset;
 			if (outputOffset !== void 0) localVarQueryParameter["output_offset"] = outputOffset;
@@ -1165,7 +1156,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1192,7 +1182,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1219,7 +1208,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1247,7 +1235,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -1277,7 +1264,6 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -1490,7 +1476,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).addBusIOService(cell, busIOType, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Adds an input/output variable to or updates an input/output variable on the 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.
@@ -1502,7 +1488,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).addModbusIO(cell, io, modbusIOData, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Adds an input/output variable to or updates an input/output variable on the PROFINET device, e.g., NOVA\'s PROFINET service.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. - The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService)   and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. - The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs).  For the PROFINET controller, e.g., a connected PLC, refer to the corresponding third party software, e.g., TIA portal). 
+	* Adds an input/output variable to or updates an input/output variable on the PROFINET device, e.g., NOVA\'s PROFINET service.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. - The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](#/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.
@@ -1546,7 +1532,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 	}
 	/**
 	* 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.
@@ -1587,7 +1573,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).getBusIOState(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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] 
@@ -1630,7 +1616,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).listBusIODescriptions(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List descriptions for all configured input/output variables of the 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.
@@ -1640,7 +1626,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).listModbusIOs(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information 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.
@@ -1650,7 +1636,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).listProfinetIOs(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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 
@@ -1661,7 +1647,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).setBusIOValues(cell, iOValue, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets input/output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. - The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](addBusIOService)   and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. - The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](listProfinetIOs).  For the PROFINET controller, e.g., a connected PLC, refer to the corresponding engineering system, e.g., TIA portal.  #### 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 
@@ -1677,6 +1663,34 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 */
 const CellApiAxiosParamCreator = function(configuration) {
 	return {
+		checkCellVersionUpdate: async (cell, channel, options = {}) => {
+			assertParamExists("checkCellVersionUpdate", "cell", cell);
+			assertParamExists("checkCellVersionUpdate", "channel", channel);
+			const localVarPath = `/cells/{cell}/update`.replace(`{cell}`, encodeURIComponent(String(cell)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "GET",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			if (channel !== void 0) localVarQueryParameter["channel"] = channel;
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		},
 		deleteCell: async (cell, completionTimeout, options = {}) => {
 			assertParamExists("deleteCell", "cell", cell);
 			const localVarPath = `/cells/{cell}`.replace(`{cell}`, encodeURIComponent(String(cell)));
@@ -1690,7 +1704,6 @@ const CellApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -1717,7 +1730,6 @@ const CellApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			localVarHeaderParameter["Content-Type"] = "application/json";
@@ -1747,7 +1759,6 @@ const CellApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1774,7 +1785,6 @@ const CellApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1799,7 +1809,6 @@ const CellApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -1827,7 +1836,6 @@ const CellApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (operatingState !== void 0) localVarQueryParameter["operating_state"] = operatingState;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -1856,7 +1864,6 @@ const CellApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			localVarHeaderParameter["Content-Type"] = "application/json";
@@ -1872,6 +1879,35 @@ const CellApiAxiosParamCreator = function(configuration) {
 				url: toPathString(localVarUrlObj),
 				options: localVarRequestOptions
 			};
+		},
+		updateCellVersion: async (cell, updateCellVersionRequest, options = {}) => {
+			assertParamExists("updateCellVersion", "cell", cell);
+			assertParamExists("updateCellVersion", "updateCellVersionRequest", updateCellVersionRequest);
+			const localVarPath = `/cells/{cell}/update`.replace(`{cell}`, encodeURIComponent(String(cell)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "PUT",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			localVarHeaderParameter["Content-Type"] = "application/json";
