standardbots 2.0.0.dev1708994173__py3-none-any.whl → 2.0.0.dev1737138088__py3-none-any.whl

standardbots/auto_generated/apis.py

@@ -1,942 +1,2582 @@
 # Code autogenerated by StandardBots
-import urllib3
-from enum import Enum
 import json
 from contextlib import contextmanager
+from enum import Enum
 from typing import Dict, Generic, TypeVar, Union
 
+import urllib3
+
 from . import models
 
+
 class RobotKind(Enum):
-  Live = "live"
-  Simulated = "simulated"
+    Live = "live"
+    Simulated = "simulated"
+
 
 GenericResponseType = TypeVar('GenericResponseType')
 OkResponseType = TypeVar('OkResponseType')
 
+
 class Response(Generic[GenericResponseType, OkResponseType]):
-  data: GenericResponseType
-  status: int
-  response: urllib3.HTTPResponse
-  def __init__(self, data: GenericResponseType, status: int, response: urllib3.HTTPResponse):
-    self.data = data
-    self.status = status
-    self.response = response
-
-  def ok(self) -> OkResponseType:
-    if self.status != 200:
-      raise Exception("Request failed with status " + str(self.status) + ": " + str(self.data))
-    return self.data
-
-  def assert_status(self, status: int):
-    if self.status != status:
-      raise Exception("Expecting status " + str(self.status) + ", but found " + str(self.status))
+    data: GenericResponseType
+    status: int
+    response: urllib3.HTTPResponse
 
-class RequestManager:
-  token: str
-  host: str
-  robot_kind: RobotKind
-  def __init__(
-    self,
-    http: urllib3.PoolManager,
-    token: str,
-    host: str,
-    robot_kind: RobotKind
-  ):
-    self.http = http
-    self.token = token
-    self.host = host
-    self.robot_kind = robot_kind
+    def __init__(self, data: GenericResponseType, status: int, response: urllib3.HTTPResponse):
+        self.data = data
+        self.status = status
+        self.response = response
+
+    def ok(self) -> GenericResponseType:
+        if self.status != 200:
+            raise Exception("Request failed with status " + str(self.status) + ": " + str(self.data))
+        return self.data
 
-  def request(self, method: str, url: str, **kwargs):
-    return self.http.request(method, self.host + url, **kwargs)
+    def d(self) -> GenericResponseType:
+        return self.data
 
-  def json_headers(self) -> Dict[str, str]:
-    return {
-      "Content-Type": "application/json",
-      "Authorization": "Bearer " + self.token,
-      "robot_kind": self.robot_kind.value,
-    }
+    def isNotOk(self):
+        return self.status != 200
 
-  def close(self):
-    self.http.clear()
+    def assert_status(self, status: int):
+        if self.status != status:
+            raise Exception("Expecting status " + str(self.status) + ", but found " + str(self.status))
+
+class RequestManager:
+    token: str
+    host: str
+    robot_kind: RobotKind
+    def __init__(
+        self,
+        http: urllib3.PoolManager,
+        token: str,
+        host: str,
+        robot_kind: RobotKind
+    ):
+        self.http = http
+        self.token = token
+        self.host = host
+        self.robot_kind = robot_kind
+
+    def request(self, method: str, url: str, **kwargs):
+        return self.http.request(method, self.host + url, **kwargs)
+
+    def json_headers(self) -> Dict[str, str]:
+        return {
+            "Content-Type": "application/json",
+            "Authorization": "Bearer " + self.token,
+            # Include both for backwards-compatibility purposes.
+            "robot_kind": self.robot_kind.value,
+            "robot-kind": self.robot_kind.value,
+        }
+
+    def close(self):
+        self.http.clear()
 
