wandelbots-api-client 25.11.0.dev12__py3-none-any.whl → 26.1.0.dev62__py3-none-any.whl

wandelbots_api_client/v2_pydantic/models.py

@@ -1,15 +1,16 @@
 # generated by datamodel-codegen:
 #   filename:  public.openapi.yaml
-#   timestamp: 2025-12-03T19:57:03+00:00
+#   timestamp: 2026-01-15T11:45:23+00:00
 
 from __future__ import annotations
 
 from datetime import date
 from enum import Enum
 from pathlib import Path
-from typing import Annotated, Any, Dict, List, Literal, Optional, Union
+from typing import Annotated, Any, Literal
 
 from pydantic import AwareDatetime, BaseModel, EmailStr, Field, RootModel
+from .virtual_controller_types import VirtualControllerTypes
 
 
 class NameList(RootModel):
@@ -17,7 +18,7 @@ class NameList(RootModel):
     A list of names
     """
 
-    root: List[str]
+    root: list[str]
     """
     A list of names
     """
@@ -48,7 +49,7 @@ class NameList(RootModel):
 
 
 class CellName(RootModel):
-    root: Annotated[str, Field(pattern='^[a-z][a-z0-9-]{0,30}[a-z0-9]$')]
+    root: Annotated[str, Field(pattern='^[a-z][a-z0-9-]{0,30}[a-z0-9]$')] = 'cell'
     """
     A unique name for the cell used as an identifier for addressing the cell in all API calls.
     It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
@@ -127,7 +128,7 @@ class KukaController(BaseModel):
     """
     The RSI server runs inside of the cell.
     """
-    slow_cycle_rate: Optional[bool] = False
+    slow_cycle_rate: bool | None = False
     """
     If true, uses slower cycle time of 12ms instead of 4ms.
 
@@ -151,130 +152,6 @@ class Manufacturer(Enum):
     YASKAWA = 'yaskawa'
 
 
-class VirtualControllerTypes(Enum):
-    ABB_IRB1010_037_15 = 'abb-irb1010_037_15'
-    ABB_IRB1100_0475_4 = 'abb-irb1100_0475_4'
-    ABB_IRB1100_058_4 = 'abb-irb1100_058_4'
-    ABB_IRB1200_7 = 'abb-irb1200_7'
-    ABB_IRB1300_09_11 = 'abb-irb1300_09_11'
-    ABB_IRB1300_115_10 = 'abb-irb1300_115_10'
-    ABB_IRB1300_14_12 = 'abb-irb1300_14_12'
-    ABB_IRB1300_14_7 = 'abb-irb1300_14_7'
-    ABB_IRB1600_12_10 = 'abb-irb1600_12_10'
-    ABB_IRB1600_12_6 = 'abb-irb1600_12_6'
-    ABB_IRB1600_145_10 = 'abb-irb1600_145_10'
-    ABB_IRB1600_145_6 = 'abb-irb1600_145_6'
-    ABB_IRB2600_ID_185_15 = 'abb-irb2600ID_185_15'
-    ABB_IRB2600_ID_200_8 = 'abb-irb2600ID_200_8'
-    ABB_IRB2600_165_12 = 'abb-irb2600_165_12'
-    ABB_IRB2600_165_20 = 'abb-irb2600_165_20'
-    ABB_IRB2600_185_12 = 'abb-irb2600_185_12'
-    ABB_IRB4600_205_45 = 'abb-irb4600_205_45'
-    ABB_IRB4600_205_60 = 'abb-irb4600_205_60'
-    ABB_IRB4600_250_20 = 'abb-irb4600_250_20'
-    ABB_IRB4600_255_40 = 'abb-irb4600_255_40'
-    ABB_IRB6730_210_310 = 'abb-irb6730_210_310'
-    ABB_IRB6730_240_290 = 'abb-irb6730_240_290'
-    FANUC_ARC_MATE_100I_D = 'fanuc-arc_mate_100iD'
-    FANUC_ARC_MATE_100I_D16_S = 'fanuc-arc_mate_100iD16S'
-    FANUC_ARC_MATE_120I_D = 'fanuc-arc_mate_120iD'
-    FANUC_ARC_MATE_120I_D12_L = 'fanuc-arc_mate_120iD12L'
-    FANUC_ARC_MATE_120I_D35 = 'fanuc-arc_mate_120iD35'
-    FANUC_CR35IB = 'fanuc-cr35ib'
-    FANUC_CR7IA = 'fanuc-cr7ia'
-    FANUC_CR7IAL = 'fanuc-cr7ial'
-    FANUC_CRX10IA = 'fanuc-crx10ia'
-    FANUC_CRX10IAL = 'fanuc-crx10ial'
-    FANUC_CRX20IAL = 'fanuc-crx20ial'
-    FANUC_CRX25IA = 'fanuc-crx25ia'
-    FANUC_CRX30IA = 'fanuc-crx30ia'
-    FANUC_CRX5IA = 'fanuc-crx5ia'
-    FANUC_LR_MATE_200I_D = 'fanuc-lr_mate_200iD'
-    FANUC_LR_MATE_200I_D4_S = 'fanuc-lr_mate_200iD4S'
-    FANUC_LR_MATE_200I_D7_L = 'fanuc-lr_mate_200iD7L'
-    FANUC_M10I_D12 = 'fanuc-m10iD12'
-    FANUC_M10I_D16_S = 'fanuc-m10iD16S'
-    FANUC_M20I_D25 = 'fanuc-m20iD25'
-    FANUC_M20I_D35 = 'fanuc-m20iD35'
-    FANUC_M710I_C20_L = 'fanuc-m710iC20L'
-    FANUC_M900I_B280_L = 'fanuc-m900iB280L'
-    FANUC_M900I_B360_E = 'fanuc-m900iB360E'
-    FANUC_R2000IC125L = 'fanuc-r2000ic125l'
-    FANUC_R2000IC210F = 'fanuc-r2000ic210f'
-    KUKA_KR10_R1100 = 'kuka-kr10_r1100'
-    KUKA_KR10_R1100_2 = 'kuka-kr10_r1100_2'
-    KUKA_KR10_R900 = 'kuka-kr10_r900'
-    KUKA_KR10_R900_2 = 'kuka-kr10_r900_2'
-    KUKA_KR120_R2700_2 = 'kuka-kr120_r2700_2'
-    KUKA_KR12_R1810_2 = 'kuka-kr12_r1810_2'
-    KUKA_KR150_R2 = 'kuka-kr150_r2'
-    KUKA_KR16_R1610_2 = 'kuka-kr16_r1610_2'
-    KUKA_KR16_R2010_2 = 'kuka-kr16_r2010_2'
-    KUKA_KR20_R1810 = 'kuka-kr20_r1810'
-    KUKA_KR20_R1810_2 = 'kuka-kr20_r1810_2'
-    KUKA_KR120_R3100_2 = 'kuka-kr120_r3100_2'
-    KUKA_KR120_R3900_2_K = 'kuka-kr120_r3900_2_k'
-    KUKA_KR210_R2700_EXTRA = 'kuka-kr210_r2700_extra'
-    KUKA_KR210_R2700_2 = 'kuka-kr210_r2700_2'
-    KUKA_KR210_R3100_2 = 'kuka-kr210_r3100_2'
-    KUKA_KR210_R3300_2 = 'kuka-kr210_r3300_2'
-    KUKA_KR240_R2700 = 'kuka-kr240_r2700'
-    KUKA_KR240_R2900 = 'kuka-kr240_r2900'
-    KUKA_KR240_R3700_2 = 'kuka-kr240_r3700_2'
-    KUKA_KR250_R2700_2 = 'kuka-kr250_r2700_2'
-    KUKA_KR270_R2700 = 'kuka-kr270_r2700'
-    KUKA_KR30_R2100 = 'kuka-kr30_r2100'
-    KUKA_KR30_R3 = 'kuka-kr30_r3'
-    KUKA_KR360_L240_3 = 'kuka-kr360_l240_3'
-    KUKA_KR3_R540 = 'kuka-kr3_r540'
-    KUKA_KR4_R600 = 'kuka-kr4_r600'
-    KUKA_KR500_L340_3 = 'kuka-kr500_l340_3'
-    KUKA_KR50_R2500 = 'kuka-kr50_r2500'
-    KUKA_KR60_R3 = 'kuka-kr60_r3'
-    KUKA_KR6_R1820 = 'kuka-kr6_r1820'
-    KUKA_KR6_R700_2 = 'kuka-kr6_r700_2'
-    KUKA_KR6_R700_SIXX = 'kuka-kr6_r700_sixx'
-    KUKA_KR6_R900 = 'kuka-kr6_r900'
-    KUKA_KR6_R900_2 = 'kuka-kr6_r900_2'
-    KUKA_KR70_R2100 = 'kuka-kr70_r2100'
-    KUKA_LBR_IISY_11_R1300 = 'kuka-lbr_iisy_11_r1300'
-    UNIVERSALROBOTS_UR10CB = 'universalrobots-ur10cb'
-    UNIVERSALROBOTS_UR10E = 'universalrobots-ur10e'
-    UNIVERSALROBOTS_UR12E = 'universalrobots-ur12e'
-    UNIVERSALROBOTS_UR16E = 'universalrobots-ur16e'
-    UNIVERSALROBOTS_UR20E = 'universalrobots-ur20e'
-    UNIVERSALROBOTS_UR3E = 'universalrobots-ur3e'
-    UNIVERSALROBOTS_UR5CB = 'universalrobots-ur5cb'
-    UNIVERSALROBOTS_UR5E = 'universalrobots-ur5e'
-    UNIVERSALROBOTS_UR7E = 'universalrobots-ur7e'
-    YASKAWA_AR1440 = 'yaskawa-ar1440'
-    YASKAWA_AR1730 = 'yaskawa-ar1730'
-    YASKAWA_AR2010 = 'yaskawa-ar2010'
-    YASKAWA_AR3120 = 'yaskawa-ar3120'
-    YASKAWA_AR700 = 'yaskawa-ar700'
-    YASKAWA_AR900 = 'yaskawa-ar900'
-    YASKAWA_GP110 = 'yaskawa-gp110'
-    YASKAWA_GP12 = 'yaskawa-gp12'
-    YASKAWA_GP180 = 'yaskawa-gp180'
-    YASKAWA_GP180_120 = 'yaskawa-gp180-120'
-    YASKAWA_GP20HL = 'yaskawa-gp20hl'
-    YASKAWA_GP215 = 'yaskawa-gp215'
-    YASKAWA_GP225 = 'yaskawa-gp225'
-    YASKAWA_GP25 = 'yaskawa-gp25'
-    YASKAWA_GP250 = 'yaskawa-gp250'
-    YASKAWA_GP25_12 = 'yaskawa-gp25_12'
-    YASKAWA_GP280 = 'yaskawa-gp280'
-    YASKAWA_GP35_L = 'yaskawa-gp35L'
-    YASKAWA_GP400 = 'yaskawa-gp400'
-    YASKAWA_GP50 = 'yaskawa-gp50'
-    YASKAWA_GP600 = 'yaskawa-gp600'
-    YASKAWA_GP7 = 'yaskawa-gp7'
-    YASKAWA_GP8 = 'yaskawa-gp8'
-    YASKAWA_GP88 = 'yaskawa-gp88'
-    YASKAWA_HC10DTP = 'yaskawa-hc10dtp'
-    YASKAWA_HC20DTP = 'yaskawa-hc20dtp'
-
-
 class VirtualController(BaseModel):
     """
     The configuration of a virtual robot controller has to contain the manufacturer string,
@@ -284,15 +161,40 @@ class VirtualController(BaseModel):
 
