@wandelbots/nova-api 26.3.0-dev.9 → 26.3.0-rc.1

package/dist/v1/index.cjs

@@ -755,7 +755,7 @@ const ApplicationApiFactory = function(configuration, basePath, axios$1) {
 */
 var ApplicationApi = class extends BaseAPI {
 	/**
-	* Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The endpoint where the API is reachable from the container serving the Application. > - `BASE_PATH`: The root path of the deployed Application. It will be reachable via: http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell where the application is deployed. 
+	* **Required permissions:** `can_manage_apps` - Install, update, or remove applications ___  Install a basic, containerized web application to the cell to control robots with a customized frontend.  Prerequisites: A Docker hub account or similar container registry account, with valid credentials.  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](/docs/docs/development/) for more information.  <!-- theme: none --> > #### Predefined Environment Variables > - `NOVA_API`: The endpoint where the API is reachable from the container serving the Application. > - `BASE_PATH`: The root path of the deployed Application. It will be reachable via: http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell where the application is deployed. 
 	* @summary Add Application
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {App} app 
@@ -767,7 +767,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).addApp(cell, app, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete all GUI applications from the cell.
+	* **Required permissions:** `can_manage_apps` - Install, update, or remove applications ___  Delete all GUI applications from the cell.
 	* @summary Clear Applications
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {number} [completionTimeout] 
@@ -778,7 +778,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).clearApps(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete a GUI application from the cell.
+	* **Required permissions:** `can_manage_apps` - Install, update, or remove applications ___  Delete a GUI application from the cell.
 	* @summary Delete Application
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} app 
@@ -790,7 +790,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).deleteApp(cell, app, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the configuration for an active GUI application in the cell. To update the configuration of a GUI application in the cell, use this configuration with the \'Update Configuration\' endpoint. 
+	* **Required permissions:** `can_access_apps` - View application configurations ___  Get the configuration for an active GUI application in the cell. To update the configuration of a GUI application in the cell, use this configuration with the \'Update Configuration\' endpoint. 
 	* @summary Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} app 
@@ -801,7 +801,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).getApp(cell, app, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all GUI applications that have been added to a cell. with the \'Add Application\' endpoint. If the cell does not contain GUI applications, the list is returned empty. 
+	* **Required permissions:** `can_access_apps` - View application configurations ___  List all GUI applications that have been added to a cell. with the \'Add Application\' endpoint. If the cell does not contain GUI applications, the list is returned empty. 
 	* @summary List Applications
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -811,7 +811,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).listApps(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Update the configuration of a GUI application in the cell.
+	* **Required permissions:** `can_manage_apps` - Install, update, or remove applications ___  Update the configuration of a GUI application in the cell.
 	* @summary Update Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} app 
@@ -1067,7 +1067,7 @@ const CellApiFactory = function(configuration, basePath, axios$1) {
 */
 var CellApi = class extends BaseAPI {
 	/**
-	* Delete an entire cell.
+	* **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Delete an entire cell.
 	* @summary Delete Cell
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {number} [completionTimeout] 
@@ -1078,7 +1078,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).deleteCell(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](docs/wandelbots-nova-api/#create-a-cell) for more information.
+	* **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Deploy an entire cell with all its resources.  A cell can be used to deploy a robot controller, one or more robots, as well as custom applications.  Refer to the [Wandelbots NOVA documentation](docs/wandelbots-nova-api/#create-a-cell) for more information.
 	* @summary Add Cell
 	* @param {Cell} cell 
 	* @param {number} [completionTimeout] 
@@ -1089,7 +1089,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).deployCell(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all cell resources.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+	* **Required permissions:** `can_access_cells` - View cell configurations and resources ___  List all cell resources.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
 	* @summary Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1099,7 +1099,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).getCell(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List the status of all cell resources.
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  List the status of all cell resources.
 	* @summary Service Status
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1109,7 +1109,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).getCellStatus(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all deployed cell names. If no cells are deployed, an empty list is returned.
+	* **Required permissions:** `can_access_cells` - View cell configurations and resources ___  List all deployed cell names. If no cells are deployed, an empty list is returned.
 	* @summary List Cells
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -1118,7 +1118,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).listCells(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Update the definition of the entire Cell.
+	* **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Update the definition of the entire Cell.
 	* @summary Update Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Cell} cell2 
@@ -1673,7 +1673,7 @@ const ControllerApiFactory = function(configuration, basePath, axios$1) {
 */
 var ControllerApi = class extends BaseAPI {
 	/**
-	* Add a robot controller to the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+	* **Required permissions:** `can_manage_controllers` - Create, update, or delete robot controllers ___  Add a robot controller to the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
 	* @summary Add Robot Controller
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {RobotController} robotController 
@@ -1685,7 +1685,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).addRobotController(cell, robotController, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with the \'Add Robot Controller\' endpoint.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+	* **Required permissions:** `can_manage_controllers` - Create, update, or delete robot controllers ___  Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with the \'Add Robot Controller\' endpoint.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
 	* @summary Clear Robot Controllers
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {number} [completionTimeout] 
@@ -1696,7 +1696,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).clearRobotControllers(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete a robot controller from the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+	* **Required permissions:** `can_manage_controllers` - Create, update, or delete robot controllers ___  Delete a robot controller from the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
 	* @summary Delete Robot Controller
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -1708,7 +1708,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).deleteRobotController(cell, controller, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the current state of a robot controller.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get the current state of a robot controller.
 	* @summary State of Device
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -1719,7 +1719,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getCurrentRobotControllerState(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the current robot system mode of a registered robot controller. The robot system mode indicates if a robot controller can be used. See [setDefaultMode](#/operations/setDefaultMode) for more information about the different modes. The mode is influenced by the operating mode of the robot controller. The operating mode can be changed via [setDefaultMode](#/operations/setDefaultMode). Request the current operating mode of the robot controller via [getCurrentRobotControllerState](#/operations/getCurrentRobotControllerState). 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get the current robot system mode of a registered robot controller. The robot system mode indicates if a robot controller can be used. See [setDefaultMode](#/operations/setDefaultMode) for more information about the different modes. The mode is influenced by the operating mode of the robot controller. The operating mode can be changed via [setDefaultMode](#/operations/setDefaultMode). Request the current operating mode of the robot controller via [getCurrentRobotControllerState](#/operations/getCurrentRobotControllerState). 
 	* @summary Current 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.
@@ -1730,7 +1730,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getMode(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the configuration for a robot controller. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get the configuration for a robot controller. 
 	* @summary Robot 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.
@@ -1741,7 +1741,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getRobotController(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists supported operating modes. Usually cobots support free drive and control, industrial robots only support control. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Lists supported operating modes. Usually cobots support free drive and control, industrial robots only support control. 
 	* @summary Supported Motion Modes
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -1752,7 +1752,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getSupportedModes(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](#/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.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  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.  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
 	* @summary Virtual Robot 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.
@@ -1763,7 +1763,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getVirtualRobotConfiguration(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all configured robot controllers. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  List all configured robot controllers. 
 	* @summary List Robot Controllers
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1773,7 +1773,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).listControllers(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** > > 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. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  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** > > 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.
@@ -1785,7 +1785,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).setDefaultMode(cell, controller, mode, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot. <!-- theme: danger --> > **DANGER** > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being crushed, > drawn in or caught due to the robot\'s complex movement sequences. Before opening the websocket, ensure that > - The robot is in a safe state, > - The right payload is set (e.g by using the (getActivePayload)[getActivePayload] endpoint), > - No humans or object are within the robot\'s reach or within the cell. As long as the websocket connection is open you will get the current state of the robot system in the response in the specified response_rate. If the activation failed, the returned status will return possible reasons for the failure. Free drive mode is only available for robot controllers that support it, in particular Collobarative Robots (\"Cobots\"). Use the (getSupportedModes)[getSupportedModes] endpoint to check if the robot controller supports free drive mode.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot. <!-- theme: danger --> > **DANGER** > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being crushed, > drawn in or caught due to the robot\'s complex movement sequences. Before opening the websocket, ensure that > - The robot is in a safe state, > - The right payload is set (e.g by using the (getActivePayload)[getActivePayload] endpoint), > - No humans or object are within the robot\'s reach or within the cell. As long as the websocket connection is open you will get the current state of the robot system in the response in the specified response_rate. If the activation failed, the returned status will return possible reasons for the failure. Free drive mode is only available for robot controllers that support it, in particular Collobarative Robots (\"Cobots\"). Use the (getSupportedModes)[getSupportedModes] endpoint to check if the robot controller supports free drive mode.
 	* @summary Stream Free Drive 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.
@@ -1797,7 +1797,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).streamFreeDrive(cell, controller, responseRate, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Receive updates of the current robot system mode of a robot controller via websocket upon robot system mode change. See [setDefaultMode](#/operations/setDefaultMode) for more information about the different modes. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Receive updates of the current robot system mode of a robot controller via websocket upon robot system mode change. See [setDefaultMode](#/operations/setDefaultMode) for more information about the different modes. 
 	* @summary Stream Mode Change
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -1808,7 +1808,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).streamModeChange(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Receive updates of the state of a robot controller.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Receive updates of the state of a robot controller.
 	* @summary Stream State of Device
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -1820,7 +1820,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).streamRobotControllerState(cell, controller, responseRate, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior.   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). 
+	* **Required permissions:** `can_manage_controllers` - Create, update, or delete robot controllers ___  Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior.   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 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.
@@ -2058,7 +2058,7 @@ const ControllerIOsApiFactory = function(configuration, basePath, axios$1) {
 */
 var ControllerIOsApi = class extends BaseAPI {
 	/**
-	* Lists the I/O descriptions of the robot controller. The I/O descriptions contain information such as the name of the I/O, the I/O type and the I/O unit. The set of available I/Os is defined by the robot controller. Each I/O has a unique identifier. If no identifiers are specified in the request, retrieve the full list of available I/Os in this endpoint.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Lists the I/O descriptions of the robot controller. The I/O descriptions contain information such as the name of the I/O, the I/O type and the I/O unit. The set of available I/Os is defined by the robot controller. Each I/O has a unique identifier. If no identifiers are specified in the request, retrieve the full list of available I/Os in this endpoint.
 	* @summary List Descriptions
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2070,7 +2070,7 @@ var ControllerIOsApi = class extends BaseAPI {
 		return ControllerIOsApiFp(this.configuration).listIODescriptions(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Retrieves the current values of I/Os. The identifiers of the I/Os must be provided in the request. Request all available I/O identifiers via [listIODescriptions](#/operations/listIODescriptions).
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Retrieves the current values of I/Os. The identifiers of the I/Os must be provided in the request. Request all available I/O identifiers via [listIODescriptions](#/operations/listIODescriptions).
 	* @summary 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.
@@ -2082,7 +2082,7 @@ var ControllerIOsApi = class extends BaseAPI {
 		return ControllerIOsApiFp(this.configuration).listIOValues(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Set the values of outputs. All available I/O 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 might take up to 200 milliseconds. > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Set the values of outputs. All available I/O 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 might 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 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.
@@ -2094,7 +2094,7 @@ var ControllerIOsApi = class extends BaseAPI {
 		return ControllerIOsApiFp(this.configuration).setOutputValues(cell, controller, iOValue, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Continuously receive updates of I/O values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > Do not request too many values simultaneously as the request is then likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. Consider that this might lead to a high amount of data transmitted. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Continuously receive updates of I/O values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > Do not request too many values simultaneously as the request is then likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. Consider that this might lead to a high amount of data transmitted. 
 	* @summary Stream 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.
@@ -2106,7 +2106,7 @@ var ControllerIOsApi = class extends BaseAPI {
 		return ControllerIOsApiFp(this.configuration).streamIOValues(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Wait until an I/O 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 I/O is compared with given value. Only set the value that corresponds to the value_type of the I/O, see (listIODescriptions)[listIODescriptions] for more information. Examples: If you want to wait until an analog input (\"AI_1\") is less than 10, you would set io to \"AI_1\" comparison_type to COMPARISON_LESS and only integer_value to 10. If you want to wait until an analog input (\"AI_2\") is greater than 5.0, you would set io to \"AI_2\" comparison_type to COMPARISON_GREATER and only floating_value to 5.0. If you want to wait until a digital input (\"DI_3\") is true, you would set io to \"DI_3\" comparison_type to COMPARISON_EQUAL and only boolean_value to true.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Wait until an I/O 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 I/O is compared with given value. Only set the value that corresponds to the value_type of the I/O, see (listIODescriptions)[listIODescriptions] for more information. Examples: If you want to wait until an analog input (\"AI_1\") is less than 10, you would set io to \"AI_1\" comparison_type to COMPARISON_LESS and only integer_value to 10. If you want to wait until an analog input (\"AI_2\") is greater than 5.0, you would set io to \"AI_2\" comparison_type to COMPARISON_GREATER and only floating_value to 5.0. If you want to wait until a digital input (\"DI_3\") is true, you would set io to \"DI_3\" comparison_type to COMPARISON_EQUAL and only boolean_value to 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.
@@ -2341,7 +2341,7 @@ const CoordinateSystemsApiFactory = function(configuration, basePath, axios$1) {
 */
 var CoordinateSystemsApi = class extends BaseAPI {
 	/**
-	* Add a user coordinate system to the list of coordinate systems but not on a robot controller.  The coordinate system is defined by a name and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.  Will return the specification of the added coordinate systems which includes the unique identifier of the added coordinate system.  All available coordinate systems can be listed via the [listCoordinateSystems](#/operations/listCoordinateSystems) endpoint. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Add a user coordinate system to the list of coordinate systems but not on a robot controller.  The coordinate system is defined by a name and an offset in another coordinate system referenced by the unique identifier of the reference coordinate system.  Will return the specification of the added coordinate systems which includes the unique identifier of the added coordinate system.  All available coordinate systems can be listed via the [listCoordinateSystems](#/operations/listCoordinateSystems) endpoint. 
