@wandelbots/nova-api 26.3.0-dev.9 → 26.3.0-rc.2

package/dist/v2/index.cjs

@@ -116,6 +116,16 @@ const BusIOsStateEnum = {
 	BusIosStateDisconnected: "BUS_IOS_STATE_DISCONNECTED"
 };
 const CapsuleShapeTypeEnum = { Capsule: "capsule" };
+const CloudConfigStatusConfiguredStatusEnum = { Configured: "configured" };
+const CloudConfigStatusNotConfiguredStatusEnum = { NotConfigured: "not_configured" };
+const CloudConnectionErrorInvalidTokenCodeEnum = { InvalidCloudToken: "invalid_cloud_token" };
+const CloudConnectionErrorLeafnodeConnectionErrorCodeEnum = { LeafnodeConnectionError: "leafnode_connection_error" };
+const CloudConnectionErrorLeafnodeConnectionTimeoutCodeEnum = { LeafnodeConnectionTimeout: "leafnode_connection_timeout" };
+const CloudConnectionErrorLeafnodeRestartTimeoutCodeEnum = { LeafnodeRestartTimeout: "leafnode_restart_timeout" };
+const CloudConnectionErrorNatsFailedCodeEnum = { NatsConnectionFailed: "nats_connection_failed" };
+const CloudConnectionErrorUnexpectedResponseCodeEnum = { UnexpectedCloudResponse: "unexpected_cloud_response" };
+const CloudDisconnectionStatusDisconnectedStatusEnum = { Disconnected: "disconnected" };
+const CloudDisconnectionStatusDisconnectingStatusEnum = { Disconnecting: "disconnecting" };
 const CollisionErrorKindEnum = { CollisionError: "CollisionError" };
 /**
 * Comparator for the comparison of two values. The comparator is used to compare two values and return a boolean result. The default comparator is unknown. 
@@ -140,15 +150,31 @@ const Direction = {
 	DirectionForward: "DIRECTION_FORWARD",
 	DirectionBackward: "DIRECTION_BACKWARD"
 };
+const DirectionConstraintConstraintNameEnum = { DirectionConstraint: "DirectionConstraint" };
+const ErrorDirectionConstraintNotMetErrorFeedbackNameEnum = { ErrorDirectionConstraintNotMet: "ErrorDirectionConstraintNotMet" };
+const ErrorDirectionConstraintNotNormalizedErrorFeedbackNameEnum = { ErrorDirectionConstraintNotNormalized: "ErrorDirectionConstraintNotNormalized" };
 const ErrorInvalidJointCountErrorFeedbackNameEnum = { ErrorInvalidJointCount: "ErrorInvalidJointCount" };
 const ErrorJointLimitExceededErrorFeedbackNameEnum = { ErrorJointLimitExceeded: "ErrorJointLimitExceeded" };
 const ErrorJointPositionCollisionErrorFeedbackNameEnum = { ErrorJointPositionCollision: "ErrorJointPositionCollision" };
 const ErrorMaxIterationsExceededErrorFeedbackNameEnum = { ErrorMaxIterationsExceeded: "ErrorMaxIterationsExceeded" };
+const ErrorUnsupportedOperationErrorFeedbackNameEnum = { ErrorUnsupportedOperation: "ErrorUnsupportedOperation" };
 const FanucControllerKindEnum = { FanucController: "FanucController" };
 const FeedbackCollisionErrorFeedbackNameEnum = { FeedbackCollision: "FeedbackCollision" };
+const FeedbackCommandsMissingErrorFeedbackNameEnum = { FeedbackCommandsMissing: "FeedbackCommandsMissing" };
+const FeedbackCubicSplineIsNotIncreasingErrorFeedbackNameEnum = { FeedbackCubicSplineIsNotIncreasing: "FeedbackCubicSplineIsNotIncreasing" };
+const FeedbackCubicSplineNotAtStartPoseErrorFeedbackNameEnum = { FeedbackCubicSplineNotAtStartPose: "FeedbackCubicSplineNotAtStartPose" };
+const FeedbackDirectionConstraintNoSolutionExistsErrorFeedbackNameEnum = { FeedbackDirectionConstraintNoSolutionExists: "FeedbackDirectionConstraintNoSolutionExists" };
+const FeedbackDirectionConstraintNotMetErrorFeedbackNameEnum = { FeedbackDirectionConstraintNotMet: "FeedbackDirectionConstraintNotMet" };
+const FeedbackDirectionConstraintNotNormalizedErrorFeedbackNameEnum = { FeedbackDirectionConstraintNotNormalized: "FeedbackDirectionConstraintNotNormalized" };
+const FeedbackInvalidDofErrorFeedbackNameEnum = { FeedbackInvalidDof: "FeedbackInvalidDof" };
+const FeedbackInvalidNanValueErrorFeedbackNameEnum = { FeedbackInvalidNanValue: "FeedbackInvalidNanValue" };
+const FeedbackInvalidSamplingTimeErrorFeedbackNameEnum = { FeedbackInvalidSamplingTime: "FeedbackInvalidSamplingTime" };
 const FeedbackJointLimitExceededErrorFeedbackNameEnum = { FeedbackJointLimitExceeded: "FeedbackJointLimitExceeded" };
+const FeedbackNoSolutionInCurrentConfigurationErrorFeedbackNameEnum = { FeedbackNoSolutionInCurrentConfiguration: "FeedbackNoSolutionInCurrentConfiguration" };
 const FeedbackOutOfWorkspaceErrorFeedbackNameEnum = { FeedbackOutOfWorkspace: "FeedbackOutOfWorkspace" };
 const FeedbackSingularityErrorFeedbackNameEnum = { FeedbackSingularity: "FeedbackSingularity" };
+const FeedbackStartJointsMissingErrorFeedbackNameEnum = { FeedbackStartJointsMissing: "FeedbackStartJointsMissing" };
+const FeedbackTorqueExceededErrorFeedbackNameEnum = { FeedbackTorqueExceeded: "FeedbackTorqueExceeded" };
 const FloatValueValueTypeEnum = { Float: "float" };
 const IOBooleanValueValueTypeEnum = { Boolean: "boolean" };
 /**
@@ -186,6 +212,7 @@ const JoggingDetailsKindEnum = { Jogging: "JOGGING" };
 const JoggingPausedByUserKindEnum = { PausedByUser: "PAUSED_BY_USER" };
 const JoggingPausedNearCollisionKindEnum = { PausedNearCollision: "PAUSED_NEAR_COLLISION" };
 const JoggingPausedNearJointLimitKindEnum = { PausedNearJointLimit: "PAUSED_NEAR_JOINT_LIMIT" };
+const JoggingPausedNearSingularityKindEnum = { PausedNearSingularity: "PAUSED_NEAR_SINGULARITY" };
 const JoggingPausedOnIOKindEnum = { PausedOnIo: "PAUSED_ON_IO" };
 const JoggingRunningKindEnum = { Running: "RUNNING" };
 const JointLimitExceededErrorKindEnum = { JointLimitExceededError: "JointLimitExceededError" };
@@ -305,6 +332,8 @@ const OrientationType = {
 const PathCartesianPTPPathDefinitionNameEnum = { PathCartesianPtp: "PathCartesianPTP" };
 const PathCirclePathDefinitionNameEnum = { PathCircle: "PathCircle" };
 const PathCubicSplinePathDefinitionNameEnum = { PathCubicSpline: "PathCubicSpline" };
+const PathDirectionConstrainedCartesianPTPPathDefinitionNameEnum = { DirectionConstrainedCartesianPtp: "DirectionConstrainedCartesianPTP" };
+const PathDirectionConstrainedJointPTPPathDefinitionNameEnum = { DirectionConstrainedJointPtp: "DirectionConstrainedJointPTP" };
 const PathJointPTPPathDefinitionNameEnum = { PathJointPtp: "PathJointPTP" };
 const PathLinePathDefinitionNameEnum = { PathLine: "PathLine" };
 const PauseJoggingRequestMessageTypeEnum = { PauseJoggingRequest: "PauseJoggingRequest" };
@@ -462,6 +491,7 @@ const UnitType = {
 const UniversalrobotsControllerKindEnum = { UniversalrobotsController: "UniversalrobotsController" };
 const VirtualControllerKindEnum = { VirtualController: "VirtualController" };
 const YaskawaControllerKindEnum = { YaskawaController: "YaskawaController" };
+const ZodValidationErrorErrorCodeEnum = { ValidationError: "validation_error" };
 /**
 * ApplicationApi - axios parameter creator
 */
@@ -713,7 +743,7 @@ const ApplicationApiFactory = function(configuration, basePath, axios$1) {
 */
 var ApplicationApi = class extends BaseAPI {
 	/**
-	* Install a basic, containerized web application to the cell to control robots with a customized frontend.  #### Prerequisites - A Docker hub account or similar container registry account, with valid credentials.  #### Workflow  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](https://docs.wandelbots.io/latest/developing-introduction) for more information.  #### Predefined environment variables  <!-- theme: NOTE --> > **NOTE** > - `NOVA_API`: The API endpoint accessible from within the application container. > - `NATS_BROKER`: The NATS broker endpoint accessible from within the application container. > - `BASE_PATH`: The application\'s root path, accessible at http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell hosting the deployed application. 
+	* **Required permissions:** `can_manage_apps` - Install, update, or remove applications ___  Install a basic, containerized web application to the cell to control robots with a customized frontend.  #### Prerequisites - A Docker hub account or similar container registry account, with valid credentials.  #### Workflow  After adding the application to the cell, open the application on the Wandelbots NOVA home screen.  Read [build your application](https://docs.wandelbots.io/latest/developing-introduction) for more information.  #### Predefined environment variables  <!-- theme: NOTE --> > **NOTE** > - `NOVA_API`: The API endpoint accessible from within the application container. > - `NATS_BROKER`: The NATS broker endpoint accessible from within the application container. > - `BASE_PATH`: The application\'s root path, accessible at http://$host/$BASE_PATH > - `CELL_NAME`: The name of the cell hosting the deployed application. 
 	* @summary Add Application
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {App} app 
@@ -725,7 +755,7 @@ 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] 
@@ -736,7 +766,7 @@ 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 
@@ -748,7 +778,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).deleteApp(cell, app, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the configuration for an active GUI application in the cell.  To update the configuration of a GUI application in the cell, use this configuration with [updateApp](#/operations/updateApp). 
+	* **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 [updateApp](#/operations/updateApp). 
 	* @summary Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} app 
@@ -759,7 +789,7 @@ var ApplicationApi = class extends BaseAPI {
 		return ApplicationApiFp(this.configuration).getApp(cell, app, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all GUI applications that have been added to a cell with [addApp](#/operations/addApp).  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 [addApp](#/operations/addApp).  If the cell does not contain GUI applications, the list is returned empty. 
 	* @summary List Applications
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -769,7 +799,7 @@ 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 
@@ -1115,6 +1145,32 @@ const BUSInputsOutputsApiAxiosParamCreator = function(configuration) {
 				options: localVarRequestOptions
 			};
 		},
+		getProfinetGSDML: async (cell, options = {}) => {
+			assertParamExists("getProfinetGSDML", "cell", cell);
+			const localVarPath = `/cells/{cell}/bus-ios/profinet/gsdml`.replace(`{cell}`, encodeURIComponent(String(cell)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "GET",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		},
 		getProfinetIOsFromFile: async (cell, inputOffset, outputOffset, options = {}) => {
 			assertParamExists("getProfinetIOsFromFile", "cell", cell);
 			const localVarPath = `/cells/{cell}/bus-ios/profinet/iofile`.replace(`{cell}`, encodeURIComponent(String(cell)));
@@ -1359,6 +1415,12 @@ const BUSInputsOutputsApiFp = function(configuration) {
 			const localVarOperationServerBasePath = operationServerMap["BUSInputsOutputsApi.getProfinetDescription"]?.[localVarOperationServerIndex]?.url;
 			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
 		},
+		async getProfinetGSDML(cell, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.getProfinetGSDML(cell, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["BUSInputsOutputsApi.getProfinetGSDML"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
 		async getProfinetIOsFromFile(cell, inputOffset, outputOffset, options) {
 			const localVarAxiosArgs = await localVarAxiosParamCreator.getProfinetIOsFromFile(cell, inputOffset, outputOffset, options);
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
@@ -1439,6 +1501,9 @@ const BUSInputsOutputsApiFactory = function(configuration, basePath, axios$1) {
 		getProfinetDescription(cell, options) {
 			return localVarFp.getProfinetDescription(cell, options).then((request) => request(axios$1, basePath));
 		},
+		getProfinetGSDML(cell, options) {
+			return localVarFp.getProfinetGSDML(cell, options).then((request) => request(axios$1, basePath));
+		},
 		getProfinetIOsFromFile(cell, inputOffset, outputOffset, options) {
 			return localVarFp.getProfinetIOsFromFile(cell, inputOffset, outputOffset, options).then((request) => request(axios$1, basePath));
 		},
@@ -1464,7 +1529,7 @@ const BUSInputsOutputsApiFactory = function(configuration, basePath, axios$1) {
 */
 var BUSInputsOutputsApi = class extends BaseAPI {
 	/**
-	* Add the BUS inputs/outputs service to the cell.  Starts a containerized service that enables BUS connections via the specified ethernet port. 
+	* **Required permissions:** `can_manage_bus_ios` - Manage BUS IO configuration ___  Add the BUS inputs/outputs service to the cell.  Starts a containerized service that enables BUS connections via the specified ethernet port. 
 	* @summary Add Service
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {BusIOType} busIOType 
@@ -1476,7 +1541,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).addBusIOService(cell, busIOType, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](#/operations/listModbusIOs). 
+	* **Required permissions:** `can_manage_bus_ios` - Manage BUS IO configuration ___  Adds an input/output variable to or updates an input/output variable on the MODBUS device, e.g., NOVA\'s MODBUS service.  The inputs/outputs map variables to specific memory addresses in the process image.  The NOVA\'s MODBUS service\'s configuration can be viewed via [listModbusIOs](#/operations/listModbusIOs). 
