@wandelbots/nova-api 26.5.0-dev.3 → 26.5.0-dev.30

package/dist/v2/index.d.ts

@@ -700,6 +700,7 @@ interface CartesianLimits {
  * To create a robot cell, only a valid name is required. Once created, a robot cell provides access to the Wandelbots NOVA foundation services. The configuration can be customized, e.g., robot controllers, also within apps.
  */
 interface Cell {
+  [key: string]: any;
   /**
    * A unique name for the cell used as an identifier for addressing the cell in all API calls. It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
    */
@@ -910,6 +911,32 @@ type ColliderShape = {
 } & RectangularCapsule | {
   shape_type: 'sphere';
 } & Sphere;
+/**
+ * An inline Collider object wrapped for discriminator support.
+ */
+interface ColliderValue {
+  /**
+   * Discriminator value indicating an inline value.
+   */
+  'source': ColliderValueSourceEnum;
+  /**
+   * The inline Collider definition.
+   */
+  'collider': Collider;
+}
+declare const ColliderValueSourceEnum: {
+  readonly Value: "value";
+};
+type ColliderValueSourceEnum = typeof ColliderValueSourceEnum[keyof typeof ColliderValueSourceEnum];
+/**
+ * @type ColliderValueOrKey
+ * Either an inline Collider object or a storage key referencing a stored Collider. Discriminated by the \"source\" property.
+ */
+type ColliderValueOrKey = {
+  source: 'key';
+} & StorageKey | {
+  source: 'value';
+} & ColliderValue;
 interface Collision {
   'id_of_a'?: string;
   'id_of_b'?: string;
@@ -986,6 +1013,46 @@ interface CollisionSetup {
    */
   'self_collision_detection'?: boolean;
 }
+/**
+ * An inline collision setup wrapped for discriminator support. Colliders, tool, and link_chain can each be either inline values or storage key references.
+ */
+interface CollisionSetupValue {
+  /**
+   * Discriminator value indicating an inline value.
+   */
+  'source': CollisionSetupValueSourceEnum;
+  /**
+   * A dictionary of colliders where each value is either an inline Collider object or a string key referencing a stored Collider.
+   */
+  'colliders'?: {
+    [key: string]: ColliderValueOrKey;
+  };
+  /**
+   * The shape of the motion group links. Either an inline LinkChain or a store key.
+   */
+  'link_chain'?: LinkChainValueOrKey;
+  /**
+   * Shape of the tool. Either an inline tool collider or a store key.
+   */
+  'tool'?: ToolValueOrKey;
+  /**
+   * If true, self-collision detection is enabled. Default is true.
+   */
+  'self_collision_detection'?: boolean;
+}
+declare const CollisionSetupValueSourceEnum: {
+  readonly Value: "value";
+};
+type CollisionSetupValueSourceEnum = typeof CollisionSetupValueSourceEnum[keyof typeof CollisionSetupValueSourceEnum];
+/**
+ * @type CollisionSetupValueOrKey
+ * Either an inline collision setup or a storage key referencing a complete stored CollisionSetup. Discriminated by the \"source\" property.
+ */
+type CollisionSetupValueOrKey = {
+  source: 'key';
+} & StorageKey | {
+  source: 'value';
+} & CollisionSetupValue;
 /**
  * Comparator for the comparison of two values. The comparator is used to compare two values and return a boolean result. The default comparator is unknown.
  */
@@ -1486,6 +1553,24 @@ type ExecuteTrajectoryResponse = {
 } & PlaybackSpeedResponse | {
   kind: 'START_RECEIVED';
 } & StartMovementResponse;
+/**
+ * @type ExecuteWaypointJoggingRequest
+ */
+type ExecuteWaypointJoggingRequest = InitializeJoggingRequest | JointWaypointsRequest | PauseJoggingRequest | PoseWaypointsRequest;
+/**
+ * @type ExecuteWaypointJoggingResponse
+ */
+type ExecuteWaypointJoggingResponse = {
+  kind: 'INITIALIZE_RECEIVED';
+} & InitializeJoggingResponse | {
+  kind: 'JOINT_WAYPOINTS_RECEIVED';
+} & JointWaypointsResponse | {
+  kind: 'MOTION_ERROR';
+} & MovementErrorResponse | {
+  kind: 'PAUSE_RECEIVED';
+} & PauseJoggingResponse | {
+  kind: 'POSE_WAYPOINTS_RECEIVED';
+} & PoseWaypointsResponse;
 /**
  * A datapoint inside external joint stream.