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			localVarRequestOptions.data = serializeDataIfNeeded(updateCellVersionRequest, localVarRequestOptions, configuration);
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
 		}
 	};
 };
@@ -1881,6 +1917,12 @@ const CellApiAxiosParamCreator = function(configuration) {
 const CellApiFp = function(configuration) {
 	const localVarAxiosParamCreator = CellApiAxiosParamCreator(configuration);
 	return {
+		async checkCellVersionUpdate(cell, channel, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.checkCellVersionUpdate(cell, channel, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["CellApi.checkCellVersionUpdate"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
 		async deleteCell(cell, completionTimeout, options) {
 			const localVarAxiosArgs = await localVarAxiosParamCreator.deleteCell(cell, completionTimeout, options);
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
@@ -1922,6 +1964,12 @@ const CellApiFp = function(configuration) {
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
 			const localVarOperationServerBasePath = operationServerMap["CellApi.updateCell"]?.[localVarOperationServerIndex]?.url;
 			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
+		async updateCellVersion(cell, updateCellVersionRequest, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.updateCellVersion(cell, updateCellVersionRequest, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["CellApi.updateCellVersion"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
 		}
 	};
 };
@@ -1931,6 +1979,9 @@ const CellApiFp = function(configuration) {
 const CellApiFactory = function(configuration, basePath, axios$1) {
 	const localVarFp = CellApiFp(configuration);
 	return {
+		checkCellVersionUpdate(cell, channel, options) {
+			return localVarFp.checkCellVersionUpdate(cell, channel, options).then((request) => request(axios$1, basePath));
+		},
 		deleteCell(cell, completionTimeout, options) {
 			return localVarFp.deleteCell(cell, completionTimeout, options).then((request) => request(axios$1, basePath));
 		},
@@ -1951,6 +2002,9 @@ const CellApiFactory = function(configuration, basePath, axios$1) {
 		},
 		updateCell(cell, cell2, completionTimeout, options) {
 			return localVarFp.updateCell(cell, cell2, completionTimeout, options).then((request) => request(axios$1, basePath));
+		},
+		updateCellVersion(cell, updateCellVersionRequest, options) {
+			return localVarFp.updateCellVersion(cell, updateCellVersionRequest, options).then((request) => request(axios$1, basePath));
 		}
 	};
 };
@@ -1958,6 +2012,17 @@ const CellApiFactory = function(configuration, basePath, axios$1) {
 * CellApi - object-oriented interface
 */
 var CellApi = class 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, channel, options) {
+		return CellApiFp(this.configuration).checkCellVersionUpdate(cell, channel, options).then((request) => request(this.axios, this.basePath));
+	}
 	/**
 	* Delete an entire cell.
 	* @summary Delete Cell
@@ -2032,6 +2097,17 @@ var CellApi = class extends BaseAPI {
 	updateCell(cell, cell2, completionTimeout, options) {
 		return CellApiFp(this.configuration).updateCell(cell, cell2, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
+	/**
+	* 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, updateCellVersionRequest, options) {
+		return CellApiFp(this.configuration).updateCellVersion(cell, updateCellVersionRequest, options).then((request) => request(this.axios, this.basePath));
+	}
 };
 /**
 * ControllerApi - axios parameter creator
@@ -2052,7 +2128,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			localVarHeaderParameter["Content-Type"] = "application/json";
@@ -2082,7 +2157,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2111,7 +2185,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2140,7 +2213,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -2169,7 +2241,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (orientationType !== void 0) localVarQueryParameter["orientation_type"] = orientationType;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2198,7 +2269,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -2226,7 +2296,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -2254,7 +2323,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -2282,7 +2350,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (orientationType !== void 0) localVarQueryParameter["orientation_type"] = orientationType;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2310,7 +2377,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -2339,7 +2405,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (mode !== void 0) localVarQueryParameter["mode"] = mode;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2368,7 +2433,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (responseRate !== void 0) localVarQueryParameter["response_rate"] = responseRate;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2397,7 +2461,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (responseRate !== void 0) localVarQueryParameter["response_rate"] = responseRate;
 			if (addControllerTimeout !== void 0) localVarQueryParameter["add_controller_timeout"] = addControllerTimeout;
@@ -2428,7 +2491,6 @@ const ControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
 			localVarHeaderParameter["Content-Type"] = "application/json";
@@ -2606,7 +2668,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).addRobotController(cell, robotController, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [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] 
@@ -2629,7 +2691,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).deleteRobotController(cell, controller, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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.