 	* @summary Add MODBUS Input/Output
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -1488,7 +1553,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).addModbusIO(cell, io, modbusIOData, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Adds an input/output variable to or updates an input/output variable on the PROFINET device, e.g., NOVA\'s PROFINET service.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. - The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](#/operations/addBusIOService)   and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. - The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](#/operations/listProfinetIOs).  For the PROFINET controller, e.g., a connected PLC, refer to the corresponding third party software, e.g., TIA portal). 
+	* **Required permissions:** `can_manage_bus_ios` - Manage BUS IO configuration ___  Adds an input/output variable to or updates an input/output variable on the PROFINET device, e.g., NOVA\'s PROFINET service.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. - The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](#/operations/addBusIOService)   and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller as well as NOVA\'s PROFINET service use an input/output variable configuration to interpret the bits of the input/output process image. - The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](#/operations/listProfinetIOs).  For the PROFINET controller, e.g., a connected PLC, refer to the corresponding third party software, e.g., TIA portal). 
 	* @summary Add PROFINET Input/Output
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -1500,7 +1565,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).addProfinetIO(cell, io, profinetIOData, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Remove the BUS inputs/outputs service from the cell. 
+	* **Required permissions:** `can_manage_bus_ios` - Manage BUS IO configuration ___  Remove the BUS inputs/outputs service from the cell. 
 	* @summary Clear Service
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {number} [completionTimeout] 
@@ -1511,7 +1576,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).clearBusIOService(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes all input/output variable configurations from the MODBUS device, e.g., NOVA\'s MODBUS service. 
+	* **Required permissions:** `can_manage_bus_ios` - Manage BUS IO configuration ___  Removes all input/output variable configurations from the MODBUS device, e.g., NOVA\'s MODBUS service. 
 	* @summary Remove all MODBUS Input/Outputs
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1521,7 +1586,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).deleteAllModbusIOs(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes all input/output variable configurations from the PROFINET device, e.g., NOVA\'s PROFINET service. 
+	* **Required permissions:** `can_manage_bus_ios` - Manage BUS IO configuration ___  Removes all input/output variable configurations from the PROFINET device, e.g., NOVA\'s PROFINET service. 
 	* @summary Remove all PROFINET Input/Outputs
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1531,7 +1596,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).deleteAllProfinetIOs(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes an input/output variable configuration from the MODBUS device, e.g., NOVA\'s MODBUS service. 
+	* **Required permissions:** `can_manage_bus_ios` - Manage BUS IO configuration ___  Removes an input/output variable configuration from the MODBUS device, e.g., NOVA\'s MODBUS service. 
 	* @summary Remove MODBUS Input/Output
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -1542,7 +1607,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).deleteModbusIO(cell, io, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes an input/output variable configuration from the PROFINET device, e.g., NOVA\'s PROFINET service. 
+	* **Required permissions:** `can_manage_bus_ios` - Manage BUS IO configuration ___  Removes an input/output variable configuration from the PROFINET device, e.g., NOVA\'s PROFINET service. 
 	* @summary Remove PROFINET Input/Ouptut
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} io Unique identifier to address an Input/Output in the cell.
@@ -1553,7 +1618,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).deleteProfinetIO(cell, io, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get deployed BUS inputs/outputs service.
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  Get deployed BUS inputs/outputs service.
 	* @summary Get Service
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1563,7 +1628,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).getBusIOService(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the current state of the BUS Inputs/Outputs service. 
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  Get the current state of the BUS Inputs/Outputs service. 
 	* @summary State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1573,7 +1638,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).getBusIOState(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](#/operations/listBusIODescriptions). 
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listBusIODescriptions](#/operations/listBusIODescriptions). 
 	* @summary Get Input/Output Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Array<string>} [ios] 
@@ -1584,7 +1649,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).getBusIOValues(cell, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get description of NOVA as a PROFINET device. 
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  Get description of NOVA as a PROFINET device. 
 	* @summary Get PROFINET Description
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1594,7 +1659,17 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).getProfinetDescription(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get input/output variable configuration of the PROFINET device, e.g., NOVA\'s PROFINET service as file.  You can specify byte offsets for the input and output variable addresses to get an XML tagmap that is ready to paste to the third party software, e.g., TIA portal. 
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  Returns the Generic Station Description Markup Language (GSDML) file for the PROFINET device.  The GSDML file describes the PROFINET device configuration and capabilities, and can be imported into PROFINET engineering tools, e.g., TIA Portal, or other PLC programming environments.  The returned GSDML file matches the current slot configuration of the PROFINET device. 
+	* @summary Get PROFINET GSDML File
+	* @param {string} cell Unique identifier addressing a cell in all API calls. 
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	getProfinetGSDML(cell, options) {
+		return BUSInputsOutputsApiFp(this.configuration).getProfinetGSDML(cell, options).then((request) => request(this.axios, this.basePath));
+	}
+	/**
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  Get input/output variable configuration of the PROFINET device, e.g., NOVA\'s PROFINET service as file.  You can specify byte offsets for the input and output variable addresses to get an XML tagmap that is ready to paste to the third party software, e.g., TIA portal. 
 	* @summary PROFINET Inputs/Outputs to File
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {number} [inputOffset] 
@@ -1606,7 +1681,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).getProfinetIOsFromFile(cell, inputOffset, outputOffset, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all input/output descriptions for configured BUS services.  The input/output descriptions contain information like name, type and unit. The input/output direction is given in perspective of the BUS service. 
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  List all input/output descriptions for configured BUS services.  The input/output descriptions contain information like name, type and unit. The input/output direction is given in perspective of the BUS service. 
 	* @summary List Descriptions
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1616,7 +1691,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).listBusIODescriptions(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type, and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller, as well as NOVA\'s MODBUS service, use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](#/operations/addModbusIO). 
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  List descriptions for all configured input/output variables of the MODBUS service.  The input/output descriptions contain information like name, type, and address. The input/output direction is given in perspective of the active MODBUS type (service or client).  - The byte and bit addresses are the locations in the MODBUS input/output process image the variable points to. - The MODBUS controller, as well as NOVA\'s MODBUS service, use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA MODBUS service\'s configuration is modified via [addModbusIO](#/operations/addModbusIO). 
 	* @summary List MODBUS Input/Output Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1626,7 +1701,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).listModbusIOs(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information like name, type, and unit. The input/output direction is given in perspective of the PROFINET device, e.g., the configured PROFINET service.  - The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. - The PROFINET controller, as well as NOVA\'s PROFINET service, use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](#/operations/addProfinetIO) and [setProfinetIOsFromFile](#/operations/setProfinetIOsFromFile).  For the PROFINET controller, e.g., a connected PLC, refer to the corresponding third party software, e.g., TIA portal. 
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  List descriptions for all configured input/output variables of the PROFINET service.  The input/output descriptions contain information like name, type, and unit. The input/output direction is given in perspective of the PROFINET device, e.g., the configured PROFINET service.  - The byte and bit addresses are the locations in the PROFINET input/output process image the variable points to. - The PROFINET controller, as well as NOVA\'s PROFINET service, use an input/output variable configuration to interpret the bits of the input and output process image. - The NOVA PROFINET service\'s configuration is modified via [addProfinetIO](#/operations/addProfinetIO) and [setProfinetIOsFromFile](#/operations/setProfinetIOsFromFile).  For the PROFINET controller, e.g., a connected PLC, refer to the corresponding third party software, e.g., TIA portal. 
 	* @summary List PROFINET Input/Output Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -1636,7 +1711,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).listProfinetIOs(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](#/operations/listBusIODescriptions).  The call will return once the values have been set and accepted by the service. 
+	* **Required permissions:** `can_operate_bus_ios` - Read and write BUS IO values ___  Set values of outputs. In case of virtual Bus Input/Outputs, also inputs can be set.  All available output identifiers can be requested via [listBusIODescriptions](#/operations/listBusIODescriptions).  The call will return once the values have been set and accepted by the service. 
 	* @summary Set Output Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Array<IOValue>} iOValue 
@@ -1647,7 +1722,7 @@ var BUSInputsOutputsApi = class extends BaseAPI {
 		return BUSInputsOutputsApiFp(this.configuration).setBusIOValues(cell, iOValue, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets input/output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. - The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](#/operations/addBusIOService)   and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller, as well as NOVA\'s PROFINET service, use an input/output variable configuration to interpret the bits of the input/output process image. - The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](#/operations/listProfinetIOs).  For the PROFINET controller, e.g., a connected PLC, refer to the corresponding engineering system, e.g., TIA portal.  #### Export variables You can export the variable configuration of the PROFINET controller as an XML file from your engineering system, e.g., TIA portal. - The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output)   is internally handled (PROFINET device input is PROFINET controller output), meaning that you can paste the exported XML file here without modifying. 
+	* **Required permissions:** `can_manage_bus_ios` - Manage BUS IO configuration ___  Sets input/output variable configuration on the PROFINET device (i.e. NOVA\'s PROFINET service) from XML file.  The inputs/outputs map variables to specific memory addresses in the process image.  The default process image has buffer lengths of 64 bytes for input and output. - The size of the buffer is determined by the `config_file_content` that is passed in [addBusIOService](#/operations/addBusIOService)   and has to be in accordance with the GSDML file describing the PROFINET device.  The PROFINET controller, as well as NOVA\'s PROFINET service, use an input/output variable configuration to interpret the bits of the input/output process image. - The NOVA\'s PROFINET service\'s configuration can be viewed via [listProfinetIOs](#/operations/listProfinetIOs).  For the PROFINET controller, e.g., a connected PLC, refer to the corresponding engineering system, e.g., TIA portal.  #### Export variables You can export the variable configuration of the PROFINET controller as an XML file from your engineering system, e.g., TIA portal. - The endpoint is built so that the perspective of input and output (PROFINET Device\'s input is PROFINET Controller\'s output)   is internally handled (PROFINET device input is PROFINET controller output), meaning that you can paste the exported XML file here without modifying. 
 	* @summary Set PROFINET Inputs/Outputs from File
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {ProfinetInputOutputConfig} profinetInputOutputConfig 
@@ -2013,7 +2088,7 @@ const CellApiFactory = function(configuration, basePath, axios$1) {
 */
 var CellApi = class extends BaseAPI {
 	/**
-	* Check if a more recent Wandelbots NOVA version is available for the cell. Updates greater than the system version are ignored. 
+	* **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Check if a more recent Wandelbots NOVA version is available for the cell. Updates greater than the system version are ignored. 
 	* @summary Check Cell Update
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {ReleaseChannel} channel 
@@ -2024,7 +2099,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).checkCellVersionUpdate(cell, channel, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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] 
@@ -2035,7 +2110,7 @@ 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](https://docs.wandelbots.io/latest/setup-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](https://docs.wandelbots.io/latest/setup-cell) for more information.
 	* @summary Add Cell
 	* @param {Cell} cell 
 	* @param {number} [completionTimeout] 
@@ -2046,7 +2121,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).deployCell(cell, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List all cell resources. 
+	* **Required permissions:** `can_access_cells` - View cell configurations and resources ___  List all cell resources. 
 	* @summary Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -2056,7 +2131,7 @@ 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.
@@ -2066,7 +2141,7 @@ 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}
@@ -2075,7 +2150,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).listCells(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deactivate or activate the services of a cell.
+	* **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Deactivate or activate the services of a cell.
 	* @summary Operating State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {OperatingState} operatingState Set state of the cell. Active or inactive.
@@ -2086,7 +2161,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).setCellStatus(cell, operatingState, 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.  <!-- theme: info --> > **NOTE** > > This endpoint replaces the full cell configuration and is not a partial update. > To change only one field: > 1. Get the current configuration via [Cell > Configuration](#/operations/getCell). > 2. Send the full configuration with your intended changes via [Cell > Update Configuration](#/operations/updateCell).  Omitting existing sections may reset or remove their current configuration. 
 	* @summary Update Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {Cell} cell2 
@@ -2098,7 +2173,7 @@ var CellApi = class extends BaseAPI {
 		return CellApiFp(this.configuration).updateCell(cell, cell2, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Update the Foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version. 
+	* **Required permissions:** `can_manage_cells` - Create, update, or delete cells ___  Update the Foundation chart version for a single cell based on a release channel. The resulting version is capped at the current system version. 
 	* @summary Update Cell Version
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {UpdateCellVersionRequest} updateCellVersionRequest 
@@ -2656,7 +2731,7 @@ const ControllerApiFactory = function(configuration, basePath, axios$1) {
 */
 var ControllerApi = class extends BaseAPI {
 	/**
-	* Add a robot controller to the cell. 
+	* **Required permissions:** `can_manage_controllers` - Create, update, or delete robot controllers ___  Add a robot controller to the cell. 
 	* @summary Add Robot Controller
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {RobotController} robotController 
@@ -2668,7 +2743,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).addRobotController(cell, robotController, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](#/operations/addRobotController). 
+	* **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 [addRobotController](#/operations/addRobotController). 
 	* @summary Clear Robot Controllers
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {number} [completionTimeout] 
@@ -2679,7 +2754,7 @@ 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. 
+	* **Required permissions:** `can_manage_controllers` - Create, update, or delete robot controllers ___  Delete a robot controller from the cell. 
 	* @summary Delete Robot Controller
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2691,7 +2766,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).deleteRobotController(cell, controller, completionTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](#/operations/getMotionGroupDescription) to get more information about the motion group. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](#/operations/getMotionGroupDescription) to get more information about the motion group. 
 	* @summary Description
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2702,7 +2777,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getControllerDescription(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Request a coordinate system specification for a given identifier. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Request a coordinate system specification for a given identifier. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 	* @summary Coordinate System
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2715,7 +2790,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getCoordinateSystem(cell, controller, coordinateSystem, orientationType, 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
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2726,7 +2801,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getCurrentRobotControllerState(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
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2737,7 +2812,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getRobotController(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](#/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. 