 class Default:
-  _request_manager: RequestManager
-  class Equipment:
+    _request_manager: RequestManager
+    class Equipment:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+        def onrobot_2fg7_move(
+          self,
+          value: Union[int, float],
+          direction: Union[str, models.LinearGripDirectionEnum] = models.LinearGripDirectionEnum.Inward,
+          unit_kind: Union[str, models.LinearUnitKind] = models.LinearUnitKind.Millimeters
+        ):
+          """Move the robot to the onrobot_2fg7 position.
+          """
+          return self.control_gripper(
+            models.GripperCommandRequest(
+              kind=models.GripperKindEnum.Onrobot2Fg7,
+              onrobot_2fg7=models.OnRobot2FG7GripperCommandRequest(
+                control_kind=models.OnRobot2FG7ControlKindEnum.Move,
+                target_grip_width=models.LinearUnit(
+                  unit_kind=models.LinearUnitKind(unit_kind),
+                  value=float(value),
+                ),
+                grip_direction=models.LinearGripDirectionEnum(direction),
+              )
+            )
+          )
+        
+        def onrobot_2fg7_grip(
+          self,
+          value: Union[int, float],
+          direction: Union[str, models.LinearGripDirectionEnum] = models.LinearGripDirectionEnum.Inward,
+          unit_kind: Union[str, models.LinearUnitKind] = models.LinearUnitKind.Millimeters,
+          force: Union[int, float] = 0.0,
+          force_unit: Union[str, models.ForceUnitKind] = models.ForceUnitKind.Newtons
+        ):
+          """Move the robot to the onrobot_2fg7 position.
+          """
+          return self.control_gripper(
+            models.GripperCommandRequest(
+              kind=models.GripperKindEnum.Onrobot2Fg7,
+              onrobot_2fg7=models.OnRobot2FG7GripperCommandRequest(
+                control_kind=models.OnRobot2FG7ControlKindEnum.ForceGrip,
+                target_grip_width=models.LinearUnit(
+                  unit_kind=models.LinearUnitKind(unit_kind),
+                  value=float(value),
+                ),
+                target_force=models.ForceUnit(
+                  unit_kind=models.ForceUnitKind(force_unit),
+                  value=float(force),
+                ),
+                grip_direction=models.LinearGripDirectionEnum(direction),
+              )
+            )
+          )
+        
+        def dh_ag_grip(
+            self,
+            target_diameter: float,
+            target_force: float | None,
+            target_speed: float | None,
+        ):
+            """
+            Control the DH AG gripper.
+            Args:
+            - target_diameter: 0.0 - 1.0
+            - target_force: 0.2 - 1.0
+            - target_speed: 0.01 - 1.0
+            """
+            return self.control_gripper(
+                body=models.GripperCommandRequest(
+                    kind=models.GripperKindEnum.DhAg,
+                    dh_ag=models.DHAGGripperCommandRequest(
+                        target_diameter, target_force, target_speed
+                    ),
+                ),
+            )
+        def dh_pgc_grip(
+            self,
+            target_diameter: float,
+            target_force: float | None,
+            target_speed: float | None,
+        ):
+            """
+            Control the DH PGC gripper.
+            Args:
+            - target_diameter: 0.0 - 1.0
+            - target_force: 0.2 - 1.0
+            - target_speed: 0.01 - 1.0
+            """
+            return self.control_gripper(
+                body=models.GripperCommandRequest(
+                    kind=models.GripperKindEnum.DhPgc,
+                    dh_pgc=models.DHPGCGripperCommandRequest(
+                        target_diameter, target_force, target_speed
+                    ),
+                ),
+            )
+        def dh_cgi_grip(
+            self,
+            target_diameter: float,
+            target_force: float | None,
+            target_speed: float | None,
+        ):
+            """
+            Control the DH CGI gripper.
+            Args:
+            - target_diameter: 0.0 - 1.0
+            - target_force: 0.2 - 1.0
+            - target_speed: 0.01 - 1.0
+            """
+            return self.control_gripper(
+                body=models.GripperCommandRequest(
+                    kind=models.GripperKindEnum.DhCgi,
+                    dh_pgc=models.DHCGIGripperCommandRequest(
+                        target_diameter, target_force, target_speed
+                    ),
+                ),
+            )
+        
+
+        def control_gripper(
+            self,
+            body: models.GripperCommandRequest,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Send commands to control the Gripper (End Effector) of the robot. The gripper can be any of Standard Bots supported grippers.
+
+            """
+            path = "/api/v1/equipment/end-effector/control"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_gripper_command_request(body)),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_gripper_configuration(
+            self,
+        ) -> Response[
+            Union[
+                models.GripperConfiguration,
+                models.ErrorResponse,
+                None
+            ],
+            models.GripperConfiguration
+        ]:
+            """
+            Get the current gripper configuration
+
+            """
+            path = "/api/v1/equipment/end-effector/configuration"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_gripper_configuration(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class Sensors:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def get_sensors(
+            self,
+        ) -> Response[
+            Union[
+                models.SensorsConfiguration,
+                models.ErrorResponse,
+                None
+            ],
+            models.SensorsConfiguration
+        ]:
+            """
+            Get the current state of all sensors
+            """
+            path = "/api/v1/equipment/custom/sensors"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_sensors_configuration(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class Space:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def list_planes(
+            self,
+            limit: int,
+            offset: int,
+        ) -> Response[
+            Union[
+                models.PlanesPaginatedResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.PlanesPaginatedResponse
+        ]:
+            """
+            List Planes
+            """
+            path = "/api/v1/space/planes"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    fields={
+                        "limit": models.serialize_i_64(limit),
+                        "offset": models.serialize_i_64(offset),
+                    }
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_planes_paginated_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    equipment: Equipment
+    sensors: Sensors
+    space: Space
+
     def __init__(self, request_manager: RequestManager):
-      self._request_manager = request_manager
+        self._request_manager = request_manager
+        self.equipment = Default.Equipment(request_manager)
+        self.sensors = Default.Sensors(request_manager)
+        self.space = Default.Space(request_manager)
 