  */
@@ -2100,6 +2185,10 @@ type InverseKinematicsValidationErrorAllOfData = ErrorInvalidJointCount | ErrorJ
  */
 interface JoggingDetails {
   'state': JoggingDetailsState;
+  /**
+   * Timestamp of the current jogger session in milliseconds. Only waypoint sessions are supported. Other sessions return 0.  > **NOTE** > > This field is experimental and its behavior may change in future releases.
+   */
+  'jogger_session_timestamp_ms'?: number;
   'kind': JoggingDetailsKindEnum;
 }
 declare const JoggingDetailsKindEnum: {
@@ -2255,13 +2344,57 @@ declare const JointVelocityResponseKindEnum: {
   readonly JointVelocityReceived: "JOINT_VELOCITY_RECEIVED";
 };
 type JointVelocityResponseKindEnum = typeof JointVelocityResponseKindEnum[keyof typeof JointVelocityResponseKindEnum];
+/**
+ * A waypoint in joint space for jogging.  > **NOTE** > > This type is experimental and its behavior may change in future releases.
+ */
+interface JointWaypoint {
+  /**
+   * Time since session start for when this waypoint should be reached [ms].
+   */
+  'timestamp': number;
+  /**
+   * This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.  Float precision is the default.
+   */
+  'joints': Array<number>;
+}
+/**
+ * Adds joint waypoints to the jogging queue. The robot will try to move through each waypoint by best effort. Existing waypoints in the queue that are older than the first new timestamp will be removed. The first message of this kind starts an internal clock. The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  > **NOTE** > > This jogging type is experimental and its behavior may change in future releases.
+ */
+interface JointWaypointsRequest {
+  /**
+   * Type specifier for server, set automatically.
+   */
+  'message_type': JointWaypointsRequestMessageTypeEnum;
+  /**
+   * List of joint waypoints.
+   */
+  'waypoints': Array<JointWaypoint>;
+}
+declare const JointWaypointsRequestMessageTypeEnum: {
+  readonly JointWaypointsRequest: "JointWaypointsRequest";
+};
+type JointWaypointsRequestMessageTypeEnum = typeof JointWaypointsRequestMessageTypeEnum[keyof typeof JointWaypointsRequestMessageTypeEnum];
+/**
+ * Acknowledgment to a JointWaypointsRequest.
+ */
+interface JointWaypointsResponse {
+  /**
+   * Error message in case of invalid JointWaypointsRequest.
+   */
+  'message'?: string;
+  'kind': JointWaypointsResponseKindEnum;
+}
+declare const JointWaypointsResponseKindEnum: {
+  readonly JointWaypointsReceived: "JOINT_WAYPOINTS_RECEIVED";
+};
+type JointWaypointsResponseKindEnum = typeof JointWaypointsResponseKindEnum[keyof typeof JointWaypointsResponseKindEnum];
 /**
  * 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;
+  'wrist_branch': KinematicBranchWrist;
+  'elbow_branch': KinematicBranchElbow;
+  'shoulder_branch': KinematicBranchShoulder;
 }
 declare const KinematicBranchElbow: {
   readonly Up: "UP";
@@ -2487,6 +2620,34 @@ interface LimitsOverride {
    */
   'tcp_orientation_jerk_limit'?: number;
 }
+/**
+ * An inline link chain wrapped for discriminator support.
+ */
+interface LinkChainValue {
+  /**
+   * Discriminator value indicating an inline value.
+   */
+  'source': LinkChainValueSourceEnum;
+  /**
+   * A link chain is a kinematic chain of links that is connected via joints. A motion group can be used to control the motion of the joints in a link chain.  A link is a group of colliders that is attached to the link reference frame.  The reference frame of a link is obtained after applying all sets of Denavit-Hartenberg-parameters from base to (including) the link index.  This means that the reference frame of the link is on the rotation axis of the next joint in the kinematic chain. Example: For a motion group with 2 joints, the collider reference frame (CRF) for link 1 is on the rotation axis of joint 2. The chain looks like: - Origin >> Mounting >> Base >> (CRF Base) Joint 0 >> Link 0 >> (CRF Link 0) Joint 1 >> Link 1 >> (CRF Link 1) Flange (CRF Tool) >> TCP  Adjacent links in the kinematic chain of the motion group are not checked for mutual collision.