 	* @summary Add
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {AddRequest} addRequest 
@@ -2352,7 +2352,7 @@ var CoordinateSystemsApi = class extends BaseAPI {
 		return CoordinateSystemsApiFp(this.configuration).addCoordinateSystem(cell, addRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes a user coordinate system specified by the given identifier.  > **NOTE** > > If the coordinate system has originally been configured on the robot controller, it will remain on the controller even after this endpoint has been executed successfully..  This will remove the user coordinate system from the list of user coordinate systems but keep all dependent coordinate systems which use the deleted coordinate system as reference. Coordinate systems on the robot controller are not affected by this operation. They can be removed via the robot control panel only and will be removed in NOVA when the controller is removed. On virtual controllers, use the [deleteVirtualRobotCoordinateSystem](#/operations/deleteVirtualRobotCoordinateSystem) endpoint to remove coordinate systems from NOVA and the virtual controller.  All available coordinate systems can be listed via the [listCoordinateSystems](#/operations/listCoordinateSystems) endpoint. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Removes a user coordinate system specified by the given identifier.  > **NOTE** > > If the coordinate system has originally been configured on the robot controller, it will remain on the controller even after this endpoint has been executed successfully..  This will remove the user coordinate system from the list of user coordinate systems but keep all dependent coordinate systems which use the deleted coordinate system as reference. Coordinate systems on the robot controller are not affected by this operation. They can be removed via the robot control panel only and will be removed in NOVA when the controller is removed. On virtual controllers, use the [deleteVirtualRobotCoordinateSystem](#/operations/deleteVirtualRobotCoordinateSystem) endpoint to remove coordinate systems from NOVA and the virtual controller.  All available coordinate systems can be listed via the [listCoordinateSystems](#/operations/listCoordinateSystems) endpoint. 
 	* @summary Delete
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} coordinateSystem Unique identifier addressing a coordinate system.
@@ -2363,7 +2363,7 @@ var CoordinateSystemsApi = class extends BaseAPI {
 		return CoordinateSystemsApiFp(this.configuration).deleteCoordinateSystem(cell, coordinateSystem, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Request a coordinate system specification for a given identifier.  Use parameter rotation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested rotation angle type. If parameter rotation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in the rotation angle type used on the robot controller. This can be useful for visualization purposes in the client application due to equivalent numbers with robot control panel visualization.  User coordinate systems can be configured on a robot controller during setup or added to the system via the [addCoordinateSystem](#/operations/addCoordinateSystem) endpoint.  Updating the robot controller\'s configuration either requires credentials or is not possible. With the endpoint [addCoordinateSystem](#/operations/addCoordinateSystem) you can create a coordinate system without changing the robot controller\'s configuration. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Request a coordinate system specification for a given identifier.  Use parameter rotation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested rotation angle type. If parameter rotation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in the rotation angle type used on the robot controller. This can be useful for visualization purposes in the client application due to equivalent numbers with robot control panel visualization.  User coordinate systems can be configured on a robot controller during setup or added to the system via the [addCoordinateSystem](#/operations/addCoordinateSystem) endpoint.  Updating the robot controller\'s configuration either requires credentials or is not possible. With the endpoint [addCoordinateSystem](#/operations/addCoordinateSystem) you can create a coordinate system without changing the robot controller\'s configuration. 
 	* @summary Description
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} coordinateSystem Unique identifier addressing a coordinate system.
@@ -2375,7 +2375,7 @@ var CoordinateSystemsApi = class extends BaseAPI {
 		return CoordinateSystemsApiFp(this.configuration).getCoordinateSystem(cell, coordinateSystem, rotationType, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists all specifications of coordinate systems from robot controllers and user coordinate systems added to the system via the [addCoordinateSystem](#/operations/addCoordinateSystem) endpoint. Use parameter rotation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested rotation angle type. If parameter rotation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in the rotation angle type used on the robot controller. This can be useful for visualization purposes in the client application due to equivalent numbers with robot control panel visualization.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.  Updating the robot controller\'s configuration either requires credentials or is not possible. With the endpoint [addCoordinateSystem](#/operations/addCoordinateSystem) you can create a coordinate system without changing the robot controller\'s configuration. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Lists all specifications of coordinate systems from robot controllers and user coordinate systems added to the system via the [addCoordinateSystem](#/operations/addCoordinateSystem) endpoint. Use parameter rotation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested rotation angle type. If parameter rotation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in the rotation angle type used on the robot controller. This can be useful for visualization purposes in the client application due to equivalent numbers with robot control panel visualization.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller.  Updating the robot controller\'s configuration either requires credentials or is not possible. With the endpoint [addCoordinateSystem](#/operations/addCoordinateSystem) you can create a coordinate system without changing the robot controller\'s configuration. 
 	* @summary List
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {RotationAngleTypes} [rotationType] 
@@ -2386,7 +2386,7 @@ var CoordinateSystemsApi = class extends BaseAPI {
 		return CoordinateSystemsApiFp(this.configuration).listCoordinateSystems(cell, rotationType, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Transform a pose to another base.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Transform a pose to another base.
 	* @summary Transform
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} coordinateSystem Unique identifier addressing a coordinate system.
@@ -2606,7 +2606,7 @@ const DeviceConfigurationApiFactory = function(configuration, basePath, axios$1)
 */
 var DeviceConfigurationApi = class extends BaseAPI {
 	/**
-	* Deprecated endpoint. Deletes **all** devices from the cell
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Deprecated endpoint. Deletes **all** devices from the cell
 	* @summary Delete Devices
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -2617,7 +2617,7 @@ var DeviceConfigurationApi = class extends BaseAPI {
 		return DeviceConfigurationApiFp(this.configuration).clearDevices(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint.  Overwrite existing devices in an existing robot cell. The devices are added to the robot cell in the order they are specified in the request body.  Each device needs to have a unique identifier which is used to reference the device in Wandelscript.  Devices which can be configured in the cell:  - Robots - OPC UA devices  ## Parameters  - For more information about the available device configurations have a look at the **Schema** tab or in the  provided examples. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Deprecated endpoint.  Overwrite existing devices in an existing robot cell. The devices are added to the robot cell in the order they are specified in the request body.  Each device needs to have a unique identifier which is used to reference the device in Wandelscript.  Devices which can be configured in the cell:  - Robots - OPC UA devices  ## Parameters  - For more information about the available device configurations have a look at the **Schema** tab or in the  provided examples. 
 	* @summary Create Devices
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Array<CreateDeviceRequestInner>} createDeviceRequestInner 
@@ -2629,7 +2629,7 @@ var DeviceConfigurationApi = class extends BaseAPI {
 		return DeviceConfigurationApiFp(this.configuration).createDevice(cell, createDeviceRequestInner, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint. Deletes a specific device from the cell.
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Deprecated endpoint. Deletes a specific device from the cell.
 	* @summary Delete Device
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} identifier 
@@ -2641,7 +2641,7 @@ var DeviceConfigurationApi = class extends BaseAPI {
 		return DeviceConfigurationApiFp(this.configuration).deleteDevice(cell, identifier, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint. Returns information about a device.
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Deprecated endpoint. Returns information about a device.
 	* @summary Device Information
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} identifier 
@@ -2653,7 +2653,7 @@ var DeviceConfigurationApi = class extends BaseAPI {
 		return DeviceConfigurationApiFp(this.configuration).getDevice(cell, identifier, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint.  Lists all devices which are configured in the cell: - Robots - Databases - OPC UA devices 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Deprecated endpoint.  Lists all devices which are configured in the cell: - Robots - Databases - OPC UA devices 
 	* @summary List All Devices
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -2879,7 +2879,7 @@ const LibraryProgramApiFactory = function(configuration, basePath, axios$1) {
 */
 var LibraryProgramApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger --> > **Experimental**  Creates a new program. The corresponding metadata is created as well.  ## Examples  ``` move via p2p() to [0, 0, 0, 0, 0, 0] move frame(\"flange\") to [1, 2, 0] move via line() to [1, 1, 0] a := planned_pose() ```  ``` {% from \'schneider_conveyor_v1.j2\' import schneider_conveyor_library -%}  {{ schneider_conveyor_library() }}  def start_main():     conveyor_speed_percentage = {{ conveyor_speed_percentage | round(4) }}     conveyer_speed = conveyor_speed_percentage*1500     schneider_conveyor_start(conveyer_speed) end ``` 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental**  Creates a new program. The corresponding metadata is created as well.  ## Examples  ``` move via p2p() to [0, 0, 0, 0, 0, 0] move frame(\"flange\") to [1, 2, 0] move via line() to [1, 1, 0] a := planned_pose() ```  ``` {% from \'schneider_conveyor_v1.j2\' import schneider_conveyor_library -%}  {{ schneider_conveyor_library() }}  def start_main():     conveyor_speed_percentage = {{ conveyor_speed_percentage | round(4) }}     conveyer_speed = conveyor_speed_percentage*1500     schneider_conveyor_start(conveyer_speed) end ``` 
 	* @summary Create Program
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} body 
@@ -2891,7 +2891,7 @@ var LibraryProgramApi = class extends BaseAPI {
 		return LibraryProgramApiFp(this.configuration).createProgram(cell, body, name, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Deletes the program with the corresponding metadata. This action is irreversible. Does not delete the associated recipes. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Deletes the program with the corresponding metadata. This action is irreversible. Does not delete the associated recipes. 
 	* @summary Delete Program
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} program Recieved from [listProgramMetadata](#/operations/listProgramMetadata) or from the response of [createProgram](#/operations/createProgram). 
@@ -2902,7 +2902,7 @@ var LibraryProgramApi = class extends BaseAPI {
 		return LibraryProgramApiFp(this.configuration).deleteProgram(cell, program, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Deletes the provided list of programs with the corresponding metadata. This action is irreversible. Does not delete the associated recipes. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Deletes the provided list of programs with the corresponding metadata. This action is irreversible. Does not delete the associated recipes. 
 	* @summary Delete Program List
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Array<string>} programIds Received from [listProgramMetadata](#/operations/listProgramMetadata) or from the response of [createProgram](#/operations/createProgram). 
@@ -2913,7 +2913,7 @@ var LibraryProgramApi = class extends BaseAPI {
 		return LibraryProgramApiFp(this.configuration).deleteProgramList(cell, programIds, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Returns the content of the program. The identifier of the program is received upon creation or from the metadata list of all the programs. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Returns the content of the program. The identifier of the program is received upon creation or from the metadata list of all the programs. 
 	* @summary Get Program
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} program Recieved from [listProgramMetadata](#/operations/listProgramMetadata) or from the response of [createProgram](#/operations/createProgram). 
@@ -2924,7 +2924,7 @@ var LibraryProgramApi = class extends BaseAPI {
 		return LibraryProgramApiFp(this.configuration).getProgram(cell, program, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Updates the content of the program. The update overwrites the existing content. The metadata is updated in correspondence.  ## Examples  ``` move via p2p() to [0, 0, 0, 0, 0, 0]  move frame(\"flange\") to [1, 2, 0]  move via line() to [1, 1, 0]  a := planned_pose()  ```  ``` {% from \'schneider_conveyor_v1.j2\' import schneider_conveyor_library -%}  {{ schneider_conveyor_library() }}  def start_main():     conveyor_speed_percentage = {{ conveyor_speed_percentage | round(4) }}     conveyer_speed = conveyor_speed_percentage*1500     schneider_conveyor_start(conveyer_speed) end ``` 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Updates the content of the program. The update overwrites the existing content. The metadata is updated in correspondence.  ## Examples  ``` move via p2p() to [0, 0, 0, 0, 0, 0]  move frame(\"flange\") to [1, 2, 0]  move via line() to [1, 1, 0]  a := planned_pose()  ```  ``` {% from \'schneider_conveyor_v1.j2\' import schneider_conveyor_library -%}  {{ schneider_conveyor_library() }}  def start_main():     conveyor_speed_percentage = {{ conveyor_speed_percentage | round(4) }}     conveyer_speed = conveyor_speed_percentage*1500     schneider_conveyor_start(conveyer_speed) end ``` 
 	* @summary Update Program
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} program Recieved from [listProgramMetadata](#/operations/listProgramMetadata) or from the response of [createProgram](#/operations/createProgram). 
@@ -3116,7 +3116,7 @@ const LibraryProgramMetadataApiFactory = function(configuration, basePath, axios
 */
 var LibraryProgramMetadataApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger --> > **Experimental** Returns metadata of the corresponding program. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Returns metadata of the corresponding program. 
 	* @summary Get Program Metadata
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} program Recieved from [listProgramMetadata](#/operations/listProgramMetadata) or from the response of [createProgram](#/operations/createProgram). 
@@ -3127,7 +3127,7 @@ var LibraryProgramMetadataApi = class extends BaseAPI {
 		return LibraryProgramMetadataApiFp(this.configuration).getProgramMetadata(cell, program, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Returns a list of all the stored programs, represented by their metadata. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Returns a list of all the stored programs, represented by their metadata. 
 	* @summary List Program Metadata
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {boolean} [showHidden] If true, hidden programs, where the &#x60;is_hidden&#x60; flag is active, are included in the list. 
@@ -3138,7 +3138,7 @@ var LibraryProgramMetadataApi = class extends BaseAPI {
 		return LibraryProgramMetadataApiFp(this.configuration).listProgramMetadata(cell, showHidden, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Updates the metadata of the corresponding program. The update is partial, only the set fields get updated. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Updates the metadata of the corresponding program. The update is partial, only the set fields get updated. 
 	* @summary Update Program Metadata
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} program Recieved from [listProgramMetadata](#/operations/listProgramMetadata) or from the response of [createProgram](#/operations/createProgram). 