@@ -2675,7 +2737,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getRobotController(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration. 
+	* 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.
@@ -2708,7 +2770,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).listRobotControllers(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Switch between monitor and control usage as default for a robot controller.  Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network, monitoring mode is always possible.  To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state `normal` or `reduced`. If the robot controller is in `manual` operating mode, you have 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.
@@ -2720,7 +2782,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).setDefaultMode(cell, controller, mode, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- 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.
@@ -2732,7 +2794,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).streamFreeDrive(cell, controller, responseRate, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- 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.
@@ -2745,7 +2807,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).streamRobotControllerState(cell, controller, responseRate, addControllerTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   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.
@@ -2777,7 +2839,6 @@ const ControllerInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (ios) localVarQueryParameter["ios"] = ios;
 			if (direction !== void 0) localVarQueryParameter["direction"] = direction;
@@ -2809,7 +2870,6 @@ const ControllerInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (ios) localVarQueryParameter["ios"] = ios;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2839,7 +2899,6 @@ const ControllerInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2869,7 +2928,6 @@ const ControllerInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (ios) localVarQueryParameter["ios"] = ios;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2899,7 +2957,6 @@ const ControllerInputsOutputsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -2998,7 +3055,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).listIODescriptions(cell, controller, ios, direction, valueType, group, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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.
@@ -3010,7 +3067,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).listIOValues(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This 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.
@@ -3034,7 +3091,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).streamIOValues(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](listIODescriptions) for more information.  **Examples**  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.
@@ -3065,7 +3122,6 @@ const JoggingApiAxiosParamCreator = function(configuration) {
 		};
 		const localVarHeaderParameter = {};
 		const localVarQueryParameter = {};
-		setBasicAuthToObject(localVarRequestOptions, configuration);
 		await setBearerAuthToObject(localVarHeaderParameter, configuration);
 		localVarHeaderParameter["Content-Type"] = "application/json";
 		setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -3108,7 +3164,7 @@ const JoggingApiFactory = function(configuration, basePath, axios$1) {
 */
 var JoggingApi = class 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.
@@ -3139,7 +3195,6 @@ const KinematicsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -3169,7 +3224,6 @@ const KinematicsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -3265,7 +3319,6 @@ const LicenseApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -3292,7 +3345,6 @@ const LicenseApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3317,7 +3369,6 @@ const LicenseApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3342,7 +3393,6 @@ const LicenseApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3472,7 +3522,6 @@ const MotionGroupApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (responseCoordinateSystem !== void 0) localVarQueryParameter["response_coordinate_system"] = responseCoordinateSystem;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -3502,7 +3551,6 @@ const MotionGroupApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3531,7 +3579,6 @@ const MotionGroupApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (responseRate !== void 0) localVarQueryParameter["response_rate"] = responseRate;
 			if (responseCoordinateSystem !== void 0) localVarQueryParameter["response_coordinate_system"] = responseCoordinateSystem;
@@ -3654,7 +3701,6 @@ const MotionGroupModelsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3681,7 +3727,6 @@ const MotionGroupModelsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3708,7 +3753,6 @@ const MotionGroupModelsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3733,7 +3777,6 @@ const MotionGroupModelsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3760,7 +3803,6 @@ const MotionGroupModelsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3842,9 +3884,9 @@ const MotionGroupModelsApiFactory = function(configuration, basePath, axios$1) {
 */
 var MotionGroupModelsApi = class extends BaseAPI {
 	/**
-	* Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](getMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Attach additional shapes to the link reference frames by extending the link dictionaries before further use. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+	* 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}
 	*/
@@ -3852,9 +3894,9 @@ var MotionGroupModelsApi = class extends BaseAPI {
 		return MotionGroupModelsApiFp(this.configuration).getMotionGroupCollisionModel(motionGroupModel, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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}
 	*/