-    def onrobot_2fg7_move(
-      self,
-      value: Union[int, float],
-      direction: Union[str, models.LinearGripDirectionEnum] = models.LinearGripDirectionEnum.Inward,
-      unit_kind: Union[str, models.LinearUnitKind] = models.LinearUnitKind.Millimeters
-    ):
-      """Move the robot to the onrobot_2fg7 position.
-      """
-      return self.control_gripper(
-        models.GripperCommandRequest(
-          kind=models.GripperKindEnum.Onrobot2Fg7,
-          onrobot_2fg7=models.OnRobot2FG7GripperCommandRequest(
-            control_kind=models.OnRobot2FG7ControlKindEnum.Move,
-            target_grip_width=models.LinearUnit(
-              unit_kind=models.LinearUnitKind(unit_kind),
-              value=float(value),
-            ),
-            grip_direction=models.LinearGripDirectionEnum(direction),
+class Movement:
+    _request_manager: RequestManager
+    class Brakes:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+        
+        def brake(self):
+            """Brake the robot
+            """
+            return self.set_brakes_state(
+              models.BrakesState(
+                state=models.BrakesStateEnum.Engaged,
+              ),
+            )
+        
+        def unbrake(self):
+            """Unbrake the robot
+            """
+            return self.set_brakes_state(
+              models.BrakesState(
+                state=models.BrakesStateEnum.Disengaged,
+              ),
+            )
+        
+
+        def set_brakes_state(
+            self,
+            body: models.BrakesState,
+        ) -> Response[
+            Union[
+                models.BrakesState,
+                models.ErrorResponse,
+                None
+            ],
+            models.BrakesState
+        ]:
+            """
+            Control Joint Brakes in the robot
+
+            """
+            path = "/api/v1/movement/brakes"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_brakes_state(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_brakes_state(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_brakes_state(
+            self,
+        ) -> Response[
+            Union[
+                models.BrakesState,
+                models.ErrorResponse,
+                None
+            ],
+            models.BrakesState
+        ]:
+            """
+            Get the current state of the robot brakes
+
+            """
+            path = "/api/v1/movement/brakes"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_brakes_state(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def engage_emergency_stop(
+            self,
+            body: models.EngageEmergencyStopRequest,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Engage Emergency braking system.
+&gt; **⚠️ Warning:** This will immediately stop the robot and may cause damage to the robot or surrounding environment.
+
+            """
+            path = "/api/v1/movement/brakes/emergency-stop"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_engage_emergency_stop_request(body)),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class Position:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+        def move(
+          self,
+          position: models.Position,
+          orientation: models.Orientation,
+          reference_frame: str = 'base',
+          axis_alignment: str = 'base',
+          local_accuracy_calibration: str | None = None,
+          movement_kind: models.MovementKindEnum | None = models.MovementKindEnum.Joint,
+          speed_profile: models.SpeedProfile | None = None,
+        ):
+          return self.move_tooltip(
+            position=position,
+            orientation=orientation,
+            reference_frame=reference_frame,
+            axis_alignment=axis_alignment,
+            local_accuracy_calibration=local_accuracy_calibration,
+            movement_kind=movement_kind,
+            speed_profile=speed_profile
           )
-        )
-      )
-    
-    def onrobot_2fg7_grip(
-      self,
-      value: Union[int, float],
-      direction: Union[str, models.LinearGripDirectionEnum] = models.LinearGripDirectionEnum.Inward,
-      unit_kind: Union[str, models.LinearUnitKind] = models.LinearUnitKind.Millimeters,
-      force: Union[int, float] = 0.0,
-      force_unit: Union[str, models.ForceUnitKind] = models.ForceUnitKind.Newtons
-    ):
-      """Move the robot to the onrobot_2fg7 position.
-      """
-      return self.control_gripper(
-        models.GripperCommandRequest(
-          kind=models.GripperKindEnum.Onrobot2Fg7,
-          onrobot_2fg7=models.OnRobot2FG7GripperCommandRequest(
-            control_kind=models.OnRobot2FG7ControlKindEnum.ForceGrip,
-            target_grip_width=models.LinearUnit(
-              unit_kind=models.LinearUnitKind(unit_kind),
-              value=float(value),
-            ),
-            target_force=models.ForceUnit(
-              unit_kind=models.ForceUnitKind(force_unit),
-              value=float(force),
+        
+        def move_tooltip(
+          self,
+          position: models.Position,
+          orientation: models.Orientation,
+          reference_frame: str = 'base',
+          axis_alignment: str = 'base',
+          local_accuracy_calibration: str | None = None,
+          movement_kind: models.MovementKindEnum | None = models.MovementKindEnum.Joint,
+          speed_profile: models.SpeedProfile | None = None,
+        ):
+          """Move tooltip of robot to specified position
+          """
+          request = models.ArmPositionUpdateRequest(
+            kind=models.ArmPositionUpdateRequestKindEnum.TooltipPosition,
+            tooltip_position=models.PositionAndOrientation(
+              position=position,
+              orientation=orientation,
+              reference_frame=reference_frame,
+              local_accuracy_calibration=local_accuracy_calibration,
+              axis_alignment=axis_alignment,
             ),
-            grip_direction=models.LinearGripDirectionEnum(direction),
+            movement_kind=movement_kind,
+            speed_profile=speed_profile
           )
-        )
-      )
-    
-
-    def control_gripper(
-      self,
-      body: models.GripperCommandRequest,
-    ) -> Response[
-      None,
-      None
-    ]:
-      """
-      Send commands to control the Gripper (End Effector) of the robot. The gripper can be any of Standard Bots supported grippers.
-
-      """
-      path = "/api/v1/equipment/end-effector/control"
-      response = self._request_manager.request(
-        "POST",
-        path,
-        headers=self._request_manager.json_headers(),
-        body=json.dumps(models.serialize_gripper_command_request(body)),
-      )
-      parsed = None
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def get_gripper_configuration(
-      self,
-    ) -> Response[
-      Union[
-        models.GripperConfiguration,
-        models.ErrorResponse,
-        None
-      ],
-      models.GripperConfiguration
-    ]:
-      """
-      Get the current gripper configuration
-
-      """
-      path = "/api/v1/equipment/end-effector/configuration"
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_gripper_configuration(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-  class Space:
+          return self.set_arm_position(request)
+        
+
+        def get_arm_position(
+            self,
+        ) -> Response[
+            Union[
+                models.CombinedArmPosition,
+                models.ErrorResponse,
+                None
+            ],
+            models.CombinedArmPosition
+        ]:
+            """
+            Get the current position of the robot arm
+            """
+            path = "/api/v1/movement/position/arm"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_combined_arm_position(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def set_arm_position(
+            self,
+            body: models.ArmPositionUpdateRequest,
+        ) -> Response[
+            Union[
+                models.ArmPositionUpdateEvent,
+                models.ErrorResponse,
+                None
+            ],
+            models.ArmPositionUpdateEvent
+        ]:
+            """
+            Control the position of the RO1 Robot arm.
+
+            """
+            path = "/api/v1/movement/position/arm"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_arm_position_update_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_arm_position_update_event(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    brakes: Brakes
+    position: Position
+
     def __init__(self, request_manager: RequestManager):
-      self._request_manager = request_manager
-
-
-    def list_position(
-      self,
-      limit: int,
-      offset: int,
-    ) -> Response[
-      Union[
-        models.PlanesPaginatedResponse,
-        models.ErrorResponse,
-        None
-      ],
-      models.PlanesPaginatedResponse
-    ]:
-      """
-      List Positions
-      """
-      path = "/api/v1/space/positions"
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-        fields={
-          "limit": models.serialize_i_64(limit),
-          "offset": models.serialize_i_64(offset),
-        }
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_planes_paginated_response(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def list_planes(
-      self,
-      limit: int,
-      offset: int,
-    ) -> Response[
-      Union[
-        models.PlanesPaginatedResponse,
-        models.ErrorResponse,
-        None
-      ],
-      models.PlanesPaginatedResponse
-    ]:
-      """
-      List Planes
-      """
-      path = "/api/v1/space/planes"
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-        fields={
-          "limit": models.serialize_i_64(limit),
-          "offset": models.serialize_i_64(offset),
-        }
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_planes_paginated_response(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-  equipment: Equipment
-  space: Space
-
-  def __init__(self, request_manager: RequestManager):
-    self._request_manager = request_manager
-    self.equipment = Default.Equipment(request_manager)
-    self.space = Default.Space(request_manager)
+        self._request_manager = request_manager
+        self.brakes = Movement.Brakes(request_manager)
+        self.position = Movement.Position(request_manager)
+
+class Camera:
+    _request_manager: RequestManager
+    class Data:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def get_color_frame(
+            self,
+            body: models.CameraFrameRequest,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Retrieve the latest RGB frame from the camera.
+            """
+            path = "/api/v1/camera/frame/rgb"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_camera_frame_request(body)),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_camera_intrinsics_color(
+            self,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Retrieve the intrinsic parameters for the color camera.
+            """
+            path = "/api/v1/camera/intrinsics/rgb"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_camera_stream(
+            self,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Retrieve the latest RGB frame from the camera.
+            """
+            path = "/api/v1/camera/stream/rgb"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    preload_content=False,
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class Settings:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def set_camera_settings(
+            self,
+            body: models.CameraSettings,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Set the camera settings.
+            """
+            path = "/api/v1/camera/settings"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_camera_settings(body)),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    data: Data
+    settings: Settings
 