+	* **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. 
 	* @summary Virtual Controller Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2748,7 +2823,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).getVirtualControllerConfiguration(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists all specifications of coordinate systems from robot controllers. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Lists all specifications of coordinate systems from robot controllers. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 	* @summary List Coordinate Systems
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2760,7 +2835,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).listCoordinateSystems(cell, controller, orientationType, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List the names of all deployed robot controllers.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  List the names of all deployed robot controllers.
 	* @summary List Robot Controllers
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -2770,7 +2845,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).listRobotControllers(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Switch between monitor and control usage as default for a robot controller.  Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network, monitoring mode is always possible.  To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state `normal` or `reduced`. If the robot controller is in `manual` operating mode, you have to manually confirm the control usage activation on the robot control panel. This manual confirmation can\'t be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](#/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** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](#/operations/getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
 	* @summary Set Default Mode
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2782,7 +2857,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).setDefaultMode(cell, controller, mode, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: success -->  > Websocket endpoint  Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot.  <!-- theme: danger -->  > **DANGER** > > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being > crushed, drawn in or caught due to the robot\'s complex movement sequences. Before opening the websocket, ensure that > > - The robot is in a safe state, > - The right payload is set, > - No humans or object are within the robot\'s reach or within the cell.  As long as the websocket connection is open you will get the current state of the robot system in the response in the specified `response_rate`. If the activation failed, the returned status will return possible reasons for the failure.  Free drive mode is only available for robot controllers that support it, in particular cobots. Use [listRobotControllers](#/operations/listRobotControllers) to check if the robot controller supports free drive mode. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: success -->  > Websocket endpoint  Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot.  <!-- theme: danger -->  > **DANGER** > > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being > crushed, drawn in or caught due to the robot\'s complex movement sequences. Before opening the websocket, ensure that > > - The robot is in a safe state, > - The right payload is set, > - No humans or object are within the robot\'s reach or within the cell.  As long as the websocket connection is open you will get the current state of the robot system in the response in the specified `response_rate`. If the activation failed, the returned status will return possible reasons for the failure.  Free drive mode is only available for robot controllers that support it, in particular cobots. Use [listRobotControllers](#/operations/listRobotControllers) to check if the robot controller supports free drive mode. 
 	* @summary Stream Free Drive
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2794,7 +2869,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).streamFreeDrive(cell, controller, responseRate, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: success -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](#/operations/addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: success -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](#/operations/addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates. 
 	* @summary Stream State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -2807,7 +2882,7 @@ var ControllerApi = class extends BaseAPI {
 		return ControllerApiFp(this.configuration).streamRobotControllerState(cell, controller, responseRate, addControllerTimeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](#/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.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](#/operations/getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](#/operations/deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](#/operations/addRobotController). 
 	* @summary Update Robot Controller
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3040,7 +3115,7 @@ const ControllerInputsOutputsApiFactory = function(configuration, basePath, axio
 */
 var ControllerInputsOutputsApi = class extends BaseAPI {
 	/**
-	* Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the robot controller\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Lists the input/output descriptions of the robot controller.  The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the robot controller\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 	* @summary List Descriptions
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3055,7 +3130,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).listIODescriptions(cell, controller, ios, direction, valueType, group, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](#/operations/listIODescriptions). 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Retrieves the current values of inputs/outputs.  The identifiers of the inputs/outputs must be provided in the request. Request all available input/output identifiers via [listIODescriptions](#/operations/listIODescriptions). 
 	* @summary Get Input/Output Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3067,7 +3142,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).listIOValues(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](#/operations/listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This can take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Set the values of outputs.  All available output identifiers and possible value ranges can be requested via [listIODescriptions](#/operations/listIODescriptions).  The call will return once the values have been set on and accepted by the robot. This can take up to 200 milliseconds.  > **NOTE** > > Do not call this endpoint while another request is still in progress. The second call will fail. 
 	* @summary Set Output Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3079,7 +3154,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).setOutputValues(cell, controller, iOValue, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: success -->  > Websocket endpoint  Continuously receive updates of input/output values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > If you request many values simultaneously, the request is likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. This can lead to a high amount of data transmitted. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: success -->  > Websocket endpoint  Continuously receive updates of input/output values via websocket. Updates are sent in the update rate of the controller.  > **NOTE** > > If you request many values simultaneously, the request is likely to fail. The amount of values that can be streamed simultaneously depends on the specific robot controller.  > **NOTE** > > The inputs and outputs are sent in the update rate of the controller to prevent losing any values. This can lead to a high amount of data transmitted. 
 	* @summary Stream Input/Output Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3091,7 +3166,7 @@ var ControllerInputsOutputsApi = class extends BaseAPI {
 		return ControllerInputsOutputsApiFp(this.configuration).streamIOValues(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](#/operations/listIODescriptions) for more information.  **Examples**  1. Wait until analog input `AI_1` < 10:     ```     io: \"AI_1\"     comparison_type: \"COMPARISON_LESS\"     value: 10     ```  2. Wait until analog input `AI_2` > 5.0:     ```     io: \"AI_2\"     comparison_type: \"COMPARISON_GREATER\"     value: 5.0     ```  3. Wait until digital input `DI_3` is true:     ```     io: \"DI_3\"     comparison_type: \"COMPARISON_EQUAL\"     value: true     ``` 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Wait until an input/output reaches a certain value.  This call returns as soon as the condition is met or the request fails.  The `comparison_type` value is used to define how the current value of the input/output is compared with given value. Only set the value that corresponds to the `value_type` of the input/output. See [listIODescriptions](#/operations/listIODescriptions) for more information.  **Examples**  1. Wait until analog input `AI_1` < 10:     ```     io: \"AI_1\"     comparison_type: \"COMPARISON_LESS\"     value: 10     ```  2. Wait until analog input `AI_2` > 5.0:     ```     io: \"AI_2\"     comparison_type: \"COMPARISON_GREATER\"     value: 5.0     ```  3. Wait until digital input `DI_3` is true:     ```     io: \"DI_3\"     comparison_type: \"COMPARISON_EQUAL\"     value: true     ``` 
 	* @summary Wait For
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3164,7 +3239,7 @@ const JoggingApiFactory = function(configuration, basePath, axios$1) {
 */
 var JoggingApi = class extends BaseAPI {
 	/**
-	* <!-- theme: success -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP. The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](#/operations/streamMotionGroupState), which can be subscribed to via nats as well.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with `JointVelocityRequest` or `TcpVelocityRequest`. - To stop the jogging motion, send zero velocities via either request or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: success -->  > Websocket endpoint  Provides execution control over a dynamically adaptable jogging motion for a motion group.  Jogging describes controlling a motion group by sending real-time commands to move either its joints or the TCP. The commands contain target velocities that may change at any time during execution, so the resulting motion cannot be computed upfront.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointVelocityRequest` or `TcpVelocityRequest` to start the jogging motion.  - Commands can only be processed in the cycle rate of the controller - Sending commands faster will not increase the responsiveness of the jogging motion, it will lead to dropped commands - It is recommended to couple sending commands with the [state stream](#/operations/streamMotionGroupState), which can be subscribed to via nats as well.  #### 3. Change or stop the jogging motion  - Change the jogging direction and/or velocity during the jogging motion with `JointVelocityRequest` or `TcpVelocityRequest`. - To stop the jogging motion, send zero velocities via either request or `PauseJoggingRequest`.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointVelocityResponse` after `JointVelocityRequest`   - `TcpVelocityResponse` after `TcpVelocityRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops. 
 	* @summary Execute Jogging
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3238,6 +3313,35 @@ const KinematicsApiAxiosParamCreator = function(configuration) {
 				url: toPathString(localVarUrlObj),
 				options: localVarRequestOptions
 			};
+		},
+		projectJointPositionDirectionConstraint: async (cell, projectJointPositionDirectionConstraintRequest, options = {}) => {
+			assertParamExists("projectJointPositionDirectionConstraint", "cell", cell);
+			assertParamExists("projectJointPositionDirectionConstraint", "projectJointPositionDirectionConstraintRequest", projectJointPositionDirectionConstraintRequest);
+			const localVarPath = `/experimental/cells/{cell}/kinematic/project-joint-position-direction-constraint`.replace(`{cell}`, encodeURIComponent(String(cell)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "POST",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			localVarHeaderParameter["Content-Type"] = "application/json";
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			localVarRequestOptions.data = serializeDataIfNeeded(projectJointPositionDirectionConstraintRequest, localVarRequestOptions, configuration);
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
 		}
 	};
 };
@@ -3258,6 +3362,12 @@ const KinematicsApiFp = function(configuration) {
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
 			const localVarOperationServerBasePath = operationServerMap["KinematicsApi.inverseKinematics"]?.[localVarOperationServerIndex]?.url;
 			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
+		async projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["KinematicsApi.projectJointPositionDirectionConstraint"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
 		}
 	};
 };
@@ -3272,6 +3382,9 @@ const KinematicsApiFactory = function(configuration, basePath, axios$1) {
 		},
 		inverseKinematics(cell, inverseKinematicsRequest, options) {
 			return localVarFp.inverseKinematics(cell, inverseKinematicsRequest, options).then((request) => request(axios$1, basePath));
+		},
+		projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options) {
+			return localVarFp.projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options).then((request) => request(axios$1, basePath));
 		}
 	};
 };
@@ -3280,7 +3393,7 @@ const KinematicsApiFactory = function(configuration, basePath, axios$1) {
 */
 var KinematicsApi = class extends BaseAPI {
 	/**
-	* Returns the TCP poses for a list of given joint positions. 
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the TCP poses for a list of given joint positions. 
 	* @summary Forward kinematics
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {ForwardKinematicsRequest} forwardKinematicsRequest 
@@ -3291,7 +3404,7 @@ var KinematicsApi = class extends BaseAPI {
 		return KinematicsApiFp(this.configuration).forwardKinematics(cell, forwardKinematicsRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the reachable joint positions for a list of given poses. 
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the reachable joint positions for a list of given poses. 
 	* @summary Inverse kinematics
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {InverseKinematicsRequest} inverseKinematicsRequest 
@@ -3301,6 +3414,17 @@ var KinematicsApi = class extends BaseAPI {
 	inverseKinematics(cell, inverseKinematicsRequest, options) {
 		return KinematicsApiFp(this.configuration).inverseKinematics(cell, inverseKinematicsRequest, options).then((request) => request(this.axios, this.basePath));
 	}
+	/**
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  <!-- theme: danger -->  > **Experimental**  Returns the projected joint position that satisfies the direction constraint for a given target joint position. This may alter the TCP pose.  To project the cartesian pose instead, use the following code snippet:  ```python import numpy as np from scipy.spatial.transform import Rotation as R  def project_cartesian_pose_direction_constraint(T_world_tcp: models.Pose, constraint: models.DirectionConstraint) -> models.Pose:   constraint_tcp = np.array(constraint.tcp)   target_constraint_world = np.array(constraint.world)   R_world_tcp = R.from_rotvec(T_world_tcp.orientation.root)   current_constraint_world = R_world_tcp.apply(constraint_tcp)   R_corr, _ = R.align_vectors([target_constraint_world], [current_constraint_world])   R_world_tcp_new = R_corr * R_world_tcp   return models.Pose(position=T_world_tcp.position, orientation=R_world_tcp_new.as_rotvec()) ``` 
+	* @summary Project joint position to direction constraint
+	* @param {string} cell Unique identifier addressing a cell in all API calls. 
+	* @param {ProjectJointPositionDirectionConstraintRequest} projectJointPositionDirectionConstraintRequest 
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options) {
+		return KinematicsApiFp(this.configuration).projectJointPositionDirectionConstraint(cell, projectJointPositionDirectionConstraintRequest, options).then((request) => request(this.axios, this.basePath));
+	}
 };
 /**
 * LicenseApi - axios parameter creator
@@ -3465,7 +3589,7 @@ 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.
@@ -3475,7 +3599,7 @@ 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}
@@ -3484,7 +3608,7 @@ 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}
@@ -3493,7 +3617,7 @@ 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_system` - View system status and metadata ___  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}
@@ -3644,7 +3768,7 @@ const MotionGroupApiFactory = function(configuration, basePath, axios$1) {
 */
 var MotionGroupApi = class extends BaseAPI {
 	/**
-	* 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
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3657,7 +3781,7 @@ var MotionGroupApi = class extends BaseAPI {
 		return MotionGroupApiFp(this.configuration).getCurrentMotionGroupState(cell, controller, motionGroup, responseCoordinateSystem, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc.  This data can change upon connection to the robot. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get the set of parameters that describe the motion group and its configuration including safety zones, limits, etc.  This data can change upon connection to the robot. 
 	* @summary Description
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3669,7 +3793,7 @@ var MotionGroupApi = class extends BaseAPI {
 		return MotionGroupApiFp(this.configuration).getMotionGroupDescription(cell, controller, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: success -->  > Websocket endpoint  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 ___  <!-- theme: success -->  > Websocket endpoint  Receive updates of the motion group state.  The stream will be closed from the server if the controller is disconnected. 
 	* @summary Stream State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -3884,7 +4008,7 @@ const MotionGroupModelsApiFactory = function(configuration, basePath, axios$1) {
 */
 var MotionGroupModelsApi = class extends BaseAPI {
 	/**
-	* Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Attach additional shapes to the link reference frames by extending the link dictionaries before further use. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Returns the default collision link chain for a given motion group model.  See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported motion group models.  The default link chain is derived from 3D models and optimized for collision detection within NOVA.  The default link chain includes link shapes only. It does not include any attached components like wire feeders or sensors.  Attach additional shapes to the link reference frames by extending the link dictionaries before further use. Additional shapes may overlap each other per link and may also overlap the respective link\'s default shape. 
 	* @summary Get Collision Model
 	* @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g., &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](#/operations/getOptimizerConfiguration). 