@@ -3862,9 +3904,9 @@ var MotionGroupModelsApi = class extends BaseAPI {
 		return MotionGroupModelsApiFp(this.configuration).getMotionGroupGlbModel(motionGroupModel, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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}
 	*/
@@ -3881,9 +3923,9 @@ var MotionGroupModelsApi = class extends BaseAPI {
 		return MotionGroupModelsApiFp(this.configuration).getMotionGroupModels(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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}
 	*/
@@ -3910,7 +3952,6 @@ const ProgramApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3937,7 +3978,6 @@ const ProgramApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -3966,7 +4006,6 @@ const ProgramApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -3996,7 +4035,6 @@ const ProgramApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4128,7 +4166,6 @@ const RobotConfigurationsApiAxiosParamCreator = function(configuration) {
 		};
 		const localVarHeaderParameter = {};
 		const localVarQueryParameter = {};
-		setBasicAuthToObject(localVarRequestOptions, configuration);
 		await setBearerAuthToObject(localVarHeaderParameter, configuration);
 		setSearchParams(localVarUrlObj, localVarQueryParameter);
 		let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4197,7 +4234,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4225,7 +4261,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4253,7 +4288,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4281,7 +4315,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4309,7 +4342,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4337,7 +4369,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4364,7 +4395,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4391,7 +4421,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4418,7 +4447,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4445,7 +4473,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4472,7 +4499,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4499,7 +4525,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4528,7 +4553,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -4559,7 +4583,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -4590,7 +4613,6 @@ const StoreCollisionComponentsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -4945,7 +4967,6 @@ const StoreCollisionSetupsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -4973,7 +4994,6 @@ const StoreCollisionSetupsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5000,7 +5020,6 @@ const StoreCollisionSetupsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5027,7 +5046,6 @@ const StoreCollisionSetupsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5056,7 +5074,6 @@ const StoreCollisionSetupsApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -5212,7 +5229,6 @@ const StoreObjectApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5240,7 +5256,6 @@ const StoreObjectApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5268,7 +5283,6 @@ const StoreObjectApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5296,7 +5310,6 @@ const StoreObjectApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5323,7 +5336,6 @@ const StoreObjectApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5352,7 +5364,6 @@ const StoreObjectApiAxiosParamCreator = function(configuration) {
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
 			const localVarFormParams = new (configuration && configuration.formDataCtor || FormData)();
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (anyValue !== void 0) localVarFormParams.append("any_value", new Blob([JSON.stringify(anyValue)], { type: "application/json" }));
 			localVarHeaderParameter["Content-Type"] = "multipart/form-data";
@@ -5500,7 +5511,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).listAllObjectKeys(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](getObjectMetadata) to verify that the key does not contain objects.  #### Optional Specify metadata as a dictionary with names and values. 
+	* Store any data as an object.  Using a key which already contains an object will override the previously stored object. Use [getObjectMetadata](#/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 
@@ -5529,7 +5540,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (resources) localVarQueryParameter["resources"] = resources.join(COLLECTION_FORMATS.csv);
 			if (metadata !== void 0) localVarQueryParameter["metadata"] = metadata;
@@ -5557,7 +5567,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (channel !== void 0) localVarQueryParameter["channel"] = channel;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -5583,7 +5592,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (_interface !== void 0) localVarQueryParameter["interface"] = _interface;
 			if (cidr !== void 0) localVarQueryParameter["cidr"] = cidr;
@@ -5612,7 +5620,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (operationId !== void 0) localVarQueryParameter["operation_id"] = operationId;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -5638,7 +5645,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5663,7 +5669,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5688,7 +5693,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5713,7 +5717,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5738,7 +5741,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5763,7 +5765,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -5789,7 +5790,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (resources) localVarQueryParameter["resources"] = resources.join(COLLECTION_FORMATS.csv);
 			localVarHeaderParameter["Content-Type"] = "application/gzip";
@@ -5818,7 +5818,6 @@ const SystemApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -6073,7 +6072,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).restoreConfiguration(body, resources, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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.