-class Movement:
-  _request_manager: RequestManager
-  class Brakes:
     def __init__(self, request_manager: RequestManager):
-      self._request_manager = request_manager
-
-    
-    def brake(self):
-        """Brake the robot
-        """
-        return self.set_brakes_state(
-          models.BrakesState(
-            state=models.BrakesStateEnum.Engaged,
-          ),
-        )
-    
-    def unbrake(self):
-        """Unbrake the robot
-        """
-        return self.set_brakes_state(
-          models.BrakesState(
-            state=models.BrakesStateEnum.Disengaged,
-          ),
-        )
-    
-
-    def set_brakes_state(
-      self,
-      body: models.BrakesState,
-    ) -> Response[
-      Union[
-        models.BrakesState,
-        models.ErrorResponse,
-        None
-      ],
-      models.BrakesState
-    ]:
-      """
-      Control Joint Brakes in the robot
-
-      """
-      path = "/api/v1/movement/brakes"
-      response = self._request_manager.request(
-        "POST",
-        path,
-        headers=self._request_manager.json_headers(),
-        body=json.dumps(models.serialize_brakes_state(body)),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_brakes_state(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def get_brakes_state(
-      self,
-    ) -> Response[
-      Union[
-        models.BrakesState,
-        models.ErrorResponse,
-        None
-      ],
-      models.BrakesState
-    ]:
-      """
-      Get the current state of the robot brakes
-
-      """
-      path = "/api/v1/movement/brakes"
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_brakes_state(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def engage_emergency_stop(
-      self,
-      body: models.EngageEmergencyStopRequest,
-    ) -> Response[
-      None,
-      None
-    ]:
-      """
-      Engage Emergency braking system.
-&gt; **⚠️ Warning:** This will immediately stop the robot and may cause damage to the robot or surrounding environment.
+        self._request_manager = request_manager
+        self.data = Camera.Data(request_manager)
+        self.settings = Camera.Settings(request_manager)
+
+class Faults:
+    _request_manager: RequestManager
+    class UserFaults:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def trigger_user_fault(
+            self,
+            body: models.TriggerFaultRequest,
+        ) -> Response[
+            Union[
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            None
+        ]:
+            """
+            Trigger user faults for routine
+
+            """
+            path = "/api/v1/faults/user-fault"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_trigger_fault_request(body)),
+                )
+                parsed = None
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    user_faults: UserFaults
 