     kind: Literal['VirtualController'] = 'VirtualController'
     manufacturer: Manufacturer
-    type: Optional[VirtualControllerTypes] = None
-    json_: Annotated[Optional[str], Field(alias='json')] = None
+    type: Annotated[
+        str | None,
+        Field(
+            examples=[
+                'abb-irb1200_7',
+                'abb-irb1010_037_15',
+                'abb-irb2600ID_200_8',
+                'fanuc-arc_mate_120iD12L',
+                'fanuc-crx10ial',
+                'fanuc-lr_mate_200iD4S',
+                'fanuc-r2000ic125l',
+                'kuka-kr10_r1100_2',
+                'kuka-kr210_r2700_extra',
+                'kuka-lbr_iisy_11_r1300',
+                'universalrobots-ur10cb',
+                'yaskawa-ar1440',
+                'yaskawa-gp180-120',
+                'yaskawa-hc20dtp',
+            ]
+        ),
+    ] = None
+    """
+    Preset type of the virtual robot controller.
+    See [getRobotConfigurations](getRobotConfigurations) for supported types.
+
+    """
+    json_: Annotated[str | None, Field(alias='json')] = None
     """
     Complete JSON configuration of the virtual robot controller.
     Can be obtained from the physical controller's configuration via [getVirtualControllerConfiguration](getVirtualControllerConfiguration).
     If provided, the `type` field should not be used.
 
     """
-    initial_joint_position: Optional[str] = None
+    initial_joint_position: str | None = None
     """
     Initial joint position of the first motion group from the virtual robot controller.
     Provide the joint position as a JSON array containing 7 float values,
@@ -323,14 +225,12 @@ class RobotController(BaseModel):
 
     """
     configuration: Annotated[
-        Union[
-            AbbController,
-            FanucController,
-            KukaController,
-            UniversalrobotsController,
-            VirtualController,
-            YaskawaController,
-        ],
+        AbbController
+        | FanucController
+        | KukaController
+        | UniversalrobotsController
+        | VirtualController
+        | YaskawaController,
         Field(discriminator='kind'),
     ]
 
@@ -360,8 +260,8 @@ class ContainerImage(BaseModel):
     """
     The location of a container image in the form of `<registry>/<image>:<tag>`.
     """
-    credentials: Optional[ImageCredentials] = None
-    secrets: Optional[List[Secret]] = None
+    credentials: ImageCredentials | None = None
+    secrets: list[Secret] | None = None
     """
     Known secrets for authentication with the container registry.
     """
@@ -379,7 +279,7 @@ class ContainerEnvironment(RootModel):
 
     """
 
-    root: List[ContainerEnvironmentItem]
+    root: list[ContainerEnvironmentItem]
     """
     A list of environment variables with name and their value.
     These can be used to configure the containerized application, and turn features on or off.
@@ -446,11 +346,11 @@ class ContainerResources(BaseModel):
     Additional resources that the application requires.
     """
 
-    intel_gpu: Annotated[Optional[int], Field(ge=0, le=1)] = None
+    intel_gpu: Annotated[int | None, Field(ge=0, le=1)] = None
     """
     Number of GPUs the application requires.
     """
-    memory_limit: Annotated[Optional[str], Field(examples=['1000Mi'])] = None
+    memory_limit: Annotated[str | None, Field(examples=['1000Mi'])] = None
     """
     The maximum memory allocated to this application.
     """
@@ -478,14 +378,14 @@ class App(BaseModel):
     The path of the icon for the App (/$cell/$name/$app_icon).
     """
     container_image: ContainerImage
-    port: Optional[int] = 8080
+    port: int | None = 8080
     """
     The port the containerized webserver is listening on.
     """
-    environment: Optional[ContainerEnvironment] = None
-    storage: Optional[ContainerStorage] = None
-    resources: Optional[ContainerResources] = None
-    health_path: Optional[str] = None
+    environment: ContainerEnvironment | None = None
+    storage: ContainerStorage | None = None
+    resources: ContainerResources | None = None
+    health_path: str | None = None
     """
     Defines the URL path suffix used to check the application's health status. The complete health check URL
     is constructed as `/$cell/$name/$health_path`. When the application is working as expected,
@@ -498,7 +398,7 @@ class App(BaseModel):
     automatically restart the application container to restore service.
 
     """
-    diagnosis_path: Optional[str] = None
+    diagnosis_path: str | None = None
     """
     Defines the URL path suffix used to provide an endpoint for diagnosis data collection.
     The complete diagnosis check URL is constructed as `/$cell/$name/$diagnosis_path`.
@@ -517,14 +417,14 @@ class Cell(BaseModel):
 
     """
 
-    name: CellName
-    description: Optional[CellDescription] = None
-    controllers: Optional[List[RobotController]] = None
-    apps: Optional[List[App]] = None
+    name: Annotated[CellName, Field(default_factory=lambda: CellName('cell'))]
+    description: CellDescription | None = None
+    controllers: list[RobotController] | None = None
+    apps: list[App] | None = None
 
 
 class Error(BaseModel):
-    code: Optional[str] = None
+    code: str | None = None
     message: str
 
 
@@ -570,7 +470,7 @@ class ServiceStatusPhase(Enum):
 class Status(BaseModel):
     severity: ServiceStatusSeverity
     code: ServiceStatusPhase
-    reason: Optional[str] = None
+    reason: str | None = None
 
 
 class ServiceStatus(BaseModel):
@@ -580,7 +480,7 @@ class ServiceStatus(BaseModel):
 
 
 class ServiceStatusList(RootModel):
-    root: List[ServiceStatus]
+    root: list[ServiceStatus]
 
     def __getitem__(self, index: int) -> ServiceStatus:
         """
@@ -644,14 +544,14 @@ class BusIOProfinetIpConfig(BaseModel):
 
 
 class BusIOProfinetNetwork(BaseModel):
-    device_name: Annotated[Optional[str], Field(examples=['pnDevice'])] = None
+    device_name: Annotated[str | None, Field(examples=['pnDevice'])] = None
     """
     Name of Station (NoS) of the PROFINET device. The NoS is used in combination with IPv4 record to identify your device in the PROFINET network.
     The `device_name` will be used as NoS if no REMA XML file is already present on your machine and no `rema_xml_content` is provided.
 
     """
-    ip_config: Optional[BusIOProfinetIpConfig] = None
-    rema_xml_content: Optional[str] = None
+    ip_config: BusIOProfinetIpConfig | None = None
+    rema_xml_content: str | None = None
     """
     Content of the PROFINET REMA XML file.
     Is used when PROFINET service is added for the first time to create the REMA XML file that holds data to be kept for the next session.
@@ -690,7 +590,7 @@ class BusIOProfinet(BaseModel):
     """
 
     bus_type: Literal['profinet'] = 'profinet'
-    network_config: Optional[BusIOProfinetNetwork] = None
+    network_config: BusIOProfinetNetwork | None = None
     """
     Used to enable IP communication through the same physical ethernet interface while PROFINET driver is active.
 
@@ -709,7 +609,9 @@ class BusIOProfinet(BaseModel):
     MAC address of the physical ethernet interface that you want to use for PROFINET communication.
 
     """
-    default_route: Optional[BusIOProfinetDefaultRoute] = None
+    default_route: Annotated[
+        BusIOProfinetDefaultRoute | None, Field(deprecated=True)
+    ] = None
 
 
 class BusIOProfinetVirtual(BaseModel):
@@ -722,7 +624,7 @@ class BusIOProfinetVirtual(BaseModel):
 
 
 class BusIOModbusTCPServer(BaseModel):
-    network_type: Optional[Literal['tcp']] = None
+    network_type: Literal['tcp'] | None = None
     port: Annotated[int, Field(examples=[502], ge=1, le=65534)]
     """
     Port number of the MODBUS server to establish communication with.
@@ -766,7 +668,7 @@ class BusIOModbusServer(BaseModel):
 
 
 class BusIOModbusTCPClient(BaseModel):
-    network_type: Optional[Literal['tcp']] = None
+    network_type: Literal['tcp'] | None = None
     ip: Annotated[str, Field(examples=['192.168.1.100'])]
     """
     IP address of the MODBUS server to establish communication with.
@@ -800,13 +702,11 @@ class BusIOModbusVirtual(BaseModel):
 
 class BusIOType(RootModel):
     root: Annotated[
-        Union[
-            BusIOProfinet,
-            BusIOProfinetVirtual,
-            BusIOModbusServer,
-            BusIOModbusClient,
-            BusIOModbusVirtual,
-        ],
+        BusIOProfinet
+        | BusIOProfinetVirtual
+        | BusIOModbusServer
+        | BusIOModbusClient
+        | BusIOModbusVirtual,
         Field(discriminator='bus_type'),
     ]
 
@@ -845,7 +745,7 @@ class Metadata(RootModel):
     Additional metadata to add to the backup
     """
 
-    root: Dict[str, str]
+    root: dict[str, str]
 
 
 class ConfigurationArchive(RootModel):
@@ -883,11 +783,9 @@ class ConfigurationArchiveStatusSuccess(BaseModel):
 
 class ConfigurationArchiveStatus(RootModel):
     root: Annotated[
-        Union[
-            ConfigurationArchiveStatusCreating,
-            ConfigurationArchiveStatusError,
-            ConfigurationArchiveStatusSuccess,
-        ],
+        ConfigurationArchiveStatusCreating
+        | ConfigurationArchiveStatusError
+        | ConfigurationArchiveStatusSuccess,
         Field(discriminator='status'),
     ]
     """
@@ -925,7 +823,7 @@ class License(BaseModel):
     """
     Identification key of the license.
     """
-    license_expiry_date: Optional[date] = None
+    license_expiry_date: date | None = None
     """
     Expiration date of the license.
     """
@@ -941,11 +839,11 @@ class License(BaseModel):
     """
     Amount of times the license can be activated.
     """
-    feature_limitations: Optional[Dict[str, int]] = None
+    feature_limitations: dict[str, int] | None = None
     """
     Feature limitations of the license.
     """
-    feature_flags: Optional[List[str]] = None
+    feature_flags: list[str] | None = None
     """
     Features enabled by a license.
     """
@@ -1101,7 +999,7 @@ class Vector3d(RootModel):
 
     """
 
-    root: Annotated[List[float], Field(max_length=3, min_length=3, title='Vector3d')]
+    root: Annotated[list[float], Field(max_length=3, min_length=3, title='Vector3d')]
     """
     A three-dimensional vector [x, y, z] with double precision.
 