+   */
+  'link_chain': Array<{
+    [key: string]: Collider;
+  }>;
+}
+declare const LinkChainValueSourceEnum: {
+  readonly Value: "value";
+};
+type LinkChainValueSourceEnum = typeof LinkChainValueSourceEnum[keyof typeof LinkChainValueSourceEnum];
+/**
+ * @type LinkChainValueOrKey
+ * Either an inline link chain or a storage key referencing a stored link chain. Discriminated by the \"source\" property.
+ */
+type LinkChainValueOrKey = {
+  source: 'key';
+} & StorageKey | {
+  source: 'value';
+} & LinkChainValue;
 interface ListTrajectoriesResponse {
   /**
    * Identifiers of trajectories which are currently cached. Use [addTrajectory](#/operations/addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects.
@@ -3158,7 +3319,7 @@ interface OperationLimits {
   'manual_t1_limits'?: LimitSet;
   'manual_t2_limits'?: LimitSet;
   /**
-   * Flag to indicate whether the tcp velocity limit is also applied for the elbow and flange in auto mode.
+   * Flag to indicate whether the TCP velocity limit is also applied for the elbow and flange in auto mode.
    */
   'safety_limit_elbow_flange_velocity_in_auto'?: boolean;
 }
@@ -3385,6 +3546,12 @@ interface PlanCollisionFreeRequest {
    * The data to assemble the robot setup can be retrieved from the [getMotionGroupDescription](#/operations/getMotionGroupDescription) endpoint.
    */
   'motion_group_setup': MotionGroupSetup;
+  /**
+   * Collision layers with support for storage references. Each value is either a store key referencing a stored CollisionSetup, or an inline collision setup object with optional store key references.  All storage keys are resolved against the {cell} path parameter of the request URL, which determines the storage bucket.  If set on the request, overrides motion_group_setup.collision_setups.
+   */
+  'collision_setups'?: {
+    [key: string]: CollisionSetupValueOrKey;
+  };
   'start_joint_position': Array<number>;
   'target': Array<number>;
   /**
@@ -3504,6 +3671,50 @@ interface Pose {
    */
   'orientation'?: Array<number>;
 }
+/**
+ * A waypoint in Cartesian space for jogging.  > **NOTE** > > This type is experimental and its behavior may change in future releases.
+ */
+interface PoseWaypoint {
+  /**
+   * Time since session start for when this waypoint should be reached [ms].
+   */
+  'timestamp': number;
+  /**
+   * Cartesian pose for this waypoint.
+   */
+  'pose': Pose;
+}
+/**
+ * Adds pose waypoints to the jogging queue. The robot will try to move through each waypoint by best effort. Existing waypoints in the queue that are older than the first new timestamp will be removed. The first message of this kind starts an internal clock. The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  > **NOTE** > > This jogging type is experimental and its behavior may change in future releases.
+ */
+interface PoseWaypointsRequest {
+  /**
+   * Type specifier for server, set automatically.
+   */
+  'message_type': PoseWaypointsRequestMessageTypeEnum;
+  /**
+   * List of pose waypoints.
+   */
+  'waypoints': Array<PoseWaypoint>;
+}
+declare const PoseWaypointsRequestMessageTypeEnum: {
+  readonly PoseWaypointsRequest: "PoseWaypointsRequest";
+};
+type PoseWaypointsRequestMessageTypeEnum = typeof PoseWaypointsRequestMessageTypeEnum[keyof typeof PoseWaypointsRequestMessageTypeEnum];
+/**
+ * Acknowledgment to a PoseWaypointsRequest.
+ */
+interface PoseWaypointsResponse {
+  /**
+   * Error message in case of invalid PoseWaypointsRequest.
+   */
+  'message'?: string;
+  'kind': PoseWaypointsResponseKindEnum;
+}
+declare const PoseWaypointsResponseKindEnum: {
+  readonly PoseWaypointsReceived: "POSE_WAYPOINTS_RECEIVED";
+};
+type PoseWaypointsResponseKindEnum = typeof PoseWaypointsResponseKindEnum[keyof typeof PoseWaypointsResponseKindEnum];
 interface ProfinetDescription {
   /**
    * The vendor identifier of the PROFINET device, identifying the manufacturer.
