@wandelbots/nova-api 26.4.0-dev.50 → 26.4.0-dev.51

package/dist/v2/index.d.cts

@@ -131,6 +131,31 @@ interface ServerMap {
 declare const operationServerMap: ServerMap;
 //#endregion
 //#region v2/api.d.ts
+interface AbbConfdata {
+  /**
+   * Quadrant number for axis 1. Quadrant n means the axis angle is in the interval [n*90deg, (n+1)*90deg). Can be negative.
+   */
+  'cf1': number;
+  /**
+   * Quadrant number for axis 4. Quadrant n means the axis angle is in the interval [n*90deg, (n+1)*90deg). Can be negative.
+   */
+  'cf4': number;
+  /**
+   * Quadrant number for axis 6. Quadrant n means the axis angle is in the interval [n*90deg, (n+1)*90deg). Can be negative.
+   */
+  'cf6': number;
+  /**
+   * 3 branch bits composing the kinematic configuration: - Bit 0 (Wrist): 0 = positive axis 5 angle `NO_FLIP`, 1 = negative `FLIP`. - Bit 1 (Elbow): 0 = in front of lower arm `DOWN`, 1 = behind `UP`. - Bit 2 (Shoulder): 0 = in front of axis 1 `LEFT`, 1 = behind `RIGHT`.
+   */
+  'cfx': number;
+}
+/**
+ * A pose combined with ABB kinematic configuration data, `confdata`.
+ */
+interface AbbConfiguredPose {
+  'pose': AbbPose;
+  'confdata': AbbConfdata;
+}
 /**
  * The configuration of a physical ABB robot controller has to contain IP address. Additionally an EGM server configuration has to be specified in order to control the robot. Deploying the server is a functionality of this API.
  */
@@ -154,6 +179,18 @@ interface AbbControllerEgmServer {
   'ip': string;
   'port': number;
 }
+/**
+ * ABB pose with position (`x`, `y`, `z`) and quaternion orientation (`q1`, `q2`, `q3`, `q4`).
+ */
+interface AbbPose {
+  'x': number;
+  'y': number;
+  'z': number;
+  'q1': number;
+  'q2': number;
+  'q3': number;
+  'q4': number;
+}
 /**
  * The authentication token to fetch the license from the license server.
  */
@@ -256,6 +293,13 @@ interface App {
    */
   'diagnosis_path'?: string;
 }
+/**
+ * Per-joint constraint beyond the 8 inverse kinematic branches. Maps a joint index (0-based) to an allowed angle interval (in radians).
+ */
+interface AxisRange {
+  'axis': number;
+  'range': LimitRange;
+}
 /**
  * ## BEHAVIOR_AUTOMATIC This is the default behavior. The motion groups of the controller take commanded joint configuration as actual joint state. Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the virtual robot will act like a physical one, e.g., with a cycle time of 8ms to respond to a new joint state command. ## BEHAVIOR_AUTOMATIC_NOT_COMPLY_WITH_CYCLETIME Configures the compliance of the virtual robot with the normal ControllerState cycle time. If set, the robot will respond as fast as possible, limited only by software execution speed. Because of that, the execution of a movement requires less time than with BEHAVIOR_AUTOMATIC. ## BEHAVIOR_EXTERNAL_SOURCE The external client is the only source of actual joint state changes. This mode is used to enable third party software indicating the current joint state via [externalJointsStream](#/operations/externalJointsStream).
  */
@@ -1017,6 +1061,46 @@ interface ConfigurationResource {
    */
   'children'?: Array<ConfigurationResource>;
 }
+interface ConfiguredPose {
+  'pose': Pose;
+  'kinematic_configuration': KinematicConfiguration;
+}
+interface ConfiguredPoseInverse422Response {
+  'detail'?: Array<ValidationError>;
+}
+interface ConfiguredPoseInverseFailedResponse {
+  'joint_positions': Array<Array<number>>;
+  'feedbacks'?: Array<InverseFeedbackAtIndex>;
+}
+interface ConfiguredPoseInverseRequest {
+  /**
+   * Identifies a single motion group model. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
+   */
+  'motion_group_model': string;
+  'tcp_poses': Array<ConfiguredPose>;
+  'tcp_offset'?: Pose;
+  /**
+   * Offset from the world frame to the motion group base.
+   */
+  'mounting'?: Pose;
+  /**
+   * Joint position limits, indexed starting from base. The unit depends on the type of joint: For revolute joints, the limit is given in [rad]; for prismatic joints, it is given in [mm].
+   */
+  'joint_position_limits'?: Array<LimitRange>;
+  /**
+   * Collision layers to be respected by the motion planner when planning for a single motion group. Each setup represents one layer, e.g., the safety zones and shapes or a fine grained tool and workpiece model. Layers are checked individually along the trajectory and independently of other layers.  To respect the safety zones of the controller and check for collision: 1. Fetch the safety zones, link and tool shapes from the controller. 2. Add the fetched zones, links and tools to a layer. 3. Create other layers from your own 3D data as needed. 4. Plan trajectory. 5. The response highlights the layer in which a collision was detected by key.
+   */
+  'collision_setups'?: {
+    [key: string]: CollisionSetup;
+  };
+}
+interface ConfiguredPoseInverseResponse {
+  'response': ConfiguredPoseInverseResponseResponse;
+}
+/**
+ * @type ConfiguredPoseInverseResponseResponse
+ */
+type ConfiguredPoseInverseResponseResponse = Array<Array<number>> | ConfiguredPoseInverseFailedResponse;
 /**
  * Defines a rotationally constrained pose in 3D space. The orientation is constrained to rotations around a single axis.
  */
@@ -1089,6 +1173,16 @@ interface ControllerDescription {
    */
   'supports_safety_zones': boolean;
 }
+interface ConvertVendorConfiguredPose422Response {
+  'detail'?: Array<ValidationError>;
+}
+interface ConvertVendorConfiguredPoseRequest {
+  'vendor_configured_poses': ConvertVendorConfiguredPoseRequestVendorConfiguredPoses;
+}
+/**
+ * @type ConvertVendorConfiguredPoseRequestVendorConfiguredPoses
+ */
+type ConvertVendorConfiguredPoseRequestVendorConfiguredPoses = Array<AbbConfiguredPose> | Array<KukaConfiguredPose>;
 /**
  * Defines a convex hull encapsulating a set of vertices.
  */
@@ -1407,6 +1501,18 @@ declare const FanucControllerKindEnum: {
   readonly FanucController: "FanucController";
 };
 type FanucControllerKindEnum = typeof FanucControllerKindEnum[keyof typeof FanucControllerKindEnum];
+/**
+ * This error is returned when a joint position limit is exceeded. The joint index denotes which joint is out of its limits, starting with 0 and followed by the full joint position.
+ */
+interface FeedbackAxisRangeExceeded {
+  'joint_index'?: number;
+  'joint_position'?: Array<number>;
+  'error_feedback_name': FeedbackAxisRangeExceededErrorFeedbackNameEnum;
+}
+declare const FeedbackAxisRangeExceededErrorFeedbackNameEnum: {
+  readonly FeedbackAxisRangeExceeded: "FeedbackAxisRangeExceeded";
+};
+type FeedbackAxisRangeExceededErrorFeedbackNameEnum = typeof FeedbackAxisRangeExceededErrorFeedbackNameEnum[keyof typeof FeedbackAxisRangeExceededErrorFeedbackNameEnum];
 interface FeedbackCollision {
   'collisions'?: Array<Collision>;
   'joint_position'?: Array<number>;
@@ -1526,7 +1632,7 @@ declare const FeedbackInvalidSamplingTimeErrorFeedbackNameEnum: {
 };
 type FeedbackInvalidSamplingTimeErrorFeedbackNameEnum = typeof FeedbackInvalidSamplingTimeErrorFeedbackNameEnum[keyof typeof FeedbackInvalidSamplingTimeErrorFeedbackNameEnum];
 /**
- * This error is returned when a joint position limit is exceeded. The joint index denotes which joint is out of its limits, starting with 1 and followed by the full joint position.
+ * This error is returned when a joint position limit is exceeded. The joint index denotes which joint is out of its limits, starting with 0 and followed by the full joint position.