@@ -1138,7 +1036,7 @@ class ConvexHull(BaseModel):
     """
 
     shape_type: Literal['convex_hull'] = 'convex_hull'
-    vertices: List[Vector3d]
+    vertices: list[Vector3d]
     """
     The list of encapsulated points.
     """
@@ -1154,7 +1052,7 @@ class RotationVector(RootModel):
     """
 
     root: Annotated[
-        List[float], Field(max_length=3, min_length=3, title='RotationVector')
+        list[float], Field(max_length=3, min_length=3, title='RotationVector')
     ]
     """
     Defines a rotation in 3D space.
@@ -1197,8 +1095,8 @@ class Pose(BaseModel):
 
     """
 
-    position: Optional[Vector3d] = None
-    orientation: Optional[RotationVector] = None
+    position: Vector3d | None = None
+    orientation: RotationVector | None = None
 
 
 class Collider(BaseModel):
@@ -1216,27 +1114,25 @@ class Collider(BaseModel):
     """
 
     shape: Annotated[
-        Union[
-            Sphere,
-            Box,
-            Rectangle,
-            Plane,
-            Cylinder,
-            Capsule,
-            RectangularCapsule,
-            ConvexHull,
-        ],
+        Sphere
+        | Box
+        | Rectangle
+        | Plane
+        | Cylinder
+        | Capsule
+        | RectangularCapsule
+        | ConvexHull,
         Field(discriminator='shape_type'),
     ]
-    pose: Optional[Pose] = None
-    margin: Optional[float] = 0
+    pose: Pose | None = None
+    margin: float | None = 0
     """
     Increases the shape's size in all dimensions. Applied in [mm]. Can be used to keep a safe distance to the shape.
     """
 
 
 class Link(RootModel):
-    root: Dict[str, Collider]
+    root: dict[str, Collider]
 
 
 class LinkChain(RootModel):
@@ -1257,7 +1153,7 @@ class LinkChain(RootModel):
     """
 
     root: Annotated[
-        List[Link],
+        list[Link],
         Field(
             examples=[
                 [
@@ -1330,12 +1226,51 @@ class LinkChain(RootModel):
         return iter(self.root)
 
 
+class DHParameter(BaseModel):
+    """
+    A single set of DH parameters.
+    """
+
+    alpha: float | None = None
+    """
+    Angle about x-axis in [rad].
+    """
+    theta: float | None = None
+    """
+    Angle about z-axis in [rad].
+    """
+    a: float | None = None
+    """
+    Offset along x-axis in [mm].
+    """
+    d: float | None = None
+    """
+    Offset along z-axis in [mm].
+    """
+    reverse_rotation_direction: bool | None = None
+    """
+    True, if rotation direction of joint is reversed.
+    """
+
+
+class KinematicModel(BaseModel):
+    """
+    Kinematics model described by Denavit-Hartenberg parameters.
+    """
+
+    dh_parameters: list[DHParameter] | None = None
+    inverse_solver: str | None = None
+    """
+    Optional name of the inverse kinematics solver.
+    """
+
+
 class ControllerDescription(BaseModel):
     """
     The data type to describe a robot controller.
     """
 
-    connected_motion_groups: List[str]
+    connected_motion_groups: list[str]
     supports_freedrive: bool
     """
     Can this controller be moved through freedrive (true), or not (false).
@@ -1462,7 +1397,7 @@ class Joints(RootModel):
 
     """
 
-    root: List[float]
+    root: list[float]
     """
     This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.
 
@@ -1502,7 +1437,7 @@ class MotionGroupStateJointLimitReached(BaseModel):
 
     """
 
-    limit_reached: List[bool]
+    limit_reached: list[bool]
     """
     If true, operational (soft) jointLimit is reached for specific joint.
     """
@@ -1546,7 +1481,7 @@ class JoggingPausedNearJointLimit(BaseModel):
     """
 
     kind: Literal['PAUSED_NEAR_JOINT_LIMIT'] = 'PAUSED_NEAR_JOINT_LIMIT'
-    joint_indices: List[JointIndice]
+    joint_indices: list[JointIndice]
 
 
 class JoggingPausedNearCollision(BaseModel):
@@ -1573,13 +1508,11 @@ class JoggingDetails(BaseModel):
     """
 
     state: Annotated[
-        Union[
-            JoggingRunning,
-            JoggingPausedByUser,
-            JoggingPausedOnIO,
-            JoggingPausedNearJointLimit,
-            JoggingPausedNearCollision,
-        ],
+        JoggingRunning
+        | JoggingPausedByUser
+        | JoggingPausedOnIO
+        | JoggingPausedNearJointLimit
+        | JoggingPausedNearCollision,
         Field(discriminator='kind'),
     ]
     kind: Literal['JOGGING'] = 'JOGGING'
@@ -1670,13 +1603,11 @@ class TrajectoryDetails(BaseModel):
     """
     location: Location
     state: Annotated[
-        Union[
-            TrajectoryRunning,
-            TrajectoryPausedByUser,
-            TrajectoryEnded,
-            TrajectoryWaitForIO,
-            TrajectoryPausedOnIO,
-        ],
+        TrajectoryRunning
+        | TrajectoryPausedByUser
+        | TrajectoryEnded
+        | TrajectoryWaitForIO
+        | TrajectoryPausedOnIO,
         Field(discriminator='kind'),
     ]
     kind: Literal['TRAJECTORY'] = 'TRAJECTORY'
@@ -1694,13 +1625,13 @@ class Execute(BaseModel):
 
     """
 
-    joint_position: List[float]
+    joint_position: list[float]
     """
     Commanded joint position of each joint in [rad]. This command was sent in the time step the corresponding state was received.
 
     """
     details: Annotated[
-        Optional[Union[JoggingDetails, TrajectoryDetails]], Field(discriminator='kind')
+        JoggingDetails | TrajectoryDetails | None, Field(discriminator='kind')
     ] = None
 
 
@@ -1737,19 +1668,19 @@ class MotionGroupState(BaseModel):
     Indicates whether the joint is in a limit for all joints of the motion group.
 
     """
-    joint_torque: Optional[Joints] = None
+    joint_torque: Joints | None = None
     """
     Current joint torque of each joint in [Nm].
     Is only available if the robot controller supports it, e.g., available for UR controllers.
 
     """
-    joint_current: Optional[Joints] = None
+    joint_current: Joints | None = None
     """
     Current at TCP in [A].
     Is only available if the robot controller supports it, e.g., available for UR controllers.
 
     """
-    flange_pose: Optional[Pose] = None
+    flange_pose: Pose | None = None
     """
     Pose of the flange.
     Positions are in [mm].
@@ -1758,13 +1689,13 @@ class MotionGroupState(BaseModel):
     For robot arms a flange pose is always returned, for positioners the flange might not be available, depending on the model.
 
     """
-    tcp: Optional[str] = None
+    tcp: str | None = None
     """
     Unique identifier addressing the active TCP.
     Might not be returned for positioners as some do not support TCPs, depending on the model.
 
     """
-    tcp_pose: Optional[Pose] = None
+    tcp_pose: Pose | None = None
     """
     Pose of the TCP selected on the robot control panel.
     Positions are in [mm].
@@ -1773,14 +1704,14 @@ class MotionGroupState(BaseModel):
     Might not be returned for positioners as some do not support TCPs, depending on the model.
 
     """
-    coordinate_system: Optional[str] = None
+    coordinate_system: str | None = None
     """
     Unique identifier addressing the reference coordinate system of the cartesian data.
     Might not be returned for positioners as some do not support TCPs, depending on the model.
     Default: world coordinate system of corresponding controller.
 
     """
-    payload: Optional[str] = None
+    payload: str | None = None
     """
     Unique identifier addressing the active payload.
     Only fetchable via GET endpoint, not available in WebSocket.
@@ -1792,7 +1723,7 @@ class MotionGroupState(BaseModel):
     Convenience: Signals that NOVA treats measured joint velocities as 0.
 
     """
-    execute: Optional[Execute] = None
+    execute: Execute | None = None
     """
     Data that was commanded to the motion group. Includes additional data on NOVA's execution components for executing trajectories and jogging.
     This is a convenience field to indicate the last command sent to the motion group.
@@ -1810,7 +1741,7 @@ class RobotControllerState(BaseModel):
     """
     Mode of communication and control between NOVA and the robot controller.
     """
-    last_error: Optional[List[str]] = None
+    last_error: list[str] | None = None
     """
     Last error stack encountered during initialization process or after a controller disconnect.
     At this stage, it's unclear whether the error is fatal.
@@ -1837,14 +1768,14 @@ class RobotControllerState(BaseModel):
     """
     operation_mode: OperationMode
     safety_state: SafetyStateType
-    velocity_override: Annotated[Optional[int], Field(ge=1, le=100)] = None
+    velocity_override: Annotated[int | None, Field(ge=1, le=100)] = None
     """
     If made available by the robot controller, returns the current velocity override in
     [percentage] for movements adjusted on robot control panel.
     Valid value range: 1 - 100.
 