@@ -6103,7 +6102,6 @@ const TrajectoryCachingApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -6133,7 +6131,6 @@ const TrajectoryCachingApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6162,7 +6159,6 @@ const TrajectoryCachingApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6191,7 +6187,6 @@ const TrajectoryCachingApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6219,7 +6214,6 @@ const TrajectoryCachingApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6301,7 +6295,7 @@ const TrajectoryCachingApiFactory = function(configuration, basePath, axios$1) {
 */
 var TrajectoryCachingApi = class 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.
@@ -6324,7 +6318,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).clearTrajectories(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
+	* Delete a previously created trajectory from cache.  Use [listTrajectories](#/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.
@@ -6336,7 +6330,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).deleteTrajectory(cell, controller, trajectory, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. 
+	* Get a previously created trajectory from cache.  Use [listTrajectories](#/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.
@@ -6348,7 +6342,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).getTrajectory(cell, controller, trajectory, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List currently cached trajectories.  Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
+	* List currently cached trajectories.  Use [addTrajectory](#/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.
@@ -6378,7 +6372,6 @@ const TrajectoryExecutionApiAxiosParamCreator = function(configuration) {
 		};
 		const localVarHeaderParameter = {};
 		const localVarQueryParameter = {};
-		setBasicAuthToObject(localVarRequestOptions, configuration);
 		await setBearerAuthToObject(localVarHeaderParameter, configuration);
 		localVarHeaderParameter["Content-Type"] = "application/json";
 		setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -6421,7 +6414,7 @@ const TrajectoryExecutionApiFactory = function(configuration, basePath, axios$1)
 */
 var TrajectoryExecutionApi = class 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.
@@ -6452,7 +6445,6 @@ const TrajectoryPlanningApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -6482,7 +6474,6 @@ const TrajectoryPlanningApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -6539,7 +6530,7 @@ const TrajectoryPlanningApiFactory = function(configuration, basePath, axios$1)
 */
 var TrajectoryPlanningApi = class 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 
@@ -6550,7 +6541,7 @@ var TrajectoryPlanningApi = class extends BaseAPI {
 		return TrajectoryPlanningApiFp(this.configuration).planCollisionFree(cell, planCollisionFreeRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](executeTrajectory) endpoint.  If the trajectory is not executable, the 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 
@@ -6576,7 +6567,6 @@ const VersionApiAxiosParamCreator = function(configuration) {
 		};
 		const localVarHeaderParameter = {};
 		const localVarQueryParameter = {};
-		setBasicAuthToObject(localVarRequestOptions, configuration);
 		await setBearerAuthToObject(localVarHeaderParameter, configuration);
 		setSearchParams(localVarUrlObj, localVarQueryParameter);
 		let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6647,7 +6637,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -6663,6 +6652,36 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 				options: localVarRequestOptions
 			};
 		},
+		addVirtualControllerMotionGroup: async (cell, controller, addVirtualControllerMotionGroupRequest, options = {}) => {
+			assertParamExists("addVirtualControllerMotionGroup", "cell", cell);
+			assertParamExists("addVirtualControllerMotionGroup", "controller", controller);
+			assertParamExists("addVirtualControllerMotionGroup", "addVirtualControllerMotionGroupRequest", addVirtualControllerMotionGroupRequest);
+			const localVarPath = `/cells/{cell}/virtual-controllers/{controller}/motion-groups`.replace(`{cell}`, encodeURIComponent(String(cell))).replace(`{controller}`, encodeURIComponent(String(controller)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "POST",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			localVarHeaderParameter["Content-Type"] = "application/json";
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			localVarRequestOptions.data = serializeDataIfNeeded(addVirtualControllerMotionGroupRequest, localVarRequestOptions, configuration);
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		},
 		addVirtualControllerTcp: async (cell, controller, motionGroup, tcp, robotTcpData, options = {}) => {
 			assertParamExists("addVirtualControllerTcp", "cell", cell);
 			assertParamExists("addVirtualControllerTcp", "controller", controller);
@@ -6680,7 +6699,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -6711,7 +6729,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (deleteDependent !== void 0) localVarQueryParameter["delete_dependent"] = deleteDependent;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -6726,6 +6743,34 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 				options: localVarRequestOptions
 			};
 		},
+		deleteVirtualControllerMotionGroup: async (cell, controller, motionGroup, options = {}) => {
+			assertParamExists("deleteVirtualControllerMotionGroup", "cell", cell);
+			assertParamExists("deleteVirtualControllerMotionGroup", "controller", controller);
+			assertParamExists("deleteVirtualControllerMotionGroup", "motionGroup", motionGroup);