@@ -4428,6 +4639,23 @@ interface StartOnIO {
   'comparator': Comparator;
   'io_origin': IOOrigin;
 }
+/**
+ * A reference to an object stored in the storage service. The key is resolved against the appropriate S3 path prefix depending on context (e.g. collision/setups/, collision/colliders/).
+ */
+interface StorageKey {
+  /**
+   * Discriminator value indicating a storage reference.
+   */
+  'source': StorageKeySourceEnum;
+  /**
+   * The storage key identifying the object. Resolved against the storage service using the {cell} path parameter of the request URL as the storage bucket. Keys correspond to identifiers used in the Storage Service API (e.g. the {tool} parameter in GET /api/v2/cells/{cell}/store/collision/tools/{tool}).
+   */
+  'key': string;
+}
+declare const StorageKeySourceEnum: {
+  readonly Key: "key";
+};
+type StorageKeySourceEnum = typeof StorageKeySourceEnum[keyof typeof StorageKeySourceEnum];
 /**
  * Array of input/output values.
  */
@@ -4499,6 +4727,34 @@ declare const TcpVelocityResponseKindEnum: {
   readonly TcpVelocityReceived: "TCP_VELOCITY_RECEIVED";
 };
 type TcpVelocityResponseKindEnum = typeof TcpVelocityResponseKindEnum[keyof typeof TcpVelocityResponseKindEnum];
+/**
+ * An inline tool collider wrapped for discriminator support.
+ */
+interface ToolValue {
+  /**
+   * Discriminator value indicating an inline value.
+   */
+  'source': ToolValueSourceEnum;
+  /**
+   * Defines the shape of a tool.  A tool is a dictionary of colliders.  All colliders that make up a tool are attached to the flange frame of the motion group.
+   */
+  'tool': {
+    [key: string]: Collider;
+  };
+}
+declare const ToolValueSourceEnum: {
+  readonly Value: "value";
+};
+type ToolValueSourceEnum = typeof ToolValueSourceEnum[keyof typeof ToolValueSourceEnum];
+/**
+ * @type ToolValueOrKey
+ * Either an inline tool collider or a storage key referencing a stored tool. Discriminated by the \"source\" property.
+ */
+type ToolValueOrKey = {
+  source: 'key';
+} & StorageKey | {
+  source: 'value';
+} & ToolValue;
 interface TorqueExceededError {
   'kind': TorqueExceededErrorKindEnum;
   'torque_exceeded'?: TorqueExceededErrorTorqueExceeded;
@@ -7022,6 +7278,16 @@ declare const JoggingApiAxiosParamCreator: (configuration?: Configuration) => {
    * @throws {RequiredError}
    */
   executeJogging: (cell: string, controller: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
+  /**
+   * **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: danger -->  > **Experimental** > > This endpoint is experimental and its behavior may change in future releases.  > Websocket endpoint  Provides waypoint-based jogging control for a motion group.  Instead of commanding target velocities (see [executeJogging](#/operations/executeJogging)), waypoint jogging streams a queue of timed waypoints that the robot moves through by best effort. This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointWaypointsRequest` or `PoseWaypointsRequest` to stream waypoints.  - The first waypoints message starts an internal clock. - Each waypoint carries a timestamp relative to that clock for when it should be reached. - Existing waypoints in the queue that are older than the first new timestamp are removed. - The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  #### 3. Stop the jogging motion  - Send `PauseJoggingRequest` to stop the motion.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointWaypointsResponse` after `JointWaypointsRequest`   - `PoseWaypointsResponse` after `PoseWaypointsRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.