 	* @param {*} [options] Override http request option.
@@ -3894,7 +4018,7 @@ var MotionGroupModelsApi = class extends BaseAPI {
 		return MotionGroupModelsApiFp(this.configuration).getMotionGroupCollisionModel(motionGroupModel, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Returns the GLB asset for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers. 
 	* @summary Download GLB Model
 	* @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g., &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](#/operations/getOptimizerConfiguration). 
 	* @param {*} [options] Override http request option.
@@ -3904,7 +4028,7 @@ var MotionGroupModelsApi = class extends BaseAPI {
 		return MotionGroupModelsApiFp(this.configuration).getMotionGroupGlbModel(motionGroupModel, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported motion group models. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Returns the kinematics model (DH parameters) for the given motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported motion group models. 
 	* @summary Get Kinematics
 	* @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g., &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](#/operations/getOptimizerConfiguration). 
 	* @param {*} [options] Override http request option.
@@ -3914,7 +4038,7 @@ var MotionGroupModelsApi = class extends BaseAPI {
 		return MotionGroupModelsApiFp(this.configuration).getMotionGroupKinematicModel(motionGroupModel, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the list of supported motion group models. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Returns the list of supported motion group models. 
 	* @summary Motion Group Models
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -3923,7 +4047,7 @@ var MotionGroupModelsApi = class extends BaseAPI {
 		return MotionGroupModelsApiFp(this.configuration).getMotionGroupModels(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Returns the USD scene model for the specified motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported identifiers. 
 	* @summary Download USD Model
 	* @param {string} motionGroupModel Unique identifier for the model of a motion group, e.g., &#x60;UniversalRobots_UR10e&#x60;.  Get the &#x60;model&#x60; of a configured motion group with [getOptimizerConfiguration](#/operations/getOptimizerConfiguration). 
 	* @param {*} [options] Override http request option.
@@ -3934,6 +4058,167 @@ var MotionGroupModelsApi = class extends BaseAPI {
 	}
 };
 /**
+* NOVACloudApi - axios parameter creator
+*/
+const NOVACloudApiAxiosParamCreator = function(configuration) {
+	return {
+		connectToNovaCloud: async (completionTimeout, cloudConnectionRequest, options = {}) => {
+			const localVarUrlObj = new URL(`/experimental/cloud/connect`, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "POST",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
+			localVarHeaderParameter["Content-Type"] = "application/json";
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			localVarRequestOptions.data = serializeDataIfNeeded(cloudConnectionRequest, localVarRequestOptions, configuration);
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		},
+		disconnectFromNovaCloud: async (completionTimeout, options = {}) => {
+			const localVarUrlObj = new URL(`/experimental/cloud/config`, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "DELETE",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			if (completionTimeout !== void 0) localVarQueryParameter["completion_timeout"] = completionTimeout;
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		},
+		getNovaCloudConfig: async (options = {}) => {
+			const localVarUrlObj = new URL(`/experimental/cloud/config`, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "GET",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		}
+	};
+};
+/**
+* NOVACloudApi - functional programming interface
+*/
+const NOVACloudApiFp = function(configuration) {
+	const localVarAxiosParamCreator = NOVACloudApiAxiosParamCreator(configuration);
+	return {
+		async connectToNovaCloud(completionTimeout, cloudConnectionRequest, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.connectToNovaCloud(completionTimeout, cloudConnectionRequest, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["NOVACloudApi.connectToNovaCloud"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
+		async disconnectFromNovaCloud(completionTimeout, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.disconnectFromNovaCloud(completionTimeout, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["NOVACloudApi.disconnectFromNovaCloud"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
+		async getNovaCloudConfig(options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.getNovaCloudConfig(options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["NOVACloudApi.getNovaCloudConfig"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		}
+	};
+};
+/**
+* NOVACloudApi - factory interface
+*/
+const NOVACloudApiFactory = function(configuration, basePath, axios$1) {
+	const localVarFp = NOVACloudApiFp(configuration);
+	return {
+		connectToNovaCloud(completionTimeout, cloudConnectionRequest, options) {
+			return localVarFp.connectToNovaCloud(completionTimeout, cloudConnectionRequest, options).then((request) => request(axios$1, basePath));
+		},
+		disconnectFromNovaCloud(completionTimeout, options) {
+			return localVarFp.disconnectFromNovaCloud(completionTimeout, options).then((request) => request(axios$1, basePath));
+		},
+		getNovaCloudConfig(options) {
+			return localVarFp.getNovaCloudConfig(options).then((request) => request(axios$1, basePath));
+		}
+	};
+};
+/**
+* NOVACloudApi - object-oriented interface
+*/
+var NOVACloudApi = class extends BaseAPI {
+	/**
+	* **Required permissions:** `can_manage_cloud_connection` - Manage NOVA Cloud connection ___     <!-- theme: danger -->    > **Experimental**    Register this instance with the NOVA Cloud fleet manager and configure the   local NATS server to establish a leafnode connection. The fleet manager will   then be able to receive event data from this instance, allowing it to monitor   the connected robots.    Establishing the connection can take some time (~30-60 seconds), as the NATS   server pod in the cluster needs to restart to apply the new configuration.
+	* @summary Connect to NOVA Cloud
+	* @param {number} [completionTimeout]  The maximum time (**in seconds**) spent waiting until the operation is complete.  If the parameter is set, the request will wait for completion until the specified time is up. For POST and PUT requests completion means that all resources are running and usable. For DELETE completion means that the deletion process is completed.
+	* @param {CloudConnectionRequest} [cloudConnectionRequest] 
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	connectToNovaCloud(completionTimeout, cloudConnectionRequest, options) {
+		return NOVACloudApiFp(this.configuration).connectToNovaCloud(completionTimeout, cloudConnectionRequest, options).then((request) => request(this.axios, this.basePath));
+	}
+	/**
+	* **Required permissions:** `can_manage_cloud_connection` - Manage NOVA Cloud connection ___     <!-- theme: danger -->    > **Experimental**    Disconnects this instance from NOVA Cloud and removes the local NATS leafnode configuration.
+	* @summary Disconnect from NOVA Cloud
+	* @param {number} [completionTimeout]  The maximum time (**in seconds**) spent waiting until the operation is complete.  If the parameter is set, the request will wait for completion until the specified time is up. For POST and PUT requests completion means that all resources are running and usable. For DELETE completion means that the deletion process is completed.
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	disconnectFromNovaCloud(completionTimeout, options) {
+		return NOVACloudApiFp(this.configuration).disconnectFromNovaCloud(completionTimeout, options).then((request) => request(this.axios, this.basePath));
+	}
+	/**
+	* **Required permissions:** `can_access_system` - View system status and metadata ___     <!-- theme: danger -->    > **Experimental**    Get the current NOVA Cloud connection config for this instance.
+	* @summary Get Connection Config
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	getNovaCloudConfig(options) {
+		return NOVACloudApiFp(this.configuration).getNovaCloudConfig(options).then((request) => request(this.axios, this.basePath));
+	}
+};
+/**
 * ProgramApi - axios parameter creator
 */
 const ProgramApiAxiosParamCreator = function(configuration) {
@@ -4107,7 +4392,7 @@ const ProgramApiFactory = function(configuration, basePath, axios$1) {
 */
 var ProgramApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger -->  > **Experimental**  Get details of a program. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger -->  > **Experimental**  Get details of a program. 
 	* @summary Get program
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} program 
@@ -4118,7 +4403,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).getProgram(cell, program, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > **Experimental**  List details of all existing programs. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger -->  > **Experimental**  List details of all existing programs. 
 	* @summary List programs
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -4128,7 +4413,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).listPrograms(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > **Experimental**  This endpoint starts a new program execution.  The program will be executed asynchronously. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger -->  > **Experimental**  This endpoint starts a new program execution.  The program will be executed asynchronously. 
 	* @summary Start the program
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} program 
@@ -4140,7 +4425,7 @@ var ProgramApi = class extends BaseAPI {
 		return ProgramApiFp(this.configuration).startProgram(cell, program, programStartRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > **Experimental**  Stop a specific program run. 
+	* **Required permissions:** `can_operate_programs` - Execute and monitor programs ___  <!-- theme: danger -->  > **Experimental**  Stop a specific program run. 
 	* @summary Stop program run
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} program 
@@ -4248,7 +4533,7 @@ const RobotConfigurationsApiFactory = function(configuration, basePath, axios$1)
 */
 var RobotConfigurationsApi = class extends BaseAPI {
 	/**
-	* Returns all robot controller configurations that match the provided [ARP scan result](#/operations/getArpScan). 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Returns all robot controller configurations that match the provided [ARP scan result](#/operations/getArpScan). 
 	* @summary Robot Controller Configurations
 	* @param {RobotControllerConfigurationRequest} robotControllerConfigurationRequest 
 	* @param {*} [options] Override http request option.
@@ -4258,7 +4543,7 @@ var RobotConfigurationsApi = class extends BaseAPI {
 		return RobotConfigurationsApiFp(this.configuration).getControllerConfigFromArpScan(robotControllerConfigurationRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the identifiers of available robot configurations. A robot configuration represents a robot controller with one or more attached motion groups. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  Returns the identifiers of available robot configurations. A robot configuration represents a robot controller with one or more attached motion groups. 
 	* @summary List Robot Configurations
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -4838,7 +5123,7 @@ 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.
@@ -4849,7 +5134,7 @@ 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.
@@ -4860,7 +5145,7 @@ 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.
@@ -4871,7 +5156,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).deleteStoredCollisionTool(cell, tool, 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.
@@ -4882,7 +5167,7 @@ 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.
@@ -4893,7 +5178,7 @@ 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.
@@ -4904,7 +5189,7 @@ 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.
@@ -4914,7 +5199,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listCollisionLinkChains(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns a list of keys for stored link chains. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns a list of keys for stored link chains. 
 	* @summary List Link Chain Keys
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -4924,7 +5209,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listCollisionLinkChainsKeys(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns all stored colliders. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns all stored colliders. 
 	* @summary List Colliders
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -4934,7 +5219,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listStoredColliders(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns a list of keys for stored colliders. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns a list of keys for stored colliders. 
 	* @summary List Collider Keys
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -4944,7 +5229,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listStoredCollidersKeys(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.
@@ -4954,7 +5239,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listStoredCollisionTools(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns a list of keys for stored tools. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns a list of keys for stored tools. 
 	* @summary List Tool Keys
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -4964,7 +5249,7 @@ var StoreCollisionComponentsApi = class extends BaseAPI {
 		return StoreCollisionComponentsApiFp(this.configuration).listStoredCollisionToolsKeys(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.
@@ -4976,7 +5261,7 @@ 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.
@@ -4988,7 +5273,7 @@ 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.
@@ -5209,7 +5494,7 @@ const StoreCollisionSetupsApiFactory = function(configuration, basePath, axios$1
 */
 var StoreCollisionSetupsApi = class extends BaseAPI {
 	/**
-	* Deletes the stored collision setup.  <!-- theme: danger --> > This will delete persistently stored data. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Deletes the stored collision setup.  <!-- theme: danger --> > This will delete persistently stored data. 
 	* @summary Delete Collision Setup
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} setup Identifier of the collision setup
@@ -5220,7 +5505,7 @@ var StoreCollisionSetupsApi = class extends BaseAPI {
 		return StoreCollisionSetupsApiFp(this.configuration).deleteStoredCollisionSetup(cell, setup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns the stored collision setup. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns the stored collision setup. 
 	* @summary Get Collision Setup
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} setup Identifier of the collision setup
@@ -5231,7 +5516,7 @@ var StoreCollisionSetupsApi = class extends BaseAPI {
 		return StoreCollisionSetupsApiFp(this.configuration).getStoredCollisionSetup(cell, setup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns a list of stored collision setups. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns a list of stored collision setups. 
 	* @summary List Collision Setups
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -5241,7 +5526,7 @@ var StoreCollisionSetupsApi = class extends BaseAPI {
 		return StoreCollisionSetupsApiFp(this.configuration).listStoredCollisionSetups(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns a list of keys for stored collision setups. 
+	* **Required permissions:** `can_read_collision_world` - Read collision models and scenes ___  Returns a list of keys for stored collision setups. 
 	* @summary List Collision Setup Keys
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {*} [options] Override http request option.
@@ -5251,7 +5536,7 @@ var StoreCollisionSetupsApi = class extends BaseAPI {
 		return StoreCollisionSetupsApiFp(this.configuration).listStoredCollisionSetupsKeys(cell, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Stores collision setup.  - If the collision setup does not exist, it will be created. - If the collision setup exists, it will be updated. 
+	* **Required permissions:** `can_write_collision_world` - Write collision models and scenes ___  Stores collision setup.  - If the collision setup does not exist, it will be created. - If the collision setup exists, it will be updated. 
 	* @summary Store Collision Setup
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} setup Identifier of the collision setup
@@ -5510,7 +5795,7 @@ 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.
@@ -5520,7 +5805,7 @@ 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 
@@ -5531,7 +5816,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).deleteObject(cell, key, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns content and metadata of a stored object. 
+	* **Required permissions:** `can_read_objects` - Read stored objects ___  Returns content and metadata of a stored object. 
 	* @summary Get Object
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -5542,7 +5827,7 @@ var StoreObjectApi = class extends BaseAPI {
 		return StoreObjectApiFp(this.configuration).getObject(cell, key, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Returns metadata. Object content is not returned. 
+	* **Required permissions:** `can_read_objects` - Read stored objects ___  Returns metadata. Object content is not returned. 
 	* @summary Get Object Metadata
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} key 
@@ -5553,7 +5838,7 @@ 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.
@@ -5563,7 +5848,7 @@ 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 
@@ -6016,7 +6301,7 @@ const SystemApiFactory = function(configuration, basePath, axios$1) {
 */
 var SystemApi = class extends BaseAPI {
 	/**
-	* Retrieves a configuration backup based on provided resource identifiers. If an empty array of resources is provided, a backup for all resources will be retrieved. 