     """
-    motion_groups: Annotated[List[MotionGroupState], Field(title='MotionGroupState[]')]
+    motion_groups: Annotated[list[MotionGroupState], Field(title='MotionGroupState[]')]
     """
     State of indicated motion groups.
     In case of state request via controller all configured motion groups are returned.
@@ -1924,7 +1855,7 @@ class FloatValue(BaseModel):
 
 class IOBoundary(RootModel):
     root: Annotated[
-        Union[BooleanValue, IntegerValue, FloatValue],
+        BooleanValue | IntegerValue | FloatValue,
         Field(discriminator='value_type', title='IOBoundary'),
     ]
 
@@ -1940,20 +1871,20 @@ class IODescription(BaseModel):
     Name of the input/output. Customize it on the physical controller or in the virtual robot specification.
 
     """
-    group: Optional[str] = None
+    group: str | None = None
     """
     Name of the input/output group. Customize it on the physical controller or in the virtual robot specification.
 
     """
     direction: IODirection
     value_type: IOValueType
-    unit: Optional[UnitType] = None
-    min: Optional[IOBoundary] = None
-    max: Optional[IOBoundary] = None
+    unit: UnitType | None = None
+    min: IOBoundary | None = None
+    max: IOBoundary | None = None
 
 
 class ListIODescriptionsResponse(RootModel):
-    root: List[IODescription]
+    root: list[IODescription]
 
     def __getitem__(self, index: int) -> IODescription:
         """
@@ -2029,7 +1960,7 @@ class IOFloatValue(BaseModel):
 
 class IOValue(RootModel):
     root: Annotated[
-        Union[IOBooleanValue, IOIntegerValue, IOFloatValue],
+        IOBooleanValue | IOIntegerValue | IOFloatValue,
         Field(discriminator='value_type'),
     ]
 
@@ -2039,7 +1970,7 @@ class StreamIOValuesResponse(BaseModel):
     Array of input/output values.
     """
 
-    io_values: List[IOValue]
+    io_values: list[IOValue]
     timestamp: AwareDatetime
     """
     Timestamp indicating when the represented information was received from the robot controller.
@@ -2058,7 +1989,7 @@ class ListIOValuesResponse(RootModel):
     """
 
     root: Annotated[
-        List[IOValue],
+        list[IOValue],
         Field(
             examples=[
                 {
@@ -2211,7 +2142,7 @@ class Orientation(RootModel):
 
     """
 
-    root: Annotated[List[float], Field(max_length=4, min_length=3, title='Orientation')]
+    root: Annotated[list[float], Field(max_length=4, min_length=3, title='Orientation')]
     """
     Describes an orientation in 3D space.
     A tree-to-four-dimensional vector [x, y, z, w] with double precision.
@@ -2244,17 +2175,17 @@ class Orientation(RootModel):
 
 
 class CoordinateSystemData(BaseModel):
-    name: Optional[str] = None
+    name: str | None = None
     """
     Human readable name of this coordinate system.
     """
-    reference_coordinate_system: Optional[str] = None
+    reference_coordinate_system: str | None = None
     """
     The identifier of the reference coordinate system. Empty if world is used.
     """
-    position: Optional[Vector3d] = None
-    orientation: Optional[Orientation] = None
-    orientation_type: Optional[OrientationType] = 'ROTATION_VECTOR'
+    position: Vector3d | None = None
+    orientation: Orientation | None = None
+    orientation_type: OrientationType | None = 'ROTATION_VECTOR'
 
 
 class CoordinateSystem(CoordinateSystemData):
@@ -2265,7 +2196,7 @@ class CoordinateSystem(CoordinateSystemData):
 
 
 class ListCoordinateSystemsResponse(RootModel):
-    root: List[CoordinateSystem]
+    root: list[CoordinateSystem]
 
     def __getitem__(self, index: int) -> CoordinateSystem:
         """
@@ -2312,7 +2243,7 @@ class ColliderDictionary(RootModel):
     A collection of identifiable colliders.
     """
 
-    root: Dict[str, Collider]
+    root: dict[str, Collider]
 
 
 class LimitRange(BaseModel):
@@ -2320,37 +2251,37 @@ class LimitRange(BaseModel):
     The upper_limit must be greater then the lower_limit.
     """
 
-    lower_limit: Optional[float] = None
-    upper_limit: Optional[float] = None
+    lower_limit: float | None = None
+    upper_limit: float | None = None
 
 
 class JointLimits(BaseModel):
-    position: Optional[LimitRange] = None
-    velocity: Optional[float] = None
-    acceleration: Optional[float] = None
-    torque: Optional[float] = None
+    position: LimitRange | None = None
+    velocity: float | None = None
+    acceleration: float | None = None
+    torque: float | None = None
 
 
 class CartesianLimits(BaseModel):
-    velocity: Optional[float] = None
-    acceleration: Optional[float] = None
-    orientation_velocity: Optional[float] = None
-    orientation_acceleration: Optional[float] = None
+    velocity: float | None = None
+    acceleration: float | None = None
+    orientation_velocity: float | None = None
+    orientation_acceleration: float | None = None
 
 
 class LimitSet(BaseModel):
-    joints: Optional[List[JointLimits]] = None
-    tcp: Optional[CartesianLimits] = None
-    elbow: Optional[CartesianLimits] = None
-    flange: Optional[CartesianLimits] = None
-    coupled_shoulder_elbow_joint: Optional[JointLimits] = None
+    joints: list[JointLimits] | None = None
+    tcp: CartesianLimits | None = None
+    elbow: CartesianLimits | None = None
+    flange: CartesianLimits | None = None
+    coupled_shoulder_elbow_joint: JointLimits | None = None
 
 
 class OperationLimits(BaseModel):
-    auto_limits: Optional[LimitSet] = None
-    manual_limits: Optional[LimitSet] = None
-    manual_t1_limits: Optional[LimitSet] = None
-    manual_t2_limits: Optional[LimitSet] = None
+    auto_limits: LimitSet | None = None
+    manual_limits: LimitSet | None = None
+    manual_t1_limits: LimitSet | None = None
+    manual_t2_limits: LimitSet | None = None
 
 
 class Payload(BaseModel):
@@ -2359,35 +2290,8 @@ class Payload(BaseModel):
     """
     Mass of payload in [kg].
     """
-    center_of_mass: Optional[Vector3d] = None
-    moment_of_inertia: Optional[Vector3d] = None
-
-
-class DHParameter(BaseModel):
-    """
-    A single set of DH parameters.
-    """
-
-    alpha: Optional[float] = None
-    """
-    Angle about x-axis in [rad].
-    """
-    theta: Optional[float] = None
-    """
-    Angle about z-axis in [rad].
-    """
-    a: Optional[float] = None
-    """
-    Offset along x-axis in [mm].
-    """
-    d: Optional[float] = None
-    """
-    Offset along z-axis in [mm].
-    """
-    reverse_rotation_direction: Optional[bool] = None
-    """
-    True, if rotation direction of joint is reversed.
-    """
+    center_of_mass: Vector3d | None = None
+    moment_of_inertia: Vector3d | None = None
 
 
 class MotionGroupDescription(BaseModel):
@@ -2396,30 +2300,30 @@ class MotionGroupDescription(BaseModel):
     """
 
     motion_group_model: MotionGroupModel
-    mounting: Optional[Pose] = None
+    mounting: Pose | None = None
     """
     The offset from the world frame to the motion group base.
     """
-    tcps: Annotated[
-        Optional[Dict[str, TcpOffset]], Field(title='TcpOffsetDictionary')
-    ] = None
+    tcps: Annotated[dict[str, TcpOffset] | None, Field(title='TcpOffsetDictionary')] = (
+        None
+    )
     """
     Maps a TCP name to its offset relative to the flange coordinate system. Key must be a TCP identifier.
     Values are TcpOffsets.
 
     """
-    safety_zones: Optional[ColliderDictionary] = None
+    safety_zones: ColliderDictionary | None = None
     """
     SafetyZones are areas which cannot be entered or where certain limits apply.
     """
-    safety_link_colliders: Optional[List[ColliderDictionary]] = None
+    safety_link_colliders: list[ColliderDictionary] | None = None
     """
     The shape of the MotionGroups links to validate against safety zones.
     Indexed along the kinematic chain, starting with a static base shape before first joint.
 
     """
     safety_tool_colliders: Annotated[
-        Optional[Dict[str, ColliderDictionary]], Field(title='SafetyToolColliders')
+        dict[str, ColliderDictionary] | None, Field(title='SafetyToolColliders')
     ] = None
     """
     Maps a TCP name to its tool collider. Key must be a TCP identifier.
@@ -2427,22 +2331,27 @@ class MotionGroupDescription(BaseModel):
 
     """
     operation_limits: OperationLimits
-    payloads: Annotated[
-        Optional[Dict[str, Payload]], Field(title='PayloadDictionary')
-    ] = None
+    payloads: Annotated[dict[str, Payload] | None, Field(title='PayloadDictionary')] = (
+        None
+    )
     """
     Maps a payload name to its configuration. Key must be a payload identifier.
     Values are payload objects.
 
     """
-    cycle_time: Annotated[Optional[int], Field(ge=0, le=2147483647)] = None
+    cycle_time: Annotated[int | None, Field(ge=0, le=2147483647)] = None
     """
     [ms] cycle time of the motion group controller. A trajectory for this motion group should be computed to this resolution.
     """
-    dh_parameters: Optional[List[DHParameter]] = None
+    dh_parameters: list[DHParameter] | None = None
     """
     The DH parameters describing the motion group geometry, starting from base.
     """
+    serial_number: str | None = None
+    """
+    The serial number of the motion group, if available. If not available, the serial number of the robot controller. If not available, empty.
+
+    """
 
 
 class Tool(RootModel):
@@ -2455,28 +2364,28 @@ class Tool(RootModel):
 
     """
 
-    root: Dict[str, Collider]
+    root: dict[str, Collider]
 
 
 class CollisionSetup(BaseModel):
-    colliders: Optional[ColliderDictionary] = None
+    colliders: ColliderDictionary | None = None
     """
     Colliders are checked against links and tool.
 