@@ -3150,7 +3150,7 @@ var LibraryProgramMetadataApi = class extends BaseAPI {
 		return LibraryProgramMetadataApiFp(this.configuration).updateProgramMetadata(cell, program, updateProgramMetadataRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Uploads an image for the corresponding program. The image is served as a static file. The path to the image is stored in the metadata. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Uploads an image for the corresponding program. The image is served as a static file. The path to the image is stored in the metadata. 
 	* @summary Upload Program Metadata Image
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} program Recieved from [listProgramMetadata](#/operations/listProgramMetadata) or from the response of [createProgram](#/operations/createProgram). 
@@ -3379,7 +3379,7 @@ const LibraryRecipeApiFactory = function(configuration, basePath, axios$1) {
 */
 var LibraryRecipeApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger --> > **Experimental** Creates a new recipe. The corresponding metadata is created as well. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Creates a new recipe. The corresponding metadata is created as well. 
 	* @summary Create Recipe
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} programId The identifier of the program the recipe will be associated with.
@@ -3392,7 +3392,7 @@ var LibraryRecipeApi = class extends BaseAPI {
 		return LibraryRecipeApiFp(this.configuration).createRecipe(cell, programId, body, name, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* # EXPERIMENTAL  > **Note:** This endpoint is experimental and might experience functional changes in the future.  Deletes a recipe. This action is irreversible. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  # EXPERIMENTAL  > **Note:** This endpoint is experimental and might experience functional changes in the future.  Deletes a recipe. This action is irreversible. 
 	* @summary Delete Recipe
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} recipe Recieved from [listRecipeMetadata](#/operations/listRecipeMetadata) or from the response of [createRecipe](#/operations/createRecipe). 
@@ -3403,7 +3403,7 @@ var LibraryRecipeApi = class extends BaseAPI {
 		return LibraryRecipeApiFp(this.configuration).deleteRecipe(cell, recipe, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Deletes the provided list of recipes. This action is irreversible. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Deletes the provided list of recipes. This action is irreversible. 
 	* @summary Delete Recipe List
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Array<string>} recipeIds Received from [listRecipeMetadata](#/operations/listRecipeMetadata) or from the response of [createRecipe](#/operations/createRecipe)
@@ -3414,7 +3414,7 @@ var LibraryRecipeApi = class extends BaseAPI {
 		return LibraryRecipeApiFp(this.configuration).deleteRecipeList(cell, recipeIds, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Returns the content of a recipe. The identifier of the recipe is recieved on creation or from the metadata list of all the recipes. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Returns the content of a recipe. The identifier of the recipe is recieved on creation or from the metadata list of all the recipes. 
 	* @summary Get Recipe
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} recipe Recieved from [listRecipeMetadata](#/operations/listRecipeMetadata) or from the response of [createRecipe](#/operations/createRecipe). 
@@ -3425,7 +3425,7 @@ var LibraryRecipeApi = class extends BaseAPI {
 		return LibraryRecipeApiFp(this.configuration).getRecipe(cell, recipe, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Updates an existing recipe. The update is partial, only the set fields get updated. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Updates an existing recipe. The update is partial, only the set fields get updated. 
 	* @summary Update Recipe
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} recipe Recieved from [listRecipeMetadata](#/operations/listRecipeMetadata) or from the response of [createRecipe](#/operations/createRecipe). 
@@ -3616,7 +3616,7 @@ const LibraryRecipeMetadataApiFactory = function(configuration, basePath, axios$
 */
 var LibraryRecipeMetadataApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger --> > **Experimental** Returns the metadata of the recipe. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Returns the metadata of the recipe. 
 	* @summary Get Recipe Metadata
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} recipe Recieved from [listRecipeMetadata](#/operations/listRecipeMetadata) or from the response of [createRecipe](#/operations/createRecipe). 
@@ -3627,7 +3627,7 @@ var LibraryRecipeMetadataApi = class extends BaseAPI {
 		return LibraryRecipeMetadataApiFp(this.configuration).getRecipeMetadata(cell, recipe, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** List of all the stored recipes, represented by their metadata. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** List of all the stored recipes, represented by their metadata. 
 	* @summary List Recipe Metadata
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -3637,7 +3637,7 @@ var LibraryRecipeMetadataApi = class extends BaseAPI {
 		return LibraryRecipeMetadataApiFp(this.configuration).listRecipeMetadata(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Updates the metadata of a recipe. The update is partial, only the set fields get updated. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Updates the metadata of a recipe. The update is partial, only the set fields get updated. 
 	* @summary Update Recipe Metadata
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} recipe Recieved from [listRecipeMetadata](#/operations/listRecipeMetadata) or from the response of [createRecipe](#/operations/createRecipe). 
@@ -3649,7 +3649,7 @@ var LibraryRecipeMetadataApi = class extends BaseAPI {
 		return LibraryRecipeMetadataApiFp(this.configuration).updateRecipeMetadata(cell, recipe, updateRecipeMetadataRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Uploads an image for a recipe. The image is served as a static file and the path is stored in the metadata. 
+	* **Required permissions:** `can_manage_programs` - Create, update, or delete programs ___  <!-- theme: danger --> > **Experimental** Uploads an image for a recipe. The image is served as a static file and the path is stored in the metadata. 
 	* @summary Upload Recipe Metadata Image
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} recipe Recieved from [listRecipeMetadata](#/operations/listRecipeMetadata) or from the response of [createRecipe](#/operations/createRecipe). 
@@ -3824,7 +3824,7 @@ const LicenseApiFactory = function(configuration, basePath, axios$1) {
 */
 var LicenseApi = class extends BaseAPI {
 	/**
-	* Activates a license using the provided license owner authentication token.  The refresh token is used to enable communication with the license provider without requiring user interaction. 
+	* **Required permissions:** `can_manage_license` - Manage license configuration ___  Activates a license using the provided license owner authentication token.  The refresh token is used to enable communication with the license provider without requiring user interaction. 
 	* @summary Activate license
 	* @param {ActivateLicenseRequest} activateLicenseRequest 
 	* @param {*} [options] Override http request option.
@@ -3834,7 +3834,7 @@ var LicenseApi = class extends BaseAPI {
 		return LicenseApiFp(this.configuration).activateLicense(activateLicenseRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deactivates active license.
+	* **Required permissions:** `can_manage_license` - Manage license configuration ___  Deactivates active license.
 	* @summary Deactivate license
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -3843,7 +3843,7 @@ var LicenseApi = class extends BaseAPI {
 		return LicenseApiFp(this.configuration).deactivateLicense(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get information on the license used with the Wandelbots NOVA instance, e.g. licensed product, expiration date, license status.
+	* **Required permissions:** `can_manage_license` - Manage license configuration ___  Get information on the license used with the Wandelbots NOVA instance, e.g. licensed product, expiration date, license status.
 	* @summary Get license
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -3852,7 +3852,7 @@ var LicenseApi = class extends BaseAPI {
 		return LicenseApiFp(this.configuration).getLicense(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the license status. If `valid`, Wandelbots NOVA can be used. If `expired`, the license has to be renewed in order to use Wandelbots NOVA.
+	* **Required permissions:** `can_access_license` - View license status ___  Get the license status. If `valid`, Wandelbots NOVA can be used. If `expired`, the license has to be renewed in order to use Wandelbots NOVA.
 	* @summary Get license status
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -4533,7 +4533,7 @@ const MotionApiFactory = function(configuration, basePath, axios$1) {
 */
 var MotionApi = class extends BaseAPI {
 	/**
-	* Delete all registered motions.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Delete all registered motions.
 	* @summary All Motions
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -4543,7 +4543,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).deleteAllMotions(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Remove a previously created motion from cache. Use [listMotions](#/operations/listMotions) to list all available motions. Motions are removed automatically if the motion group or the corresponding controller is disconnected.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Remove a previously created motion from cache. Use [listMotions](#/operations/listMotions) to list all available motions. Motions are removed automatically if the motion group or the corresponding controller is disconnected.
 	* @summary Remove
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motion This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.
@@ -4554,7 +4554,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).deleteMotion(cell, motion, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > Websocket endpoint  Provide execution control over a previously planned trajectory. Enable the caller to attach I/O actions to the trajectory.  Understanding the concept of location:   The location or path parameter specifies the exact position along a trajectory.   The location is a scalar value that ranges from 0 to `n`,   where `n` denotes the number of motion commands, or trajectory segments, e.g. line, p2p, etc. See [planMotion](#/operations/planMotion).   Each integer value of the location corresponds to one motion command, e.g. 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position is at the start location specified with InitializeMovementRequest.  ### Requests  #### 1. Send InitializeMovementRequest to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send StartMovementRequest to start the movement    - Sets direction of movement, default is forward.  #### **Optional**  - To pause, send PauseMovementRequest before the movement has reached its end location. - Change the movement\'s velocity with PlaybackSpeedRequest after initializing the movement with InitializeMovementRequest.  ### Responses  - InitializeMovementResponse is sent to signal the success or failure of the InitializeMovementRequest. - Movement responses are streamed after a StartMovementRequest successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by InitializeMovementRequest. - Standstill response is sent once the movement has finished or has come to a standstill due to a pause. - PauseMovementResponse is sent to signal the success of the PauseMovementRequest. It does not signal the end of the movement.   End of movement is signaled by standstill response. - PlaybackSpeedResponse is sent to signal the success of the PlaybackSpeedRequest. - MovementError with error details is sent in case of an unexpected error, e.g. controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending PauseMovementRequest and StartMovementRequest. - Send PlaybackSpeedRequest before StartMovementRequest to reduce the velocity of the movement before it starts. - Send PlaybackSpeedRequest repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send PlaybackSpeedRequest with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending StartMovementRequest after the movement has finished. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: danger -->  > Websocket endpoint  Provide execution control over a previously planned trajectory. Enable the caller to attach I/O actions to the trajectory.  Understanding the concept of location:   The location or path parameter specifies the exact position along a trajectory.   The location is a scalar value that ranges from 0 to `n`,   where `n` denotes the number of motion commands, or trajectory segments, e.g. line, p2p, etc. See [planMotion](#/operations/planMotion).   Each integer value of the location corresponds to one motion command, e.g. 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position is at the start location specified with InitializeMovementRequest.  ### Requests  #### 1. Send InitializeMovementRequest to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time and not unlocked anymore.   To execute another trajectory, a new connection must be established.  #### 2. Send StartMovementRequest to start the movement    - Sets direction of movement, default is forward.  #### **Optional**  - To pause, send PauseMovementRequest before the movement has reached its end location. - Change the movement\'s velocity with PlaybackSpeedRequest after initializing the movement with InitializeMovementRequest.  ### Responses  - InitializeMovementResponse is sent to signal the success or failure of the InitializeMovementRequest. - Movement responses are streamed after a StartMovementRequest successfully started the movement.   Movement responses are streamed in a rate that is defined as the multiple of the controller step-rate closest to   but not exceeding the rate configured by InitializeMovementRequest. - Standstill response is sent once the movement has finished or has come to a standstill due to a pause. - PauseMovementResponse is sent to signal the success of the PauseMovementRequest. It does not signal the end of the movement.   End of movement is signaled by standstill response. - PlaybackSpeedResponse is sent to signal the success of the PlaybackSpeedRequest. - MovementError with error details is sent in case of an unexpected error, e.g. controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending PauseMovementRequest and StartMovementRequest. - Send PlaybackSpeedRequest before StartMovementRequest to reduce the velocity of the movement before it starts. - Send PlaybackSpeedRequest repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send PlaybackSpeedRequest with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending StartMovementRequest after the movement has finished. 
 	* @summary Execute Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {ExecuteTrajectoryRequest} executeTrajectoryRequest 
@@ -4565,7 +4565,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).executeTrajectory(cell, executeTrajectoryRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the trajectory of a planned motion with defined `sample_time` in milliseconds (ms). The trajectory is a list of points containing cartesian and joint data. The cartesian data is in the requested coordinate system. To get a single point of the trajectory, please use the [getMotionTrajectorySample](#/operations/getMotionTrajectorySample) endpoint. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get the trajectory of a planned motion with defined `sample_time` in milliseconds (ms). The trajectory is a list of points containing cartesian and joint data. The cartesian data is in the requested coordinate system. To get a single point of the trajectory, please use the [getMotionTrajectorySample](#/operations/getMotionTrajectorySample) endpoint. 
 	* @summary Get Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motion This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.
@@ -4578,7 +4578,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).getMotionTrajectory(cell, motion, sampleTime, responsesCoordinateSystem, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get a single point at a certain location of a planned motion.  To get the whole trajectory, use the [getMotionTrajectory](#/operations/getMotionTrajectory) endpoint.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get a single point at a certain location of a planned motion.  To get the whole trajectory, use the [getMotionTrajectory](#/operations/getMotionTrajectory) endpoint.
 	* @summary Get Trajectory Sample
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motion This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.
@@ -4591,7 +4591,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).getMotionTrajectorySample(cell, motion, locationOnTrajectory, responseCoordinateSystem, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the joint data of a planned motion. The planned motion contains only the joint information, to persistently store and reload it later. The data will be sampled equidistantly with defined `sample_time` in milliseconds (ms). If not provided, the data is returned as it is stored on Wandelbots NOVA system.  To request cartesian data for visualization purposes, use the [getMotionTrajectory](#/operations/getMotionTrajectory) endpoint. To get a single point of the planned motion, use the [getMotionTrajectorySample](#/operations/getMotionTrajectorySample) endpoint.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get the joint data of a planned motion. The planned motion contains only the joint information, to persistently store and reload it later. The data will be sampled equidistantly with defined `sample_time` in milliseconds (ms). If not provided, the data is returned as it is stored on Wandelbots NOVA system.  To request cartesian data for visualization purposes, use the [getMotionTrajectory](#/operations/getMotionTrajectory) endpoint. To get a single point of the planned motion, use the [getMotionTrajectorySample](#/operations/getMotionTrajectorySample) endpoint.