+	* **Required permissions:** `can_backup_system` - Create system backups ___  Retrieves a configuration backup based on provided resource identifiers. If an empty array of resources is provided, a backup for all resources will be retrieved. 
 	* @summary Retrieve Configuration Backup
 	* @param {Array<string>} [resources] List of resource identifiers to include in the retrieval.
 	* @param {{ [key: string]: string; }} [metadata] Additional metadata to add to the backup
@@ -6027,7 +6312,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).backupConfiguration(resources, metadata, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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.
@@ -6037,7 +6322,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).checkNovaVersionUpdate(channel, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > **Experimental**  Performs an address resolution protocol (ARP) scan on the specified interface/classless inter-domain routing (CIDR) and returns all discovered devices on the network by CIDR notation. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  <!-- theme: danger -->  > **Experimental**  Performs an address resolution protocol (ARP) scan on the specified interface/classless inter-domain routing (CIDR) and returns all discovered devices on the network by CIDR notation. 
 	* @summary Get ARP-Scan
 	* @param {string} [_interface] 
 	* @param {string} [cidr] 
@@ -6049,7 +6334,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).getArpScan(_interface, cidr, timeout, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Retrieves the status of a configuration backup. The status can only be requested for 5 minutes after backup creation. After 5 minutes, 404 is returned.
+	* **Required permissions:** `can_backup_system` - Create system backups ___  Retrieves the status of a configuration backup. The status can only be requested for 5 minutes after backup creation. After 5 minutes, 404 is returned.
 	* @summary Retrieve Backup Status
 	* @param {string} operationId 
 	* @param {*} [options] Override http request option.
@@ -6059,7 +6344,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).getConfigurationBackupStatus(operationId, 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}
@@ -6068,7 +6353,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).getDiagnosePackage(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > **Experimental**   Get the network interfaces of the system. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  <!-- theme: danger -->  > **Experimental**   Get the network interfaces of the system. 
 	* @summary Network Interfaces
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -6077,7 +6362,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).getNetworkInterfaces(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* <!-- theme: danger -->  > **Experimental**   Get the current state of the network. 
+	* **Required permissions:** `can_access_system` - View system status and metadata ___  <!-- theme: danger -->  > **Experimental**   Get the current state of the network. 
 	* @summary Network State
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -6086,7 +6371,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).getNetworkState(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}
@@ -6095,7 +6380,7 @@ 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}
@@ -6104,7 +6389,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).getSystemVersion(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Retrieves a list of all available configuration resources for backup purposes. 
+	* **Required permissions:** `can_backup_system` - Create system backups ___  Retrieves a list of all available configuration resources for backup purposes. 
 	* @summary List Configuration Resources
 	* @param {*} [options] Override http request option.
 	* @throws {RequiredError}
@@ -6113,7 +6398,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).listConfigurationResources(options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Restores a previously backed up configuration. If an empty array of resources is provided, all resources from the backup will be restored. 
+	* **Required permissions:** `can_restore_system` - Restore system backups ___  Restores a previously backed up configuration. If an empty array of resources is provided, all resources from the backup will be restored. 
 	* @summary Restore Configuration Backup
 	* @param {File} body Backup file stream containing the configuration to restore.
 	* @param {Array<string>} [resources] List of resource identifiers to restore. If empty, all resources from the backup will be restored.
@@ -6124,7 +6409,7 @@ var SystemApi = class extends BaseAPI {
 		return SystemApiFp(this.configuration).restoreConfiguration(body, resources, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Update the Wandelbots NOVA version and all attached services.  Sending this API Request will trigger an update of all NOVA services that are part of a cell. Previous cells and cell configurations will remain on the instance.  If the update fails, the previous Wandelbots NOVA version is restored.  System updates only apply to cells without an explicit chart version. Pinned versions are always preserved; setting `update_cells=false` pins unversioned cells to the current system version before updating. 
+	* **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 the update fails, the previous Wandelbots NOVA version is restored.  System updates only apply to cells without an explicit chart version. Pinned versions are always preserved; setting `update_cells=false` pins unversioned cells to the current system version before updating. 
 	* @summary Update Wandelbots NOVA version
 	* @param {UpdateNovaVersionRequest} updateNovaVersionRequest 
 	* @param {*} [options] Override http request option.
@@ -6347,7 +6632,7 @@ const TrajectoryCachingApiFactory = function(configuration, basePath, axios$1) {
 */
 var TrajectoryCachingApi = class extends BaseAPI {
 	/**
-	* Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable.  <!-- theme: info -->  > #### NOTE > > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](#/operations/planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](#/operations/listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable.  <!-- theme: info -->  > #### NOTE > > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](#/operations/planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](#/operations/listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint. 
 	* @summary Add Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6359,7 +6644,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).addTrajectory(cell, controller, addTrajectoryRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Clear the trajectory cache.
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Clear the trajectory cache.
 	* @summary Clear Trajectories
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6370,7 +6655,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).clearTrajectories(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Delete a previously created trajectory from cache.  Use [listTrajectories](#/operations/listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Delete a previously created trajectory from cache.  Use [listTrajectories](#/operations/listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
 	* @summary Delete Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6382,7 +6667,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).deleteTrajectory(cell, controller, trajectory, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get a previously created trajectory from cache.  Use [listTrajectories](#/operations/listTrajectories) to list all cached trajectories. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  Get a previously created trajectory from cache.  Use [listTrajectories](#/operations/listTrajectories) to list all cached trajectories. 
 	* @summary Get Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6394,7 +6679,7 @@ var TrajectoryCachingApi = class extends BaseAPI {
 		return TrajectoryCachingApiFp(this.configuration).getTrajectory(cell, controller, trajectory, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* List currently cached trajectories.  Use [addTrajectory](#/operations/addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  List currently cached trajectories.  Use [addTrajectory](#/operations/addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
 	* @summary List Trajectories
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6466,7 +6751,7 @@ const TrajectoryExecutionApiFactory = function(configuration, basePath, axios$1)
 */
 var TrajectoryExecutionApi = class extends BaseAPI {
 	/**
-	* <!-- theme: success -->  > Websocket endpoint  Provides execution control over a previously [planned trajectory](#/operations/planTrajectory). Enables the caller to attach input/output actions to the trajectory.  ### Movement behavior  | Virtual controller | Physical controller | |------------------|-------------------| | Desired joint configurations are commanded to each motion group and **applied immediately** | Move to desired **actual joint configuration**, **if possible** |  ### Concept of location    - The location or path parameter specifies the exact position along a trajectory.   - The location is a scalar value that ranges from 0 to `n`, where `n` denotes the number of motion commands, or     trajectory segments, e.g., line, p2p, etc. See [planTrajectory](#/operations/planTrajectory).   - Each integer value of the location corresponds to one motion command, e.g., 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position are at start location specified with `InitializeMovementRequest`. - Use [executeToTrajectory](#/operations/executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send `InitializeMovementRequest` to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 2. Send `StartMovementRequest` to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send `PauseMovementRequest` before the movement has reached its end location. - Change the movement\'s velocity with `PlaybackSpeedRequest` after initializing the movement with `InitializeMovementRequest`.  ### Responses  To monitor the state of the movement, listen to the [state stream](#/operations/streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, e.g., controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending `PauseMovementRequest` and `StartMovementRequest`. - Send `PlaybackSpeedRequest` before `StartMovementRequest` to reduce the velocity of the movement before it starts. - Send `PlaybackSpeedRequest` repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send `PlaybackSpeedRequest` with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending `StartMovementRequest` after the movement has finished. 
+	* **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: success -->  > Websocket endpoint  Provides execution control over a previously [planned trajectory](#/operations/planTrajectory). Enables the caller to attach input/output actions to the trajectory.  ### Movement behavior  | Virtual controller | Physical controller | |------------------|-------------------| | Desired joint configurations are commanded to each motion group and **applied immediately** | Move to desired **actual joint configuration**, **if possible** |  ### Concept of location    - The location or path parameter specifies the exact position along a trajectory.   - The location is a scalar value that ranges from 0 to `n`, where `n` denotes the number of motion commands, or     trajectory segments, e.g., line, p2p, etc. See [planTrajectory](#/operations/planTrajectory).   - Each integer value of the location corresponds to one motion command, e.g., 3.0 to 3.999 could be a line.  ### Preconditions  - The motion group\'s control mode is not claimed by any other endpoint. - The motion group\'s joint position are at start location specified with `InitializeMovementRequest`. - Use [executeToTrajectory](#/operations/executeToTrajectory) to move the robot to the start location.  ### Requests  #### 1. Send `InitializeMovementRequest` to lock the trajectory to this connection   The following actions are executed:   - Sets robot controller mode to control mode,   - Sets start location of the execution    Keep in mind that only a single trajectory can be locked to a websocket connection at a time.   Pausing the current movement enables you to send another `InitializeMovementRequest` to execute another trajectory on the same connection.  #### 2. Send `StartMovementRequest` to start the movement  Sets direction of movement, default is forward.  #### **Optional**  - To pause, send `PauseMovementRequest` before the movement has reached its end location. - Change the movement\'s velocity with `PlaybackSpeedRequest` after initializing the movement with `InitializeMovementRequest`.  ### Responses  To monitor the state of the movement, listen to the [state stream](#/operations/streamMotionGroupState). The state is published via nats as well. Field `execute` in the `MotionGroupState` indicates whether a movement is ongoing and carries execution details.  Each request has a corresponding acknowledgment response. They signal success or failure of the request. Especially for `PauseMovementResponse`, it does not signal the end of the movement.  Additionally, `MovementError` messages can be sent in case of unexpected errors during the execution, e.g., controller disconnects during movement.  ### Tips and Tricks  - A movement can be paused and resumed by sending `PauseMovementRequest` and `StartMovementRequest`. - Send `PlaybackSpeedRequest` before `StartMovementRequest` to reduce the velocity of the movement before it starts. - Send `PlaybackSpeedRequest` repeatedly to implement a slider. The velocity of the motion group can be adjusted with each controller step. Therefore, if your app needs a slider-like UI to alter the velocity of a currently running movement, you can send `PlaybackSpeedRequest` with different speed values repeatedly during the movement. - A closed trajectory (end and start joint position are equal) can be repeated by sending `StartMovementRequest` after the movement has finished. 
 	* @summary Execute Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -6569,6 +6854,35 @@ const TrajectoryPlanningApiAxiosParamCreator = function(configuration) {
 				url: toPathString(localVarUrlObj),
 				options: localVarRequestOptions
 			};
+		},
+		searchCollisionFreeMultiMotionGroup: async (cell, multiSearchCollisionFreeRequest, options = {}) => {
+			assertParamExists("searchCollisionFreeMultiMotionGroup", "cell", cell);
+			assertParamExists("searchCollisionFreeMultiMotionGroup", "multiSearchCollisionFreeRequest", multiSearchCollisionFreeRequest);
+			const localVarPath = `/experimental/cells/{cell}/trajectory-planning/search-collision-free-multi-motion-group`.replace(`{cell}`, encodeURIComponent(String(cell)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "POST",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			localVarHeaderParameter["Content-Type"] = "application/json";
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			localVarRequestOptions.data = serializeDataIfNeeded(multiSearchCollisionFreeRequest, localVarRequestOptions, configuration);
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
 		}
 	};
 };
@@ -6595,6 +6909,12 @@ const TrajectoryPlanningApiFp = function(configuration) {
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
 			const localVarOperationServerBasePath = operationServerMap["TrajectoryPlanningApi.planTrajectory"]?.[localVarOperationServerIndex]?.url;
 			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
+		async searchCollisionFreeMultiMotionGroup(cell, multiSearchCollisionFreeRequest, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.searchCollisionFreeMultiMotionGroup(cell, multiSearchCollisionFreeRequest, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["TrajectoryPlanningApi.searchCollisionFreeMultiMotionGroup"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
 		}
 	};
 };
@@ -6612,6 +6932,9 @@ const TrajectoryPlanningApiFactory = function(configuration, basePath, axios$1)
 		},
 		planTrajectory(cell, planTrajectoryRequest, options) {
 			return localVarFp.planTrajectory(cell, planTrajectoryRequest, options).then((request) => request(axios$1, basePath));
+		},
+		searchCollisionFreeMultiMotionGroup(cell, multiSearchCollisionFreeRequest, options) {
+			return localVarFp.searchCollisionFreeMultiMotionGroup(cell, multiSearchCollisionFreeRequest, options).then((request) => request(axios$1, basePath));
 		}
 	};
 };
@@ -6620,7 +6943,7 @@ const TrajectoryPlanningApiFactory = function(configuration, basePath, axios$1)
 */
 var TrajectoryPlanningApi = class extends BaseAPI {
 	/**
-	* <!-- theme: danger -->  > **Experimental**  Merges a list of joint trajectories into a single trajectory with collision-aware blending.  This endpoint merges a list of separate trajectories by connecting them via blending. The blending is performed with collision checking to ensure the merged trajectory is safe to execute. Timescaling will be applied to the blended area to ensure all limits are respected. 
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  <!-- theme: danger -->  > **Experimental**  Merges a list of joint trajectories into a single trajectory with collision-aware blending.  This endpoint merges a list of separate trajectories by connecting them via blending. The blending is performed with collision checking to ensure the merged trajectory is safe to execute. Timescaling will be applied to the blended area to ensure all limits are respected. 
 	* @summary Merge Trajectories
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {MergeTrajectoriesRequest} mergeTrajectoriesRequest 
@@ -6631,7 +6954,7 @@ var TrajectoryPlanningApi = class extends BaseAPI {
 		return TrajectoryPlanningApiFp(this.configuration).mergeTrajectories(cell, mergeTrajectoriesRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure. 