+			const localVarPath = `/cells/{cell}/virtual-controllers/{controller}/motion-groups/{motion-group}`.replace(`{cell}`, encodeURIComponent(String(cell))).replace(`{controller}`, encodeURIComponent(String(controller))).replace(`{motion-group}`, encodeURIComponent(String(motionGroup)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "DELETE",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		},
 		deleteVirtualControllerTcp: async (cell, controller, motionGroup, tcp, options = {}) => {
 			assertParamExists("deleteVirtualControllerTcp", "cell", cell);
 			assertParamExists("deleteVirtualControllerTcp", "controller", controller);
@@ -6742,7 +6787,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6770,7 +6814,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6799,7 +6842,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6827,7 +6869,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6855,7 +6896,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6884,7 +6924,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6912,7 +6951,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6941,7 +6979,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -6969,7 +7006,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (active !== void 0) localVarQueryParameter["active"] = active;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -7000,7 +7036,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -7031,7 +7066,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (mode !== void 0) localVarQueryParameter["mode"] = mode;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -7062,7 +7096,6 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -7092,6 +7125,12 @@ const VirtualControllerApiFp = function(configuration) {
 			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.addVirtualControllerCoordinateSystem"]?.[localVarOperationServerIndex]?.url;
 			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
 		},
+		async addVirtualControllerMotionGroup(cell, controller, addVirtualControllerMotionGroupRequest, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.addVirtualControllerMotionGroup(cell, controller, addVirtualControllerMotionGroupRequest, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.addVirtualControllerMotionGroup"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
 		async addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options) {
 			const localVarAxiosArgs = await localVarAxiosParamCreator.addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options);
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
@@ -7104,6 +7143,12 @@ const VirtualControllerApiFp = function(configuration) {
 			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.deleteVirtualControllerCoordinateSystem"]?.[localVarOperationServerIndex]?.url;
 			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
 		},
+		async deleteVirtualControllerMotionGroup(cell, controller, motionGroup, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.deleteVirtualControllerMotionGroup(cell, controller, motionGroup, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.deleteVirtualControllerMotionGroup"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
 		async deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options) {
 			const localVarAxiosArgs = await localVarAxiosParamCreator.deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options);
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
@@ -7187,12 +7232,18 @@ const VirtualControllerApiFactory = function(configuration, basePath, axios$1) {
 		addVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, coordinateSystemData, options) {
 			return localVarFp.addVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, coordinateSystemData, options).then((request) => request(axios$1, basePath));
 		},
+		addVirtualControllerMotionGroup(cell, controller, addVirtualControllerMotionGroupRequest, options) {
+			return localVarFp.addVirtualControllerMotionGroup(cell, controller, addVirtualControllerMotionGroupRequest, options).then((request) => request(axios$1, basePath));
+		},
 		addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options) {
 			return localVarFp.addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options).then((request) => request(axios$1, basePath));
 		},
 		deleteVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, deleteDependent, options) {
 			return localVarFp.deleteVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, deleteDependent, options).then((request) => request(axios$1, basePath));
 		},
+		deleteVirtualControllerMotionGroup(cell, controller, motionGroup, options) {
+			return localVarFp.deleteVirtualControllerMotionGroup(cell, controller, motionGroup, options).then((request) => request(axios$1, basePath));
+		},
 		deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options) {
 			return localVarFp.deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options).then((request) => request(axios$1, basePath));
 		},
@@ -7249,6 +7300,18 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).addVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, coordinateSystemData, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
+	* 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, controller, addVirtualControllerMotionGroupRequest, options) {
+		return VirtualControllerApiFp(this.configuration).addVirtualControllerMotionGroup(cell, controller, addVirtualControllerMotionGroupRequest, options).then((request) => request(this.axios, this.basePath));
+	}
+	/**
 	* Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange\'s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot\'s documentation or data sheet for details like joint limits or reach.  <!-- theme: info -->  > #### NOTE > > When adding or updating a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the TCP is available for operation. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the TCP may not yet be visible nor usable. 