+   * @summary Execute Waypoint Jogging
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {ExecuteWaypointJoggingRequest} executeWaypointJoggingRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  executeWaypointJogging: (cell: string, controller: string, executeWaypointJoggingRequest: ExecuteWaypointJoggingRequest, options?: RawAxiosRequestConfig) => Promise<RequestArgs>;
 };
 /**
  * JoggingApi - functional programming interface
@@ -7037,6 +7303,16 @@ declare const JoggingApiFp: (configuration?: Configuration) => {
    * @throws {RequiredError}
    */
   executeJogging(cell: string, controller: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ExecuteJoggingResponse>>;
+  /**
+   * **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: danger -->  > **Experimental** > > This endpoint is experimental and its behavior may change in future releases.  > Websocket endpoint  Provides waypoint-based jogging control for a motion group.  Instead of commanding target velocities (see [executeJogging](#/operations/executeJogging)), waypoint jogging streams a queue of timed waypoints that the robot moves through by best effort. This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointWaypointsRequest` or `PoseWaypointsRequest` to stream waypoints.  - The first waypoints message starts an internal clock. - Each waypoint carries a timestamp relative to that clock for when it should be reached. - Existing waypoints in the queue that are older than the first new timestamp are removed. - The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  #### 3. Stop the jogging motion  - Send `PauseJoggingRequest` to stop the motion.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointWaypointsResponse` after `JointWaypointsRequest`   - `PoseWaypointsResponse` after `PoseWaypointsRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.
+   * @summary Execute Waypoint Jogging
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {ExecuteWaypointJoggingRequest} executeWaypointJoggingRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  executeWaypointJogging(cell: string, controller: string, executeWaypointJoggingRequest: ExecuteWaypointJoggingRequest, options?: RawAxiosRequestConfig): Promise<(axios?: AxiosInstance, basePath?: string) => AxiosPromise<ExecuteWaypointJoggingResponse>>;
 };
 /**
  * JoggingApi - factory interface
@@ -7052,6 +7328,16 @@ declare const JoggingApiFactory: (configuration?: Configuration, basePath?: stri
    * @throws {RequiredError}
    */
   executeJogging(cell: string, controller: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig): AxiosPromise<ExecuteJoggingResponse>;
+  /**
+   * **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: danger -->  > **Experimental** > > This endpoint is experimental and its behavior may change in future releases.  > Websocket endpoint  Provides waypoint-based jogging control for a motion group.  Instead of commanding target velocities (see [executeJogging](#/operations/executeJogging)), waypoint jogging streams a queue of timed waypoints that the robot moves through by best effort. This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointWaypointsRequest` or `PoseWaypointsRequest` to stream waypoints.  - The first waypoints message starts an internal clock. - Each waypoint carries a timestamp relative to that clock for when it should be reached. - Existing waypoints in the queue that are older than the first new timestamp are removed. - The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  #### 3. Stop the jogging motion  - Send `PauseJoggingRequest` to stop the motion.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointWaypointsResponse` after `JointWaypointsRequest`   - `PoseWaypointsResponse` after `PoseWaypointsRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.
+   * @summary Execute Waypoint Jogging
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {ExecuteWaypointJoggingRequest} executeWaypointJoggingRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  executeWaypointJogging(cell: string, controller: string, executeWaypointJoggingRequest: ExecuteWaypointJoggingRequest, options?: RawAxiosRequestConfig): AxiosPromise<ExecuteWaypointJoggingResponse>;
 };
 /**
  * JoggingApi - object-oriented interface
@@ -7067,6 +7353,16 @@ declare class JoggingApi extends BaseAPI {
    * @throws {RequiredError}
    */
   executeJogging(cell: string, controller: string, executeJoggingRequest: ExecuteJoggingRequest, options?: RawAxiosRequestConfig): Promise<_$axios.AxiosResponse<ExecuteJoggingResponse, any, {}>>;
+  /**
+   * **Required permissions:** `can_operate_controllers` - Operate and monitor robot controllers ___  <!-- theme: danger -->  > **Experimental** > > This endpoint is experimental and its behavior may change in future releases.  > Websocket endpoint  Provides waypoint-based jogging control for a motion group.  Instead of commanding target velocities (see [executeJogging](#/operations/executeJogging)), waypoint jogging streams a queue of timed waypoints that the robot moves through by best effort. This can be used for realtime action chunk streaming, e.g., from a Vision-Language-Action (VLA) model.  ### Preconditions  The motion group is not moved by any other endpoint.  ### Requests  #### 1. Send `InitializeJoggingRequest` to configure the jogging.  - Sets the robot controller mode to control mode. - Claims the motion group for jogging. For robotic arms, TCP is required to ensure that limits, including TCP limits, are respected.  #### 2. Send `JointWaypointsRequest` or `PoseWaypointsRequest` to stream waypoints.  - The first waypoints message starts an internal clock. - Each waypoint carries a timestamp relative to that clock for when it should be reached. - Existing waypoints in the queue that are older than the first new timestamp are removed. - The current session timestamp is reported in `execute.details.jogger_session_timestamp_ms` of the [streamRobotControllerState](#/operations/streamRobotControllerState) endpoint.  #### 3. Stop the jogging motion  - Send `PauseJoggingRequest` to stop the motion.  ### Responses  - Each request is acknowledged with a corresponding response:   - `InitializeJoggingResponse` after `InitializeJoggingRequest`   - `JointWaypointsResponse` after `JointWaypointsRequest`   - `PoseWaypointsResponse` after `PoseWaypointsRequest`   - `PauseJoggingResponse` after `PauseJoggingRequest`   The responses confirm that the requests were received.   They do not signal that the operation was successful; check the [motion group state](#/operations/streamMotionGroupState) for that. - `MovementErrorResponse` with error details is sent in case of an unexpected error, e.g., controller disconnects during jogging.  ### Tips and Tricks  - Ensure that the websocket connection remains open until the jogging motion is stopped to avoid unexpected stops.