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Plans a collision-free trajectory for a single motion group using point-to-point (PTP) motions.  This endpoint is specifically designed for collision-free path planning algorithms that find a trajectory from a start joint position to a target position while avoiding obstacles.  Use the following workflow to execute a planned collision-free trajectory: 1. Plan a collision-free trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory planning fails due to collision or algorithm constraints, the response will contain error information about the failure. 
 	* @summary Plan Collision-Free Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {PlanCollisionFreeRequest} planCollisionFreeRequest 
@@ -6642,7 +6965,7 @@ var TrajectoryPlanningApi = class extends BaseAPI {
 		return TrajectoryPlanningApiFp(this.configuration).planCollisionFree(cell, planCollisionFreeRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Plans a new trajectory for a single motion group.  Describe the trajectory as a sequence of motion commands that the robots TCP should follow.  Use the following workflow to execute a planned trajectory: 1. Plan a trajectory. 2. Optional: Load the planned trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory is not executable, the response will contain the joint trajectory up until the error, e.g., all samples until a collision occurs.   <!-- theme: info -->  > #### Exception > > If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion. 
+	* **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. Optional: Load the planned trajectory into the cache using the [addTrajectory](#/operations/addTrajectory) endpoint. 3. Execute the (cached) trajectory using the [executeTrajectory](#/operations/executeTrajectory) endpoint.  If the trajectory is not executable, the response will contain the joint trajectory up until the error, e.g., all samples until a collision occurs.   <!-- theme: info -->  > #### Exception > > If a CartesianPTP or JointPTP motion command has an invalid target, the response will contain the trajectory up until the start of the invalid PTP motion. 
 	* @summary Plan Trajectory
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {PlanTrajectoryRequest} planTrajectoryRequest 
@@ -6652,6 +6975,17 @@ var TrajectoryPlanningApi = class extends BaseAPI {
 	planTrajectory(cell, planTrajectoryRequest, options) {
 		return TrajectoryPlanningApiFp(this.configuration).planTrajectory(cell, planTrajectoryRequest, options).then((request) => request(this.axios, this.basePath));
 	}
+	/**
+	* **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  <!-- theme: danger -->  > **Experimental**  Searches collision-free trajectories for multiple motion groups simultaneously within a cell. This is the multi-robot variant of collision-free path search — it coordinates paths so that several motion groups, e.g., multiple robot arms, can move from start to target positions without colliding with each other or with the environment.  The caller provides per-motion-group setups (robot model, cycle time, mounting, TCP offset, limits, payload, collision geometry), per-motion-group point-to-point path definitions (start and target joint positions), optional cross-group collision setups defining which link-chain/tool colliders to consider between groups plus static environment colliders, and optional RRT-Connect algorithm settings (max iterations, step size, smoothing, blending).  On success the response contains a time-synchronized trajectory with joint positions per motion group at shared timestamps so their motions are temporally coordinated. On failure it returns feedback indicating why planning failed, e.g., max iterations exceeded. 
+	* @summary Search Collision-Free Trajectories for Multiple Motion Groups
+	* @param {string} cell Unique identifier addressing a cell in all API calls. 
+	* @param {MultiSearchCollisionFreeRequest} multiSearchCollisionFreeRequest 
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	searchCollisionFreeMultiMotionGroup(cell, multiSearchCollisionFreeRequest, options) {
+		return TrajectoryPlanningApiFp(this.configuration).searchCollisionFreeMultiMotionGroup(cell, multiSearchCollisionFreeRequest, options).then((request) => request(this.axios, this.basePath));
+	}
 };
 /**
 * VersionApi - axios parameter creator
@@ -6708,7 +7042,7 @@ 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}
@@ -6783,6 +7117,36 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 				options: localVarRequestOptions
 			};
 		},
+		addVirtualControllerSafetyZone: async (cell, controller, safetyZone, options = {}) => {
+			assertParamExists("addVirtualControllerSafetyZone", "cell", cell);
+			assertParamExists("addVirtualControllerSafetyZone", "controller", controller);
+			assertParamExists("addVirtualControllerSafetyZone", "safetyZone", safetyZone);
+			const localVarPath = `/cells/{cell}/virtual-controllers/{controller}/safety-zones`.replace(`{cell}`, encodeURIComponent(String(cell))).replace(`{controller}`, encodeURIComponent(String(controller)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "POST",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			localVarHeaderParameter["Content-Type"] = "application/json";
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			localVarRequestOptions.data = serializeDataIfNeeded(safetyZone, localVarRequestOptions, configuration);
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		},
 		addVirtualControllerTcp: async (cell, controller, motionGroup, tcp, robotTcpData, options = {}) => {
 			assertParamExists("addVirtualControllerTcp", "cell", cell);
 			assertParamExists("addVirtualControllerTcp", "controller", controller);
@@ -6872,6 +7236,34 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 				options: localVarRequestOptions
 			};
 		},
+		deleteVirtualControllerSafetyZone: async (cell, controller, id, options = {}) => {
+			assertParamExists("deleteVirtualControllerSafetyZone", "cell", cell);
+			assertParamExists("deleteVirtualControllerSafetyZone", "controller", controller);
+			assertParamExists("deleteVirtualControllerSafetyZone", "id", id);
+			const localVarPath = `/cells/{cell}/virtual-controllers/{controller}/safety-zones/{id}`.replace(`{cell}`, encodeURIComponent(String(cell))).replace(`{controller}`, encodeURIComponent(String(controller))).replace(`{id}`, encodeURIComponent(String(id)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "DELETE",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		},
 		deleteVirtualControllerTcp: async (cell, controller, motionGroup, tcp, options = {}) => {
 			assertParamExists("deleteVirtualControllerTcp", "cell", cell);
 			assertParamExists("deleteVirtualControllerTcp", "controller", controller);
@@ -7038,6 +7430,33 @@ const VirtualControllerApiAxiosParamCreator = function(configuration) {
 				options: localVarRequestOptions
 			};
 		},
+		getVirtualControllerSafetyZones: async (cell, controller, options = {}) => {
+			assertParamExists("getVirtualControllerSafetyZones", "cell", cell);
+			assertParamExists("getVirtualControllerSafetyZones", "controller", controller);
+			const localVarPath = `/cells/{cell}/virtual-controllers/{controller}/safety-zones`.replace(`{cell}`, encodeURIComponent(String(cell))).replace(`{controller}`, encodeURIComponent(String(controller)));
+			const localVarUrlObj = new URL(localVarPath, DUMMY_BASE_URL);
+			let baseOptions;
+			if (configuration) baseOptions = configuration.baseOptions;
+			const localVarRequestOptions = {
+				method: "GET",
+				...baseOptions,
+				...options
+			};
+			const localVarHeaderParameter = {};
+			const localVarQueryParameter = {};
+			await setBearerAuthToObject(localVarHeaderParameter, configuration);
+			setSearchParams(localVarUrlObj, localVarQueryParameter);
+			let headersFromBaseOptions = baseOptions && baseOptions.headers ? baseOptions.headers : {};
+			localVarRequestOptions.headers = {
+				...localVarHeaderParameter,
+				...headersFromBaseOptions,
+				...options.headers
+			};
+			return {
+				url: toPathString(localVarUrlObj),
+				options: localVarRequestOptions
+			};
+		},
 		listVirtualControllerCoordinateSystems: async (cell, controller, options = {}) => {
 			assertParamExists("listVirtualControllerCoordinateSystems", "cell", cell);
 			assertParamExists("listVirtualControllerCoordinateSystems", "controller", controller);
@@ -7232,6 +7651,12 @@ const VirtualControllerApiFp = function(configuration) {
 			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.addVirtualControllerMotionGroup"]?.[localVarOperationServerIndex]?.url;
 			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
 		},
+		async addVirtualControllerSafetyZone(cell, controller, safetyZone, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.addVirtualControllerSafetyZone(cell, controller, safetyZone, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.addVirtualControllerSafetyZone"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
 		async addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options) {
 			const localVarAxiosArgs = await localVarAxiosParamCreator.addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options);
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
@@ -7250,6 +7675,12 @@ const VirtualControllerApiFp = function(configuration) {
 			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.deleteVirtualControllerMotionGroup"]?.[localVarOperationServerIndex]?.url;
 			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
 		},
+		async deleteVirtualControllerSafetyZone(cell, controller, id, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.deleteVirtualControllerSafetyZone(cell, controller, id, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.deleteVirtualControllerSafetyZone"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
 		async deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options) {
 			const localVarAxiosArgs = await localVarAxiosParamCreator.deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options);
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
@@ -7286,6 +7717,12 @@ const VirtualControllerApiFp = function(configuration) {
 			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.getVirtualControllerMounting"]?.[localVarOperationServerIndex]?.url;
 			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
 		},
+		async getVirtualControllerSafetyZones(cell, controller, options) {
+			const localVarAxiosArgs = await localVarAxiosParamCreator.getVirtualControllerSafetyZones(cell, controller, options);
+			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
+			const localVarOperationServerBasePath = operationServerMap["VirtualControllerApi.getVirtualControllerSafetyZones"]?.[localVarOperationServerIndex]?.url;
+			return (axios$1, basePath) => createRequestFunction(localVarAxiosArgs, axios.default, BASE_PATH, configuration)(axios$1, localVarOperationServerBasePath || basePath);
+		},
 		async listVirtualControllerCoordinateSystems(cell, controller, options) {
 			const localVarAxiosArgs = await localVarAxiosParamCreator.listVirtualControllerCoordinateSystems(cell, controller, options);
 			const localVarOperationServerIndex = configuration?.serverIndex ?? 0;
@@ -7336,6 +7773,9 @@ const VirtualControllerApiFactory = function(configuration, basePath, axios$1) {
 		addVirtualControllerMotionGroup(cell, controller, addVirtualControllerMotionGroupRequest, options) {
 			return localVarFp.addVirtualControllerMotionGroup(cell, controller, addVirtualControllerMotionGroupRequest, options).then((request) => request(axios$1, basePath));
 		},
+		addVirtualControllerSafetyZone(cell, controller, safetyZone, options) {
+			return localVarFp.addVirtualControllerSafetyZone(cell, controller, safetyZone, options).then((request) => request(axios$1, basePath));
+		},
 		addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options) {
 			return localVarFp.addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options).then((request) => request(axios$1, basePath));
 		},
@@ -7345,6 +7785,9 @@ const VirtualControllerApiFactory = function(configuration, basePath, axios$1) {
 		deleteVirtualControllerMotionGroup(cell, controller, motionGroup, options) {
 			return localVarFp.deleteVirtualControllerMotionGroup(cell, controller, motionGroup, options).then((request) => request(axios$1, basePath));
 		},
+		deleteVirtualControllerSafetyZone(cell, controller, id, options) {
+			return localVarFp.deleteVirtualControllerSafetyZone(cell, controller, id, options).then((request) => request(axios$1, basePath));
+		},
 		deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options) {
 			return localVarFp.deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options).then((request) => request(axios$1, basePath));
 		},
@@ -7363,6 +7806,9 @@ const VirtualControllerApiFactory = function(configuration, basePath, axios$1) {
 		getVirtualControllerMounting(cell, controller, motionGroup, options) {
 			return localVarFp.getVirtualControllerMounting(cell, controller, motionGroup, options).then((request) => request(axios$1, basePath));
 		},
+		getVirtualControllerSafetyZones(cell, controller, options) {
+			return localVarFp.getVirtualControllerSafetyZones(cell, controller, options).then((request) => request(axios$1, basePath));
+		},
 		listVirtualControllerCoordinateSystems(cell, controller, options) {
 			return localVarFp.listVirtualControllerCoordinateSystems(cell, controller, options).then((request) => request(axios$1, basePath));
 		},
@@ -7388,7 +7834,7 @@ const VirtualControllerApiFactory = function(configuration, basePath, axios$1) {
 */
 var VirtualControllerApi = class extends BaseAPI {
 	/**
-	* Adds a coordinate system to the robot controller.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is added, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Adds a coordinate system to the robot controller.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is added, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 	* @summary Add Coordinate Systems
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7401,7 +7847,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).addVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, coordinateSystemData, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Adds a motion group configuration for the virtual robot controller.  Fields: - Only one of **motion_group_model** or **json_data** should be set. - **motion_group_model**: Identifies a single motion group. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types. - **json_data**: Full JSON configuration of the virtual robot controller.   This can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration). - **extracted_motion_group_id** (required when using json_data): The motion group identifier to extract from the provided JSON configuration. - **motion_group**: Unique identifier for the motion group to be added. - **initial_joint_position**: Specifies the initial joint position for the added motion group.  <!-- theme: info -->  > #### NOTE > > When a motion group is added, **the virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Motion group changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself **does not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new motion group may not yet be available for use. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Adds a motion group configuration for the virtual robot controller.  Fields: - Only one of **motion_group_model** or **json_data** should be set. - **motion_group_model**: Identifies a single motion group. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types. - **json_data**: Full JSON configuration of the virtual robot controller.   This can be obtained from the physical controller\'s configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration). - **extracted_motion_group_id** (required when using json_data): The motion group identifier to extract from the provided JSON configuration. - **motion_group**: Unique identifier for the motion group to be added. - **initial_joint_position**: Specifies the initial joint position for the added motion group.  <!-- theme: info -->  > #### NOTE > > When a motion group is added, **the virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Motion group changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself **does not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new motion group may not yet be available for use. 