     """
-    link_chain: Optional[LinkChain] = None
+    link_chain: LinkChain | None = None
     """
     The shape of the motion groups links to validate against colliders.
     Indexed along the kinematic chain, starting with a static base shape before first joint.
     The base of the motion group is not checked for collision against the environment.
 
     """
-    tool: Optional[Tool] = None
+    tool: Tool | None = None
     """
     Shape of the tool to validate against colliders.
 
     """
-    self_collision_detection: Optional[bool] = True
+    self_collision_detection: bool | None = True
     """
     If true, self-collision detection is enabled for the motion group.
 
@@ -2504,7 +2413,7 @@ class CollisionSetups(RootModel):
 
     """
 
-    root: Dict[str, CollisionSetup]
+    root: dict[str, CollisionSetup]
 
 
 class MotionGroupSetup(BaseModel):
@@ -2513,18 +2422,18 @@ class MotionGroupSetup(BaseModel):
     """
     [ms] cycle time of the motion group controller. A trajectory for this motion group should be computed to this resolution.
     """
-    mounting: Optional[Pose] = None
+    mounting: Pose | None = None
     """
     The offset from the world frame to the motion group base.
     """
-    tcp_offset: Optional[Pose] = None
-    global_limits: Optional[LimitSet] = None
-    payload: Optional[Payload] = None
-    collision_setups: Optional[CollisionSetups] = None
+    tcp_offset: Pose | None = None
+    global_limits: LimitSet | None = None
+    payload: Payload | None = None
+    collision_setups: CollisionSetups | None = None
 
 
 class DoubleArray(RootModel):
-    root: List[float]
+    root: list[float]
 
     def __getitem__(self, index: int) -> float:
         """
@@ -2552,23 +2461,70 @@ class DoubleArray(RootModel):
 
 
 class BlendingAuto(BaseModel):
-    min_velocity_in_percent: Annotated[Optional[int], Field(ge=0, le=100)] = None
+    min_velocity_in_percent: Annotated[int | None, Field(ge=0, le=100)] = None
     """
-    Auto-blending is used to keep a constant velocity when blending between two motion commands.
+    Auto-blending is used to keep a constant velocity when blending between two motion commands. To use auto-blending, the TCP velocity limit must be set.
     It changes the TCP path around the target point of the motion command.
-    The value represents the percentage of the original velocity.
+    The value represents the percentage of the original velocity. Auto-blending is always performed in cartesian space.
 
     """
     blending_name: Literal['BlendingAuto'] = 'BlendingAuto'
 
 
+class BlendingSpace(Enum):
+    """
+    Defines the space in which blending is performed.
+    - `JOINT`: Zone blending is performed in joint space
+    - `CARTESIAN`: Auto-blending is performed in cartesian space
+
+    """
+
+    JOINT = 'JOINT'
+    CARTESIAN = 'CARTESIAN'
+
+
 class BlendingPosition(BaseModel):
-    position_zone_radius: Optional[float] = None
+    position_zone_radius: float | None = None
     """
     Specifies the maximum radius in [mm] around the motion command's target point
     where the TCP path can be altered to blend the motion command into the following one.
     If auto-blending blends too much of the resulting trajectory, use position-blending to restrict the blending zone radius.
 
+    """
+    position_zone_percentage: Annotated[float | None, Field(ge=0.0, le=100.0)] = None
+    """
+    Specifies the maximum blending percentage based on the trajectory length in position space
+    around the motion command's target point. Percentage indicated in 0.0 - 100.0.
+
+    """
+    orientation_zone_radius: float | None = None
+    """
+    Specifies the maximum radius in [rad] for orientation blending around the motion command's
+    target orientation. At the target's orientation, the TCP orientation can be altered to blend into the following motion.
+
+    """
+    orientation_zone_percentage: Annotated[float | None, Field(ge=0.0, le=100.0)] = None
+    """
+    Specifies the maximum blending percentage for orientation blending
+    based on the trajectory length in orientation space. Percentage indicated in 0.0 - 100.0.
+
+    """
+    joints_zone_radius: float | None = None
+    """
+    Specifies the maximum radius in [rad] for joint space blending around the motion command's
+    target joint configuration. At the target joint configuration, the joint path can be altered to blend into the following motion.
+
+    """
+    joints_zone_percentage: Annotated[float | None, Field(ge=0.0, le=100.0)] = None
+    """
+    Specifies the maximum blending percentage for joint space blending
+    based on the trajectory length in joint space. Percentage indicated in 0.0 to 100.0.
+
+    """
+    space: BlendingSpace | None = None
+    """
+    Defines the space in which blending is performed.
+
     """
     blending_name: Literal['BlendingPosition'] = 'BlendingPosition'
 
@@ -2579,34 +2535,34 @@ class LimitsOverride(BaseModel):
 
     """
 
-    joint_velocity_limits: Optional[List[float]] = None
+    joint_velocity_limits: list[float] | None = None
     """
     Maximum joint velocity in [rad/s] for each joint.
     Either leave this field empty or set a value for each joint.
 
     """
-    joint_acceleration_limits: Optional[List[float]] = None
+    joint_acceleration_limits: list[float] | None = None
     """
     Maximum joint acceleration in [rad/s^2] for each joint.
     Either leave this field empty or set a value for each joint.
 
     """
-    tcp_velocity_limit: Optional[float] = None
+    tcp_velocity_limit: float | None = None
     """
     Maximum allowed TCP velocity in [mm/s].
 
     """
-    tcp_acceleration_limit: Optional[float] = None
+    tcp_acceleration_limit: float | None = None
     """
     Maximum allowed TCP acceleration in [mm/s^2].
 
     """
-    tcp_orientation_velocity_limit: Optional[float] = None
+    tcp_orientation_velocity_limit: float | None = None
     """
     Maximum allowed TCP rotation velocity in [rad/s].
 
     """
-    tcp_orientation_acceleration_limit: Optional[float] = None
+    tcp_orientation_acceleration_limit: float | None = None
     """
     Maximum allowed TCP rotation acceleration in [rad/s^2].
 
@@ -2637,7 +2593,7 @@ class PathCubicSpline(BaseModel):
 
     """
 
-    parameters: List[CubicSplineParameter]
+    parameters: list[CubicSplineParameter]
     path_definition_name: Literal['PathCubicSpline'] = 'PathCubicSpline'
 
 
@@ -2678,21 +2634,20 @@ class PathJointPTP(BaseModel):
 
 class MotionCommand(BaseModel):
     blending: Annotated[
-        Optional[Union[BlendingAuto, BlendingPosition]],
-        Field(discriminator='blending_name'),
+        BlendingAuto | BlendingPosition | None, Field(discriminator='blending_name')
     ] = None
     """
     Blending alters the TCP path at the target point of a motion command
     to ensure that the velocity does not drop to zero between two motion commands.
 
     """
-    limits_override: Optional[LimitsOverride] = None
+    limits_override: LimitsOverride | None = None
     """
     Limits override is used to override the global limits of the motion group for this segment of the motion.
 
     """
     path: Annotated[
-        Union[PathCartesianPTP, PathCubicSpline, PathLine, PathCircle, PathJointPTP],
+        PathCartesianPTP | PathCubicSpline | PathLine | PathCircle | PathJointPTP,
         Field(discriminator='path_definition_name'),
     ]
 
@@ -2711,7 +2666,7 @@ class PlanTrajectoryRequest(BaseModel):
     To move the robot to the start joint position use the endpoint [streamMoveToTrajectoryViaJointP2P](streamMoveToTrajectoryViaJointP2P).
 
     """
-    motion_commands: List[MotionCommand]
+    motion_commands: list[MotionCommand]
     """
     List of motion commands. A command consists of a path definition (line, circle, joint_ptp, cartesian_ptp, cubic_spline), blending, and limits override.
 
@@ -2719,17 +2674,17 @@ class PlanTrajectoryRequest(BaseModel):
 
 
 class JointTrajectory(BaseModel):
-    joint_positions: List[Joints]
+    joint_positions: list[Joints]
     """
     List of joint positions [rad] for each sample.
     The number of samples must match the number of timestamps provided in the times field.
 
     """
-    times: List[float]
+    times: list[float]
     """
     Timestamp for each sample [s].
     """
-    locations: List[Location]
+    locations: list[Location]
 
 
 class FeedbackOutOfWorkspace(BaseModel):
@@ -2737,7 +2692,7 @@ class FeedbackOutOfWorkspace(BaseModel):
     Requested TCP pose is outside of motion group's workspace.
     """
 
-    invalid_tcp_pose: Optional[Pose] = None
+    invalid_tcp_pose: Pose | None = None
     error_feedback_name: Literal['FeedbackOutOfWorkspace'] = 'FeedbackOutOfWorkspace'
 
 
@@ -2758,8 +2713,8 @@ class FeedbackSingularity(BaseModel):
 
     """
 
-    singularity_type: Optional[SingularityTypeEnum] = None
-    singular_joint_position: Optional[DoubleArray] = None
+    singularity_type: SingularityTypeEnum | None = None
+    singular_joint_position: DoubleArray | None = None
     error_feedback_name: Literal['FeedbackSingularity'] = 'FeedbackSingularity'
 
 
@@ -2770,46 +2725,44 @@ class FeedbackJointLimitExceeded(BaseModel):
 
     """
 
-    joint_index: Annotated[Optional[int], Field(ge=0, le=2147483647)] = None
-    joint_position: Optional[DoubleArray] = None
+    joint_index: Annotated[int | None, Field(ge=0, le=2147483647)] = None
+    joint_position: DoubleArray | None = None
     error_feedback_name: Literal['FeedbackJointLimitExceeded'] = (
         'FeedbackJointLimitExceeded'
     )
 
 
 class CollisionContact(BaseModel):
-    local: Optional[Vector3d] = None
-    root: Optional[Vector3d] = None
+    local: Vector3d | None = None
+    root: Vector3d | None = None
 
 
 class Collision(BaseModel):
-    id_of_a: Optional[str] = None
-    id_of_b: Optional[str] = None
-    id_of_layer: Optional[str] = None
-    normal_root_on_b: Optional[Vector3d] = None
-    position_on_a: Optional[CollisionContact] = None
-    position_on_b: Optional[CollisionContact] = None
+    id_of_a: str | None = None
+    id_of_b: str | None = None
+    id_of_layer: str | None = None
+    normal_root_on_b: Vector3d | None = None
+    position_on_a: CollisionContact | None = None
+    position_on_b: CollisionContact | None = None
 
 
 class FeedbackCollision(BaseModel):
-    collisions: Optional[List[Collision]] = None
-    joint_position: Optional[DoubleArray] = None
-    tcp_pose: Optional[Pose] = None
+    collisions: list[Collision] | None = None
+    joint_position: DoubleArray | None = None
+    tcp_pose: Pose | None = None
     error_feedback_name: Literal['FeedbackCollision'] = 'FeedbackCollision'
 
 
 class PlanTrajectoryFailedResponse(BaseModel):
     error_feedback: Annotated[
-        Union[
-            FeedbackOutOfWorkspace,
-            FeedbackSingularity,
-            FeedbackJointLimitExceeded,
-            FeedbackCollision,
-        ],
+        FeedbackOutOfWorkspace
+        | FeedbackSingularity
+        | FeedbackJointLimitExceeded
+        | FeedbackCollision,
         Field(discriminator='error_feedback_name'),
     ]
     error_location_on_trajectory: Location
-    joint_trajectory: Optional[JointTrajectory] = None
+    joint_trajectory: JointTrajectory | None = None
     """
     The joint trajectory from the start joint position to the error.
 