  */
 interface FeedbackJointLimitExceeded {
   'joint_index'?: number;
@@ -1926,6 +2032,14 @@ interface InvalidDofErrorInvalidDof {
    */
   'joint_position'?: Array<number>;
 }
+interface InverseFeedbackAtIndex {
+  'error_feedback': InverseFeedbackAtIndexErrorFeedback;
+  'error_index': number;
+}
+/**
+ * @type InverseFeedbackAtIndexErrorFeedback
+ */
+type InverseFeedbackAtIndexErrorFeedback = FeedbackAxisRangeExceeded | FeedbackCollision | FeedbackJointLimitExceeded | FeedbackOutOfWorkspace | FeedbackSingularity;
 interface InverseKinematics422Response {
   'detail'?: Array<InverseKinematicsValidationError>;
 }
@@ -2132,6 +2246,36 @@ declare const JointVelocityResponseKindEnum: {
   readonly JointVelocityReceived: "JOINT_VELOCITY_RECEIVED";
 };
 type JointVelocityResponseKindEnum = typeof JointVelocityResponseKindEnum[keyof typeof JointVelocityResponseKindEnum];
+/**
+ * A 6-DOF robot with spherical wrist has up to 8 inverse kinematics solutions for a given TCP pose (2^3 branches). Each branch represents one side of a kinematic singularity boundary. The three binary choices are shoulder, elbow, and wrist.  > **NOTE** > > `FRONT`/`BACK`, `UP`/`DOWN`, `NO_FLIP`/`FLIP` are conventional > labels for the two sides of each branch. The labels describe the > typical geometric interpretation for common poses, but are not absolute spatial > directions. The labels are consistent within a given solver: The same physical > arm shape maps to the same branch value. The branch values are purely > geometric and describe the same physical configuration regardless of > vendor convention.
+ */
+interface KinematicBranch {
+  'wrist_branch'?: KinematicBranchWrist;
+  'elbow_branch'?: KinematicBranchElbow;
+  'shoulder_branch'?: KinematicBranchShoulder;
+}
+declare const KinematicBranchElbow: {
+  readonly Up: "UP";
+  readonly Down: "DOWN";
+};
+type KinematicBranchElbow = typeof KinematicBranchElbow[keyof typeof KinematicBranchElbow];
+declare const KinematicBranchShoulder: {
+  readonly Front: "FRONT";
+  readonly Back: "BACK";
+};
+type KinematicBranchShoulder = typeof KinematicBranchShoulder[keyof typeof KinematicBranchShoulder];
+declare const KinematicBranchWrist: {
+  readonly Flip: "FLIP";
+  readonly NoFlip: "NO_FLIP";
+};
+type KinematicBranchWrist = typeof KinematicBranchWrist[keyof typeof KinematicBranchWrist];
+/**
+ * Vendor-independent kinematic configuration for 6-DOF industrial robots with spherical wrist. Combines the discrete branch selection with optional per-joint axis range constraints.
+ */
+interface KinematicConfiguration {
+  'kinematic_branch'?: KinematicBranch;
+  'axis_ranges'?: Array<AxisRange>;
+}
 /**
  * Kinematics model described by Denavit-Hartenberg parameters.
  */
@@ -2150,6 +2294,13 @@ interface KinematicModel {
    */
   'inverse_solver'?: string;
 }
+/**
+ * A KUKA E6POS pose combined with status/turn kinematic configuration data.
+ */
+interface KukaConfiguredPose {
+  'pose': KukaPose;
+  'status_and_turn_bits': KukaStatusAndTurnBits;
+}
 /**
  * The configuration of a physical KUKA robot controller has to contain an IP address. Additionally an RSI server configuration has to be specified in order to control the robot. Deploying the server is a functionality of this API.
  */
@@ -2174,6 +2325,48 @@ interface KukaControllerRsiServer {
   'ip': string;
   'port': number;
 }
+/**
+ * KUKA E6POS position and Euler ZYX intrinsic orientation. Position in [mm], orientation as A (Z), B (Y\'), C (X\'\') in degrees.
+ */
+interface KukaPose {
+  /**
+   * X position in mm.
+   */
+  'x': number;
+  /**
+   * Y position in mm.
+   */
+  'y': number;
+  /**
+   * Z position in mm.
+   */
+  'z': number;
+  /**
+   * Rotation around Z axis in degrees.
+   */
+  'a': number;
+  /**
+   * Rotation around Y\' axis in degrees.
+   */
+  'b': number;
+  /**
+   * Rotation around X\'\' axis in degrees.
+   */
+  'c': number;
+}
+/**
+ * KUKA status/turn kinematic configuration bits. S (3-bit status): Encodes shoulder, elbow, and wrist configuration. T (6-bit turn): Encodes axis angle signs for A1-A6.
+ */
+interface KukaStatusAndTurnBits {
+  /**
+   * 3 status bits: - Bit 0 (Shoulder): 0 = `LEFT`, 1 = `RIGHT` - Bit 1 (Elbow): 0 = `UP`, 1 = `DOWN` - Bit 2 (Wrist): 0 = `NO_FLIP`, 1 = `FLIP`
+   */
+  's': number;
+  /**
+   * 6 turn bits: - Bits 0-5: Encode the sign of axes A1-A6. - Bit N = 0: axis N+1 angle >= 0 deg - Bit N = 1: axis N+1 angle < 0 deg
+   */
+  't': number;
+}
 interface License {
   /**
    * Name of the licensed product.
@@ -6847,6 +7040,24 @@ declare class JoggingApi extends BaseAPI {
  * KinematicsApi - axios parameter creator
  */
 declare const KinematicsApiAxiosParamCreator: (configuration?: Configuration) => {
+  /**
+   * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the reachable joint positions for a list of given poses.
+   * @summary Inverse kinematics configured pose
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ConfiguredPoseInverseRequest} configuredPoseInverseRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  configuredPoseInverse: (cell: string, configuredPoseInverseRequest: ConfiguredPoseInverseRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+  /**
+   * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Converts a vendor-specific pose with configuration data to a vendor-independent pose with kinematic configuration.
+   * @summary Convert vendor-configured pose
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ConvertVendorConfiguredPoseRequest} convertVendorConfiguredPoseRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  convertVendorConfiguredPose: (cell: string, convertVendorConfiguredPoseRequest: ConvertVendorConfiguredPoseRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
    * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the TCP poses for a list of given joint positions.
    * @summary Forward kinematics
@@ -6879,6 +7090,24 @@ declare const KinematicsApiAxiosParamCreator: (configuration?: Configuration) =>
  * KinematicsApi - functional programming interface
  */
 declare const KinematicsApiFp: (configuration?: Configuration) => {
+  /**
+   * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the reachable joint positions for a list of given poses.
+   * @summary Inverse kinematics configured pose
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ConfiguredPoseInverseRequest} configuredPoseInverseRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  configuredPoseInverse(cell: string, configuredPoseInverseRequest: ConfiguredPoseInverseRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ConfiguredPoseInverseResponse>>;
+  /**
+   * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Converts a vendor-specific pose with configuration data to a vendor-independent pose with kinematic configuration.
+   * @summary Convert vendor-configured pose
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ConvertVendorConfiguredPoseRequest} convertVendorConfiguredPoseRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  convertVendorConfiguredPose(cell: string, convertVendorConfiguredPoseRequest: ConvertVendorConfiguredPoseRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<Array<ConfiguredPose>>>;
   /**
    * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the TCP poses for a list of given joint positions.
    * @summary Forward kinematics
@@ -6911,6 +7140,24 @@ declare const KinematicsApiFp: (configuration?: Configuration) => {
  * KinematicsApi - factory interface
  */
 declare const KinematicsApiFactory: (configuration?: Configuration, basePath?: string, axios?: AxiosInstance) => {
+  /**
+   * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the reachable joint positions for a list of given poses.
+   * @summary Inverse kinematics configured pose
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ConfiguredPoseInverseRequest} configuredPoseInverseRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  configuredPoseInverse(cell: string, configuredPoseInverseRequest: ConfiguredPoseInverseRequest, options?: RawAxiosRequestConfig): AxiosPromise<ConfiguredPoseInverseResponse>;
+  /**
+   * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Converts a vendor-specific pose with configuration data to a vendor-independent pose with kinematic configuration.