 	* @summary Add Motion Group
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7413,7 +7859,19 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).addVirtualControllerMotionGroup(cell, controller, addVirtualControllerMotionGroupRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange\'s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot\'s documentation or data sheet for details like joint limits or reach.  <!-- theme: info -->  > #### NOTE > > When adding or updating a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the TCP is available for operation. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the TCP may not yet be visible nor usable. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Adds a new safety zone to the virtual robot controller.  Safety zones define geometric boundaries that restrict or permit robot motion in 3D space. Each zone has a `geometry` that defines its shape, and two flags that control its behavior:  - **`restricted: true`** the robot is not allowed to enter this zone. - **`inverted: true`**  the zone applies to the **outside** of the shape, meaning the shape defines the   *allowed* region; everything outside is the zone. Combined with `restricted: true`, the robot must   stay **inside** the shape.  Common combinations: | `restricted` | `inverted` | Effect | |---|---|---| | `true` | `false` | Keep-out zone, the robot cannot enter the shape, e.g.,  obstacle, table, wall | | `true` | `true` | Keep-in zone, the robot must stay inside the shape, e.g., workspace envelope / cell boundary |  The `mg_uid` field specifies which motion group the safety zone is enforced for and must match an existing motion group UID on the controller.  The `uid_ref_cs` field defines the coordinate system in which the geometry coordinates are expressed. The coordinate system must be defined on the controller beforehand. If empty (`\"\"`), the World coordinate system is used. Using an incorrect coordinate system places the safety zone in a different physical location.  ---  ## Geometry Shape Reference  All coordinates are in **millimetres (mm)**. Choose the shape that best fits the physical boundary.  ---  ### Box A rectangular cuboid (box) defined by its **center point** and **three face centers** (`neighbour`).  Each face center is the center of one of the three principal faces of the box and encodes both the size and orientation of the box. The distance from the center to each face center equals half the edge length along that axis.  This format is used directly by robot controllers (FANUC, KUKA, etc.) and supports arbitrary orientations, including left-handed coordinate systems that parametric (size + quaternion) formats cannot represent.  **When to use:** Cell workspace envelope, machine enclosure, table, rectangular obstacle, pallet zone.  **How to define:** ``` center → geometric center of the box [x, y, z]  neighbour = [   x1, y1, z1,   ← center of the face along the first axis   x2, y2, z2,   ← center of the face along the second axis   x3, y3, z3    ← center of the face along the third axis ]  edge_length_i = 2 × ||neighbour_i − center|| ```  For an axis-aligned box with `center = [cx, cy, cz]` and half-sizes `[hx, hy, hz]`: ``` neighbour = [cx+hx, cy, cz,  cx, cy+hy, cz,  cx, cy, cz+hz] ```  ---  ### Prism An extruded polygon is a 2D closed polygon (defined in the XY plane) extruded vertically between `bottom` and `top` Z coordinates. The polygon can be convex or concave.  **When to use:** Irregular floor-plan areas (aisles, loading bays, L-shaped zones), conveyor corridors, or any zone with a non-rectangular footprint.  **How to define:** ``` point = [x1, y1, x2, y2, x3, y3, ...]   ← 2D vertices (XY), flattened, ≥ 3 points top    = upper Z bound [mm] bottom = lower Z bound [mm] ```  Points must form a closed polygon; the last point implicitly connects to the first.  ---  ### Sphere A perfect sphere defined by its **center point** and **radius**.  **When to use:** Protection zones around sensors, cameras, workpieces, point-like obstacles, singularity avoidance zones around the robot base.  **How to define:** ``` center = [x, y, z]   ← center of the sphere [mm] radius                ← radius [mm] ```  ---  ### Capsule A cylinder with hemispherical caps at each end, defined by two axis endpoints (`top`, `bottom`) and a **radius**. The axis can have any orientation.  **When to use:** Pipes, cable trays, vertical columns, horizontal beams, or tube-shaped obstacles.  **How to define:** ``` top    = [x, y, z]   ← center of the top hemisphere [mm] bottom = [x, y, z]   ← center of the bottom hemisphere [mm] radius                ← cylinder + hemisphere radius [mm] ```  The total length of the capsule is `||top − bottom|| + 2 × radius`.  ---  ### Lozenge A rounded rectangle (stadium/discorectangle shape) in a plane, defined by a **center pose**, two **dimensions**, and a **corner radius**. The plane orientation is defined by the quaternion in `center`.  **When to use:** Conveyor belt surfaces, worktables with rounded edges, or flat rectangular zones in arbitrary orientations.  **How to define:** ``` center.x/y/z          ← position of the center [mm] center.qx/qy/qz/qw    ← orientation as unit quaternion (identity = XY plane) x_dimension           ← total length along local X axis [mm] y_dimension           ← total width along local Y axis [mm] radius                ← corner rounding radius [mm] ```  For a horizontal lozenge, use identity quaternion `(qx=0, qy=0, qz=0, qw=1)`.  ---  ### Plane A mathematical half-space plane defined by its **3D vertices**. All vertices must be coplanar. The plane is unbounded (infinite extent in all directions parallel to the surface). The points define the plane\'s orientation and position only.  **When to use:** Floor boundaries, virtual walls, tilted surfaces, e.g., ramps, inclined conveyors, or flat custom barriers.  **How to define:** ``` point = [x1, y1, z1, x2, y2, z2, x3, y3, z3, ...]   ← 3D vertices, flattened, ≥ 3 points ```  Points must be coplanar and form a closed polygon.  ---  <!-- theme: info -->  > #### NOTE > > When a safety zone is added, **the virtual robot is restarted** to apply the new configuration. > > During this restart: > - All connections to the virtual robot are closed and re-established, introducing a short delay before the system is fully operational again. > - The safety checksum is automatically updated to reflect the configuration change. > > The API call **does not wait until the restart and re-synchronization are complete**. 
+	* @summary Add Safety Zone
+	* @param {string} cell Unique identifier addressing a cell in all API calls. 
+	* @param {string} controller Unique identifier to address a controller in the cell.
+	* @param {SafetyZone} safetyZone 
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	addVirtualControllerSafetyZone(cell, controller, safetyZone, options) {
+		return VirtualControllerApiFp(this.configuration).addVirtualControllerSafetyZone(cell, controller, safetyZone, options).then((request) => request(this.axios, this.basePath));
+	}
+	/**
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Adds a new TCP or updates an existing TCP in the motion group.  The position and rotation values in the request body are defined within the flange\'s coordinate system.  > **NOTE** > > Ensure the TCP\'s position is within the robot\'s reach. Refer to the robot\'s documentation or data sheet for details like joint limits or reach.  <!-- theme: info -->  > #### NOTE > > When adding or updating a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the TCP is available for operation. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the TCP may not yet be visible nor usable. 
 	* @summary Add TCP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7427,7 +7885,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).addVirtualControllerTcp(cell, controller, motionGroup, tcp, robotTcpData, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Deletes a coordinate system from the virtual controller. This will remove the coordinate system from the list of coordinate systems and also remove all dependent coordinate systems that use the deleted coordinate system as reference.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is removed, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
+	* **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 that use the deleted coordinate system as reference.  <!-- theme: info -->  > #### NOTE > > When a new coordinate system is removed, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Coordinate system changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > This means that immediately after a successful response, the new coordinate system may not yet be available for visualization or program execution. 
 	* @summary Delete Coordinate System
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7440,7 +7898,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).deleteVirtualControllerCoordinateSystem(cell, controller, coordinateSystem, deleteDependent, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes a motion group configuration from the virtual controller.  <!-- theme: info -->  > #### NOTE > > When a motion group is removed, **the virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Motion group changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself **does not wait until the restart and re-synchronization are complete**. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Removes a motion group configuration from the virtual controller.  <!-- theme: info -->  > #### NOTE > > When a motion group is removed, **the virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or appear outdated in the UI. > - Motion group changes are not immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself **does not wait until the restart and re-synchronization are complete**. 
 	* @summary Delete Motion Group
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7452,7 +7910,19 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).deleteVirtualControllerMotionGroup(cell, controller, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Removes the TCP (Tool Center Point) from the motion group. An unknown TCP is a valid input and will simply be ignored.  <!-- theme: info -->  > #### NOTE > > When removing a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The removal of the TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the then used TCP may not yet be visible nor usable. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Removes a safety zone from the virtual robot controller.  <!-- theme: info --> > #### NOTE > > When a safety zone is removed, **the virtual robot is restarted** to apply the new configuration. > > During this restart: > - All connections to the virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > - The safety checksum is automatically updated to reflect the configuration change. > > The API call itself **does not wait until the restart and re-synchronization are complete**. 
+	* @summary Delete Safety Zone
+	* @param {string} cell Unique identifier addressing a cell in all API calls. 
+	* @param {string} controller Unique identifier to address a controller in the cell.
+	* @param {number} id The unique identifier of the safety zone to delete.
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	deleteVirtualControllerSafetyZone(cell, controller, id, options) {
+		return VirtualControllerApiFp(this.configuration).deleteVirtualControllerSafetyZone(cell, controller, id, options).then((request) => request(this.axios, this.basePath));
+	}
+	/**
+	* **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.  <!-- theme: info -->  > #### NOTE > > When removing a TCP, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear. > - The removal of the TCP may not be immediately visible or appear outdated in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the then used TCP may not yet be visible nor usable. 
 	* @summary Remove TCP
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7465,7 +7935,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).deleteVirtualControllerTcp(cell, controller, motionGroup, tcp, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
+	* **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 with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
 	* @summary Get Emergency Stop State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7476,7 +7946,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).getEmergencyStop(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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.
@@ -7488,7 +7958,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).getMotionGroupState(cell, controller, motionGroup, 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.
@@ -7499,7 +7969,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).getMotionGroups(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Requests the operation mode of the virtual robot controller.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState).  > **NOTE** > > The operation 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 operation mode can only be changed via API when using virtual robot controllers. 
 	* @summary Get Operation Mode
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7510,7 +7980,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).getOperationMode(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Gets motion group mounting.  The motion group is based on the origin of the returned coordinate system. 
+	* **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.
@@ -7522,7 +7992,18 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).getVirtualControllerMounting(cell, controller, motionGroup, 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 ___  Gets all safety zones configured in the virtual robot controller.  Safety zones define geometric boundaries that restrict robot motion or define protected areas in the workspace. 
+	* @summary List Safety Zones
+	* @param {string} cell Unique identifier addressing a cell in all API calls. 
+	* @param {string} controller Unique identifier to address a controller in the cell.
+	* @param {*} [options] Override http request option.
+	* @throws {RequiredError}
+	*/
+	getVirtualControllerSafetyZones(cell, controller, options) {
+		return VirtualControllerApiFp(this.configuration).getVirtualControllerSafetyZones(cell, controller, options).then((request) => request(this.axios, this.basePath));
+	}
+	/**
+	* **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.
@@ -7533,7 +8014,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).listVirtualControllerCoordinateSystems(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists TCPs of the motion group.  An empty TCP list is valid, e.g., 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, e.g., for external axes. 
 	* @summary List TCPs
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7545,7 +8026,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).listVirtualControllerTcps(cell, controller, motionGroup, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths.  Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths.  Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState) to get the Emergency Stop state with `safety_state` regardless of the controller type.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
 	* @summary Push or Release Emergency Stop
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7557,7 +8038,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).setEmergencyStop(cell, controller, active, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets the values for joint position, joint velocity or joint acceleration of a motion group state.  The values are immediately applied to the joints of the motion group.  <!-- theme: info -->  > #### NOTE > > Only use the endpoint when the motion group is in monitor mode. If the motion group is controlled, currently jogging or planning motions, > the values are overridden by the controller or an error may occur. 
+	* **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.  <!-- theme: info -->  > #### NOTE > > Only use the endpoint when the motion group is in monitor mode. If the motion group is controlled, currently jogging or planning motions, > the values are overridden by the controller or an error may occur. 
 	* @summary Set Motion Group State
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7570,7 +8051,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).setMotionGroupState(cell, controller, motionGroup, motionGroupJoints, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Changes the operation mode of the virtual robot controller to the specified value.  To get the operation mode regardless of the controller type, use [getCurrentMotionGroupState](#/operations/getCurrentMotionGroupState).  > **NOTE** > > The operation 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 operation mode can only be changed via API when using virtual robot controllers. 
 	* @summary Set Operation Mode
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7582,7 +8063,7 @@ var VirtualControllerApi = class extends BaseAPI {
 		return VirtualControllerApiFp(this.configuration).setOperationMode(cell, controller, mode, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets the motion group mounting by specifying a coordinate system.  The motion group will be based on the coordinate system\'s origin.  The coordinate system defines a transformation offset, which consists of: - A unique identifier - A user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  <!-- theme: info -->  > #### Changing the mounting configuration is considered a setup change > > When the mounting is set to a new coordinate system, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or not reflect the new mounting immediately. > - Motion group state and coordinate system alignment may not be immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
+	* **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 user-facing name - An offset in another coordinate system, referenced by the unique identifier of the reference coordinate system.  <!-- theme: info -->  > #### Changing the mounting configuration is considered a setup change > > When the mounting is set to a new coordinate system, the **virtual robot is restarted** to apply the new configuration. > > During this restart: > - Robot visualization can temporarily disappear or not reflect the new mounting immediately. > - Motion group state and coordinate system alignment may not be immediately visible in visualizations. > - All connections to virtual robot are closed and re-established, which introduces a short delay before the system is fully operational again. > > The API call itself does **not wait until the restart and re-synchronization are complete**. > A successful response indicates that the request was accepted, but the updated mounting may not yet be visible. 