@@ -2817,14 +2770,14 @@ class PlanTrajectoryFailedResponse(BaseModel):
 
 
 class PlanTrajectoryResponse(BaseModel):
-    response: Union[JointTrajectory, PlanTrajectoryFailedResponse]
+    response: JointTrajectory | PlanTrajectoryFailedResponse
 
 
 class ValidationError(BaseModel):
-    loc: Annotated[List[Union[str, int]], Field(title='Location')]
+    loc: Annotated[list[str | int], Field(title='Location')]
     msg: Annotated[str, Field(title='Message')]
     type: Annotated[str, Field(title='Error Type')]
-    input: Dict[str, Any]
+    input: dict[str, Any]
 
 
 class ErrorInvalidJointCount(BaseModel):
@@ -2853,12 +2806,12 @@ class ErrorJointLimitExceeded(BaseModel):
 
     """
 
-    joint_index: Annotated[Optional[int], Field(ge=0, le=2147483647)] = None
+    joint_index: Annotated[int | None, Field(ge=0, le=2147483647)] = None
     """
     Index of the joint exceeding its limits (0-based).
 
     """
-    joint_position: Optional[DoubleArray] = None
+    joint_position: DoubleArray | None = None
     """
     The joint position violating the limits.
 
@@ -2872,8 +2825,8 @@ class ErrorJointPositionCollision(BaseModel):
 
     """
 
-    collisions: Optional[List[Collision]] = None
-    joint_position: Optional[DoubleArray] = None
+    collisions: list[Collision] | None = None
+    joint_position: DoubleArray | None = None
     """
     The joint position that collides.
 
@@ -2885,13 +2838,10 @@ class ErrorJointPositionCollision(BaseModel):
 
 class PlanValidationError(ValidationError):
     data: Annotated[
-        Optional[
-            Union[
-                ErrorInvalidJointCount,
-                ErrorJointLimitExceeded,
-                ErrorJointPositionCollision,
-            ]
-        ],
+        ErrorInvalidJointCount
+        | ErrorJointLimitExceeded
+        | ErrorJointPositionCollision
+        | None,
         Field(discriminator='error_feedback_name'),
     ] = None
     """
@@ -2901,7 +2851,7 @@ class PlanValidationError(ValidationError):
 
 
 class Plan422Response(BaseModel):
-    detail: Annotated[Optional[List[PlanValidationError]], Field(title='Detail')] = None
+    detail: Annotated[list[PlanValidationError] | None, Field(title='Detail')] = None
 
 
 class RRTConnectAlgorithm(BaseModel):
@@ -2916,25 +2866,25 @@ class RRTConnectAlgorithm(BaseModel):
     This is a custom implementation optimized for manipulator kinematics and collision checking in industrial contexts.
 
     """
-    max_iterations: Annotated[Optional[int], Field(ge=1)] = 10000
+    max_iterations: Annotated[int | None, Field(ge=1)] = 10000
     """
     Maximum number of iterations for the RRT Connect algorithm.
     Higher values increase likelihood of success, but also computation time.
 
     """
-    max_step_size: Optional[float] = 1
+    max_step_size: float | None = 1
     """
     Maximum step size for tree extension in joint space.
     """
-    adaptive_step_size: Optional[bool] = True
+    adaptive_step_size: bool | None = True
     """
     Adjust the maximum step size during the search based on the recent success rate of tree expansion.
     """
-    apply_smoothing: Optional[bool] = True
+    apply_smoothing: bool | None = True
     """
     Apply smoothing after the search has succeeded. This will remove as many intermediate points as possible while keeping the path valid.
     """
-    apply_blending: Optional[bool] = True
+    apply_blending: bool | None = True
     """
     Apply blending after the search has succeeded and smoothing has been applied. This will apply the largest viable blending at each intermediate point.
     """
@@ -2949,7 +2899,7 @@ class MidpointInsertionAlgorithm(BaseModel):
     This algorithm adds a single midpoint between the start and target joint position to find collision-free paths.
 
     """
-    max_iterations: Annotated[Optional[int], Field(ge=1)] = 1000
+    max_iterations: Annotated[int | None, Field(ge=1)] = 1000
     """
     Maximum number of iterations for the midpoint insertion algorithm.
     Higher values increase likelyhood of success, but also computation time (linear).
@@ -2959,7 +2909,7 @@ class MidpointInsertionAlgorithm(BaseModel):
 
 class CollisionFreeAlgorithm(RootModel):
     root: Annotated[
-        Union[RRTConnectAlgorithm, MidpointInsertionAlgorithm],
+        RRTConnectAlgorithm | MidpointInsertionAlgorithm,
         Field(discriminator='algorithm_name', title='CollisionFreeAlgorithm'),
     ]
     """
@@ -3003,7 +2953,7 @@ class ErrorMaxIterationsExceeded(BaseModel):
 
     """
 
-    max_iterations: Optional[int] = None
+    max_iterations: int | None = None
     """
     The maximum number of iterations that was reached.
 
@@ -3030,7 +2980,7 @@ class PlanCollisionFreeResponse(BaseModel):
 
     """
 
-    response: Union[JointTrajectory, PlanCollisionFreeFailedResponse]
+    response: JointTrajectory | PlanCollisionFreeFailedResponse
 
 
 class JointPositionLimits(RootModel):
@@ -3039,7 +2989,7 @@ class JointPositionLimits(RootModel):
 
     """
 
-    root: Annotated[List[LimitRange], Field(title='JointPositionLimits')]
+    root: Annotated[list[LimitRange], Field(title='JointPositionLimits')]
     """
     Joint position limits in [rad], indexed starting from base.
 
@@ -3072,27 +3022,36 @@ class JointPositionLimits(RootModel):
 
 class InverseKinematicsRequest(BaseModel):
     motion_group_model: MotionGroupModel
-    tcp_poses: List[Pose]
+    tcp_poses: list[Pose]
     """
     List of TCP poses for which the inverse solutions are computed.
 
     """
-    tcp_offset: Optional[Pose] = None
-    mounting: Optional[Pose] = None
+    tcp_offset: Pose | None = None
+    mounting: Pose | None = None
     """
     Offset from the world frame to the motion group base.
     """
-    joint_position_limits: Optional[JointPositionLimits] = None
-    collision_setups: Optional[CollisionSetups] = None
+    joint_position_limits: JointPositionLimits | None = None
+    collision_setups: CollisionSetups | None = None
+    reference_joint_position: DoubleArray | None = None
+    """
+    If present, all solutions are shifted to the same periodicity
+    as the reference: Each individual joint angle is shifted
+    by integer multiples of 2 pi (whole revolutions) until it's
+    as close to the reference as possible. The solutions are sorted
+    by ascending distance (L2 norm) from the reference.
+
+    """
 
 
 class InverseKinematicsResponse(BaseModel):
-    joints: List[List[DoubleArray]]
+    joints: list[list[DoubleArray]]
 
 
 class InverseKinematicsValidationError(ValidationError):
     data: Annotated[
-        Optional[Union[ErrorInvalidJointCount, ErrorJointLimitExceeded]],
+        ErrorInvalidJointCount | ErrorJointLimitExceeded | None,
         Field(discriminator='error_feedback_name'),
     ] = None
     """
@@ -3103,26 +3062,26 @@ class InverseKinematicsValidationError(ValidationError):
 
 class InverseKinematics422Response(BaseModel):
     detail: Annotated[
-        Optional[List[InverseKinematicsValidationError]], Field(title='Detail')
+        list[InverseKinematicsValidationError] | None, Field(title='Detail')
     ] = None
 
 
 class ForwardKinematicsRequest(BaseModel):
     motion_group_model: MotionGroupModel
-    joint_positions: List[DoubleArray]
+    joint_positions: list[DoubleArray]
     """
     List of joint positions [rad] for which TCP poses are computed.
 
     """
-    tcp_offset: Optional[Pose] = None
-    mounting: Optional[Pose] = None
+    tcp_offset: Pose | None = None
+    mounting: Pose | None = None
     """
     Offset from the world frame to the motion group base.
     """
 
 
 class ForwardKinematicsResponse(BaseModel):
-    tcp_poses: List[Pose]
+    tcp_poses: list[Pose]
     """
     List of computed TCP poses corresponding to the input joint positions.
 
@@ -3130,17 +3089,17 @@ class ForwardKinematicsResponse(BaseModel):
 
 
 class ForwardKinematicsValidationError(ValidationError):
-    data: Optional[ErrorInvalidJointCount] = None
+    data: ErrorInvalidJointCount | None = None
 
 
 class ForwardKinematics422Response(BaseModel):
     detail: Annotated[
-        Optional[List[ForwardKinematicsValidationError]], Field(title='Detail')
+        list[ForwardKinematicsValidationError] | None, Field(title='Detail')
     ] = None
 
 
 class ListTrajectoriesResponse(BaseModel):
-    trajectories: Optional[List[str]] = None
+    trajectories: list[str] | None = None
     """
     Identifiers of trajectories which are currently cached.
     Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them.
@@ -3160,7 +3119,7 @@ class AddTrajectoryRequest(BaseModel):
     an equal number of corresponding timestamps.
 