 	* @summary Add TCP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
@@ -7276,6 +7339,18 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).deleteVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, deleteDependent, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
+	* 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, controller, motionGroup, options) {
+		return VirtualControllerApiFp(this.configuration).deleteVirtualControllerMotionGroup(cell, controller, motionGroup, options).then((request) => request(this.axios, this.basePath));
+	}
+	/**
 	* Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  <!-- theme: info -->  > #### NOTE > > When removing a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The removal of the TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the then used TCP may not yet be visible nor usable. 
 	* @summary Remove TCP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
@@ -7289,7 +7364,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state 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.
@@ -7323,7 +7398,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).getMotionGroups(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The 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.
@@ -7369,7 +7444,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).listVirtualControllerTcps(cell, controller, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths.  Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state 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.
@@ -7394,7 +7469,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).setMotionGroupState(cell, controller, motionGroup, motionGroupJoints, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Changes the operation mode of the virtual robot controller to the specified value.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The 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.
@@ -7439,7 +7514,6 @@ const VirtualControllerBehaviorApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -7469,7 +7543,6 @@ const VirtualControllerBehaviorApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -7497,7 +7570,6 @@ const VirtualControllerBehaviorApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
 			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
@@ -7525,7 +7597,6 @@ const VirtualControllerBehaviorApiAxiosParamCreator = function(configuration) {
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (behavior !== void 0) localVarQueryParameter["behavior"] = behavior;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -7599,7 +7670,7 @@ const VirtualControllerBehaviorApiFactory = function(configuration, basePath, ax
 */
 var VirtualControllerBehaviorApi = class 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.
@@ -7622,7 +7693,7 @@ var VirtualControllerBehaviorApi = class extends BaseAPI {
 		return VirtualControllerBehaviorApiFp(this.configuration).getCycleTime(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the current virtual controller behavior.  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.
@@ -7665,7 +7736,6 @@ const VirtualControllerInputsOutputsApiAxiosParamCreator = function(configuratio
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (ios) localVarQueryParameter["ios"] = ios;
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -7694,7 +7764,6 @@ const VirtualControllerInputsOutputsApiAxiosParamCreator = function(configuratio
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			if (ios) localVarQueryParameter["ios"] = ios;
 			if (direction !== void 0) localVarQueryParameter["direction"] = direction;
@@ -7727,7 +7796,6 @@ const VirtualControllerInputsOutputsApiAxiosParamCreator = function(configuratio
 			};
 			const localVarHeaderParameter = {};
 			const localVarQueryParameter = {};
-			setBasicAuthToObject(localVarRequestOptions, configuration);
 			await setBearerAuthToObject(localVarHeaderParameter, configuration);
 			localVarHeaderParameter["Content-Type"] = "application/json";
 			setSearchParams(localVarUrlObj, localVarQueryParameter);
@@ -7793,7 +7861,7 @@ const VirtualControllerInputsOutputsApiFactory = function(configuration, basePat
 */
 var VirtualControllerInputsOutputsApi = class 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.