-      """
-      path = "/api/v1/movement/brakes/emergency-stop"
-      response = self._request_manager.request(
-        "POST",
-        path,
-        headers=self._request_manager.json_headers(),
-        body=json.dumps(models.serialize_engage_emergency_stop_request(body)),
-      )
-      parsed = None
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-  class Position:
     def __init__(self, request_manager: RequestManager):
-      self._request_manager = request_manager
-
-    def move(
-      self,
-      position: models.Position,
-      orientation: models.Orientation,
-      reference_frame: str = 'base',
-      axis_alignment: str = 'base'
-    ):
-      return self.move_tooltip(
-        position=position,
-        orientation=orientation,
-        reference_frame=reference_frame,
-        axis_alignment=axis_alignment
-      )
-    
-    def move_tooltip(
-      self,
-      position: models.Position,
-      orientation: models.Orientation,
-      reference_frame: str = 'base',
-      axis_alignment: str = 'base'
-    ):
-      """Move tooltip of robot to specified position
-      """
-      request = models.ArmPositionUpdateRequest(
-        kind=models.ArmPositionUpdateRequestKindEnum.TooltipPosition,
-        tooltip_position=models.PositionAndOrientation(
-          position=position,
-          orientation=orientation,
-          reference_frame=reference_frame,
-          axis_alignment=axis_alignment,
-        ),
-      )
-      return self.set_arm_position(request)
-    
-
-    def get_arm_position(
-      self,
-    ) -> Response[
-      Union[
-        models.CombinedArmPosition,
-        models.ErrorResponse,
-        None
-      ],
-      models.CombinedArmPosition
-    ]:
-      """
-      Get the current position of the robot arm
-      """
-      path = "/api/v1/movement/position/arm"
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_combined_arm_position(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def set_arm_position(
-      self,
-      body: models.ArmPositionUpdateRequest,
-    ) -> Response[
-      Union[
-        models.ArmPositionUpdateEvent,
-        models.ErrorResponse,
-        None
-      ],
-      models.ArmPositionUpdateEvent
-    ]:
-      """
-      Control the position of the RO1 Robot arm.
-
-      """
-      path = "/api/v1/movement/position/arm"
-      response = self._request_manager.request(
-        "POST",
-        path,
-        headers=self._request_manager.json_headers(),
-        body=json.dumps(models.serialize_arm_position_update_request(body)),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_arm_position_update_event(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-  brakes: Brakes
-  position: Position
-
-  def __init__(self, request_manager: RequestManager):
-    self._request_manager = request_manager
-    self.brakes = Movement.Brakes(request_manager)
-    self.position = Movement.Position(request_manager)
+        self._request_manager = request_manager
+        self.user_faults = Faults.UserFaults(request_manager)
+
+class General:
+    _request_manager: RequestManager
+    class BotIdentity:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def bot_identity(
+            self,
+        ) -> Response[
+            Union[
+                models.BotIdentityData,
+                models.ErrorResponse,
+                None
+            ],
+            models.BotIdentityData
+        ]:
+            """
+            Get information about the robot&#x27;s identity.
+            """
+            path = "/api/v1/identity/bot_identity"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_bot_identity_data(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class Joints:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def get_joints_state(
+            self,
+        ) -> Response[
+            Union[
+                models.JointsStateResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.JointsStateResponse
+        ]:
+            """
+            Retrieves information about the state of each joint
+            """
+            path = "/api/v1/joints"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_joints_state_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    bot_identity: BotIdentity
+    joints: Joints
 