     """
-    tcp: Optional[str] = None
+    tcp: str | None = None
     """
     Unique identifier of the tool the trajectory is planned for.
     """
@@ -3171,13 +3130,13 @@ class TcpRequiredError(BaseModel):
     Requested motion group requires TCP to be defined.
     """
 
-    tcp_missing: Optional[Dict[str, Any]] = None
+    tcp_missing: dict[str, Any] | None = None
 
 
 class InconsistentTrajectorySize(BaseModel):
-    joint_position_size: Optional[int] = None
-    times_size: Optional[int] = None
-    locations_size: Optional[int] = None
+    joint_position_size: int | None = None
+    times_size: int | None = None
+    locations_size: int | None = None
 
 
 class InconsistentTrajectorySizeError(BaseModel):
@@ -3186,24 +3145,24 @@ class InconsistentTrajectorySizeError(BaseModel):
 
     """
 
-    inconsistent_trajectory_size: Optional[InconsistentTrajectorySize] = None
+    inconsistent_trajectory_size: InconsistentTrajectorySize | None = None
 
 
 class JointLimitExceededError(BaseModel):
-    joint_limit_exceeded: Optional[FeedbackJointLimitExceeded] = None
+    joint_limit_exceeded: FeedbackJointLimitExceeded | None = None
 
 
 class CollisionError(BaseModel):
-    collision: Optional[FeedbackCollision] = None
+    collision: FeedbackCollision | None = None
 
 
 class TorqueExceeded(BaseModel):
-    torque_value: Optional[float] = None
+    torque_value: float | None = None
     """
     The torque value that was exceeded.
 
     """
-    torque_limit: Optional[float] = None
+    torque_limit: float | None = None
     """
     The value of the torque limit that was exceeded.
 
@@ -3211,23 +3170,23 @@ class TorqueExceeded(BaseModel):
 
 
 class TorqueExceededError(BaseModel):
-    torque_exceeded: Optional[TorqueExceeded] = None
+    torque_exceeded: TorqueExceeded | None = None
 
 
 class InvalidDof(BaseModel):
-    valid_dof: Optional[int] = None
+    valid_dof: int | None = None
     """
     The valid degrees of freedom for the motion group.
 
     """
-    joint_position: Optional[List[float]] = None
+    joint_position: list[float] | None = None
     """
     The joint position that is out of its limits.
     """
 
 
 class InvalidDofError(BaseModel):
-    invalid_dof: Optional[InvalidDof] = None
+    invalid_dof: InvalidDof | None = None
 
 
 class NanValue(BaseModel):
@@ -3235,33 +3194,32 @@ class NanValue(BaseModel):
     Requested joint position contains NaN values.
     """
 
-    joint_position: Optional[List[float]] = None
+    joint_position: list[float] | None = None
     """
     The joint position that is out of its limits.
     """
 
 
 class NanValueError(BaseModel):
-    nan_value: Optional[NanValue] = None
+    nan_value: NanValue | None = None
     """
     Requested joint position contains NaN values.
     """
 
 
 class AddTrajectoryError(BaseModel):
-    message: Optional[str] = None
-    location: Optional[Location] = None
-    data: Optional[
-        Union[
-            TcpRequiredError,
-            InconsistentTrajectorySizeError,
-            JointLimitExceededError,
-            CollisionError,
-            TorqueExceededError,
-            InvalidDofError,
-            NanValueError,
-        ]
-    ] = None
+    message: str | None = None
+    location: Location | None = None
+    data: (
+        TcpRequiredError
+        | InconsistentTrajectorySizeError
+        | JointLimitExceededError
+        | CollisionError
+        | TorqueExceededError
+        | InvalidDofError
+        | NanValueError
+        | None
+    ) = None
 
 
 class AddTrajectoryResponse(BaseModel):
@@ -3276,12 +3234,12 @@ class AddTrajectoryResponse(BaseModel):
 
     """
 
-    trajectory: Optional[str] = None
+    trajectory: str | None = None
     """
     The unique identifier of the trajectory. Use this identifier to execute the trajectory with the [executeTrajectory](executeTrajectory) endpoint.
 
     """
-    error: Optional[AddTrajectoryError] = None
+    error: AddTrajectoryError | None = None
     """
     Always check this field first. If this field is present, the trajectory has an error and is only partially or not executable.
 
@@ -3324,7 +3282,7 @@ class TrajectoryData(BaseModel):
     Type specifier for server, set automatically.
 
     """
-    motion_group: Optional[str] = None
+    motion_group: str | None = None
     """
     Identifier of the motion-group.
     """
@@ -3334,7 +3292,7 @@ class TrajectoryData(BaseModel):
     an equal number of corresponding timestamps.
 
     """
-    tcp: Optional[str] = None
+    tcp: str | None = None
     """
     Unique identifier of the tool the trajectory is planned for.
     """
@@ -3354,14 +3312,14 @@ class InitializeMovementRequest(BaseModel):
 
     """
     trajectory: Annotated[
-        Union[TrajectoryId, TrajectoryData], Field(discriminator='message_type')
+        TrajectoryId | TrajectoryData, Field(discriminator='message_type')
     ]
     """
     The trajectory which should be executed and locked to the connection.
 
     """
-    initial_location: Optional[Location] = None
-    response_coordinate_system: Optional[str] = None
+    initial_location: Location | None = None
+    response_coordinate_system: str | None = None
     """
     Unique identifier addressing a coordinate system to which the responses are transformed.
     If not set, world coordinate system is used.
@@ -3449,26 +3407,26 @@ class StartMovementRequest(BaseModel):
     Type specifier for server, set automatically.
 
     """
-    direction: Optional[Direction] = 'DIRECTION_FORWARD'
-    target_location: Optional[Location] = None
+    direction: Direction | None = 'DIRECTION_FORWARD'
+    target_location: Location | None = None
     """
     The target location to which the motion group moves along the trajectory to.
     If `direction` and `target_location` are both specified, target location takes precedence.
     If neither is specified, the default is `DIRECTION_FORWARD`.
 
     """
-    set_outputs: Optional[List[SetIO]] = None
+    set_outputs: list[SetIO] | None = None
     """
     Attaches a list of output commands to the trajectory. The outputs are set to the specified values right after the specified location was reached.
     If the specified location is located before the start location (forward direction: value is smaller, backward direction: value is bigger), the output is not set.
 
     """
-    start_on_io: Optional[StartOnIO] = None
+    start_on_io: StartOnIO | None = None
     """
     Defines an input/output that is listened to before the movement. Execution starts if the defined comparator evaluates to `true`.
 
     """
-    pause_on_io: Optional[PauseOnIO] = None
+    pause_on_io: PauseOnIO | None = None
     """
     Defines an input/output that is listened to during the movement. Execution pauses if the defined comparator evaluates to `true`.
 
@@ -3512,12 +3470,10 @@ class PlaybackSpeedRequest(BaseModel):
 
 class ExecuteTrajectoryRequest(RootModel):
     root: Annotated[
-        Union[
-            InitializeMovementRequest,
-            StartMovementRequest,
-            PauseMovementRequest,
-            PlaybackSpeedRequest,
-        ],
+        InitializeMovementRequest
+        | StartMovementRequest
+        | PauseMovementRequest
+        | PlaybackSpeedRequest,
         Field(discriminator='message_type', title='ExecuteTrajectoryRequest'),
     ]
 
@@ -3528,11 +3484,11 @@ class InitializeMovementResponse(BaseModel):
 
     """
 
-    message: Optional[str] = None
+    message: str | None = None
     """
     Error message in case of invalid InitializeMovementRequest.
     """
-    add_trajectory_error: Optional[AddTrajectoryError] = None
+    add_trajectory_error: AddTrajectoryError | None = None
     """
     Error can occur if joint trajectory was added by [InitializeMovementRequest](InitializeMovementRequest) and the trajectory is invalid.
 
@@ -3548,7 +3504,7 @@ class StartMovementResponse(BaseModel):
 
     """
 
-    message: Optional[str] = None
+    message: str | None = None
     """
     Error message in case of invalid StartMovementResquest.
     """
@@ -3563,7 +3519,7 @@ class PauseMovementResponse(BaseModel):
 
     """
 
-    message: Optional[str] = None
+    message: str | None = None
     """
     Error message in case of invalid PauseMovementResquest.
     """
@@ -3576,7 +3532,7 @@ class PlaybackSpeedResponse(BaseModel):
 
     """
 
-    message: Optional[str] = None
+    message: str | None = None
     """
     Error message in case of invalid PlaybackSpeedRequest.
     """
@@ -3598,13 +3554,11 @@ class MovementErrorResponse(BaseModel):
 
 class ExecuteTrajectoryResponse(RootModel):
     root: Annotated[
-        Union[
-            InitializeMovementResponse,
-            StartMovementResponse,
-            PauseMovementResponse,
-            PlaybackSpeedResponse,
-            MovementErrorResponse,
-        ],
+        InitializeMovementResponse
+        | StartMovementResponse
+        | PauseMovementResponse
+        | PlaybackSpeedResponse
+        | MovementErrorResponse,
         Field(discriminator='kind', title='ExecuteTrajectoryResponse'),
     ]
 
@@ -3623,17 +3577,11 @@ class InitializeJoggingRequest(BaseModel):
     """
     Identifier of the motion group.
     """
-    tcp: Optional[str] = None
+    tcp: str | None = None
     """
     Identifier of the tool. Required for robots (all limits, including TCP limits, are respected at all times regardless of the motion). Not required for external axes.
 