@@ -7985,6 +8053,7 @@ exports.CellApi = CellApi;
 exports.CellApiAxiosParamCreator = CellApiAxiosParamCreator;
 exports.CellApiFactory = CellApiFactory;
 exports.CellApiFp = CellApiFp;
+exports.CollisionErrorKindEnum = CollisionErrorKindEnum;
 exports.Comparator = Comparator;
 exports.Configuration = Configuration;
 exports.ConfigurationArchiveStatusCreatingStatusEnum = ConfigurationArchiveStatusCreatingStatusEnum;
@@ -8017,11 +8086,13 @@ exports.IOFloatValueValueTypeEnum = IOFloatValueValueTypeEnum;
 exports.IOIntegerValueValueTypeEnum = IOIntegerValueValueTypeEnum;
 exports.IOOrigin = IOOrigin;
 exports.IOValueType = IOValueType;
+exports.InconsistentTrajectorySizeErrorKindEnum = InconsistentTrajectorySizeErrorKindEnum;
 exports.InitializeJoggingRequestMessageTypeEnum = InitializeJoggingRequestMessageTypeEnum;
 exports.InitializeJoggingResponseKindEnum = InitializeJoggingResponseKindEnum;
 exports.InitializeMovementRequestMessageTypeEnum = InitializeMovementRequestMessageTypeEnum;
 exports.InitializeMovementResponseKindEnum = InitializeMovementResponseKindEnum;
 exports.IntegerValueValueTypeEnum = IntegerValueValueTypeEnum;
+exports.InvalidDofErrorKindEnum = InvalidDofErrorKindEnum;
 exports.JoggingApi = JoggingApi;
 exports.JoggingApiAxiosParamCreator = JoggingApiAxiosParamCreator;
 exports.JoggingApiFactory = JoggingApiFactory;
@@ -8032,6 +8103,8 @@ exports.JoggingPausedNearCollisionKindEnum = JoggingPausedNearCollisionKindEnum;
 exports.JoggingPausedNearJointLimitKindEnum = JoggingPausedNearJointLimitKindEnum;
 exports.JoggingPausedOnIOKindEnum = JoggingPausedOnIOKindEnum;
 exports.JoggingRunningKindEnum = JoggingRunningKindEnum;
+exports.JointLimitExceededErrorKindEnum = JointLimitExceededErrorKindEnum;
+exports.JointTypeEnum = JointTypeEnum;
 exports.JointVelocityRequestMessageTypeEnum = JointVelocityRequestMessageTypeEnum;
 exports.JointVelocityResponseKindEnum = JointVelocityResponseKindEnum;
 exports.KinematicsApi = KinematicsApi;
@@ -8058,6 +8131,7 @@ exports.MotionGroupModelsApiAxiosParamCreator = MotionGroupModelsApiAxiosParamCr
 exports.MotionGroupModelsApiFactory = MotionGroupModelsApiFactory;
 exports.MotionGroupModelsApiFp = MotionGroupModelsApiFp;
 exports.MovementErrorResponseKindEnum = MovementErrorResponseKindEnum;
+exports.NanValueErrorKindEnum = NanValueErrorKindEnum;
 exports.NetworkStateConnectionTypeEnum = NetworkStateConnectionTypeEnum;
 exports.OperatingState = OperatingState;
 exports.OperationMode = OperationMode;
@@ -8116,8 +8190,10 @@ exports.SystemApi = SystemApi;
 exports.SystemApiAxiosParamCreator = SystemApiAxiosParamCreator;
 exports.SystemApiFactory = SystemApiFactory;
 exports.SystemApiFp = SystemApiFp;
+exports.TcpRequiredErrorKindEnum = TcpRequiredErrorKindEnum;
 exports.TcpVelocityRequestMessageTypeEnum = TcpVelocityRequestMessageTypeEnum;
 exports.TcpVelocityResponseKindEnum = TcpVelocityResponseKindEnum;
+exports.TorqueExceededErrorKindEnum = TorqueExceededErrorKindEnum;
 exports.TrajectoryCachingApi = TrajectoryCachingApi;
 exports.TrajectoryCachingApiAxiosParamCreator = TrajectoryCachingApiAxiosParamCreator;
 exports.TrajectoryCachingApiFactory = TrajectoryCachingApiFactory;