-class RoutineEditor:
-  _request_manager: RequestManager
-  class Routines:
     def __init__(self, request_manager: RequestManager):
-      self._request_manager = request_manager
-
-
-    def play(
-      self,
-      body: models.PlayRoutineRequest,
-      routine_id: str,
-    ) -> Response[
-      None,
-      None
-    ]:
-      """
-      Play a routine
-      """
-      path = "/api/v1/routine-editor/routines/{routine_id}/play"
-      path = path.replace("{routine_id}", str(routine_id))
-      response = self._request_manager.request(
-        "POST",
-        path,
-        headers=self._request_manager.json_headers(),
-        body=json.dumps(models.serialize_play_routine_request(body)),
-      )
-      parsed = None
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def pause(
-      self,
-      routine_id: str,
-    ) -> Response[
-      None,
-      None
-    ]:
-      """
-      Pause a routine
-      """
-      path = "/api/v1/routine-editor/routines/{routine_id}/pause"
-      path = path.replace("{routine_id}", str(routine_id))
-      response = self._request_manager.request(
-        "POST",
-        path,
-        headers=self._request_manager.json_headers(),
-      )
-      parsed = None
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def stop(
-      self,
-    ) -> Response[
-      None,
-      None
-    ]:
-      """
-      Stop running routine and all ongoing motions
-      """
-      path = "/api/v1/routine-editor/stop"
-      response = self._request_manager.request(
-        "POST",
-        path,
-        headers=self._request_manager.json_headers(),
-      )
-      parsed = None
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def list(
-      self,
-      limit: int,
-      offset: int,
-    ) -> Response[
-      Union[
-        models.RoutinesPaginatedResponse,
-        models.ErrorResponse,
-        None
-      ],
-      models.RoutinesPaginatedResponse
-    ]:
-      """
-      List routines defined in Routine Editor UI
-      """
-      path = "/api/v1/routine-editor/routines"
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-        fields={
-          "limit": models.serialize_i_64(limit),
-          "offset": models.serialize_i_64(offset),
-        }
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_routines_paginated_response(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def load(
-      self,
-      routine_id: str,
-    ) -> Response[
-      Union[
-        models.Routine,
-        models.ErrorResponse,
-        None
-      ],
-      models.Routine
-    ]:
-      """
-      Get routine data by ID
-      """
-      path = "/api/v1/routine-editor/routines/{routine_id}"
-      path = path.replace("{routine_id}", str(routine_id))
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_routine(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-  class Variables:
+        self._request_manager = request_manager
+        self.bot_identity = General.BotIdentity(request_manager)
+        self.joints = General.Joints(request_manager)
+
+class ChatGPT:
+    _request_manager: RequestManager
+    class Data:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def speech_to_text(
+            self,
+            body: models.SpeechToTextRequest,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Convert speech to text.
+            """
+            path = "/api/v1/internal-only/speech-to-text"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_speech_to_text_request(body)),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def text_to_skill(
+            self,
+            body: models.TextToSkillRequest,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Convert text to a skill.
+            """
+            path = "/api/v1/internal-only/text-to-skill"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_text_to_skill_request(body)),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    data: Data
+
     def __init__(self, request_manager: RequestManager):
-      self._request_manager = request_manager
-
-
-    def load(
-      self,
-      variable_id: str,
-    ) -> Response[
-      Union[
-        models.RuntimeVariable,
-        models.ErrorResponse,
-        None
-      ],
-      models.RuntimeVariable
-    ]:
-      """
-      Returns current state of a variable
-      """
-      path = "/api/v1/routine-editor/variables/{variable_id}"
-      path = path.replace("{variable_id}", str(variable_id))
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_runtime_variable(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def update(
-      self,
-      body: models.RuntimeVariable,
-      variable_id: str,
-    ) -> Response[
-      Union[
-        models.RuntimeVariable,
-        models.ErrorResponse,
-        None
-      ],
-      models.RuntimeVariable
-    ]:
-      """
-      Update the value of a variable
-      """
-      path = "/api/v1/routine-editor/variables/{variable_id}"
-      path = path.replace("{variable_id}", str(variable_id))
-      response = self._request_manager.request(
-        "POST",
-        path,
-        headers=self._request_manager.json_headers(),
-        body=json.dumps(models.serialize_runtime_variable(body)),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_runtime_variable(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-  routines: Routines
-  variables: Variables
-
-  def __init__(self, request_manager: RequestManager):
-    self._request_manager = request_manager
-    self.routines = RoutineEditor.Routines(request_manager)
-    self.variables = RoutineEditor.Variables(request_manager)
+        self._request_manager = request_manager
+        self.data = ChatGPT.Data(request_manager)
+
+class IO:
+    _request_manager: RequestManager
+    class Control:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def update_io_state(
+            self,
+            body: models.IOStateUpdateRequest,
+        ) -> Response[
+            Union[
+                models.IOStateResponse,
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.IOStateResponse
+        ]:
+            """
+            Updates the state of I/O based on the provided action (&#x27;high&#x27; or &#x27;low&#x27;).
+            """
+            path = "/api/v1/io"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_io_state_update_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_io_state_response(json.loads(response.data))
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class Status:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def get_io_state(
+            self,
+        ) -> Response[
+            Union[
+                models.IOStateResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.IOStateResponse
+        ]:
+            """
+            Retrieves the current state of I/O.
+            """
+            path = "/api/v1/io"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_io_state_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    control: Control
+    status: Status
+
+    def __init__(self, request_manager: RequestManager):
+        self._request_manager = request_manager
+        self.control = IO.Control(request_manager)
+        self.status = IO.Status(request_manager)
+
+class Poses:
+    _request_manager: RequestManager
+    class ConstructPose:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def cartesian_pose(
+            self,
+            body: models.CartesianPoseRequest,
+        ) -> Response[
+            Union[
+                models.CartesianPoseResponse,
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.CartesianPoseResponse
+        ]:
+            """
+            Retrieve the cartesian pose based on euler angles
+
+            """
+            path = "/api/v1/poses/cartesian-pose"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_cartesian_pose_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_cartesian_pose_response(json.loads(response.data))
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def joint_pose(
+            self,
+            body: models.JointPoseRequest,
+        ) -> Response[
+            Union[
+                models.JointPoseResponse,
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.JointPoseResponse
+        ]:
+            """
+            Retrieve the cartesian pose based on joint angles
+
+            """
+            path = "/api/v1/poses/joint-pose"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_joint_pose_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_joint_pose_response(json.loads(response.data))
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class CartesianDistance:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def pose_distance(
+            self,
+            body: models.PoseDistanceRequest,
+        ) -> Response[
+            Union[
+                models.PoseDistanceResponse,
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.PoseDistanceResponse
+        ]:
+            """
+            Calculate the distance between two cartesian poses
+
+            """
+            path = "/api/v1/poses/pose-distance"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_pose_distance_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_pose_distance_response(json.loads(response.data))
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class PoseOperations:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def poses_addition(
+            self,
+            body: models.PoseOperationsRequest,
+        ) -> Response[
+            Union[
+                models.PoseOperationsResponse,
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.PoseOperationsResponse
+        ]:
+            """
+            Calculate the addition between two cartesian poses
+
+            """
+            path = "/api/v1/poses/add"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_pose_operations_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_pose_operations_response(json.loads(response.data))
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def poses_subtraction(
+            self,
+            body: models.PoseOperationsRequest,
+        ) -> Response[
+            Union[
+                models.PoseOperationsResponse,
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.PoseOperationsResponse
+        ]:
+            """
+            Calculate the subtraction between two cartesian poses
+
+            """
+            path = "/api/v1/poses/subtract"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_pose_operations_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_pose_operations_response(json.loads(response.data))
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def cartesian_offset(
+            self,
+            body: models.CartesianOffsetRequest,
+        ) -> Response[
+            Union[
+                models.CartesianOffsetResponse,
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.CartesianOffsetResponse
+        ]:
+            """
+            Determine the robot pose after applying the offset transformation
+
+            """
+            path = "/api/v1/poses/cartesian-offset"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_cartesian_offset_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_cartesian_offset_response(json.loads(response.data))
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class PoseRetrieval:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def get_joints_position(
+            self,
+        ) -> Response[
+            Union[
+                models.JointsPositionResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.JointsPositionResponse
+        ]:
+            """
+            Get the joints position of the robot
+            """
+            path = "/api/v1/poses/joints-position"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_joints_position_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_tooltip_position(
+            self,
+        ) -> Response[
+            Union[
+                models.TooltipPositionResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.TooltipPositionResponse
+        ]:
+            """
+            Get the tooltip position of the robot
+            """
+            path = "/api/v1/poses/tooltip-position"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_tooltip_position_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_flange_position(
+            self,
+        ) -> Response[
+            Union[
+                models.FlangePositionResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.FlangePositionResponse
+        ]:
+            """
+            Get the flange position of the robot
+            """
+            path = "/api/v1/poses/flange-position"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_flange_position_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    construct_pose: ConstructPose
+    cartesian_distance: CartesianDistance
+    pose_operations: PoseOperations
+    pose_retrieval: PoseRetrieval
 