+   * @summary Convert vendor-configured pose
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ConvertVendorConfiguredPoseRequest} convertVendorConfiguredPoseRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  convertVendorConfiguredPose(cell: string, convertVendorConfiguredPoseRequest: ConvertVendorConfiguredPoseRequest, options?: RawAxiosRequestConfig): AxiosPromise<Array<ConfiguredPose>>;
   /**
    * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the TCP poses for a list of given joint positions.
    * @summary Forward kinematics
@@ -6943,6 +7190,24 @@ declare const KinematicsApiFactory: (configuration?: Configuration, basePath?: s
  * KinematicsApi - object-oriented interface
  */
 declare class KinematicsApi extends BaseAPI {
+  /**
+   * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the reachable joint positions for a list of given poses.
+   * @summary Inverse kinematics configured pose
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ConfiguredPoseInverseRequest} configuredPoseInverseRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  configuredPoseInverse(cell: string, configuredPoseInverseRequest: ConfiguredPoseInverseRequest, options?: RawAxiosRequestConfig): Promise<_$axios.AxiosResponse<ConfiguredPoseInverseResponse, any, {}>>;
+  /**
+   * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Converts a vendor-specific pose with configuration data to a vendor-independent pose with kinematic configuration.
+   * @summary Convert vendor-configured pose
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {ConvertVendorConfiguredPoseRequest} convertVendorConfiguredPoseRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  convertVendorConfiguredPose(cell: string, convertVendorConfiguredPoseRequest: ConvertVendorConfiguredPoseRequest, options?: RawAxiosRequestConfig): Promise<_$axios.AxiosResponse<ConfiguredPose[], any, {}>>;
   /**
    * **Required permissions:** `can_plan_motion` - Plan robot motions and trajectories ___  Returns the TCP poses for a list of given joint positions.
    * @summary Forward kinematics
@@ -6991,7 +7256,7 @@ declare const LicenseApiAxiosParamCreator: (configuration?: Configuration) => {
    */
   deactivateLicense: (options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * **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.
+   * **Required permissions:** `can_access_license` - View license status ___  Get information on the license used with the Wandelbots NOVA instance, e.g., licensed product, expiration date, license status.
    * @summary Get license
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
@@ -7025,7 +7290,7 @@ declare const LicenseApiFp: (configuration?: Configuration) => {
    */
   deactivateLicense(options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * **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.
+   * **Required permissions:** `can_access_license` - View license status ___  Get information on the license used with the Wandelbots NOVA instance, e.g., licensed product, expiration date, license status.
    * @summary Get license
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
@@ -7059,7 +7324,7 @@ declare const LicenseApiFactory: (configuration?: Configuration, basePath?: stri
    */
   deactivateLicense(options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * **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.
+   * **Required permissions:** `can_access_license` - View license status ___  Get information on the license used with the Wandelbots NOVA instance, e.g., licensed product, expiration date, license status.
    * @summary Get license
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
@@ -7093,7 +7358,7 @@ declare class LicenseApi extends BaseAPI {
    */
   deactivateLicense(options?: RawAxiosRequestConfig): Promise<_$axios.AxiosResponse<void, any, {}>>;
   /**
-   * **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.
+   * **Required permissions:** `can_access_license` - View license status ___  Get information on the license used with the Wandelbots NOVA instance, e.g., licensed product, expiration date, license status.
    * @summary Get license
    * @param {*} [options] Override http request option.
    * @throws {RequiredError}
@@ -9827,7 +10092,7 @@ declare const VirtualControllerApiAxiosParamCreator: (configuration?: Configurat
    */
   addVirtualControllerMotionGroup: (cell: string, controller: string, addVirtualControllerMotionGroupRequest: AddVirtualControllerMotionGroupRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
   /**
-   * **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**.
+   * **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 defined by one **corner point** (`center`) and **three adjacent corners** (`neighbour`). Despite the field name, `center` is not the geometric centroid but one corner of the box, and each `neighbour` is the corner directly connected to it by one edge.  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 → one corner of the box [x, y, z]  neighbour = [   x1, y1, z1,   ← corner connected by the first edge   x2, y2, z2,   ← corner connected by the second edge   x3, y3, z3    ← corner connected by the third edge ]  edge_length_i = ||neighbour_i − corner|| ```  The three edge vectors and the geometric centroid are: ``` d0 = neighbour[0] − corner d1 = neighbour[1] − corner d2 = neighbour[2] − corner  centroid = corner + (d0 + d1 + d2) / 2 ```  For an **axis-aligned** box with one corner at `[cx, cy, cz]` and edge lengths `[ex, ey, ez]`: ``` corner     = [cx, cy, cz] neighbour  = [cx+ex, cy, cz,   cx, cy+ey, cz,   cx, cy, cz+ez] ```  ---  ### 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.
@@ -10034,7 +10299,7 @@ declare const VirtualControllerApiFp: (configuration?: Configuration) => {
    */
   addVirtualControllerMotionGroup(cell: string, controller: string, addVirtualControllerMotionGroupRequest: AddVirtualControllerMotionGroupRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<void>>;
   /**
-   * **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**.
+   * **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 defined by one **corner point** (`center`) and **three adjacent corners** (`neighbour`). Despite the field name, `center` is not the geometric centroid but one corner of the box, and each `neighbour` is the corner directly connected to it by one edge.  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 → one corner of the box [x, y, z]  neighbour = [   x1, y1, z1,   ← corner connected by the first edge   x2, y2, z2,   ← corner connected by the second edge   x3, y3, z3    ← corner connected by the third edge ]  edge_length_i = ||neighbour_i − corner|| ```  The three edge vectors and the geometric centroid are: ``` d0 = neighbour[0] − corner d1 = neighbour[1] − corner d2 = neighbour[2] − corner  centroid = corner + (d0 + d1 + d2) / 2 ```  For an **axis-aligned** box with one corner at `[cx, cy, cz]` and edge lengths `[ex, ey, ez]`: ``` corner     = [cx, cy, cz] neighbour  = [cx+ex, cy, cz,   cx, cy+ey, cz,   cx, cy, cz+ez] ```  ---  ### 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.
@@ -10241,7 +10506,7 @@ declare const VirtualControllerApiFactory: (configuration?: Configuration, baseP
    */
   addVirtualControllerMotionGroup(cell: string, controller: string, addVirtualControllerMotionGroupRequest: AddVirtualControllerMotionGroupRequest, options?: RawAxiosRequestConfig): AxiosPromise<void>;
   /**
-   * **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**.
+   * **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 defined by one **corner point** (`center`) and **three adjacent corners** (`neighbour`). Despite the field name, `center` is not the geometric centroid but one corner of the box, and each `neighbour` is the corner directly connected to it by one edge.  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 → one corner of the box [x, y, z]  neighbour = [   x1, y1, z1,   ← corner connected by the first edge   x2, y2, z2,   ← corner connected by the second edge   x3, y3, z3    ← corner connected by the third edge ]  edge_length_i = ||neighbour_i − corner|| ```  The three edge vectors and the geometric centroid are: ``` d0 = neighbour[0] − corner d1 = neighbour[1] − corner d2 = neighbour[2] − corner  centroid = corner + (d0 + d1 + d2) / 2 ```  For an **axis-aligned** box with one corner at `[cx, cy, cz]` and edge lengths `[ex, ey, ez]`: ``` corner     = [cx, cy, cz] neighbour  = [cx+ex, cy, cz,   cx, cy+ey, cz,   cx, cy, cz+ez] ```  ---  ### 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.
@@ -10448,7 +10713,7 @@ declare class VirtualControllerApi extends BaseAPI {
    */
   addVirtualControllerMotionGroup(cell: string, controller: string, addVirtualControllerMotionGroupRequest: AddVirtualControllerMotionGroupRequest, options?: RawAxiosRequestConfig): Promise<_$axios.AxiosResponse<void, any, {}>>;
   /**
-   * **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**.