 	* @summary Get Planned Motion
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motion This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.
@@ -4603,7 +4603,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).getPlannedMotion(cell, motion, sampleTime, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns motion group models that are supported for planning. 
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns motion group models that are supported for planning. 
 	* @summary Motion Group Models for Planning
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -4613,7 +4613,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).getPlanningMotionGroupModels(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all currently planned and available motions. Use [planMotion](#/operations/planMotion) to plan a new motion. Motions are removed if the corresponding motion group or controller disconnects.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  List all currently planned and available motions. Use [planMotion](#/operations/planMotion) to plan a new motion. Motions are removed if the corresponding motion group or controller disconnects.
 	* @summary List All Motions
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -4623,7 +4623,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).listMotions(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Loads and validates the data of a planned motion into a motion session. The response contains information about the validated motion.  Validation can lead to three different results: - Fully valid: The whole planned motion can be executed from start to end. The response will contain the session to move the robot. - Partially valid: Only parts of the planned motion can be executed. The response will contain the session to move the robot and information about the failure for the part that is not executable. - Invalid: The planned motion can not be executed. The response will tell you, which information about the reason of failure.  If the motion is at least partially valid, the parts of the motion that are valid can be executed using the [streamMoveForward](#/operations/streamMoveForward) endpoint.  You can use the following workflows:   - Plan motions using the [planMotion](#/operations/planMotion) endpoint,   - Store the planned motion persistently,   - Use this endpoint to reload the stored motion and get a motion session for it.   - Execute the loaded motion using the [streamMoveForward](#/operations/streamMoveForward) endpoint.  OR:   - Generate a planned motion with [planTrajectory](#/operations/planTrajectory) or your own motion planner,   - Send the planned motion to this endpoint to validate it and get a motion session for it,   - Execute your motion using the [streamMoveForward](#/operations/streamMoveForward) endpoint.  Once a planned motion is validated, it is treated like a motion session and will appear in the list of available motions, see [listMotions](#/operations/listMotions) endpoint. You can then execute a motion session with the [streamMoveForward](#/operations/streamMoveForward) endpoint.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Loads and validates the data of a planned motion into a motion session. The response contains information about the validated motion.  Validation can lead to three different results: - Fully valid: The whole planned motion can be executed from start to end. The response will contain the session to move the robot. - Partially valid: Only parts of the planned motion can be executed. The response will contain the session to move the robot and information about the failure for the part that is not executable. - Invalid: The planned motion can not be executed. The response will tell you, which information about the reason of failure.  If the motion is at least partially valid, the parts of the motion that are valid can be executed using the [streamMoveForward](#/operations/streamMoveForward) endpoint.  You can use the following workflows:   - Plan motions using the [planMotion](#/operations/planMotion) endpoint,   - Store the planned motion persistently,   - Use this endpoint to reload the stored motion and get a motion session for it.   - Execute the loaded motion using the [streamMoveForward](#/operations/streamMoveForward) endpoint.  OR:   - Generate a planned motion with [planTrajectory](#/operations/planTrajectory) or your own motion planner,   - Send the planned motion to this endpoint to validate it and get a motion session for it,   - Execute your motion using the [streamMoveForward](#/operations/streamMoveForward) endpoint.  Once a planned motion is validated, it is treated like a motion session and will appear in the list of available motions, see [listMotions](#/operations/listMotions) endpoint. You can then execute a motion session with the [streamMoveForward](#/operations/streamMoveForward) endpoint.
 	* @summary Load Planned Motion
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {PlannedMotion} plannedMotion 
@@ -4634,7 +4634,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).loadPlannedMotion(cell, plannedMotion, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > **Experimental**  Plans a collision-free PTP motion for a single motion group.  Use the following workflow to execute a planned trajectory: 1. Plan a collision-free movement/motion. 2. Validate and load the planned trajectory using the [loadPlannedMotion](#/operations/loadPlannedMotion) endpoint. 3. Execute the loaded trajectory using the [streamMove](#/operations/streamMove) endpoint.
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  <!-- theme: danger -->  > **Experimental**  Plans a collision-free PTP motion for a single motion group.  Use the following workflow to execute a planned trajectory: 1. Plan a collision-free movement/motion. 2. Validate and load the planned trajectory using the [loadPlannedMotion](#/operations/loadPlannedMotion) endpoint. 3. Execute the loaded trajectory using the [streamMove](#/operations/streamMove) endpoint.
 	* @summary Plan Collision Free PTP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {PlanCollisionFreePTPRequest} [planCollisionFreePTPRequest] 
@@ -4645,7 +4645,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).planCollisionFreePTP(cell, planCollisionFreePTPRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint. Use [planTrajectory](#/operations/planTrajectory) and [loadPlannedMotion](#/operations/loadPlannedMotion) instead.  Plans a new motion for a single previously configured [motion group](#/operations/listMotionGroups). Motions are described by a sequence of motion commands starting with start joints. A motion is planned from standstill to standstill. A single motion has constant TCP and payload. Currently, I/O actions can\'t be attached to a motion to execute the action in realtime while a motion is executed. If an I/O is needed at a specific point, multiple motions need to be planned. If an I/O is needed to be set while a motion is executed, the endpoint [setOutputValues](#/operations/setOutputValues) could be used.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Deprecated endpoint. Use [planTrajectory](#/operations/planTrajectory) and [loadPlannedMotion](#/operations/loadPlannedMotion) instead.  Plans a new motion for a single previously configured [motion group](#/operations/listMotionGroups). Motions are described by a sequence of motion commands starting with start joints. A motion is planned from standstill to standstill. A single motion has constant TCP and payload. Currently, I/O actions can\'t be attached to a motion to execute the action in realtime while a motion is executed. If an I/O is needed at a specific point, multiple motions need to be planned. If an I/O is needed to be set while a motion is executed, the endpoint [setOutputValues](#/operations/setOutputValues) could be used.
 	* @summary Plan Motion
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {PlanRequest} planRequest 
@@ -4657,7 +4657,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).planMotion(cell, planRequest, 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. Validate and load the planned trajectory using the [loadPlannedMotion](#/operations/loadPlannedMotion) endpoint. 3. Execute the loaded trajectory using the [streamMove](#/operations/streamMove) endpoint.  If the trajectory is not executable, the PlanTrajectoryFailedResponse will contain the joint trajectory up until the error (e.g. a collision) occurred. 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.
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  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. Validate and load the planned trajectory using the [loadPlannedMotion](#/operations/loadPlannedMotion) endpoint. 3. Execute the loaded trajectory using the [streamMove](#/operations/streamMove) endpoint.  If the trajectory is not executable, the PlanTrajectoryFailedResponse will contain the joint trajectory up until the error (e.g. a collision) occurred. 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] 
@@ -4668,7 +4668,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).planTrajectory(cell, planTrajectoryRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stops an active motion gracefully with deceleration until standstill while staying on the planned trajectory. When an active movement is stopped any further update request will be rejected. This call will immediately return even if the deceleration is still in progress. The active movement stream returns responses until the robot has reached standstill. Currently it is not possible to restart the motion. Please send in a feature request if you need to restart/continue the motion.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Stops an active motion gracefully with deceleration until standstill while staying on the planned trajectory. When an active movement is stopped any further update request will be rejected. This call will immediately return even if the deceleration is still in progress. The active movement stream returns responses until the robot has reached standstill. Currently it is not possible to restart the motion. Please send in a feature request if you need to restart/continue the motion.
 	* @summary Stop
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motion This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.
@@ -4679,7 +4679,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).stopExecution(cell, motion, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint. Use `executeTrajectory` instead.  Moves the motion group forward or backward along a previously planned motion. Or request to move the motion group via joint point-to-point to a given location on a planned motion. Or set the playback speed of the motion. Or stop the motion execution. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Deprecated endpoint. Use `executeTrajectory` instead.  Moves the motion group forward or backward along a previously planned motion. Or request to move the motion group via joint point-to-point to a given location on a planned motion. Or set the playback speed of the motion. Or stop the motion execution. 
 	* @summary Stream Move
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {StreamMoveRequest} streamMoveRequest 
@@ -4691,7 +4691,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).streamMove(cell, streamMoveRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint. Use the [executeTrajectory](#/operations/executeTrajectory) endpoint instead. Request to move the motion group backward along a previously planned motion. Once started, you can stop a motion using the [stopExecution](#/operations/stopExecution) endpoint. Prerequisites, before starting the motion execution:  - The motion group is currently at the endpoint of the planned motion OR  - The motion was stopped using [stopExecution](#/operations/stopExecution) endpoint. Then it is possible to resume the motion execution from where it stopped OR  - The motion group was moved onto the motion using the [streamMoveToTrajectoryViaJointP2P](#/operations/streamMoveToTrajectoryViaJointP2P) endpoint.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Deprecated endpoint. Use the [executeTrajectory](#/operations/executeTrajectory) endpoint instead. Request to move the motion group backward along a previously planned motion. Once started, you can stop a motion using the [stopExecution](#/operations/stopExecution) endpoint. Prerequisites, before starting the motion execution:  - The motion group is currently at the endpoint of the planned motion OR  - The motion was stopped using [stopExecution](#/operations/stopExecution) endpoint. Then it is possible to resume the motion execution from where it stopped OR  - The motion group was moved onto the motion using the [streamMoveToTrajectoryViaJointP2P](#/operations/streamMoveToTrajectoryViaJointP2P) endpoint.
 	* @summary Stream Backward
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motion This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.
@@ -4707,7 +4707,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).streamMoveBackward(cell, motion, playbackSpeedInPercent, responseRate, responseCoordinateSystem, startLocationOnTrajectory, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint. Use the [executeTrajectory](#/operations/executeTrajectory) endpoint instead. Move the motion group forward along a previously planned motion. Once started, you can stop a motion using the [stopExecution](#/operations/stopExecution) endpoint. Prerequisites, before starting the motion execution:  - The motion group is currently at the start point of the planned motion OR  - The motion was stopped using [stopExecution](#/operations/stopExecution) endpoint. Then it is possible to resume the motion execution from where it stopped OR  - The motion group was moved onto the motion using the [streamMoveToTrajectoryViaJointP2P](#/operations/streamMoveToTrajectoryViaJointP2P) endpoint.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Deprecated endpoint. Use the [executeTrajectory](#/operations/executeTrajectory) endpoint instead. Move the motion group forward along a previously planned motion. Once started, you can stop a motion using the [stopExecution](#/operations/stopExecution) endpoint. Prerequisites, before starting the motion execution:  - The motion group is currently at the start point of the planned motion OR  - The motion was stopped using [stopExecution](#/operations/stopExecution) endpoint. Then it is possible to resume the motion execution from where it stopped OR  - The motion group was moved onto the motion using the [streamMoveToTrajectoryViaJointP2P](#/operations/streamMoveToTrajectoryViaJointP2P) endpoint.
 	* @summary Stream Forward
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motion This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.
@@ -4723,7 +4723,7 @@ var MotionApi = class extends BaseAPI {
 		return MotionApiFp(this.configuration).streamMoveForward(cell, motion, playbackSpeedInPercent, responseRate, responseCoordinateSystem, startLocationOnTrajectory, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Request to move the motion group via joint point-to-point to a given location on a planned motion. You must use this endpoint in order to start moving from an arbritrary location of the trajectory. Afterwards, you are able to call [streamMoveForward](#/operations/streamMoveForward) or [streamMoveBackward](#/operations/streamMoveBackward) to move along planned motion. Use the [stopExecution](#/operations/stopExecution) endpoint to stop the motion gracefully.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Request to move the motion group via joint point-to-point to a given location on a planned motion. You must use this endpoint in order to start moving from an arbritrary location of the trajectory. Afterwards, you are able to call [streamMoveForward](#/operations/streamMoveForward) or [streamMoveBackward](#/operations/streamMoveBackward) to move along planned motion. Use the [stopExecution](#/operations/stopExecution) endpoint to stop the motion gracefully.
 	* @summary Stream to Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motion This represents the UUID of a motion. Every executable or partially executable motion is cached and an UUID is returned. Indicate the UUID to execute the motion or retrieve information on the motion.
@@ -4915,7 +4915,7 @@ const MotionGroupApiFactory = function(configuration, basePath, axios$1) {
 */
 var MotionGroupApi = class extends BaseAPI {
 	/**
-	* Activate the motion group and keep the motion group in an active status. To activate all motion groups of a robot controller, use this endpoint. It will return all activated motion groups of that controller.  When activating motion groups, it is not possible to interact with the controller in any other way.  To deactivate a motion group, use [deactivateMotionGroup](#/operations/deactivateMotionGroup). 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Activate the motion group and keep the motion group in an active status. To activate all motion groups of a robot controller, use this endpoint. It will return all activated motion groups of that controller.  When activating motion groups, it is not possible to interact with the controller in any other way.  To deactivate a motion group, use [deactivateMotionGroup](#/operations/deactivateMotionGroup). 
 	* @summary Activate All
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller 
@@ -4926,7 +4926,7 @@ var MotionGroupApi = class extends BaseAPI {
 		return MotionGroupApiFp(this.configuration).activateAllMotionGroups(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Activate the motion group and keep the motion group in an active status. To manually activate a motion group, use this endpoint.  When activating a motion group, interacting with the controller in other ways is not possible.  To deactivate a motion group, use [deactivateMotionGroup](#/operations/deactivateMotionGroup). 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Activate the motion group and keep the motion group in an active status. To manually activate a motion group, use this endpoint.  When activating a motion group, interacting with the controller in other ways is not possible.  To deactivate a motion group, use [deactivateMotionGroup](#/operations/deactivateMotionGroup). 