-class Status:
-  _request_manager: RequestManager
-  class Control:
     def __init__(self, request_manager: RequestManager):
-      self._request_manager = request_manager
-
-
-    def set_configuration_control_state(
-      self,
-      body: models.RobotControlMode,
-    ) -> Response[
-      Union[
-        models.RobotControlMode,
-        models.ErrorResponse,
-        None
-      ],
-      models.RobotControlMode
-    ]:
-      """
-      Set the system which is controlling the robot
-      """
-      path = "/api/v1/status/control-mode"
-      response = self._request_manager.request(
-        "POST",
-        path,
-        headers=self._request_manager.json_headers(),
-        body=json.dumps(models.serialize_robot_control_mode(body)),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_robot_control_mode(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-    def get_configuration_state_control(
-      self,
-    ) -> Response[
-      Union[
-        models.RobotControlMode,
-        models.ErrorResponse,
-        None
-      ],
-      models.RobotControlMode
-    ]:
-      """
-      Get the system which is controlling the robot
-      """
-      path = "/api/v1/status/control-mode"
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_robot_control_mode(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-  class Health:
+        self._request_manager = request_manager
+        self.construct_pose = Poses.ConstructPose(request_manager)
+        self.cartesian_distance = Poses.CartesianDistance(request_manager)
+        self.pose_operations = Poses.PoseOperations(request_manager)
+        self.pose_retrieval = Poses.PoseRetrieval(request_manager)
+
+class Recovery:
+    _request_manager: RequestManager
+    class Recover:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def recover(
+            self,
+        ) -> Response[
+            Union[
+                models.FailureStateResponse,
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.FailureStateResponse
+        ]:
+            """
+            Attempts to recover the robot from a fault state. Inspect the response to determine if additional recovery actions are required.
+
+            """
+            path = "/api/v1/recovery/recover"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_failure_state_response(json.loads(response.data))
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_status(
+            self,
+        ) -> Response[
+            Union[
+                models.FailureStateResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.FailureStateResponse
+        ]:
+            """
+            Get the robot&#x27;s recovery status.
+
+            """
+            path = "/api/v1/recovery/status"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_failure_state_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    recover: Recover
+
     def __init__(self, request_manager: RequestManager):
-      self._request_manager = request_manager
-
-
-    def get_health(
-      self,
-    ) -> Response[
-      Union[
-        models.StatusHealthResponse,
-        models.ErrorResponse,
-        None
-      ],
-      models.StatusHealthResponse
-    ]:
-      """
-      Get the current health of the robot
-      """
-      path = "/api/v1/status/health"
-      response = self._request_manager.request(
-        "GET",
-        path,
-        headers=self._request_manager.json_headers(),
-      )
-      parsed = None
-      if response.status == 200:
-        parsed = models.parse_status_health_response(json.loads(response.data))
-
-      is_user_error = response.status >= 400 and response.status < 500
-      is_unavailable = response.status == 503
-      if parsed is None and (is_user_error or is_unavailable):
-        parsed = models.parse_error_response(json.loads(response.data))
-
-      return Response(
-        parsed,
-        response.status,
-        response
-      )
-
-  control: Control
-  health: Health
-
-  def __init__(self, request_manager: RequestManager):
-    self._request_manager = request_manager
-    self.control = Status.Control(request_manager)
-    self.health = Status.Health(request_manager)
+        self._request_manager = request_manager
+        self.recover = Recovery.Recover(request_manager)
+
+class ROS:
+    _request_manager: RequestManager
+    class Control:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def update_ros_control_state(
+            self,
+            body: models.ROSControlUpdateRequest,
+        ) -> Response[
+            Union[
+                models.ROSControlStateResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.ROSControlStateResponse
+        ]:
+            """
+            Updates the state of ROS control based on the provided action (&#x27;enable&#x27; or &#x27;disable&#x27;).
+            """
+            path = "/api/v1/movement/ros/state"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_ros_control_update_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_ros_control_state_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class Status:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def get_ros_control_state(
+            self,
+        ) -> Response[
+            Union[
+                models.ROSControlStateResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.ROSControlStateResponse
+        ]:
+            """
+            Retrieves the current state of ROS control.
+            """
+            path = "/api/v1/movement/ros/state"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_ros_control_state_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    control: Control
+    status: Status
 
+    def __init__(self, request_manager: RequestManager):
+        self._request_manager = request_manager
+        self.control = ROS.Control(request_manager)
+        self.status = ROS.Status(request_manager)
 