+   * **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 defined by one **corner point** (`center`) and **three adjacent corners** (`neighbour`). Despite the field name, `center` is not the geometric centroid but one corner of the box, and each `neighbour` is the corner directly connected to it by one edge.  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 → one corner of the box [x, y, z]  neighbour = [   x1, y1, z1,   ← corner connected by the first edge   x2, y2, z2,   ← corner connected by the second edge   x3, y3, z3    ← corner connected by the third edge ]  edge_length_i = ||neighbour_i − corner|| ```  The three edge vectors and the geometric centroid are: ``` d0 = neighbour[0] − corner d1 = neighbour[1] − corner d2 = neighbour[2] − corner  centroid = corner + (d0 + d1 + d2) / 2 ```  For an **axis-aligned** box with one corner at `[cx, cy, cz]` and edge lengths `[ex, ey, ez]`: ``` corner     = [cx, cy, cz] neighbour  = [cx+ex, cy, cz,   cx, cy+ey, cz,   cx, cy, cz+ez] ```  ---  ### 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.
@@ -10954,4 +11219,4 @@ declare class VirtualControllerInputsOutputsApi extends BaseAPI {
   setIOValues(cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<_$axios.AxiosResponse<void, any, {}>>;
 }
 //#endregion
-export { AbbController, AbbControllerEgmServer, AbbControllerKindEnum, ActivateLicenseRequest, AddTrajectoryError, AddTrajectoryErrorData, AddTrajectoryRequest, AddTrajectoryResponse, AddVirtualControllerMotionGroupRequest, ApiVersion, App, ApplicationApi, ApplicationApiAxiosParamCreator, ApplicationApiFactory, ApplicationApiFp, BASE_PATH, BUSInputsOutputsApi, BUSInputsOutputsApiAxiosParamCreator, BUSInputsOutputsApiFactory, BUSInputsOutputsApiFp, BaseAPI, Behavior, BlendingAuto, BlendingAutoBlendingNameEnum, BlendingPosition, BlendingPositionBlendingNameEnum, BlendingSpace, BooleanValue, BooleanValueValueTypeEnum, Box, BoxBoxTypeEnum, BoxShapeTypeEnum, BusIODescription, BusIOModbusClient, BusIOModbusClientBusTypeEnum, BusIOModbusServer, BusIOModbusServerBusTypeEnum, BusIOModbusTCPClient, BusIOModbusTCPClientNetworkTypeEnum, BusIOModbusTCPServer, BusIOModbusTCPServerNetworkTypeEnum, BusIOModbusVirtual, BusIOModbusVirtualBusTypeEnum, BusIOProfinet, BusIOProfinetBusTypeEnum, BusIOProfinetDefaultRoute, BusIOProfinetIpConfig, BusIOProfinetNetwork, BusIOProfinetSlot, BusIOProfinetVirtual, BusIOProfinetVirtualBusTypeEnum, BusIOSnap7, BusIOSnap7BusTypeEnum, BusIOType, BusIOsState, BusIOsStateEnum, COLLECTION_FORMATS, CapabilityEntry, Capsule, CapsuleShapeTypeEnum, CartesianLimits, Cell, CellApi, CellApiAxiosParamCreator, CellApiFactory, CellApiFp, CloudConfigStatus, CloudConfigStatusConfigured, CloudConfigStatusConfiguredStatusEnum, CloudConfigStatusNotConfigured, CloudConfigStatusNotConfiguredStatusEnum, CloudConfiguration, CloudConnectionError, CloudConnectionErrorError, CloudConnectionErrorInvalidToken, CloudConnectionErrorInvalidTokenCodeEnum, CloudConnectionErrorInvalidTokenDetails, CloudConnectionErrorInvalidTokenDetailsCloudResponse, CloudConnectionErrorLeafnodeConnectionError, CloudConnectionErrorLeafnodeConnectionErrorCodeEnum, CloudConnectionErrorLeafnodeConnectionErrorDetails, CloudConnectionErrorLeafnodeConnectionTimeout, CloudConnectionErrorLeafnodeConnectionTimeoutCodeEnum, CloudConnectionErrorLeafnodeRestartTimeout, CloudConnectionErrorLeafnodeRestartTimeoutCodeEnum, CloudConnectionErrorNatsFailed, CloudConnectionErrorNatsFailedCodeEnum, CloudConnectionErrorNatsFailedDetails, CloudConnectionErrorUnexpectedResponse, CloudConnectionErrorUnexpectedResponseCodeEnum, CloudConnectionErrorUnexpectedResponseDetails, CloudConnectionErrorUnexpectedResponseDetailsCloudResponse, CloudConnectionRequest, CloudDisconnectionError, CloudDisconnectionStatusDisconnected, CloudDisconnectionStatusDisconnectedStatusEnum, CloudDisconnectionStatusDisconnecting, CloudDisconnectionStatusDisconnectingStatusEnum, CloudRegistrationSuccessResponse, Collider, ColliderShape, Collision, CollisionContact, CollisionError, CollisionErrorKindEnum, CollisionFreeAlgorithm, CollisionMotionGroup, CollisionSetup, Comparator, Configuration, ConfigurationArchiveStatus, ConfigurationArchiveStatusCreating, ConfigurationArchiveStatusCreatingStatusEnum, ConfigurationArchiveStatusError, ConfigurationArchiveStatusErrorStatusEnum, ConfigurationArchiveStatusSuccess, ConfigurationArchiveStatusSuccessStatusEnum, ConfigurationParameters, ConfigurationResource, ConstrainedPose, ContainerEnvironmentInner, ContainerImage, ContainerImageSecretsInner, ContainerResources, ContainerStorage, ControllerApi, ControllerApiAxiosParamCreator, ControllerApiFactory, ControllerApiFp, ControllerDescription, ControllerInputsOutputsApi, ControllerInputsOutputsApiAxiosParamCreator, ControllerInputsOutputsApiFactory, ControllerInputsOutputsApiFp, ConvexHull, ConvexHullShapeTypeEnum, CoordinateSystem, CoordinateSystemData, CubicSplineParameter, CycleTime, Cylinder, CylinderShapeTypeEnum, DHParameter, Direction, DirectionConstraint, DirectionConstraintConstraintNameEnum, ErrorDirectionConstraintNotMet, ErrorDirectionConstraintNotMetErrorFeedbackNameEnum, ErrorDirectionConstraintNotNormalized, ErrorDirectionConstraintNotNormalizedErrorFeedbackNameEnum, ErrorInvalidJointCount, ErrorInvalidJointCountErrorFeedbackNameEnum, ErrorJointLimitExceeded, ErrorJointLimitExceededErrorFeedbackNameEnum, ErrorJointPositionCollision, ErrorJointPositionCollisionErrorFeedbackNameEnum, ErrorMaxIterationsExceeded, ErrorMaxIterationsExceededErrorFeedbackNameEnum, ErrorMotionGroupKeyMismatch, ErrorUnsupportedOperation, ErrorUnsupportedOperationErrorFeedbackNameEnum, Execute, ExecuteDetails, ExecuteJoggingRequest, ExecuteJoggingResponse, ExecuteTrajectoryRequest, ExecuteTrajectoryResponse, ExternalJointStreamDatapoint, ExternalJointStreamRequest, FanucController, FanucControllerKindEnum, FeedbackCollision, FeedbackCollisionErrorFeedbackNameEnum, FeedbackCommandsMissing, FeedbackCommandsMissingErrorFeedbackNameEnum, FeedbackCubicSplineIsNotIncreasing, FeedbackCubicSplineIsNotIncreasingErrorFeedbackNameEnum, FeedbackCubicSplineNotAtStartPose, FeedbackCubicSplineNotAtStartPoseErrorFeedbackNameEnum, FeedbackDirectionConstraintNoSolutionExists, FeedbackDirectionConstraintNoSolutionExistsErrorFeedbackNameEnum, FeedbackDirectionConstraintNotMet, FeedbackDirectionConstraintNotMetErrorFeedbackNameEnum, FeedbackDirectionConstraintNotNormalized, FeedbackDirectionConstraintNotNormalizedErrorFeedbackNameEnum, FeedbackInvalidDof, FeedbackInvalidDofErrorFeedbackNameEnum, FeedbackInvalidNanValue, FeedbackInvalidNanValueErrorFeedbackNameEnum, FeedbackInvalidSamplingTime, FeedbackInvalidSamplingTimeErrorFeedbackNameEnum, FeedbackJointLimitExceeded, FeedbackJointLimitExceededErrorFeedbackNameEnum, FeedbackNoSolutionInCurrentConfiguration, FeedbackNoSolutionInCurrentConfigurationErrorFeedbackNameEnum, FeedbackOutOfWorkspace, FeedbackOutOfWorkspaceErrorFeedbackNameEnum, FeedbackSingularity, FeedbackSingularityErrorFeedbackNameEnum, FeedbackStartJointsMissing, FeedbackStartJointsMissingErrorFeedbackNameEnum, FeedbackTorqueExceeded, FeedbackTorqueExceededErrorFeedbackNameEnum, Flag, FlangePayload, FloatValue, FloatValueValueTypeEnum, ForwardKinematics422Response, ForwardKinematicsRequest, ForwardKinematicsResponse, ForwardKinematicsValidationError, GetTrajectoryResponse, HTTPValidationError, IOBooleanValue, IOBooleanValueValueTypeEnum, IOBoundary, IODescription, IODirection, IOFloatValue, IOFloatValueValueTypeEnum, IOIntegerValue, IOIntegerValueValueTypeEnum, IOOrigin, IOValue, IOValueType, ImageCredentials, InconsistentTrajectorySizeError, InconsistentTrajectorySizeErrorInconsistentTrajectorySize, InconsistentTrajectorySizeErrorKindEnum, InitializeJoggingRequest, InitializeJoggingRequestMessageTypeEnum, InitializeJoggingResponse, InitializeJoggingResponseKindEnum, InitializeMovementRequest, InitializeMovementRequestMessageTypeEnum, InitializeMovementRequestTrajectory, InitializeMovementResponse, InitializeMovementResponseKindEnum, IntegerValue, IntegerValueValueTypeEnum, InvalidDofError, InvalidDofErrorInvalidDof, InvalidDofErrorKindEnum, InverseKinematics422Response, InverseKinematicsRequest, InverseKinematicsResponse, InverseKinematicsValidationError, InverseKinematicsValidationErrorAllOfData, JoggingApi, JoggingApiAxiosParamCreator, JoggingApiFactory, JoggingApiFp, JoggingDetails, JoggingDetailsKindEnum, JoggingDetailsState, JoggingPausedByUser, JoggingPausedByUserKindEnum, JoggingPausedNearCollision, JoggingPausedNearCollisionKindEnum, JoggingPausedNearJointLimit, JoggingPausedNearJointLimitKindEnum, JoggingPausedNearSingularity, JoggingPausedNearSingularityKindEnum, JoggingPausedOnIO, JoggingPausedOnIOKindEnum, JoggingRunning, JoggingRunningKindEnum, JointLimitExceededError, JointLimitExceededErrorKindEnum, JointLimits, JointPTPMotion, JointTrajectory, JointTypeEnum, JointVelocityRequest, JointVelocityRequestMessageTypeEnum, JointVelocityResponse, JointVelocityResponseKindEnum, KinematicModel, KinematicsApi, KinematicsApiAxiosParamCreator, KinematicsApiFactory, KinematicsApiFp, KukaController, KukaControllerKindEnum, KukaControllerRsiServer, License, LicenseApi, LicenseApiAxiosParamCreator, LicenseApiFactory, LicenseApiFp, LicenseStatus, LicenseStatusEnum, LimitRange, LimitSet, LimitsOverride, ListTrajectoriesResponse, Manufacturer, MergeTrajectories422Response, MergeTrajectoriesError, MergeTrajectoriesErrorErrorFeedback, MergeTrajectoriesRequest, MergeTrajectoriesResponse, MergeTrajectoriesResponseFeedbackInner, MergeTrajectoriesSegment, MergeTrajectoriesValidationError, MidpointInsertionAlgorithm, MidpointInsertionAlgorithmAlgorithmNameEnum, ModbusIO, ModbusIOArea, ModbusIOByteOrder, ModbusIOData, ModbusIOTypeEnum, ModelError, MotionCommand, MotionCommandBlending, MotionCommandPath, MotionGroupApi, MotionGroupApiAxiosParamCreator, MotionGroupApiFactory, MotionGroupApiFp, MotionGroupDescription, MotionGroupFromJson, MotionGroupFromType, MotionGroupInfo, MotionGroupJoints, MotionGroupModelsApi, MotionGroupModelsApiAxiosParamCreator, MotionGroupModelsApiFactory, MotionGroupModelsApiFp, MotionGroupSetup, MotionGroupState, MotionGroupStateJointLimitReached, MovementErrorResponse, MovementErrorResponseKindEnum, MultiCollisionSetup, MultiErrorInvalidJointCount, MultiErrorJointLimitExceeded, MultiErrorJointPositionCollision, MultiJointTrajectory, MultiSearchCollisionFree422Response, MultiSearchCollisionFreeRequest, MultiSearchCollisionFreeResponse, MultiSearchCollisionFreeResponseResponse, MultiSearchCollisionFreeValidationError, MultiSearchCollisionFreeValidationErrorAllOfData, NOVACloudApi, NOVACloudApiAxiosParamCreator, NOVACloudApiFactory, NOVACloudApiFp, NanValueError, NanValueErrorKindEnum, NanValueErrorNanValue, NetworkDevice, NetworkInterface, NetworkState, NetworkStateConnectionTypeEnum, OpMode, OperatingState, OperationLimits, OperationMode, OrientationType, PathCartesianPTP, PathCartesianPTPPathDefinitionNameEnum, PathCircle, PathCirclePathDefinitionNameEnum, PathCubicSpline, PathCubicSplinePathDefinitionNameEnum, PathDirectionConstrainedCartesianPTP, PathDirectionConstrainedCartesianPTPPathDefinitionNameEnum, PathDirectionConstrainedJointPTP, PathDirectionConstrainedJointPTPPathDefinitionNameEnum, PathJointPTP, PathJointPTPPathDefinitionNameEnum, PathLine, PathLinePathDefinitionNameEnum, PauseJoggingRequest, PauseJoggingRequestMessageTypeEnum, PauseJoggingResponse, PauseJoggingResponseKindEnum, PauseMovementRequest, PauseMovementRequestMessageTypeEnum, PauseMovementResponse, PauseMovementResponseKindEnum, PauseOnIO, Payload, Plan422Response, PlanCollisionFreeFailedResponse, PlanCollisionFreeRequest, PlanCollisionFreeResponse, PlanCollisionFreeResponseResponse, PlanTrajectoryFailedResponse, PlanTrajectoryFailedResponseErrorFeedback, PlanTrajectoryRequest, PlanTrajectoryResponse, PlanTrajectoryResponseResponse, PlanValidationError, PlanValidationErrorAllOfData, Plane, PlaneShapeTypeEnum, PlaybackSpeedRequest, PlaybackSpeedRequestMessageTypeEnum, PlaybackSpeedResponse, PlaybackSpeedResponseKindEnum, Pose, ProfinetDescription, ProfinetIO, ProfinetIOData, ProfinetIODirection, ProfinetIOTypeEnum, ProfinetInputOutputConfig, ProfinetSlotDescription, ProfinetSubSlotDescription, Program, ProgramApi, ProgramApiAxiosParamCreator, ProgramApiFactory, ProgramApiFp, ProgramRun, ProgramRunState, ProgramStartRequest, ProjectJointPositionDirectionConstraint422Response, ProjectJointPositionDirectionConstraintRequest, ProjectJointPositionDirectionConstraintResponse, ProjectJointPositionDirectionConstraintValidationError, ProjectJointPositionDirectionConstraintValidationErrorAllOfData, RRTConnectAlgorithm, RRTConnectAlgorithmAlgorithmNameEnum, RRTConnectAlgorithmStepSize, Range, Rectangle, RectangleShapeTypeEnum, RectangularCapsule, RectangularCapsuleShapeTypeEnum, ReleaseChannel, RequestArgs, RequiredError, RobotConfigurationsApi, RobotConfigurationsApiAxiosParamCreator, RobotConfigurationsApiFactory, RobotConfigurationsApiFp, RobotController, RobotControllerConfiguration, RobotControllerConfigurationRequest, RobotControllerState, RobotSystemMode, RobotTcp, RobotTcpData, SafetyGeometry, SafetyGeometryBox, SafetyGeometryCapsule, SafetyGeometryLozenge, SafetyGeometryPlane, SafetyGeometryPrism, SafetyGeometrySphere, SafetyStateType, SafetyZone, SafetyZonePose, SafetyZones, ServiceGroup, ServiceStatus, ServiceStatusPhase, ServiceStatusResponse, ServiceStatusSeverity, ServiceStatusStatus, SessionApi, SessionApiAxiosParamCreator, SessionApiFactory, SessionApiFp, SessionResponse, SetIO, SettableRobotSystemMode, SingularityTypeEnum, Snap7IO, Snap7IOArea, Snap7IOData, Snap7IODirection, Snap7IOTypeEnum, Sphere, SphereShapeTypeEnum, StartMovementRequest, StartMovementRequestMessageTypeEnum, StartMovementResponse, StartMovementResponseKindEnum, StartOnIO, StoreCollisionComponentsApi, StoreCollisionComponentsApiAxiosParamCreator, StoreCollisionComponentsApiFactory, StoreCollisionComponentsApiFp, StoreCollisionSetupsApi, StoreCollisionSetupsApiAxiosParamCreator, StoreCollisionSetupsApiFactory, StoreCollisionSetupsApiFp, StoreObjectApi, StoreObjectApiAxiosParamCreator, StoreObjectApiFactory, StoreObjectApiFp, StreamIOValuesResponse, SystemApi, SystemApiAxiosParamCreator, SystemApiFactory, SystemApiFp, TcpOffset, TcpRequiredError, TcpRequiredErrorKindEnum, TcpVelocityRequest, TcpVelocityRequestMessageTypeEnum, TcpVelocityResponse, TcpVelocityResponseKindEnum, TorqueExceededError, TorqueExceededErrorKindEnum, TorqueExceededErrorTorqueExceeded, TrajectoryCachingApi, TrajectoryCachingApiAxiosParamCreator, TrajectoryCachingApiFactory, TrajectoryCachingApiFp, TrajectoryData, TrajectoryDataMessageTypeEnum, TrajectoryDetails, TrajectoryDetailsKindEnum, TrajectoryDetailsState, TrajectoryEnded, TrajectoryEndedKindEnum, TrajectoryExecutionApi, TrajectoryExecutionApiAxiosParamCreator, TrajectoryExecutionApiFactory, TrajectoryExecutionApiFp, TrajectoryId, TrajectoryIdMessageTypeEnum, TrajectoryPausedByUser, TrajectoryPausedByUserKindEnum, TrajectoryPausedOnIO, TrajectoryPausedOnIOKindEnum, TrajectoryPlanningApi, TrajectoryPlanningApiAxiosParamCreator, TrajectoryPlanningApiFactory, TrajectoryPlanningApiFp, TrajectoryRunning, TrajectoryRunningKindEnum, TrajectorySection, TrajectoryWaitForIO, TrajectoryWaitForIOKindEnum, UnitType, UniversalrobotsController, UniversalrobotsControllerKindEnum, UpdateCellVersionRequest, UpdateNovaVersionRequest, User, ValidationError, ValidationError2, ValidationErrorLocInner, VersionApi, VersionApiAxiosParamCreator, VersionApiFactory, VersionApiFp, VirtualController, VirtualControllerApi, VirtualControllerApiAxiosParamCreator, VirtualControllerApiFactory, VirtualControllerApiFp, VirtualControllerBehaviorApi, VirtualControllerBehaviorApiAxiosParamCreator, VirtualControllerBehaviorApiFactory, VirtualControllerBehaviorApiFp, VirtualControllerInputsOutputsApi, VirtualControllerInputsOutputsApiAxiosParamCreator, VirtualControllerInputsOutputsApiFactory, VirtualControllerInputsOutputsApiFp, VirtualControllerKindEnum, VirtualRobotConfiguration, WaitForIOEventRequest, YaskawaController, YaskawaControllerKindEnum, ZodValidationError, ZodValidationErrorError, ZodValidationErrorErrorCodeEnum, ZodValidationErrorErrorDetailsInner, ZodValidationErrorErrorDetailsInnerPathInner, operationServerMap };
+export { AbbConfdata, AbbConfiguredPose, AbbController, AbbControllerEgmServer, AbbControllerKindEnum, AbbPose, ActivateLicenseRequest, AddTrajectoryError, AddTrajectoryErrorData, AddTrajectoryRequest, AddTrajectoryResponse, AddVirtualControllerMotionGroupRequest, ApiVersion, App, ApplicationApi, ApplicationApiAxiosParamCreator, ApplicationApiFactory, ApplicationApiFp, AxisRange, BASE_PATH, BUSInputsOutputsApi, BUSInputsOutputsApiAxiosParamCreator, BUSInputsOutputsApiFactory, BUSInputsOutputsApiFp, BaseAPI, Behavior, BlendingAuto, BlendingAutoBlendingNameEnum, BlendingPosition, BlendingPositionBlendingNameEnum, BlendingSpace, BooleanValue, BooleanValueValueTypeEnum, Box, BoxBoxTypeEnum, BoxShapeTypeEnum, BusIODescription, BusIOModbusClient, BusIOModbusClientBusTypeEnum, BusIOModbusServer, BusIOModbusServerBusTypeEnum, BusIOModbusTCPClient, BusIOModbusTCPClientNetworkTypeEnum, BusIOModbusTCPServer, BusIOModbusTCPServerNetworkTypeEnum, BusIOModbusVirtual, BusIOModbusVirtualBusTypeEnum, BusIOProfinet, BusIOProfinetBusTypeEnum, BusIOProfinetDefaultRoute, BusIOProfinetIpConfig, BusIOProfinetNetwork, BusIOProfinetSlot, BusIOProfinetVirtual, BusIOProfinetVirtualBusTypeEnum, BusIOSnap7, BusIOSnap7BusTypeEnum, BusIOType, BusIOsState, BusIOsStateEnum, COLLECTION_FORMATS, CapabilityEntry, Capsule, CapsuleShapeTypeEnum, CartesianLimits, Cell, CellApi, CellApiAxiosParamCreator, CellApiFactory, CellApiFp, CloudConfigStatus, CloudConfigStatusConfigured, CloudConfigStatusConfiguredStatusEnum, CloudConfigStatusNotConfigured, CloudConfigStatusNotConfiguredStatusEnum, CloudConfiguration, CloudConnectionError, CloudConnectionErrorError, CloudConnectionErrorInvalidToken, CloudConnectionErrorInvalidTokenCodeEnum, CloudConnectionErrorInvalidTokenDetails, CloudConnectionErrorInvalidTokenDetailsCloudResponse, CloudConnectionErrorLeafnodeConnectionError, CloudConnectionErrorLeafnodeConnectionErrorCodeEnum, CloudConnectionErrorLeafnodeConnectionErrorDetails, CloudConnectionErrorLeafnodeConnectionTimeout, CloudConnectionErrorLeafnodeConnectionTimeoutCodeEnum, CloudConnectionErrorLeafnodeRestartTimeout, CloudConnectionErrorLeafnodeRestartTimeoutCodeEnum, CloudConnectionErrorNatsFailed, CloudConnectionErrorNatsFailedCodeEnum, CloudConnectionErrorNatsFailedDetails, CloudConnectionErrorUnexpectedResponse, CloudConnectionErrorUnexpectedResponseCodeEnum, CloudConnectionErrorUnexpectedResponseDetails, CloudConnectionErrorUnexpectedResponseDetailsCloudResponse, CloudConnectionRequest, CloudDisconnectionError, CloudDisconnectionStatusDisconnected, CloudDisconnectionStatusDisconnectedStatusEnum, CloudDisconnectionStatusDisconnecting, CloudDisconnectionStatusDisconnectingStatusEnum, CloudRegistrationSuccessResponse, Collider, ColliderShape, Collision, CollisionContact, CollisionError, CollisionErrorKindEnum, CollisionFreeAlgorithm, CollisionMotionGroup, CollisionSetup, Comparator, Configuration, ConfigurationArchiveStatus, ConfigurationArchiveStatusCreating, ConfigurationArchiveStatusCreatingStatusEnum, ConfigurationArchiveStatusError, ConfigurationArchiveStatusErrorStatusEnum, ConfigurationArchiveStatusSuccess, ConfigurationArchiveStatusSuccessStatusEnum, ConfigurationParameters, ConfigurationResource, ConfiguredPose, ConfiguredPoseInverse422Response, ConfiguredPoseInverseFailedResponse, ConfiguredPoseInverseRequest, ConfiguredPoseInverseResponse, ConfiguredPoseInverseResponseResponse, ConstrainedPose, ContainerEnvironmentInner, ContainerImage, ContainerImageSecretsInner, ContainerResources, ContainerStorage, ControllerApi, ControllerApiAxiosParamCreator, ControllerApiFactory, ControllerApiFp, ControllerDescription, ControllerInputsOutputsApi, ControllerInputsOutputsApiAxiosParamCreator, ControllerInputsOutputsApiFactory, ControllerInputsOutputsApiFp, ConvertVendorConfiguredPose422Response, ConvertVendorConfiguredPoseRequest, ConvertVendorConfiguredPoseRequestVendorConfiguredPoses, ConvexHull, ConvexHullShapeTypeEnum, CoordinateSystem, CoordinateSystemData, CubicSplineParameter, CycleTime, Cylinder, CylinderShapeTypeEnum, DHParameter, Direction, DirectionConstraint, DirectionConstraintConstraintNameEnum, ErrorDirectionConstraintNotMet, ErrorDirectionConstraintNotMetErrorFeedbackNameEnum, ErrorDirectionConstraintNotNormalized, ErrorDirectionConstraintNotNormalizedErrorFeedbackNameEnum, ErrorInvalidJointCount, ErrorInvalidJointCountErrorFeedbackNameEnum, ErrorJointLimitExceeded, ErrorJointLimitExceededErrorFeedbackNameEnum, ErrorJointPositionCollision, ErrorJointPositionCollisionErrorFeedbackNameEnum, ErrorMaxIterationsExceeded, ErrorMaxIterationsExceededErrorFeedbackNameEnum, ErrorMotionGroupKeyMismatch, ErrorUnsupportedOperation, ErrorUnsupportedOperationErrorFeedbackNameEnum, Execute, ExecuteDetails, ExecuteJoggingRequest, ExecuteJoggingResponse, ExecuteTrajectoryRequest, ExecuteTrajectoryResponse, ExternalJointStreamDatapoint, ExternalJointStreamRequest, FanucController, FanucControllerKindEnum, FeedbackAxisRangeExceeded, FeedbackAxisRangeExceededErrorFeedbackNameEnum, FeedbackCollision, FeedbackCollisionErrorFeedbackNameEnum, FeedbackCommandsMissing, FeedbackCommandsMissingErrorFeedbackNameEnum, FeedbackCubicSplineIsNotIncreasing, FeedbackCubicSplineIsNotIncreasingErrorFeedbackNameEnum, FeedbackCubicSplineNotAtStartPose, FeedbackCubicSplineNotAtStartPoseErrorFeedbackNameEnum, FeedbackDirectionConstraintNoSolutionExists, FeedbackDirectionConstraintNoSolutionExistsErrorFeedbackNameEnum, FeedbackDirectionConstraintNotMet, FeedbackDirectionConstraintNotMetErrorFeedbackNameEnum, FeedbackDirectionConstraintNotNormalized, FeedbackDirectionConstraintNotNormalizedErrorFeedbackNameEnum, FeedbackInvalidDof, FeedbackInvalidDofErrorFeedbackNameEnum, FeedbackInvalidNanValue, FeedbackInvalidNanValueErrorFeedbackNameEnum, FeedbackInvalidSamplingTime, FeedbackInvalidSamplingTimeErrorFeedbackNameEnum, FeedbackJointLimitExceeded, FeedbackJointLimitExceededErrorFeedbackNameEnum, FeedbackNoSolutionInCurrentConfiguration, FeedbackNoSolutionInCurrentConfigurationErrorFeedbackNameEnum, FeedbackOutOfWorkspace, FeedbackOutOfWorkspaceErrorFeedbackNameEnum, FeedbackSingularity, FeedbackSingularityErrorFeedbackNameEnum, FeedbackStartJointsMissing, FeedbackStartJointsMissingErrorFeedbackNameEnum, FeedbackTorqueExceeded, FeedbackTorqueExceededErrorFeedbackNameEnum, Flag, FlangePayload, FloatValue, FloatValueValueTypeEnum, ForwardKinematics422Response, ForwardKinematicsRequest, ForwardKinematicsResponse, ForwardKinematicsValidationError, GetTrajectoryResponse, HTTPValidationError, IOBooleanValue, IOBooleanValueValueTypeEnum, IOBoundary, IODescription, IODirection, IOFloatValue, IOFloatValueValueTypeEnum, IOIntegerValue, IOIntegerValueValueTypeEnum, IOOrigin, IOValue, IOValueType, ImageCredentials, InconsistentTrajectorySizeError, InconsistentTrajectorySizeErrorInconsistentTrajectorySize, InconsistentTrajectorySizeErrorKindEnum, InitializeJoggingRequest, InitializeJoggingRequestMessageTypeEnum, InitializeJoggingResponse, InitializeJoggingResponseKindEnum, InitializeMovementRequest, InitializeMovementRequestMessageTypeEnum, InitializeMovementRequestTrajectory, InitializeMovementResponse, InitializeMovementResponseKindEnum, IntegerValue, IntegerValueValueTypeEnum, InvalidDofError, InvalidDofErrorInvalidDof, InvalidDofErrorKindEnum, InverseFeedbackAtIndex, InverseFeedbackAtIndexErrorFeedback, InverseKinematics422Response, InverseKinematicsRequest, InverseKinematicsResponse, InverseKinematicsValidationError, InverseKinematicsValidationErrorAllOfData, JoggingApi, JoggingApiAxiosParamCreator, JoggingApiFactory, JoggingApiFp, JoggingDetails, JoggingDetailsKindEnum, JoggingDetailsState, JoggingPausedByUser, JoggingPausedByUserKindEnum, JoggingPausedNearCollision, JoggingPausedNearCollisionKindEnum, JoggingPausedNearJointLimit, JoggingPausedNearJointLimitKindEnum, JoggingPausedNearSingularity, JoggingPausedNearSingularityKindEnum, JoggingPausedOnIO, JoggingPausedOnIOKindEnum, JoggingRunning, JoggingRunningKindEnum, JointLimitExceededError, JointLimitExceededErrorKindEnum, JointLimits, JointPTPMotion, JointTrajectory, JointTypeEnum, JointVelocityRequest, JointVelocityRequestMessageTypeEnum, JointVelocityResponse, JointVelocityResponseKindEnum, KinematicBranch, KinematicBranchElbow, KinematicBranchShoulder, KinematicBranchWrist, KinematicConfiguration, KinematicModel, KinematicsApi, KinematicsApiAxiosParamCreator, KinematicsApiFactory, KinematicsApiFp, KukaConfiguredPose, KukaController, KukaControllerKindEnum, KukaControllerRsiServer, KukaPose, KukaStatusAndTurnBits, License, LicenseApi, LicenseApiAxiosParamCreator, LicenseApiFactory, LicenseApiFp, LicenseStatus, LicenseStatusEnum, LimitRange, LimitSet, LimitsOverride, ListTrajectoriesResponse, Manufacturer, MergeTrajectories422Response, MergeTrajectoriesError, MergeTrajectoriesErrorErrorFeedback, MergeTrajectoriesRequest, MergeTrajectoriesResponse, MergeTrajectoriesResponseFeedbackInner, MergeTrajectoriesSegment, MergeTrajectoriesValidationError, MidpointInsertionAlgorithm, MidpointInsertionAlgorithmAlgorithmNameEnum, ModbusIO, ModbusIOArea, ModbusIOByteOrder, ModbusIOData, ModbusIOTypeEnum, ModelError, MotionCommand, MotionCommandBlending, MotionCommandPath, MotionGroupApi, MotionGroupApiAxiosParamCreator, MotionGroupApiFactory, MotionGroupApiFp, MotionGroupDescription, MotionGroupFromJson, MotionGroupFromType, MotionGroupInfo, MotionGroupJoints, MotionGroupModelsApi, MotionGroupModelsApiAxiosParamCreator, MotionGroupModelsApiFactory, MotionGroupModelsApiFp, MotionGroupSetup, MotionGroupState, MotionGroupStateJointLimitReached, MovementErrorResponse, MovementErrorResponseKindEnum, MultiCollisionSetup, MultiErrorInvalidJointCount, MultiErrorJointLimitExceeded, MultiErrorJointPositionCollision, MultiJointTrajectory, MultiSearchCollisionFree422Response, MultiSearchCollisionFreeRequest, MultiSearchCollisionFreeResponse, MultiSearchCollisionFreeResponseResponse, MultiSearchCollisionFreeValidationError, MultiSearchCollisionFreeValidationErrorAllOfData, NOVACloudApi, NOVACloudApiAxiosParamCreator, NOVACloudApiFactory, NOVACloudApiFp, NanValueError, NanValueErrorKindEnum, NanValueErrorNanValue, NetworkDevice, NetworkInterface, NetworkState, NetworkStateConnectionTypeEnum, OpMode, OperatingState, OperationLimits, OperationMode, OrientationType, PathCartesianPTP, PathCartesianPTPPathDefinitionNameEnum, PathCircle, PathCirclePathDefinitionNameEnum, PathCubicSpline, PathCubicSplinePathDefinitionNameEnum, PathDirectionConstrainedCartesianPTP, PathDirectionConstrainedCartesianPTPPathDefinitionNameEnum, PathDirectionConstrainedJointPTP, PathDirectionConstrainedJointPTPPathDefinitionNameEnum, PathJointPTP, PathJointPTPPathDefinitionNameEnum, PathLine, PathLinePathDefinitionNameEnum, PauseJoggingRequest, PauseJoggingRequestMessageTypeEnum, PauseJoggingResponse, PauseJoggingResponseKindEnum, PauseMovementRequest, PauseMovementRequestMessageTypeEnum, PauseMovementResponse, PauseMovementResponseKindEnum, PauseOnIO, Payload, Plan422Response, PlanCollisionFreeFailedResponse, PlanCollisionFreeRequest, PlanCollisionFreeResponse, PlanCollisionFreeResponseResponse, PlanTrajectoryFailedResponse, PlanTrajectoryFailedResponseErrorFeedback, PlanTrajectoryRequest, PlanTrajectoryResponse, PlanTrajectoryResponseResponse, PlanValidationError, PlanValidationErrorAllOfData, Plane, PlaneShapeTypeEnum, PlaybackSpeedRequest, PlaybackSpeedRequestMessageTypeEnum, PlaybackSpeedResponse, PlaybackSpeedResponseKindEnum, Pose, ProfinetDescription, ProfinetIO, ProfinetIOData, ProfinetIODirection, ProfinetIOTypeEnum, ProfinetInputOutputConfig, ProfinetSlotDescription, ProfinetSubSlotDescription, Program, ProgramApi, ProgramApiAxiosParamCreator, ProgramApiFactory, ProgramApiFp, ProgramRun, ProgramRunState, ProgramStartRequest, ProjectJointPositionDirectionConstraint422Response, ProjectJointPositionDirectionConstraintRequest, ProjectJointPositionDirectionConstraintResponse, ProjectJointPositionDirectionConstraintValidationError, ProjectJointPositionDirectionConstraintValidationErrorAllOfData, RRTConnectAlgorithm, RRTConnectAlgorithmAlgorithmNameEnum, RRTConnectAlgorithmStepSize, Range, Rectangle, RectangleShapeTypeEnum, RectangularCapsule, RectangularCapsuleShapeTypeEnum, ReleaseChannel, RequestArgs, RequiredError, RobotConfigurationsApi, RobotConfigurationsApiAxiosParamCreator, RobotConfigurationsApiFactory, RobotConfigurationsApiFp, RobotController, RobotControllerConfiguration, RobotControllerConfigurationRequest, RobotControllerState, RobotSystemMode, RobotTcp, RobotTcpData, SafetyGeometry, SafetyGeometryBox, SafetyGeometryCapsule, SafetyGeometryLozenge, SafetyGeometryPlane, SafetyGeometryPrism, SafetyGeometrySphere, SafetyStateType, SafetyZone, SafetyZonePose, SafetyZones, ServiceGroup, ServiceStatus, ServiceStatusPhase, ServiceStatusResponse, ServiceStatusSeverity, ServiceStatusStatus, SessionApi, SessionApiAxiosParamCreator, SessionApiFactory, SessionApiFp, SessionResponse, SetIO, SettableRobotSystemMode, SingularityTypeEnum, Snap7IO, Snap7IOArea, Snap7IOData, Snap7IODirection, Snap7IOTypeEnum, Sphere, SphereShapeTypeEnum, StartMovementRequest, StartMovementRequestMessageTypeEnum, StartMovementResponse, StartMovementResponseKindEnum, StartOnIO, StoreCollisionComponentsApi, StoreCollisionComponentsApiAxiosParamCreator, StoreCollisionComponentsApiFactory, StoreCollisionComponentsApiFp, StoreCollisionSetupsApi, StoreCollisionSetupsApiAxiosParamCreator, StoreCollisionSetupsApiFactory, StoreCollisionSetupsApiFp, StoreObjectApi, StoreObjectApiAxiosParamCreator, StoreObjectApiFactory, StoreObjectApiFp, StreamIOValuesResponse, SystemApi, SystemApiAxiosParamCreator, SystemApiFactory, SystemApiFp, TcpOffset, TcpRequiredError, TcpRequiredErrorKindEnum, TcpVelocityRequest, TcpVelocityRequestMessageTypeEnum, TcpVelocityResponse, TcpVelocityResponseKindEnum, TorqueExceededError, TorqueExceededErrorKindEnum, TorqueExceededErrorTorqueExceeded, TrajectoryCachingApi, TrajectoryCachingApiAxiosParamCreator, TrajectoryCachingApiFactory, TrajectoryCachingApiFp, TrajectoryData, TrajectoryDataMessageTypeEnum, TrajectoryDetails, TrajectoryDetailsKindEnum, TrajectoryDetailsState, TrajectoryEnded, TrajectoryEndedKindEnum, TrajectoryExecutionApi, TrajectoryExecutionApiAxiosParamCreator, TrajectoryExecutionApiFactory, TrajectoryExecutionApiFp, TrajectoryId, TrajectoryIdMessageTypeEnum, TrajectoryPausedByUser, TrajectoryPausedByUserKindEnum, TrajectoryPausedOnIO, TrajectoryPausedOnIOKindEnum, TrajectoryPlanningApi, TrajectoryPlanningApiAxiosParamCreator, TrajectoryPlanningApiFactory, TrajectoryPlanningApiFp, TrajectoryRunning, TrajectoryRunningKindEnum, TrajectorySection, TrajectoryWaitForIO, TrajectoryWaitForIOKindEnum, UnitType, UniversalrobotsController, UniversalrobotsControllerKindEnum, UpdateCellVersionRequest, UpdateNovaVersionRequest, User, ValidationError, ValidationError2, ValidationErrorLocInner, VersionApi, VersionApiAxiosParamCreator, VersionApiFactory, VersionApiFp, VirtualController, VirtualControllerApi, VirtualControllerApiAxiosParamCreator, VirtualControllerApiFactory, VirtualControllerApiFp, VirtualControllerBehaviorApi, VirtualControllerBehaviorApiAxiosParamCreator, VirtualControllerBehaviorApiFactory, VirtualControllerBehaviorApiFp, VirtualControllerInputsOutputsApi, VirtualControllerInputsOutputsApiAxiosParamCreator, VirtualControllerInputsOutputsApiFactory, VirtualControllerInputsOutputsApiFp, VirtualControllerKindEnum, VirtualRobotConfiguration, WaitForIOEventRequest, YaskawaController, YaskawaControllerKindEnum, ZodValidationError, ZodValidationErrorError, ZodValidationErrorErrorCodeEnum, ZodValidationErrorErrorDetailsInner, ZodValidationErrorErrorDetailsInnerPathInner, operationServerMap };