 	* @summary Activate
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup 
@@ -4937,7 +4937,7 @@ var MotionGroupApi = class extends BaseAPI {
 		return MotionGroupApiFp(this.configuration).activateMotionGroup(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deactivate a motion group. Activate the motion group and keeps the motion group in an active status.  The robot controller streams information about all active motion groups. Deactivate motion groups that you no longer use.  When deactivating motion groups, it is not possible to interact with the controller in any other way. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Deactivate a motion group. Activate the motion group and keeps the motion group in an active status.  The robot controller streams information about all active motion groups. Deactivate motion groups that you no longer use.  When deactivating motion groups, it is not possible to interact with the controller in any other way. 
 	* @summary Deactivate
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -4948,7 +4948,7 @@ var MotionGroupApi = class extends BaseAPI {
 		return MotionGroupApiFp(this.configuration).deactivateMotionGroup(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all active motion groups. A motion group is active if it is currently used by a controller. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  List all active motion groups. A motion group is active if it is currently used by a controller. 
 	* @summary List Active
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -5390,7 +5390,7 @@ const MotionGroupInfosApiFactory = function(configuration, basePath, axios$1) {
 */
 var MotionGroupInfosApi = class extends BaseAPI {
 	/**
-	* Gets the currently selected payload of the motion group. The payload is defined as the sum of all weights attached to the flange/endpoint of the motion group, e.g. sum of the tools and workpiece weight that are currently attached. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Gets the currently selected payload of the motion group. The payload is defined as the sum of all weights attached to the flange/endpoint of the motion group, e.g. sum of the tools and workpiece weight that are currently attached. 
 	* @summary Selected Payload
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5401,7 +5401,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).getActivePayload(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the internal selected TCP of a connected device.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get the internal selected TCP of a connected device.
 	* @summary Selected TCP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5413,7 +5413,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).getActiveTcp(cell, motionGroup, rotationType, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the current state of the selected motion group including the current joint position, velocity, pose, and more. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Returns the current state of the selected motion group including the current joint position, velocity, pose, and more. 
 	* @summary State of Device
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5426,7 +5426,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).getCurrentMotionGroupState(cell, motionGroup, tcp, responseCoordinateSystem, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Shows the options the motion group offers in regard to the information service.  Some motion groups may not provide all information services, e.g. some manufacturers don\'t have a blending zone concept. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Shows the options the motion group offers in regard to the information service.  Some motion groups may not provide all information services, e.g. some manufacturers don\'t have a blending zone concept. 
 	* @summary Capabilities
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5437,7 +5437,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).getInfoCapabilities(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get static properties of the motion group. Those properties are used internally for motion group plannning. Only supported motion groups will return a valid response. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get static properties of the motion group. Those properties are used internally for motion group plannning. Only supported motion groups will return a valid response. 
 	* @summary Get Static Properties
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5448,7 +5448,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).getMotionGroupSpecification(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the configured mounting pose offset in relation to world coordinate system and the motion groups coordinate system. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Returns the configured mounting pose offset in relation to world coordinate system and the motion groups coordinate system. 
 	* @summary Device Mounting
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5459,7 +5459,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).getMounting(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > **Experimental**  Get the complete configuration which can be passed to the planner-optimizer (incl. motion group description, limits etc.) 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: danger -->  > **Experimental**  Get the complete configuration which can be passed to the planner-optimizer (incl. motion group description, limits etc.) 
 	* @summary Optimizer Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5471,7 +5471,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).getOptimizerConfiguration(cell, motionGroup, tcp, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the safety setup and limitations of a connected device, which restricts the device. Safety settings are configured globally on the robot controller and are valid for all the connected devices (like robots).
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get the safety setup and limitations of a connected device, which restricts the device. Safety settings are configured globally on the robot controller and are valid for all the connected devices (like robots).
 	* @summary Safety Setup and Limitations
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5482,7 +5482,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).getSafetySetup(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists all defined payloads of the motion group. The payload is defined as the sum of all weights attached to the flange/endpoint of the motion group, e.g. sum of the tools and workpiece weight that are currently attached. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Lists all defined payloads of the motion group. The payload is defined as the sum of all weights attached to the flange/endpoint of the motion group, e.g. sum of the tools and workpiece weight that are currently attached. 
 	* @summary List Payloads
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5493,7 +5493,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).listPayloads(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get all internal configured TCPs of a connected device.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get all internal configured TCPs of a connected device.
 	* @summary List TCPs
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5505,7 +5505,7 @@ var MotionGroupInfosApi = class extends BaseAPI {
 		return MotionGroupInfosApiFp(this.configuration).listTcps(cell, motionGroup, rotationType, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Receive updates of the motion group state. The stream will be closed from the server if the controller is disconnected. 
 	* @summary Stream State of Device
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5695,7 +5695,7 @@ const MotionGroupJoggingApiFactory = function(configuration, basePath, axios$1)
 */
 var MotionGroupJoggingApi = class extends BaseAPI {
 	/**
-	* Move TCP along/around a specified direction vector with a specified velocity via a websocket.  The purpose of a direction jogging motion is to move a device in exactly one direction with a specified maximum velocity. The sign of the velocity determines the direction of the movement: Positive [+] or Negative [-]. The velocity is given in [mm/s]. In contrast to a planned motion, a jogging motion can be changed dynamically while the motion group is in motion.  Only one single client at a time can jog a particular motion group. If another client tries to jog the same motion group at the same time, the second call will fail.  The movement of the motion group will start as soon as: * the motion group is not in motion * the websocket connection is established * the first request has been sent  As long as the jogging motion is ongoing, responses will be sent continuously and contain the current state of the motion group. The responses will be sent with the specified rate according to the *response_rate* parameter of the initial websocket request. While in motion, the desired direction and velocity can be changed by sending a new request to the same websocket. The motion and sending of the replies will stop when: * a [stopJogging](#/operations/stopJogging) request was received, processed, and the movement stopped   The motion group state will be published in the original command stream until the motion group has stopped * the client cancels the stream (not recommended, because final stopping position will not be returned from the stream)  When a physical limit (e.g. workspace boundary) is reached, the motion group will stop moving in the desired direction. The stream, howewer, will continue to send the state until the client cancels the stream or sends the [stopJogging](#/operations/stopJogging) request.  Singularities are avoided during a jogging motion. This avoidance can result in deviations from the specified direction. The amount of deviation depends on the robot type and current velocity. These mechanisms can lead to a small deviation from the specified direction. The size of deviation is depending on robot type and current velocity.   **Usage example:**  1. Open a websocket via Python and start the jogging motion: ```bash > python -m websockets \"ws://<IP of Wandelbots NOVA API>/api/v1/cells/<your cell id>/motion-groups/move-tcp\" ``` 2. Send the following message to the server to move current TCP two parts up in the z direction and one part in the negative y direction with 0.2 mm/s along the specified direction vector: ```json {   \"motion_group\": \"<your motion group id>\",   \"position_direction\": {     \"y\": -0.5,     \"z\": 1   },   \"rotation_direction\": {},   \"position_velocity\": 0.2,   \"response_rate\": 500 } ``` The NOVA API clients support jogging motions without the need to manually open a websocket.  > **NOTE** > > If the jogging movement is stopped immediately, ensure that > > - A websocket connection is established. Websockets can be kept open until the robot\'s movement is done as opposed to a simple HTTP GET request. > > - The motion group is not in motion by another jogging movement or a planned movement.   > **NOTE** > > If the robot does not move, ensure that > > - The joint velocity values are not zero, > > - The motion group is not in a state where it cannot move further (e.g. joint limit reached).  > **NOTE** > > If the specified velocities are higher than the maximum allowed by the robot controller, the motion group will move with the maximum allowed velocities. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Move TCP along/around a specified direction vector with a specified velocity via a websocket.  The purpose of a direction jogging motion is to move a device in exactly one direction with a specified maximum velocity. The sign of the velocity determines the direction of the movement: Positive [+] or Negative [-]. The velocity is given in [mm/s]. In contrast to a planned motion, a jogging motion can be changed dynamically while the motion group is in motion.  Only one single client at a time can jog a particular motion group. If another client tries to jog the same motion group at the same time, the second call will fail.  The movement of the motion group will start as soon as: * the motion group is not in motion * the websocket connection is established * the first request has been sent  As long as the jogging motion is ongoing, responses will be sent continuously and contain the current state of the motion group. The responses will be sent with the specified rate according to the *response_rate* parameter of the initial websocket request. While in motion, the desired direction and velocity can be changed by sending a new request to the same websocket. The motion and sending of the replies will stop when: * a [stopJogging](#/operations/stopJogging) request was received, processed, and the movement stopped   The motion group state will be published in the original command stream until the motion group has stopped * the client cancels the stream (not recommended, because final stopping position will not be returned from the stream)  When a physical limit (e.g. workspace boundary) is reached, the motion group will stop moving in the desired direction. The stream, howewer, will continue to send the state until the client cancels the stream or sends the [stopJogging](#/operations/stopJogging) request.  Singularities are avoided during a jogging motion. This avoidance can result in deviations from the specified direction. The amount of deviation depends on the robot type and current velocity. These mechanisms can lead to a small deviation from the specified direction. The size of deviation is depending on robot type and current velocity.   **Usage example:**  1. Open a websocket via Python and start the jogging motion: ```bash > python -m websockets \"ws://<IP of Wandelbots NOVA API>/api/v1/cells/<your cell id>/motion-groups/move-tcp\" ``` 2. Send the following message to the server to move current TCP two parts up in the z direction and one part in the negative y direction with 0.2 mm/s along the specified direction vector: ```json {   \"motion_group\": \"<your motion group id>\",   \"position_direction\": {     \"y\": -0.5,     \"z\": 1   },   \"rotation_direction\": {},   \"position_velocity\": 0.2,   \"response_rate\": 500 } ``` The NOVA API clients support jogging motions without the need to manually open a websocket.  > **NOTE** > > If the jogging movement is stopped immediately, ensure that > > - A websocket connection is established. Websockets can be kept open until the robot\'s movement is done as opposed to a simple HTTP GET request. > > - The motion group is not in motion by another jogging movement or a planned movement.   > **NOTE** > > If the robot does not move, ensure that > > - The joint velocity values are not zero, > > - The motion group is not in a state where it cannot move further (e.g. joint limit reached).  > **NOTE** > > If the specified velocities are higher than the maximum allowed by the robot controller, the motion group will move with the maximum allowed velocities. 
 	* @summary Stream Cartesian
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {DirectionJoggingRequest} directionJoggingRequest 
@@ -5706,7 +5706,7 @@ var MotionGroupJoggingApi = class extends BaseAPI {
 		return MotionGroupJoggingApiFp(this.configuration).directionJogging(cell, directionJoggingRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Shows the options the motion group offers in regard to jogging. Some motion groups may not provide all information services, e.g. it is physically not possible to move a one-axis-turntable in a linear way.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Shows the options the motion group offers in regard to jogging. Some motion groups may not provide all information services, e.g. it is physically not possible to move a one-axis-turntable in a linear way.
 	* @summary Capabilities
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5717,7 +5717,7 @@ var MotionGroupJoggingApi = class extends BaseAPI {
 		return MotionGroupJoggingApiFp(this.configuration).getJoggingCapabilities(cell, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Move one or more joints of a motion group with specified velocities via a websocket.  The purpose of a joint jogging motion is to maneuver a motion group in one or more joints with a specified velocity for each joint. The sign of the velocity determines the direction of the joint movement. The velocity is given in [rad/s]. In contrast to a planned motion, a jogging motion can be changed dynamically while the motion group is in motion.  Only one single client at a time can jog a particular motion group. If another client tries to jog the same motion group at the same time, the second call will fail.  The movement of the motion group will start as soon as: * the motion group is not in motion * the websocket connection is established * the first request has been sent  As long as the jogging motion is ongoing, responses will be sent continuously and contain the current state of the motion group. The responses will be sent with the specified rate according to the *response_rate* parameter of the initial websocket request. While in motion, the desired joint velocity can be changed by sending a new request to the same websocket. The motion and sending of the replies will stop when: * a [stopJogging](#/operations/stopJogging) request was received, processed, and the movement stopped   Motion group state will be published in the original command stream until the motion group has fully stopped * the client cancels the stream (not recommended, because final stopping position will not be returned from the stream)  When a physical limit (e.g. joint limit) is reached, the motion group will stop moving in the desired direction. The stream, howewer, will continue to send the state until the client cancels the stream or sends the [stopJogging](#/operations/stopJogging) request.  **Usage example:**  1. Open a websocket via Python and start the jogging motion: ```bash > python -m websockets \"ws://<IP of Wandelbots NOVA API>/api/v1/cells/<your cell id>/motion-groups/move-joint\" ``` 2. Send the following message to move with a velocity of 0.1 rad/s (negative) for joint 5 and 0.2 rad/s for joint 6: ```json {   \"motion_group\": \"<your motion group id>\",   \"joint_velocities\": [0, 0, 0, 0, -0.1, 0.2],   \"response_rate\": 500 } ``` The provided NOVA API clients also natively support jogging motions, without the need to manually open a websocket.  > **NOTE** > > If the jogging movement is stopped immediately, ensure that > > - A websocket connection is established. Websockets can be kept open until the robot\'s movement is done as opposed to a simple HTTP GET request. > > - The motion group is not in motion by another jogging movement or a planned movement.   > **NOTE** > > If the robot does not move, ensure that > > - The joint velocity values are not zero, > > - The motion group is not in a state where it cannot move further (e.g. joint limit reached).  > **NOTE** > > If the specified velocities are higher than the maximum allowed by the robot controller, the motion group will move with the maximum allowed velocities. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Move one or more joints of a motion group with specified velocities via a websocket.  The purpose of a joint jogging motion is to maneuver a motion group in one or more joints with a specified velocity for each joint. The sign of the velocity determines the direction of the joint movement. The velocity is given in [rad/s]. In contrast to a planned motion, a jogging motion can be changed dynamically while the motion group is in motion.  Only one single client at a time can jog a particular motion group. If another client tries to jog the same motion group at the same time, the second call will fail.  The movement of the motion group will start as soon as: * the motion group is not in motion * the websocket connection is established * the first request has been sent  As long as the jogging motion is ongoing, responses will be sent continuously and contain the current state of the motion group. The responses will be sent with the specified rate according to the *response_rate* parameter of the initial websocket request. While in motion, the desired joint velocity can be changed by sending a new request to the same websocket. The motion and sending of the replies will stop when: * a [stopJogging](#/operations/stopJogging) request was received, processed, and the movement stopped   Motion group state will be published in the original command stream until the motion group has fully stopped * the client cancels the stream (not recommended, because final stopping position will not be returned from the stream)  When a physical limit (e.g. joint limit) is reached, the motion group will stop moving in the desired direction. The stream, howewer, will continue to send the state until the client cancels the stream or sends the [stopJogging](#/operations/stopJogging) request.  **Usage example:**  1. Open a websocket via Python and start the jogging motion: ```bash > python -m websockets \"ws://<IP of Wandelbots NOVA API>/api/v1/cells/<your cell id>/motion-groups/move-joint\" ``` 2. Send the following message to move with a velocity of 0.1 rad/s (negative) for joint 5 and 0.2 rad/s for joint 6: ```json {   \"motion_group\": \"<your motion group id>\",   \"joint_velocities\": [0, 0, 0, 0, -0.1, 0.2],   \"response_rate\": 500 } ``` The provided NOVA API clients also natively support jogging motions, without the need to manually open a websocket.  > **NOTE** > > If the jogging movement is stopped immediately, ensure that > > - A websocket connection is established. Websockets can be kept open until the robot\'s movement is done as opposed to a simple HTTP GET request. > > - The motion group is not in motion by another jogging movement or a planned movement.   > **NOTE** > > If the robot does not move, ensure that > > - The joint velocity values are not zero, > > - The motion group is not in a state where it cannot move further (e.g. joint limit reached).  > **NOTE** > > If the specified velocities are higher than the maximum allowed by the robot controller, the motion group will move with the maximum allowed velocities. 