 	* @summary Set Mounting
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7771,7 +8252,7 @@ const VirtualControllerBehaviorApiFactory = function(configuration, basePath, ax
 */
 var VirtualControllerBehaviorApi = class extends BaseAPI {
 	/**
-	* <!-- theme: success -->  > Websocket endpoint  Sends the **commanded** state, e.g., joint positions, velocities, accelerations, torques, for each motion group of the virtual controller and sets the joint configuration.  Use [planTrajectory](#/operations/planTrajectory) and [executeTrajectory](#/operations/executeTrajectory) to move motion groups on virtual controllers.  Learn more about the [movement behavior of virtual controllers in comparison to physical controllers](#/operations/executeTrajectory#movement-behavior).  > **NOTE** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  #### Use cases  1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.\\     The stream only sends data to the robot controller if a motion is executed.\\     If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs.     Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic freedrive motions.     <!-- theme: danger -->      > **DANGER**     >     > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration     > will be executed with maximum speed regardless of safety zones and mechanical limits. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  <!-- theme: success -->  > Websocket endpoint  Sends the **commanded** state, e.g., joint positions, velocities, accelerations, torques, for each motion group of the virtual controller and sets the joint configuration.  Use [planTrajectory](#/operations/planTrajectory) and [executeTrajectory](#/operations/executeTrajectory) to move motion groups on virtual controllers.  Learn more about the [movement behavior of virtual controllers in comparison to physical controllers](#/operations/executeTrajectory#movement-behavior).  > **NOTE** > > Incoming joint configurations are not visualized and their velocity limits are not checked.  #### Use cases  1. Creating a robotic application that dynamically adapts to the configured joints on the robot controller, using this stream to feed new joint configurations back to the motion groups.\\     The stream only sends data to the robot controller if a motion is executed.\\     If the robot controller\'s joint configuration differs too much from the incoming joint configuration, a following error occurs.     Joint configurations that result in following errors are executed only for motions with a low velocity.  2. Mimic freedrive motions.     <!-- theme: danger -->      > **DANGER**     >     > If the incoming joint configuration is set to maximum velocity, the movement to reach this incoming joint configuration     > will be executed with maximum speed regardless of safety zones and mechanical limits. 
 	* @summary Stream Joint Configuration
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7783,7 +8264,7 @@ var VirtualControllerBehaviorApi = class extends BaseAPI {
 		return VirtualControllerBehaviorApiFp(this.configuration).externalJointsStream(cell, controller, externalJointStreamRequest, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* 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 Get 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.
@@ -7794,7 +8275,7 @@ var VirtualControllerBehaviorApi = class extends BaseAPI {
 		return VirtualControllerBehaviorApiFp(this.configuration).getCycleTime(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Get the current virtual controller behavior.  See [setVirtualControllerBehavior](#/operations/setVirtualControllerBehavior) and the body for details. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Get the current virtual controller behavior.  See [setVirtualControllerBehavior](#/operations/setVirtualControllerBehavior) and the body for details. 
 	* @summary Get Behavior
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7805,7 +8286,7 @@ var VirtualControllerBehaviorApi = class extends BaseAPI {
 		return VirtualControllerBehaviorApiFp(this.configuration).getVirtualControllerBehavior(cell, controller, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Set virtual controller behavior.  See query parameters for details. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Set virtual controller behavior.  See query parameters for details. 
 	* @summary Set Behavior
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7962,7 +8443,7 @@ const VirtualControllerInputsOutputsApiFactory = function(configuration, basePat
 */
 var VirtualControllerInputsOutputsApi = class extends BaseAPI {
 	/**
-	* Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](#/operations/listVirtualControllerIODescriptions). 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Retrieves the current values of inputs/outputs of the virtual controller.  The identifiers of inputs/outputs must be provided in the request. Request all available input/output identifiers via [listVirtualControllerIODescriptions](#/operations/listVirtualControllerIODescriptions). 
 	* @summary Get Input/Output Values
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7974,7 +8455,7 @@ var VirtualControllerInputsOutputsApi = class extends BaseAPI {
 		return VirtualControllerInputsOutputsApiFp(this.configuration).listIOs(cell, controller, ios, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Lists the input/output descriptions of the virtual robot controller.   The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the virtual robot controller.\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Lists the input/output descriptions of the virtual robot controller.   The input/output descriptions contain information like name, type and unit.\\ Available inputs/outputs are defined by the virtual robot controller.\\ Each input/output has a unique identifier. - If no identifiers and no filters are specified in the request, all available inputs/outputs are retrieved by this endpoint. - If a filter, e.g., `direction`, `value_type`, `group` is applied, only matching inputs/outputs are returned. 
 	* @summary List Descriptions
 	* @param {string} cell Unique identifier addressing a cell in all API calls. 
 	* @param {string} controller Unique identifier to address a controller in the cell.
@@ -7989,7 +8470,7 @@ var VirtualControllerInputsOutputsApi = class extends BaseAPI {
 		return VirtualControllerInputsOutputsApiFp(this.configuration).listVirtualControllerIODescriptions(cell, controller, ios, direction, valueType, group, options).then((request) => request(this.axios, this.basePath));
 	}
 	/**
-	* Sets a list of values of a virtual controller inputs/outputs. 
+	* **Required permissions:** `can_operate_virtual_controllers` - Operate and configure virtual controllers ___  Sets a list of values of a virtual controller inputs/outputs. 
 	* @summary Set Input/Ouput 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.
@@ -8154,6 +8635,16 @@ exports.CellApi = CellApi;
 exports.CellApiAxiosParamCreator = CellApiAxiosParamCreator;
 exports.CellApiFactory = CellApiFactory;
 exports.CellApiFp = CellApiFp;
+exports.CloudConfigStatusConfiguredStatusEnum = CloudConfigStatusConfiguredStatusEnum;
+exports.CloudConfigStatusNotConfiguredStatusEnum = CloudConfigStatusNotConfiguredStatusEnum;
+exports.CloudConnectionErrorInvalidTokenCodeEnum = CloudConnectionErrorInvalidTokenCodeEnum;
+exports.CloudConnectionErrorLeafnodeConnectionErrorCodeEnum = CloudConnectionErrorLeafnodeConnectionErrorCodeEnum;
+exports.CloudConnectionErrorLeafnodeConnectionTimeoutCodeEnum = CloudConnectionErrorLeafnodeConnectionTimeoutCodeEnum;
+exports.CloudConnectionErrorLeafnodeRestartTimeoutCodeEnum = CloudConnectionErrorLeafnodeRestartTimeoutCodeEnum;
+exports.CloudConnectionErrorNatsFailedCodeEnum = CloudConnectionErrorNatsFailedCodeEnum;
+exports.CloudConnectionErrorUnexpectedResponseCodeEnum = CloudConnectionErrorUnexpectedResponseCodeEnum;
+exports.CloudDisconnectionStatusDisconnectedStatusEnum = CloudDisconnectionStatusDisconnectedStatusEnum;
+exports.CloudDisconnectionStatusDisconnectingStatusEnum = CloudDisconnectionStatusDisconnectingStatusEnum;
 exports.CollisionErrorKindEnum = CollisionErrorKindEnum;
 exports.Comparator = Comparator;
 exports.Configuration = Configuration;
@@ -8171,15 +8662,31 @@ exports.ControllerInputsOutputsApiFp = ControllerInputsOutputsApiFp;
 exports.ConvexHullShapeTypeEnum = ConvexHullShapeTypeEnum;
 exports.CylinderShapeTypeEnum = CylinderShapeTypeEnum;
 exports.Direction = Direction;
+exports.DirectionConstraintConstraintNameEnum = DirectionConstraintConstraintNameEnum;
+exports.ErrorDirectionConstraintNotMetErrorFeedbackNameEnum = ErrorDirectionConstraintNotMetErrorFeedbackNameEnum;
+exports.ErrorDirectionConstraintNotNormalizedErrorFeedbackNameEnum = ErrorDirectionConstraintNotNormalizedErrorFeedbackNameEnum;
 exports.ErrorInvalidJointCountErrorFeedbackNameEnum = ErrorInvalidJointCountErrorFeedbackNameEnum;
 exports.ErrorJointLimitExceededErrorFeedbackNameEnum = ErrorJointLimitExceededErrorFeedbackNameEnum;
 exports.ErrorJointPositionCollisionErrorFeedbackNameEnum = ErrorJointPositionCollisionErrorFeedbackNameEnum;
 exports.ErrorMaxIterationsExceededErrorFeedbackNameEnum = ErrorMaxIterationsExceededErrorFeedbackNameEnum;
+exports.ErrorUnsupportedOperationErrorFeedbackNameEnum = ErrorUnsupportedOperationErrorFeedbackNameEnum;
 exports.FanucControllerKindEnum = FanucControllerKindEnum;
 exports.FeedbackCollisionErrorFeedbackNameEnum = FeedbackCollisionErrorFeedbackNameEnum;
+exports.FeedbackCommandsMissingErrorFeedbackNameEnum = FeedbackCommandsMissingErrorFeedbackNameEnum;
+exports.FeedbackCubicSplineIsNotIncreasingErrorFeedbackNameEnum = FeedbackCubicSplineIsNotIncreasingErrorFeedbackNameEnum;
+exports.FeedbackCubicSplineNotAtStartPoseErrorFeedbackNameEnum = FeedbackCubicSplineNotAtStartPoseErrorFeedbackNameEnum;
+exports.FeedbackDirectionConstraintNoSolutionExistsErrorFeedbackNameEnum = FeedbackDirectionConstraintNoSolutionExistsErrorFeedbackNameEnum;
+exports.FeedbackDirectionConstraintNotMetErrorFeedbackNameEnum = FeedbackDirectionConstraintNotMetErrorFeedbackNameEnum;
+exports.FeedbackDirectionConstraintNotNormalizedErrorFeedbackNameEnum = FeedbackDirectionConstraintNotNormalizedErrorFeedbackNameEnum;
+exports.FeedbackInvalidDofErrorFeedbackNameEnum = FeedbackInvalidDofErrorFeedbackNameEnum;
+exports.FeedbackInvalidNanValueErrorFeedbackNameEnum = FeedbackInvalidNanValueErrorFeedbackNameEnum;
+exports.FeedbackInvalidSamplingTimeErrorFeedbackNameEnum = FeedbackInvalidSamplingTimeErrorFeedbackNameEnum;
 exports.FeedbackJointLimitExceededErrorFeedbackNameEnum = FeedbackJointLimitExceededErrorFeedbackNameEnum;
+exports.FeedbackNoSolutionInCurrentConfigurationErrorFeedbackNameEnum = FeedbackNoSolutionInCurrentConfigurationErrorFeedbackNameEnum;
 exports.FeedbackOutOfWorkspaceErrorFeedbackNameEnum = FeedbackOutOfWorkspaceErrorFeedbackNameEnum;
 exports.FeedbackSingularityErrorFeedbackNameEnum = FeedbackSingularityErrorFeedbackNameEnum;
+exports.FeedbackStartJointsMissingErrorFeedbackNameEnum = FeedbackStartJointsMissingErrorFeedbackNameEnum;
+exports.FeedbackTorqueExceededErrorFeedbackNameEnum = FeedbackTorqueExceededErrorFeedbackNameEnum;
 exports.FloatValueValueTypeEnum = FloatValueValueTypeEnum;
 exports.IOBooleanValueValueTypeEnum = IOBooleanValueValueTypeEnum;
 exports.IODirection = IODirection;
@@ -8202,6 +8709,7 @@ exports.JoggingDetailsKindEnum = JoggingDetailsKindEnum;
 exports.JoggingPausedByUserKindEnum = JoggingPausedByUserKindEnum;
 exports.JoggingPausedNearCollisionKindEnum = JoggingPausedNearCollisionKindEnum;
 exports.JoggingPausedNearJointLimitKindEnum = JoggingPausedNearJointLimitKindEnum;
+exports.JoggingPausedNearSingularityKindEnum = JoggingPausedNearSingularityKindEnum;
 exports.JoggingPausedOnIOKindEnum = JoggingPausedOnIOKindEnum;
 exports.JoggingRunningKindEnum = JoggingRunningKindEnum;
 exports.JointLimitExceededErrorKindEnum = JointLimitExceededErrorKindEnum;
@@ -8232,6 +8740,10 @@ exports.MotionGroupModelsApiAxiosParamCreator = MotionGroupModelsApiAxiosParamCr
 exports.MotionGroupModelsApiFactory = MotionGroupModelsApiFactory;
 exports.MotionGroupModelsApiFp = MotionGroupModelsApiFp;
 exports.MovementErrorResponseKindEnum = MovementErrorResponseKindEnum;
+exports.NOVACloudApi = NOVACloudApi;
+exports.NOVACloudApiAxiosParamCreator = NOVACloudApiAxiosParamCreator;
+exports.NOVACloudApiFactory = NOVACloudApiFactory;
+exports.NOVACloudApiFp = NOVACloudApiFp;
 exports.NanValueErrorKindEnum = NanValueErrorKindEnum;
 exports.NetworkStateConnectionTypeEnum = NetworkStateConnectionTypeEnum;
 exports.OperatingState = OperatingState;
@@ -8240,6 +8752,8 @@ exports.OrientationType = OrientationType;
 exports.PathCartesianPTPPathDefinitionNameEnum = PathCartesianPTPPathDefinitionNameEnum;
 exports.PathCirclePathDefinitionNameEnum = PathCirclePathDefinitionNameEnum;
 exports.PathCubicSplinePathDefinitionNameEnum = PathCubicSplinePathDefinitionNameEnum;
+exports.PathDirectionConstrainedCartesianPTPPathDefinitionNameEnum = PathDirectionConstrainedCartesianPTPPathDefinitionNameEnum;
+exports.PathDirectionConstrainedJointPTPPathDefinitionNameEnum = PathDirectionConstrainedJointPTPPathDefinitionNameEnum;
 exports.PathJointPTPPathDefinitionNameEnum = PathJointPTPPathDefinitionNameEnum;
 exports.PathLinePathDefinitionNameEnum = PathLinePathDefinitionNameEnum;
 exports.PauseJoggingRequestMessageTypeEnum = PauseJoggingRequestMessageTypeEnum;
@@ -8335,4 +8849,5 @@ exports.VirtualControllerInputsOutputsApiFactory = VirtualControllerInputsOutput
 exports.VirtualControllerInputsOutputsApiFp = VirtualControllerInputsOutputsApiFp;
 exports.VirtualControllerKindEnum = VirtualControllerKindEnum;
 exports.YaskawaControllerKindEnum = YaskawaControllerKindEnum;
+exports.ZodValidationErrorErrorCodeEnum = ZodValidationErrorErrorCodeEnum;
 exports.operationServerMap = operationServerMap;