+   * @summary Execute Waypoint Jogging
+   * @param {string} cell Unique identifier addressing a cell in all API calls.
+   * @param {string} controller Unique identifier to address a controller in the cell.
+   * @param {ExecuteWaypointJoggingRequest} executeWaypointJoggingRequest
+   * @param {*} [options] Override http request option.
+   * @throws {RequiredError}
+   */
+  executeWaypointJogging(cell: string, controller: string, executeWaypointJoggingRequest: ExecuteWaypointJoggingRequest, options?: RawAxiosRequestConfig): Promise<_$axios.AxiosResponse<ExecuteWaypointJoggingResponse, any, {}>>;
 }
 /**
  * KinematicsApi - axios parameter creator
@@ -11383,4 +11679,4 @@ declare class VirtualControllerInputsOutputsApi extends BaseAPI {
   setIOValues(cell: string, controller: string, iOValue: Array<IOValue>, options?: RawAxiosRequestConfig): Promise<_$axios.AxiosResponse<void, any, {}>>;
 }
 //#endregion
-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, CopyMotionGroupModelRequest, 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, MotionGroupModelDescription, 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, ColliderValue, ColliderValueOrKey, ColliderValueSourceEnum, Collision, CollisionContact, CollisionError, CollisionErrorKindEnum, CollisionFreeAlgorithm, CollisionMotionGroup, CollisionSetup, CollisionSetupValue, CollisionSetupValueOrKey, CollisionSetupValueSourceEnum, 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, CopyMotionGroupModelRequest, 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, ExecuteWaypointJoggingRequest, ExecuteWaypointJoggingResponse, 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, JointWaypoint, JointWaypointsRequest, JointWaypointsRequestMessageTypeEnum, JointWaypointsResponse, JointWaypointsResponseKindEnum, 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, LinkChainValue, LinkChainValueOrKey, LinkChainValueSourceEnum, 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, MotionGroupModelDescription, 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, PoseWaypoint, PoseWaypointsRequest, PoseWaypointsRequestMessageTypeEnum, PoseWaypointsResponse, PoseWaypointsResponseKindEnum, 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, StorageKey, StorageKeySourceEnum, StoreCollisionComponentsApi, StoreCollisionComponentsApiAxiosParamCreator, StoreCollisionComponentsApiFactory, StoreCollisionComponentsApiFp, StoreCollisionSetupsApi, StoreCollisionSetupsApiAxiosParamCreator, StoreCollisionSetupsApiFactory, StoreCollisionSetupsApiFp, StoreObjectApi, StoreObjectApiAxiosParamCreator, StoreObjectApiFactory, StoreObjectApiFp, StreamIOValuesResponse, SystemApi, SystemApiAxiosParamCreator, SystemApiFactory, SystemApiFp, TcpOffset, TcpRequiredError, TcpRequiredErrorKindEnum, TcpVelocityRequest, TcpVelocityRequestMessageTypeEnum, TcpVelocityResponse, TcpVelocityResponseKindEnum, ToolValue, ToolValueOrKey, ToolValueSourceEnum, 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 };