 	* @summary Stream Joints
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {JointJoggingRequest} jointJoggingRequest 
@@ -5728,7 +5728,7 @@ var MotionGroupJoggingApi = class extends BaseAPI {
 		return MotionGroupJoggingApiFp(this.configuration).jointJogging(cell, jointJoggingRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stops an ongoing jogging movement as fast as possible. Until the motion group reaches standstill, it decelerates and keeps the last specified direction.  This call will immediately return even if the deceleration is still in progress. After a stop request has been received, no further updates to the ongoing jogging movement are possible.  State responses will be sent via the jogging stream until the motion group reaches standstill. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Stops an ongoing jogging movement as fast as possible. Until the motion group reaches standstill, it decelerates and keeps the last specified direction.  This call will immediately return even if the deceleration is still in progress. After a stop request has been received, no further updates to the ongoing jogging movement are possible.  State responses will be sent via the jogging stream until the motion group reaches standstill. 
 	* @summary Stop
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5920,7 +5920,7 @@ const MotionGroupKinematicApiFactory = function(configuration, basePath, axios$1
 */
 var MotionGroupKinematicApi = class extends BaseAPI {
 	/**
-	* Calculate the joint positions of a motion group in order to move its TCP to a specific pose (Inverse Kinematic Solutions). All solutions are within the configured joint limits of the robot and not in a singular position of the robot.  Return all joint positions as list of distinct joint positions in [rad] with their respective inverse feedback.  Will be empty when unreachable, e.g. outside joint position limits, singular.  Does not include multiple solutions where the robot links are in the same postition. Those can occur when single joints are allowed to move in a range larger than 360 degrees. 
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Calculate the joint positions of a motion group in order to move its TCP to a specific pose (Inverse Kinematic Solutions). All solutions are within the configured joint limits of the robot and not in a singular position of the robot.  Return all joint positions as list of distinct joint positions in [rad] with their respective inverse feedback.  Will be empty when unreachable, e.g. outside joint position limits, singular.  Does not include multiple solutions where the robot links are in the same postition. Those can occur when single joints are allowed to move in a range larger than 360 degrees. 
 	* @summary All Joint Positions from TCP Pose
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5932,7 +5932,7 @@ var MotionGroupKinematicApi = class extends BaseAPI {
 		return MotionGroupKinematicApiFp(this.configuration).calculateAllInverseKinematic(cell, motionGroup, allJointPositionsRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Calculates the TCP pose from a joint position sample using the forward kinematics of the motion-group. 
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Calculates the TCP pose from a joint position sample using the forward kinematics of the motion-group. 
 	* @summary TcpPose from JointPosition
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5944,7 +5944,7 @@ var MotionGroupKinematicApi = class extends BaseAPI {
 		return MotionGroupKinematicApiFp(this.configuration).calculateForwardKinematic(cell, motionGroup, tcpPoseRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Calculate the joint positions the motion-group needs to apply for its TCP to be in a specified pose (Inverse Kinematic Solution).  If multiple solutions are found, the one nearest to the given specified joint position is picked. * For all supported robot models, except the Fanuc CRX line, the returned joint position is guaranteed to have the same configuration (often referred to as ELBOW_UP, WRIST_DOWN, SHOULDER_RIGHT, f.e.) as the specified reference joint position. If the position limit of any single joint allows it to be in a range larger than 2 PI, the respective joint value in the result will be as close as possible to its reference value. * For the Fanuc CRX line the solution is selected to have the smallest distance measured by the norm of its difference to the reference joint position.  The returned joint position is guaranteed to be within the joint limits and not in a singular position of the robot. 
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Calculate the joint positions the motion-group needs to apply for its TCP to be in a specified pose (Inverse Kinematic Solution).  If multiple solutions are found, the one nearest to the given specified joint position is picked. * For all supported robot models, except the Fanuc CRX line, the returned joint position is guaranteed to have the same configuration (often referred to as ELBOW_UP, WRIST_DOWN, SHOULDER_RIGHT, f.e.) as the specified reference joint position. If the position limit of any single joint allows it to be in a range larger than 2 PI, the respective joint value in the result will be as close as possible to its reference value. * For the Fanuc CRX line the solution is selected to have the smallest distance measured by the norm of its difference to the reference joint position.  The returned joint position is guaranteed to be within the joint limits and not in a singular position of the robot. 
 	* @summary Nearest JointPosition from TcpPose
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -5956,7 +5956,7 @@ var MotionGroupKinematicApi = class extends BaseAPI {
 		return MotionGroupKinematicApiFp(this.configuration).calculateInverseKinematic(cell, motionGroup, jointPositionRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the kinematic endpoints provided for the specified motion-group. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get the kinematic endpoints provided for the specified motion-group. 
 	* @summary Capabilities
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} motionGroup The motion-group id.
@@ -6290,7 +6290,7 @@ const ProgramApiFactory = function(configuration, basePath, axios$1) {
 */
 var ProgramApi = class extends BaseAPI {
 	/**
-	* This endpoint accepts a program written in Wandelscript and if desired, initial arguments (in the form of a dict). It will then execute this Wandelscript asynchronously. It returns a program runner reference which can be used to query the state of the program runner.  ## Parameters See the **Schema** tab for information about the request body.  ## Returns A program runner reference which can be used to query the state of the program runner.  ## Receiving state updates Receive state updates of the program runner via polling the `/programs/runners/{runner_id}/`  ### Via polling You can receive updates about the state of the program runner by polling the `/programs/runners/{runner_id}/` endpoint. ```
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  This endpoint accepts a program written in Wandelscript and if desired, initial arguments (in the form of a dict). It will then execute this Wandelscript asynchronously. It returns a program runner reference which can be used to query the state of the program runner.  ## Parameters See the **Schema** tab for information about the request body.  ## Returns A program runner reference which can be used to query the state of the program runner.  ## Receiving state updates Receive state updates of the program runner via polling the `/programs/runners/{runner_id}/`  ### Via polling You can receive updates about the state of the program runner by polling the `/programs/runners/{runner_id}/` endpoint. ```
 	* @summary Create Program Runner
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Request} request 
@@ -6301,7 +6301,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).createProgramRunner(cell, request, options).then((request$1) => request$1(this.axios, this.basePath));
 	}
 	/**
-	* Execute a program in Wandelscript. The Wandelscript can also move multiple robots by using the \'do with\' syntax.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a succesful execution. Otherwise an error (e.g. out of reach, singularity), is returned.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript) 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Execute a program in Wandelscript. The Wandelscript can also move multiple robots by using the \'do with\' syntax.  The execute operation will be started from the current joint configuration of any addressed robot(s).  Addressed robots have to be in control mode for the execute operation to succeed.  A request to this endpoint will block this endpoint until the program has been executed, or until an error occurs.  The executed movement is returned in case of a succesful execution. Otherwise an error (e.g. out of reach, singularity), is returned.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript) 
 	* @summary Execute Program
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {CodeWithArguments} codeWithArguments 
@@ -6312,7 +6312,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).executeProgram(cell, codeWithArguments, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns information about a program currently executed.  When a program is finished: Program response, result, collected Wandelscript logs, etc.  When a program is running: Running status, current executed line, etc.  ## Parameters - **runner_id**: The id of the program runner 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Returns information about a program currently executed.  When a program is finished: Program response, result, collected Wandelscript logs, etc.  When a program is running: Running status, current executed line, etc.  ## Parameters - **runner_id**: The id of the program runner 
 	* @summary Get Program Runner
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} runner 
@@ -6323,7 +6323,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).getProgramRunner(cell, runner, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get details about all existing program runners.
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Get details about all existing program runners.
 	* @summary List Program Runners
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -6333,7 +6333,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).listProgramRunners(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Migrate a program  ## Parameters See the **Schema** tab for information about the request body
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Migrate a program  ## Parameters See the **Schema** tab for information about the request body
 	* @summary Migrate Program
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Request1} request1 
@@ -6344,7 +6344,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).migrateProgram(cell, request1, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Plan a program based on the specified robot type.  The plan operation can be used to check if a Wandelscript is executable, given the current joint configuration of the robot.  If the Wandelscript is executable, the result contains the motion path. If the Wandelscript is not executable, e.g. points that are out of reach, or the joints encounter a singularity, the reason is returned.  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as Content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript) 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Plan a program based on the specified robot type.  The plan operation can be used to check if a Wandelscript is executable, given the current joint configuration of the robot.  If the Wandelscript is executable, the result contains the motion path. If the Wandelscript is not executable, e.g. points that are out of reach, or the joints encounter a singularity, the reason is returned.  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  The plan operation can be used in other operating modes besides control mode.  The Wandelscript can either be submitted as is, using Content-type text/plain, or as Content-type application/json with the Wandelscript under \"code\" alongside a set of values provided under \"initial_state\".  * [WandelEngine & Wandelscript Documentation](/docs/docs/wandelscript) 
 	* @summary Plan Program
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Request} request 
@@ -6356,7 +6356,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).planProgram(cell, request, identifier, options).then((request$1) => request$1(this.axios, this.basePath));
 	}
 	/**
-	* Stop all runners.
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Stop all runners.
 	* @summary Stop All Program Runners
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -6366,7 +6366,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).stopAllProgramRunner(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stop a specific program runner. If the indicated runner was not running, an error will be returned.  ## Parameters - **runner_id**: The id of the program runner
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Stop a specific program runner. If the indicated runner was not running, an error will be returned.  ## Parameters - **runner_id**: The id of the program runner
 	* @summary Stop Program Runner
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} runner 
@@ -6699,7 +6699,7 @@ const ProgramOperatorApiFactory = function(configuration, basePath, axios$1) {
 */
 var ProgramOperatorApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger --> > **Experimental** This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** This endpoint initiates the execution of a program stored in the program library. A program is started with the a specific program id that exists in the program library. 
 	* @summary Run Program from Library
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {CreateProgramRunRequest} createProgramRunRequest 
@@ -6710,7 +6710,7 @@ var ProgramOperatorApi = class extends BaseAPI {
 		return ProgramOperatorApiFp(this.configuration).createProgramRun(cell, createProgramRunRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Creates a new trigger that automatically runs a program when certain conditions are met. Each trigger has a different configuration, and the configuration must be valid for the provided trigger type. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Creates a new trigger that automatically runs a program when certain conditions are met. Each trigger has a different configuration, and the configuration must be valid for the provided trigger type. 
 	* @summary Create Trigger
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {CreateTriggerRequest} createTriggerRequest 
@@ -6721,7 +6721,7 @@ var ProgramOperatorApi = class extends BaseAPI {
 		return ProgramOperatorApiFp(this.configuration).createTrigger(cell, createTriggerRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Delete an existing trigger. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Delete an existing trigger. 
 	* @summary Delete Trigger
 	* @param {string} trigger The identifier of the trigger.
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
@@ -6732,7 +6732,7 @@ var ProgramOperatorApi = class extends BaseAPI {
 		return ProgramOperatorApiFp(this.configuration).deleteTrigger(trigger, cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Retrieves all program runs, including past and current executions. Use the optional `state` parameter to filter the results by their status. 
 	* @summary Get All Program Runs
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} [state] 
@@ -6743,7 +6743,7 @@ var ProgramOperatorApi = class extends BaseAPI {
 		return ProgramOperatorApiFp(this.configuration).getAllProgramRuns(cell, state, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Returns all triggers in the system with the program runs caused by each trigger. You can use the program run id to get more details about a specific program run. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Returns all triggers in the system with the program runs caused by each trigger. You can use the program run id to get more details about a specific program run. 
 	* @summary Get All Triggers
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -6753,7 +6753,7 @@ var ProgramOperatorApi = class extends BaseAPI {
 		return ProgramOperatorApiFp(this.configuration).getAllTriggers(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific program run. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific program run. 