+class RoutineEditor:
+    _request_manager: RequestManager
+    class Routines:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def play(
+            self,
+            body: models.PlayRoutineRequest,
+            routine_id: str,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Play a routine
+            """
+            path = "/api/v1/routine-editor/routines/{routine_id}/play"
+            path = path.replace("{routine_id}", str(routine_id))
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_play_routine_request(body)),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def pause(
+            self,
+            routine_id: str,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Pause a routine
+            """
+            path = "/api/v1/routine-editor/routines/{routine_id}/pause"
+            path = path.replace("{routine_id}", str(routine_id))
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def stop(
+            self,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Stop running routine and all ongoing motions
+            """
+            path = "/api/v1/routine-editor/stop"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def list(
+            self,
+            limit: int,
+            offset: int,
+        ) -> Response[
+            Union[
+                models.RoutinesPaginatedResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.RoutinesPaginatedResponse
+        ]:
+            """
+            List routines defined in Routine Editor UI
+            """
+            path = "/api/v1/routine-editor/routines"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    fields={
+                        "limit": models.serialize_i_64(limit),
+                        "offset": models.serialize_i_64(offset),
+                    }
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_routines_paginated_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def load(
+            self,
+            routine_id: str,
+        ) -> Response[
+            Union[
+                models.Routine,
+                models.ErrorResponse,
+                None
+            ],
+            models.Routine
+        ]:
+            """
+            Get routine data by ID
+            """
+            path = "/api/v1/routine-editor/routines/{routine_id}"
+            path = path.replace("{routine_id}", str(routine_id))
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_routine(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def list_spaces(
+            self,
+            routine_id: str,
+            exclude_global_spaces: bool,
+        ) -> Response[
+            Union[
+                models.SpacesPaginatedResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.SpacesPaginatedResponse
+        ]:
+            """
+            List spaces from routine
+            """
+            path = "/api/v1/routine-editor/routines/{routine_id}/spaces"
+            path = path.replace("{routine_id}", str(routine_id))
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    fields={
+                        "exclude_global_spaces": models.serialize_bool(exclude_global_spaces),
+                    }
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_spaces_paginated_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_step_variables(
+            self,
+            routine_id: str,
+            step_id_map: bool,
+        ) -> Response[
+            Union[
+                models.RoutineStepVariablesResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.RoutineStepVariablesResponse
+        ]:
+            """
+            Get all step variables from a running routine.
+            """
+            path = "/api/v1/routine-editor/routines/{routine_id}/step-variables"
+            path = path.replace("{routine_id}", str(routine_id))
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    fields={
+                        "step_id_map": models.serialize_bool(step_id_map),
+                    }
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_routine_step_variables_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_state(
+            self,
+            routine_id: str,
+        ) -> Response[
+            Union[
+                models.RoutineStateResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.RoutineStateResponse
+        ]:
+            """
+            Get the state from a running routine.
+            """
+            path = "/api/v1/routine-editor/routines/{routine_id}/state"
+            path = path.replace("{routine_id}", str(routine_id))
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_routine_state_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class Variables:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def load(
+            self,
+            variable_name: str,
+        ) -> Response[
+            Union[
+                models.RuntimeVariable,
+                models.ErrorResponse,
+                None
+            ],
+            models.RuntimeVariable
+        ]:
+            """
+            Returns current state of a variable
+            """
+            path = "/api/v1/routine-editor/variables/{variable_name}"
+            path = path.replace("{variable_name}", str(variable_name))
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_runtime_variable(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def update(
+            self,
+            body: models.RuntimeVariable,
+            variable_name: str,
+        ) -> Response[
+            Union[
+                models.RuntimeVariable,
+                models.ErrorResponse,
+                None
+            ],
+            models.RuntimeVariable
+        ]:
+            """
+            Update the value of a variable
+            """
+            path = "/api/v1/routine-editor/variables/{variable_name}"
+            path = path.replace("{variable_name}", str(variable_name))
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_runtime_variable(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_runtime_variable(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    routines: Routines
+    variables: Variables
 
+    def __init__(self, request_manager: RequestManager):
+        self._request_manager = request_manager
+        self.routines = RoutineEditor.Routines(request_manager)
+        self.variables = RoutineEditor.Variables(request_manager)
 
-class StandardBotsRobot(Default):
-  RobotKind = RobotKind
-
-  movement: Movement
-  routine_editor: RoutineEditor
-  status: Status
-  def __init__(
-    self,
-    url: str,
-    token: str,
-    robot_kind: Union[RobotKind, str] = RobotKind.Live,
-    pools: int = 10
-  ):
-    super().__init__(RequestManager(
-      urllib3.PoolManager(num_pools=2),
-      token=token,
-      host=url,
-      robot_kind=RobotKind(robot_kind),
-    ))
-    self.movement = Movement(self._request_manager)
-    self.routine_editor = RoutineEditor(self._request_manager)
-    self.status = Status(self._request_manager)
-
-  @contextmanager
-  def connection(self):
-    yield
-    self._request_manager.close()
+class Status:
+    _request_manager: RequestManager
+    class Control:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def set_configuration_control_state(
+            self,
+            body: models.RobotControlMode,
+        ) -> Response[
+            Union[
+                models.RobotControlMode,
+                models.ErrorResponse,
+                None
+            ],
+            models.RobotControlMode
+        ]:
+            """
+            Set the system which is controlling the robot
+            """
+            path = "/api/v1/status/control-mode"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_robot_control_mode(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_robot_control_mode(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def get_configuration_state_control(
+            self,
+        ) -> Response[
+            Union[
+                models.RobotControlMode,
+                models.ErrorResponse,
+                None
+            ],
+            models.RobotControlMode
+        ]:
+            """
+            Get the system which is controlling the robot
+            """
+            path = "/api/v1/status/control-mode"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_robot_control_mode(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+    class Health:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def get_health(
+            self,
+        ) -> Response[
+            Union[
+                models.StatusHealthResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.StatusHealthResponse
+        ]:
+            """
+            Get the current health of the robot
+            """
+            path = "/api/v1/status/health"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_status_health_response(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+
+    control: Control
+    health: Health
 
+    def __init__(self, request_manager: RequestManager):
+        self._request_manager = request_manager
+        self.control = Status.Control(request_manager)
+        self.health = Status.Health(request_manager)
+
+
+
+
+class StandardBotsRobot(Default):
+    RobotKind = RobotKind
+
+    movement: Movement
+    camera: Camera
+    faults: Faults
+    general: General
+    chat_gpt: ChatGPT
+    io: IO
+    poses: Poses
+    recovery: Recovery
+    ros: ROS
+    routine_editor: RoutineEditor
+    status: Status
+    def __init__(
+        self,
+        url: str,
+        token: str,
+        robot_kind: Union[RobotKind, str] = RobotKind.Live,
+        pools: int = 10
+    ):
+        super().__init__(RequestManager(
+            urllib3.PoolManager(num_pools=2),
+            token=token,
+            host=url,
+            robot_kind=RobotKind(robot_kind),
+        ))
+        self.movement = Movement(self._request_manager)
+        self.camera = Camera(self._request_manager)
+        self.faults = Faults(self._request_manager)
+        self.general = General(self._request_manager)
+        self.chat_gpt = ChatGPT(self._request_manager)
+        self.io = IO(self._request_manager)
+        self.poses = Poses(self._request_manager)
+        self.recovery = Recovery(self._request_manager)
+        self.ros = ROS(self._request_manager)
+        self.routine_editor = RoutineEditor(self._request_manager)
+        self.status = Status(self._request_manager)
+
+    @contextmanager
+    def connection(self):
+        yield
+        self._request_manager.close()