 	* @summary Get Program Run
 	* @param {string} run 
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
@@ -6764,7 +6764,7 @@ var ProgramOperatorApi = class extends BaseAPI {
 		return ProgramOperatorApiFp(this.configuration).getProgramRun(run, cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific trigger. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Retrieves detailed information about a specific trigger. 
 	* @summary Get Trigger
 	* @param {string} trigger The identifier of the trigger.
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
@@ -6775,7 +6775,7 @@ var ProgramOperatorApi = class extends BaseAPI {
 		return ProgramOperatorApiFp(this.configuration).getTrigger(trigger, cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger --> > **Experimental** Updates the details of an existing trigger The exact behavior of switching a trigger from active to inactive or vice versa is not defined yet. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger --> > **Experimental** Updates the details of an existing trigger The exact behavior of switching a trigger from active to inactive or vice versa is not defined yet. 
 	* @summary Update Trigger
 	* @param {string} trigger the id of the trigger
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
@@ -7034,7 +7034,7 @@ const ProgramValuesApiFactory = function(configuration, basePath, axios$1) {
 */
 var ProgramValuesApi = class extends BaseAPI {
 	/**
-	* Deprecated endpoint. Delete all values from the database.
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Deprecated endpoint. Delete all values from the database.
 	* @summary Delete All Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -7045,7 +7045,7 @@ var ProgramValuesApi = class extends BaseAPI {
 		return ProgramValuesApiFp(this.configuration).clearProgramsValues(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint.  Add or overwrite one or more values in the database.  PREREQUISITE: The database has been added as a device. Add the database with [createDevice](#/operations/createDevice).  The database itself is a key-value store.  For reference of possible data types see:  * [Documentation for elementary data types](/docs/docs/wandelscript/data-types/#elementary-types) 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Deprecated endpoint.  Add or overwrite one or more values in the database.  PREREQUISITE: The database has been added as a device. Add the database with [createDevice](#/operations/createDevice).  The database itself is a key-value store.  For reference of possible data types see:  * [Documentation for elementary data types](/docs/docs/wandelscript/data-types/#elementary-types) 
 	* @summary Add Value(s)
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {{ [key: string]: CollectionValue; }} requestBody 
@@ -7057,7 +7057,7 @@ var ProgramValuesApi = class extends BaseAPI {
 		return ProgramValuesApiFp(this.configuration).createProgramsValue(cell, requestBody, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete a value from the database.
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Delete a value from the database.
 	* @summary Delete Value
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -7069,7 +7069,7 @@ var ProgramValuesApi = class extends BaseAPI {
 		return ProgramValuesApiFp(this.configuration).deleteProgramValue(cell, key, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint.  Return a value stored in the database.  PREREQUISITE: The database has been added as a device. Add the database with [createDevice](#/operations/createDevice).  The database itself is a key-value store.  For reference of possible data types see:  * [Documentation for elementary data types](/docs/docs/wandelscript/data-types/#elementary-types) 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Deprecated endpoint.  Return a value stored in the database.  PREREQUISITE: The database has been added as a device. Add the database with [createDevice](#/operations/createDevice).  The database itself is a key-value store.  For reference of possible data types see:  * [Documentation for elementary data types](/docs/docs/wandelscript/data-types/#elementary-types) 
 	* @summary Get Value
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -7081,7 +7081,7 @@ var ProgramValuesApi = class extends BaseAPI {
 		return ProgramValuesApiFp(this.configuration).getProgramValue(cell, key, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint.  Gets all values that are stored in the database.  PREREQUISITE: The database has been added as a device. Add the database with [createDevice](#/operations/createDevice).  The database itself is a key-value storage. For reference of possible data types see:  * [Documentation for elementary data types](/docs/docs/wandelscript/data-types/#elementary-types) 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Deprecated endpoint.  Gets all values that are stored in the database.  PREREQUISITE: The database has been added as a device. Add the database with [createDevice](#/operations/createDevice).  The database itself is a key-value storage. For reference of possible data types see:  * [Documentation for elementary data types](/docs/docs/wandelscript/data-types/#elementary-types) 
 	* @summary Get Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -7092,7 +7092,7 @@ var ProgramValuesApi = class extends BaseAPI {
 		return ProgramValuesApiFp(this.configuration).listProgramsValues(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint.  Creates or updates a value in the database.  PREREQUISITE: The database has been added as a device. Add the database with [createDevice](#/operations/createDevice).  The database itself is a key-value store.  For reference of possible data types see:  * [Documentation for elementary data types](/docs/docs/wandelscript/data-types/#elementary-types) 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  Deprecated endpoint.  Creates or updates a value in the database.  PREREQUISITE: The database has been added as a device. Add the database with [createDevice](#/operations/createDevice).  The database itself is a key-value store.  For reference of possible data types see:  * [Documentation for elementary data types](/docs/docs/wandelscript/data-types/#elementary-types) 
 	* @summary Create or Update Value
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -7607,7 +7607,7 @@ const StoreCollisionComponentsApiFactory = function(configuration, basePath, axi
 */
 var StoreCollisionComponentsApi = class extends BaseAPI {
 	/**
-	* Deletes the stored collider.  <!-- theme: danger --> > This will delete persistently stored data. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Deletes the stored collider.  <!-- theme: danger --> > This will delete persistently stored data. 
 	* @summary Delete Collider
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} collider Unique identifier addressing a collider.
@@ -7618,7 +7618,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).deleteStoredCollider(cell, collider, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deletes the stored link chain.  <!-- theme: danger --> > This will delete persistently stored data. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Deletes the stored link chain.  <!-- theme: danger --> > This will delete persistently stored data. 
 	* @summary Delete Link Chain
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} linkChain Unique identifier addressing a collision link chain.
@@ -7629,7 +7629,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).deleteStoredCollisionLinkChain(cell, linkChain, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deletes the stored tool.  <!-- theme: danger --> > This will delete persistently stored data. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Deletes the stored tool.  <!-- theme: danger --> > This will delete persistently stored data. 
 	* @summary Delete Tool
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} tool Unique identifier addressing a collision tool.
@@ -7640,7 +7640,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).deleteStoredCollisionTool(cell, tool, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deprecated endpoint. Use [getCollisionModel](https://portal.wandelbots.io/docs/api/v2/ui/#/operations/getMotionGroupCollisionModel) instead.  Returns the default collision link chain for a given motion group model.  See [getPlanningMotionGroupModels](#/operations/getPlanningMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](#/operations/storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Deprecated endpoint. Use [getCollisionModel](https://portal.wandelbots.io/docs/api/v2/ui/#/operations/getMotionGroupCollisionModel) instead.  Returns the default collision link chain for a given motion group model.  See [getPlanningMotionGroupModels](#/operations/getPlanningMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Use the `stored_link_chain` or `link_chain` field in [storeCollisionScene](#/operations/storeCollisionScene) to attach additional shapes to the link reference frames. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
 	* @summary Get Default Link Chain
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {GetDefaultLinkChainMotionGroupModelEnum} motionGroupModel Unique identifier for the type of a motion group (robot model).  Get the model name for a configured motion group from [getOptimizerConfiguration](#/operations/getOptimizerConfiguration). 
@@ -7652,7 +7652,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).getDefaultLinkChain(cell, motionGroupModel, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the collider. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns the collider. 
 	* @summary Get Collider
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} collider Unique identifier addressing a collider.
@@ -7663,7 +7663,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).getStoredCollider(cell, collider, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the collision link chain. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns the collision link chain. 
 	* @summary Get Link Chain
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} linkChain Unique identifier addressing a collision link chain.
@@ -7674,7 +7674,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).getStoredCollisionLinkChain(cell, linkChain, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the stored tool. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns the stored tool. 
 	* @summary Get Tool
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} tool Unique identifier addressing a collision tool.
@@ -7685,7 +7685,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).getStoredCollisionTool(cell, tool, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the stored link chains. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns the stored link chains. 
 	* @summary List Link Chains
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -7695,7 +7695,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listCollisionLinkChains(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns a list of colliders in a scene. This excludes colliders that are part of a motion group. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns a list of colliders in a scene. This excludes colliders that are part of a motion group. 
 	* @summary List Colliders
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -7705,7 +7705,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listStoredColliders(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the list of stored tools. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns the list of stored tools. 
 	* @summary List Tools
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -7715,7 +7715,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listStoredCollisionTools(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stores collider.  If the collider does not exist, it will be created. If the collider exists, it will be updated. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Stores collider.  If the collider does not exist, it will be created. If the collider exists, it will be updated. 
 	* @summary Store Collider
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} collider Unique identifier addressing a collider.
@@ -7727,7 +7727,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).storeCollider(cell, collider, collider2, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stores link chain.  If the link chain does not exist, it will be created. If the link chain exists, it will be updated. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Stores link chain.  If the link chain does not exist, it will be created. If the link chain exists, it will be updated. 
 	* @summary Store Link Chain
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} linkChain Unique identifier addressing a collision link chain.
@@ -7739,7 +7739,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).storeCollisionLinkChain(cell, linkChain, collider, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stores the tool.  If the tool does not exist, it will be created. If the tool exists, it will be updated. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Stores the tool.  If the tool does not exist, it will be created. If the tool exists, it will be updated. 
 	* @summary Store Tool
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} tool Unique identifier addressing a collision tool.
@@ -8096,7 +8096,7 @@ const StoreCollisionScenesApiFactory = function(configuration, basePath, axios$1
 */
 var StoreCollisionScenesApi = class extends BaseAPI {
 	/**
-	* Deletes the stored scene.  <!-- theme: danger --> > This will delete persistently stored data. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Deletes the stored scene.  <!-- theme: danger --> > This will delete persistently stored data. 
 	* @summary Delete Scene
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} scene Unique identifier addressing a collision scene.
@@ -8107,7 +8107,7 @@ var StoreCollisionScenesApi = class extends BaseAPI {
 		return StoreCollisionScenesApiFp(this.configuration).deleteStoredCollisionScene(cell, scene, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the stored scene. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns the stored scene. 
 	* @summary Get Scene
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} scene Unique identifier addressing a collision scene.
@@ -8118,7 +8118,7 @@ var StoreCollisionScenesApi = class extends BaseAPI {
 		return StoreCollisionScenesApiFp(this.configuration).getStoredCollisionScene(cell, scene, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns a list of stored scenes. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns a list of stored scenes. 
 	* @summary List Scenes
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -8128,7 +8128,7 @@ var StoreCollisionScenesApi = class extends BaseAPI {
 		return StoreCollisionScenesApiFp(this.configuration).listStoredCollisionScenes(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Creates or replaces the stored collision scene.  The scene is assembled from components as defined in the request body.  An error is returned if a stored object does not exist. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Creates or replaces the stored collision scene.  The scene is assembled from components as defined in the request body.  An error is returned if a stored object does not exist. 
 	* @summary Store Scene
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} scene Unique identifier addressing a collision scene.
@@ -8387,7 +8387,7 @@ const StoreObjectApiFactory = function(configuration, basePath, axios$1) {
 */
 var StoreObjectApi = class extends BaseAPI {
 	/**
-	* Delete all objects.  <!-- theme: danger --> > This will delete ALL your persistently stored data. 
+	* **Required permissions:** `can_write_objects` - Write stored objects ___  Delete all objects.  <!-- theme: danger --> > This will delete ALL your persistently stored data. 
 	* @summary Clear all Objects
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -8397,7 +8397,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).clearAllObjects(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete an object  <!-- theme: danger --> > This will delete persistently stored data. 
+	* **Required permissions:** `can_write_objects` - Write stored objects ___  Delete an object  <!-- theme: danger --> > This will delete persistently stored data. 
 	* @summary Delete Object
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -8408,7 +8408,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).deleteObject(cell, key, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the object.  This request returns the object and any metadata attached to it. 
+	* **Required permissions:** `can_read_objects` - Read stored objects ___  Get the object.  This request returns the object and any metadata attached to it. 
 	* @summary Get Object
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -8419,7 +8419,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).getObject(cell, key, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get object metadata.  Objects can be large. Therefore this request only returns metadata without fetching the object\'s content. 
+	* **Required permissions:** `can_read_objects` - Read stored objects ___  Get object metadata.  Objects can be large. Therefore this request only returns metadata without fetching the object\'s content. 
 	* @summary Get Object Metadata
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -8430,7 +8430,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).getObjectMetadata(cell, key, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List the keys for all objects. 
+	* **Required permissions:** `can_read_objects` - Read stored objects ___  List the keys for all objects. 
 	* @summary List all Object Keys
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -8440,7 +8440,7 @@ 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](#/operations/getObjectMetadata) to verify that the key does not contain objects.  Optional: Specify metadata as a dictionary with names and values. 
+	* **Required permissions:** `can_write_objects` - Write stored objects ___  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 
@@ -8651,7 +8651,7 @@ const SystemApiFactory = function(configuration, basePath, axios$1) {
 */
 var SystemApi = class extends BaseAPI {
 	/**
-	* Check if a more recent Wandelbots NOVA Version is available. 
+	* **Required permissions:** `can_update_system` - Update system versions and services ___  Check if a more recent Wandelbots NOVA Version is available. 
 	* @summary Check update
 	* @param {ReleaseChannel} channel 
 	* @param {*} [options] Override http request option.
@@ -8661,7 +8661,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).checkNovaVersionUpdate(channel, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Collects information on the current status of all NOVA services and exports them as a .zip file.  Includes information on all cells on the instance such as the service logs and virtual robot controllers. From each cell the logs of all services are included, as well as the configuration of each connected controller to start virtual robots. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Collects information on the current status of all NOVA services and exports them as a .zip file.  Includes information on all cells on the instance such as the service logs and virtual robot controllers. From each cell the logs of all services are included, as well as the configuration of each connected controller to start virtual robots. 
 	* @summary Download Diagnosis Package
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -8670,7 +8670,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).getDiagnosePackage(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the status of all system services. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Get the status of all system services. 
 	* @summary Wandelbots NOVA status
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -8679,7 +8679,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).getSystemStatus(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the current Wandelbots NOVA version. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Get the current Wandelbots NOVA version. 
 	* @summary Wandelbots NOVA Version
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -8688,7 +8688,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).getSystemVersion(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 an error occurs, the API Request is sent 3 times. If the error persists, the old Wandelbots NOVA version is restored. 
+	* **Required permissions:** `can_update_system` - Update system versions and services ___  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 an error occurs, the API Request is sent 3 times. If the error persists, the old Wandelbots NOVA version is restored. 
 	* @summary Update Wandelbots NOVA version
 	* @param {UpdateNovaVersionRequest} updateNovaVersionRequest 
 	* @param {*} [options] Override http request option.
@@ -8753,7 +8753,7 @@ const VersionApiFactory = function(configuration, basePath, axios$1) {
 */
 var VersionApi = class extends BaseAPI {
 	/**
-	* Retrieves the version of the NOVA API.
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Retrieves the version of the NOVA API.
 	* @summary API Version
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -9016,7 +9016,7 @@ const VirtualRobotApiFactory = function(configuration, basePath, axios$1) {
 */
 var VirtualRobotApi = class extends BaseAPI {
 	/**
-	* Get the current motion group state which provides values for the joints\' position, velocity and acceleration. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Get the current motion group state which provides values for the joints\' position, velocity and acceleration. 
 	* @summary Get Motion Group State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9028,7 +9028,7 @@ var VirtualRobotApi = class extends BaseAPI {
 		return VirtualRobotApiFp(this.configuration).getMotionGroupState(cell, controller, id, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Gets information on the motion group. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Gets information on the motion group. 
 	* @summary Motion Group 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.
@@ -9039,7 +9039,7 @@ var VirtualRobotApi = class extends BaseAPI {
 		return VirtualRobotApiFp(this.configuration).getMotionGroups(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Gets the description and value of a virtual controller I/O. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Gets the description and value of a virtual controller I/O. 
 	* @summary Get I/O
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9051,7 +9051,7 @@ var VirtualRobotApi = class extends BaseAPI {
 		return VirtualRobotApiFp(this.configuration).getVirtualRobotIOValue(cell, controller, io, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists all inputs/outputs of the virtual controller. Every input/output contains the description and the value.  As a virtual robot can have up to thousand inputs/outputs, be ready to handle a large response. Use [List Descriptions](List Descriptions) to get a detailed description of an input/output. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Lists all inputs/outputs of the virtual controller. Every input/output contains the description and the value.  As a virtual robot can have up to thousand inputs/outputs, be ready to handle a large response. Use [List Descriptions](List Descriptions) to get a detailed description of an input/output. 
 	* @summary List Inputs/Outputs
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9062,7 +9062,7 @@ var VirtualRobotApi = class extends BaseAPI {
 		return VirtualRobotApiFp(this.configuration).listIOs(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Sets the values for joint position, joint velocity or joint acceleration of a motion group state. The values are immediately applied to the joints of the motion group. We recommend to only use the endpoint when the motion group is in monitor mode. In case the motion group is controlled, currently jogging or planning motions, the values are overridden by the controller or an error may occur. 
 	* @summary Set Motion Group State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9075,7 +9075,7 @@ var VirtualRobotApi = class extends BaseAPI {
 		return VirtualRobotApiFp(this.configuration).setMotionGroupState(cell, controller, id, motionGroupJoints, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets the value of a virtual controller I/O. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Sets the value of a virtual controller I/O. 
 	* @summary Set I/O
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9232,7 +9232,7 @@ const VirtualRobotBehaviorApiFactory = function(configuration, basePath, axios$1
 */
 var VirtualRobotBehaviorApi = class extends BaseAPI {
 	/**
-	* This stream provides the commanded joint state and sets a motion groups joint configuration, e.g. to move a motion group. The concept is that an application is using the Motion Service to move a motion group. The Motion Service is commanding the desired joint configuration of a motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! It is __not__ providing the *actual* joint state! (Please file a request - if you need a stream of the *actual* joint state)  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configurations. CAUTION: Incoming joint configurations are not visualized and their velocity limits are not checked. we don\'t even check limits!  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion group.  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. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  This stream provides the commanded joint state and sets a motion groups joint configuration, e.g. to move a motion group. The concept is that an application is using the Motion Service to move a motion group. The Motion Service is commanding the desired joint configuration of a motion group.  Physical motion groups move to this joint configuration.  With physical motion groups, this takes some time and only works if possible.  And you have the *actual* joint state - the current real motion group configuration.  Again, this stream is providing *commanded* joint state! It is __not__ providing the *actual* joint state! (Please file a request - if you need a stream of the *actual* joint state)  When the virtual controller receives joint commands the joint configuration is immediately adapted to match the incoming joint configurations. CAUTION: Incoming joint configurations are not visualized and their velocity limits are not checked. we don\'t even check limits!  Possible use cases are: 1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion group.  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.
@@ -9244,7 +9244,7 @@ var VirtualRobotBehaviorApi = class extends BaseAPI {
 		return VirtualRobotBehaviorApiFp(this.configuration).externalJointsStream(cell, controller, externalJointStreamDatapoint, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the current robot motion group behavior - please see the setter [setMotionGroupBehavior](#/operations/setMotionGroupBehavior) and the enum for details.
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Get the current robot motion group behavior - please see the setter [setMotionGroupBehavior](#/operations/setMotionGroupBehavior) and the enum for details.
 	* @summary 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.
@@ -9256,7 +9256,7 @@ var VirtualRobotBehaviorApi = class extends BaseAPI {
 		return VirtualRobotBehaviorApiFp(this.configuration).getMotionGroupBehavior(cell, controller, id, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Switch robot motion group behavior. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Switch robot motion group behavior. 
 	* @summary Switch 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.
@@ -9515,7 +9515,7 @@ const VirtualRobotModeApiFactory = function(configuration, basePath, axios$1) {
 */
 var VirtualRobotModeApi = class extends BaseAPI {
 	/**
-	* Get the cycle time of controller communication in [ms]. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Get the cycle time of controller communication in [ms]. 
 	* @summary Cycle Time
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9526,7 +9526,7 @@ var VirtualRobotModeApi = class extends BaseAPI {
 		return VirtualRobotModeApiFp(this.configuration).getCycleTime(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There, the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There, the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
 	* @summary Get E-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.
@@ -9537,7 +9537,7 @@ var VirtualRobotModeApi = class extends BaseAPI {
 		return VirtualRobotModeApiFp(this.configuration).getEStop(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](#/operations/getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only be changed via API when using virtual robot controllers. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual 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 Operating 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.
@@ -9548,7 +9548,7 @@ var VirtualRobotModeApi = class extends BaseAPI {
 		return VirtualRobotModeApiFp(this.configuration).getOperationMode(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Activates the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions on virtual and physical robot controllers. To return to normal operation, the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There, the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Activates the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions on virtual and physical robot controllers. To return to normal operation, the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There, the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
 	* @summary Push E-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.
@@ -9559,7 +9559,7 @@ var VirtualRobotModeApi = class extends BaseAPI {
 		return VirtualRobotModeApiFp(this.configuration).pushEStop(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Releases the Emergency Stop on the virtual robot controller.   Activating the Emergency Stop stops the execution of all motions on virtual and physical robot controllers. To return to normal operation, the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There, the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Releases the Emergency Stop on the virtual robot controller.   Activating the Emergency Stop stops the execution of all motions on virtual and physical robot controllers. To return to normal operation, the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There, the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
 	* @summary Release E-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.
@@ -9570,7 +9570,7 @@ var VirtualRobotModeApi = class extends BaseAPI {
 		return VirtualRobotModeApiFp(this.configuration).releaseEStop(cell, controller, 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](#/operations/getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only be changed via API when using virtual robot controllers. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual 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 Operating 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.
@@ -9919,7 +9919,7 @@ const VirtualRobotSetupApiFactory = function(configuration, basePath, axios$1) {
 */
 var VirtualRobotSetupApi = class extends BaseAPI {
 	/**
-	* Adds a coordinate system to the robot controller.  > **NOTE** > > Upon adding or removing a coordinate system, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before NOVA is fully operational again. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that > immediately after a successful response, the new coordinate system may not be available for visualization or program execution. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Adds a coordinate system to the robot controller.  > **NOTE** > > Upon adding or removing a coordinate system, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before NOVA is fully operational again. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that > immediately after a successful response, the new coordinate system may not be available for visualization or program execution. 
 	* @summary Add Coordinate Systems
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9931,7 +9931,7 @@ var VirtualRobotSetupApi = class extends BaseAPI {
 		return VirtualRobotSetupApiFp(this.configuration).addVirtualRobotCoordinateSystem(cell, controller, coordinateSystem, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Adds a new [TCP](https://docs.wandelbots.io/latest/vocabulary#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.  > **NOTE** > Upon adding or updating a TCP, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear. > - TCP visualization may be delayed or outdated during the first run. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before the TCP is available for use. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that > immediately after a successful response, the TCP may not be available for visualization or program execution. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Adds a new [TCP](https://docs.wandelbots.io/latest/vocabulary#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.  > **NOTE** > Upon adding or updating a TCP, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear. > - TCP visualization may be delayed or outdated during the first run. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before the TCP is available for use. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that > immediately after a successful response, the TCP may not be available for visualization or program execution. 
 	* @summary Add TCP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9944,7 +9944,7 @@ var VirtualRobotSetupApi = class extends BaseAPI {
 		return VirtualRobotSetupApiFp(this.configuration).addVirtualRobotTcp(cell, controller, id, robotTcp, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems which use the deleted coordinate system as a reference.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be > **NOTE** > > Upon adding or removing a coordinate system, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before NOVA is fully operational again. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that > immediately after a successful response, the new coordinate system may not be available for visualization or program execution. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems which use the deleted coordinate system as a reference.  **Important notes:** - When a new coordinate system is added/removed, the **virtual robot is restarted** in the background in order to apply the new configuration. - During this restart:   - Robot visualization may temporarily disappear or appear outdated in the UI.   - coordinate system changes are not immediately visible in visualizations.   - All existing connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. - The API call itself does **not wait until the restart and re-synchronization are complete**.   This means that immediately after a successful response, the new coordinate system may not yet be > **NOTE** > > Upon adding or removing a coordinate system, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before NOVA is fully operational again. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that > immediately after a successful response, the new coordinate system may not be available for visualization or program execution. 
 	* @summary Remove Coordinate System
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9957,7 +9957,7 @@ var VirtualRobotSetupApi = class extends BaseAPI {
 		return VirtualRobotSetupApiFp(this.configuration).deleteVirtualRobotCoordinateSystem(cell, controller, coordinateSystem, deleteDependent, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  > **NOTE** > Upon removing a TCP, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear. > - TCP visualization may be delayed or outdated during the first run. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before the TCP is removed. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that immediately after a successful response, the TCP may not be removed. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  > **NOTE** > Upon removing a TCP, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear. > - TCP visualization may be delayed or outdated during the first run. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before the TCP is removed. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that immediately after a successful response, the TCP may not be removed. 
 	* @summary Remove TCP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9970,7 +9970,7 @@ var VirtualRobotSetupApi = class extends BaseAPI {
 		return VirtualRobotSetupApiFp(this.configuration).deleteVirtualRobotTcp(cell, controller, id, tcp, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Gets motion group mounting. The motion group is based on the origin of the returned coordinate system. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Gets motion group mounting. The motion group is based on the origin of the returned coordinate system. 
 	* @summary Get Mounting
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9982,7 +9982,7 @@ var VirtualRobotSetupApi = class extends BaseAPI {
 		return VirtualRobotSetupApiFp(this.configuration).getVirtualRobotMounting(cell, controller, id, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists all coordinate systems on the robot controller. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Lists all coordinate systems on the robot controller. 
 	* @summary List Coordinate Systems
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -9993,7 +9993,7 @@ var VirtualRobotSetupApi = class extends BaseAPI {
 		return VirtualRobotSetupApiFp(this.configuration).listVirtualRobotCoordinateSystems(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Lists TCPs of the motion group. An empty TCP list is valid, for example for external axes. 
 	* @summary List TCPs
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -10005,7 +10005,7 @@ var VirtualRobotSetupApi = class extends BaseAPI {
 		return VirtualRobotSetupApiFp(this.configuration).listVirtualRobotTcps(cell, controller, id, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets the motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset, which consists of: - A unique identifier - A name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  > **NOTE** > Changing the mounting configuration is considered a configuration change. > > Upon updating the mounting to another coordinate system, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear or not reflect the updated mounting. > - Motion group state and coordinate system alignment may not be instantly updated. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before NOVA is fully operational again. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that > immediately after a successful response, the new mounting may not be available for visualization or program execution. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Sets the motion group mounting by specifying a coordinate system. The motion group will be based on the coordinate system\'s origin. The coordinate system defines a transformation offset, which consists of: - A unique identifier - A name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  > **NOTE** > Changing the mounting configuration is considered a configuration change. > > Upon updating the mounting to another coordinate system, virtual robots are restarted to apply the new configuration. > What happens during restart: > - Robot visualization may temporarily disappear or not reflect the updated mounting. > - Motion group state and coordinate system alignment may not be instantly updated. > - Existing connections to the virtual robot are closed and re-established, which introduces a short delay before NOVA is fully operational again. > > The API call itself **does not wait until the restart and synchronization are complete**. This means that > immediately after a successful response, the new mounting may not be available for visualization or program execution. 
 	* @summary Set Mounting
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.