     """
-    response_coordinate_system: Optional[str] = None
-    """
-    Unique identifier addressing a coordinate system to which the responses are transformed.
-    If not set, world coordinate system is used.
-
-    """
 
 
 class JointVelocityRequest(BaseModel):
@@ -3666,7 +3614,7 @@ class TcpVelocityRequest(BaseModel):
     """
     translation: Vector3d
     rotation: Vector3d
-    use_tool_coordinate_system: Optional[bool] = False
+    use_tool_coordinate_system: bool | None = False
     """
     If true, TCP velocities are interpreted in the tool coordinate system, specified by the TCP.
     If false, TCP velocities are interpreted in the world coordinate system.
@@ -3689,12 +3637,10 @@ class PauseJoggingRequest(BaseModel):
 
 class ExecuteJoggingRequest(RootModel):
     root: Annotated[
-        Union[
-            InitializeJoggingRequest,
-            JointVelocityRequest,
-            TcpVelocityRequest,
-            PauseJoggingRequest,
-        ],
+        InitializeJoggingRequest
+        | JointVelocityRequest
+        | TcpVelocityRequest
+        | PauseJoggingRequest,
         Field(discriminator='message_type', title='ExecuteJoggingRequest'),
     ]
 
@@ -3705,7 +3651,7 @@ class InitializeJoggingResponse(BaseModel):
 
     """
 
-    message: Optional[str] = None
+    message: str | None = None
     """
     Error message in case of invalid InitializeJoggingRequest.
     """
@@ -3718,7 +3664,7 @@ class PauseJoggingResponse(BaseModel):
 
     """
 
-    message: Optional[str] = None
+    message: str | None = None
     """
     Error message in case of invalid PauseJoggingRequest.
     """
@@ -3731,7 +3677,7 @@ class TcpVelocityResponse(BaseModel):
 
     """
 
-    message: Optional[str] = None
+    message: str | None = None
     """
     Error message in case of invalid TcpVelocityRequest.
     """
@@ -3744,7 +3690,7 @@ class JointVelocityResponse(BaseModel):
 
     """
 
-    message: Optional[str] = None
+    message: str | None = None
     """
     Error message in case of invalid JointVelocityRequest.
     """
@@ -3753,13 +3699,11 @@ class JointVelocityResponse(BaseModel):
 
 class ExecuteJoggingResponse(RootModel):
     root: Annotated[
-        Union[
-            InitializeJoggingResponse,
-            PauseJoggingResponse,
-            TcpVelocityResponse,
-            JointVelocityResponse,
-            MovementErrorResponse,
-        ],
+        InitializeJoggingResponse
+        | PauseJoggingResponse
+        | TcpVelocityResponse
+        | JointVelocityResponse
+        | MovementErrorResponse,
         Field(discriminator='kind', title='ExecuteJoggingResponse'),
     ]
 
@@ -3779,14 +3723,14 @@ class Program(BaseModel):
             title='Unique program identifier',
         ),
     ]
-    name: Annotated[Optional[str], Field(title='Program name')] = None
-    description: Annotated[Optional[str], Field(title='Program description')] = None
+    name: Annotated[str | None, Field(title='Program name')] = None
+    description: Annotated[str | None, Field(title='Program description')] = None
     app: Annotated[str, Field(title='The app containing the program.')]
     input_schema: Annotated[
-        Optional[Dict[str, Any]], Field(title='Program input json schema')
+        dict[str, Any] | None, Field(title='Program input json schema')
     ] = None
     preconditions: Annotated[
-        Optional[Dict[str, Any]],
+        dict[str, Any] | None,
         Field(title='Preconditions before the program can be started'),
     ] = None
 
@@ -3796,7 +3740,7 @@ class ProgramStartRequest(BaseModel):
     The state of a program run.
     """
 
-    arguments: Dict[str, Any]
+    arguments: dict[str, Any]
     """
     The arguments to pass to the program.
     """
@@ -3827,7 +3771,7 @@ class ProgramRun(BaseModel):
     """
     Unique identifier of the program
     """
-    app: Annotated[Optional[str], Field(title='App Id')] = None
+    app: Annotated[str | None, Field(title='App Id')] = None
     """
     Identifier of the app that produced the program run
     """
@@ -3835,35 +3779,35 @@ class ProgramRun(BaseModel):
     """
     State of the program run
     """
-    logs: Annotated[Optional[str], Field(title='Logs')] = None
+    logs: Annotated[str | None, Field(title='Logs')] = None
     """
     Logs of the program run
     """
-    stdout: Annotated[Optional[str], Field(title='Stdout')] = None
+    stdout: Annotated[str | None, Field(title='Stdout')] = None
     """
     Stdout of the program run
     """
-    stderr: Annotated[Optional[str], Field(title='Stderr')] = None
+    stderr: Annotated[str | None, Field(title='Stderr')] = None
     """
     Stderr of the program run
     """
-    error: Annotated[Optional[str], Field(title='Error')] = None
+    error: Annotated[str | None, Field(title='Error')] = None
     """
     Error message of the program run, if any
     """
-    traceback: Annotated[Optional[str], Field(title='Traceback')] = None
+    traceback: Annotated[str | None, Field(title='Traceback')] = None
     """
     Traceback of the program run, if any
     """
-    start_time: Annotated[Optional[AwareDatetime], Field(title='Start Time')] = None
+    start_time: Annotated[AwareDatetime | None, Field(title='Start Time')] = None
     """
     Start time of the program run in RFC3339 format
     """
-    end_time: Annotated[Optional[AwareDatetime], Field(title='End Time')] = None
+    end_time: Annotated[AwareDatetime | None, Field(title='End Time')] = None
     """
     End time of the program run in RFC3339 format
     """
-    input_data: Annotated[Optional[Dict[str, Any]], Field(title='Input Data')] = None
+    input_data: Annotated[dict[str, Any] | None, Field(title='Input Data')] = None
     """
     Input data of the program run
     """
@@ -3874,13 +3818,13 @@ class ValidationError2(BaseModel):
     A validation error of a program.
     """
 
-    loc: Annotated[List[int], Field(title='Location')]
+    loc: Annotated[list[int], Field(title='Location')]
     msg: Annotated[str, Field(title='Message')]
     type: Annotated[str, Field(title='Error Type')]
 
 
 class HTTPValidationError(BaseModel):
-    detail: Annotated[Optional[List[ValidationError2]], Field(title='Detail')] = None
+    detail: Annotated[list[ValidationError2] | None, Field(title='Detail')] = None
 
 
 class MotionGroupInfo(BaseModel):
@@ -3902,7 +3846,7 @@ class MotionGroupInfo(BaseModel):
 
 
 class MotionGroupInfos(RootModel):
-    root: List[MotionGroupInfo]
+    root: list[MotionGroupInfo]
 
     def __getitem__(self, index: int) -> MotionGroupInfo:
         """
@@ -3935,22 +3879,22 @@ class MotionGroupJoints(BaseModel):
     Everything but positions is optional.
     """
 
-    positions: List[float]
+    positions: list[float]
     """
     The joint positions of the motion group.
 
     """
-    velocities: Optional[List[float]] = None
+    velocities: list[float] | None = None
     """
     The joint velocities of the motion group.
 
     """
-    accelerations: Optional[List[float]] = None
+    accelerations: list[float] | None = None
     """
     The joint accelerations of the motion group.
 
     """
-    torques: Optional[List[float]] = None
+    torques: list[float] | None = None
     """
     The joint torques of the motion group.
 
@@ -3958,13 +3902,13 @@ class MotionGroupJoints(BaseModel):
 
 
 class RobotTcpData(BaseModel):
-    name: Optional[str] = None
+    name: str | None = None
     """
     A readable and changeable name for frontend visualization.
     """
     position: Vector3d
-    orientation: Optional[Orientation] = None
-    orientation_type: Optional[OrientationType] = 'ROTATION_VECTOR'
+    orientation: Orientation | None = None
+    orientation_type: OrientationType | None = 'ROTATION_VECTOR'
 
 
 class RobotTcp(RobotTcpData):
@@ -3976,7 +3920,7 @@ class RobotTcp(RobotTcpData):
 
 class RobotTcps(RootModel):
     root: Annotated[
-        List[RobotTcp],
+        list[RobotTcp],
         Field(
             examples=[
                 [
@@ -4082,7 +4026,7 @@ class ExternalJointStreamDatapoint(BaseModel):
 
 
 class ExternalJointStreamDatapoints(RootModel):
-    root: List[ExternalJointStreamDatapoint]
+    root: list[ExternalJointStreamDatapoint]
 
     def __getitem__(self, index: int) -> ExternalJointStreamDatapoint:
         """
@@ -4128,7 +4072,7 @@ class MetadataObject(RootModel):
     A metadata object.
     """
 
-    root: Dict[str, str]
+    root: dict[str, str]
 
 
 class BinaryObject(RootModel):
@@ -4151,13 +4095,13 @@ class BusIODescription(BaseModel):
     """
     direction: IODirection
     value_type: IOValueType
-    unit: Optional[UnitType] = None
-    min: Optional[IOBoundary] = None
-    max: Optional[IOBoundary] = None
+    unit: UnitType | None = None
+    min: IOBoundary | None = None
+    max: IOBoundary | None = None
 
 
 class ListBusIODescriptionsResponse(RootModel):
-    root: List[BusIODescription]
+    root: list[BusIODescription]
 
     def __getitem__(self, index: int) -> BusIODescription:
         """
@@ -4198,7 +4142,7 @@ class BusIOsStateEnum(Enum):
 
 class BusIOsState(BaseModel):
     state: BusIOsStateEnum
-    message: Optional[str] = None
+    message: str | None = None
     """
     A message providing additional information on the input/output service, e.g., BUS service status, encountered errors.
     May be empty if no additional information is available.
@@ -4246,7 +4190,7 @@ class ProfinetSlotDescription(BaseModel):
     The API identifies the application relation (AR) that is using the slot.
 
     """
-    subslots: List[ProfinetSubSlotDescription]
+    subslots: list[ProfinetSubSlotDescription]
     """
     An array of PROFINET subslots.
 
@@ -4264,14 +4208,14 @@ class ProfinetDescription(BaseModel):
     The device identifier of the PROFINET device, identifying the specific device within the vendor's range.
 
     """
-    slots: Optional[List[ProfinetSlotDescription]] = None
-    device_name: Annotated[Optional[str], Field(examples=['pnDevice'])] = None
+    slots: list[ProfinetSlotDescription] | None = None
+    device_name: Annotated[str | None, Field(examples=['pnDevice'])] = None
     """
     Name of Station (NoS) of the PROFINET device. The NoS is used in combination with IPv4 record to identify your device in the PROFINET network.
     The `device_name` will be used as NoS if no REMA XML file is already present on your NOVA instance and no `rema_xml_content` is provided.
 
     """
-    ip_config: Optional[BusIOProfinetIpConfig] = None
+    ip_config: BusIOProfinetIpConfig | None = None
 
 
 class ProfinetIOTypeEnum(Enum):
@@ -4320,7 +4264,7 @@ class ProfinetIOData(BaseModel):
     The byte address is used to locate the specific input/output variable within the device's memory or data structure.
 
     """
-    bit_address: Annotated[Optional[int], Field(ge=0, le=7)] = None
+    bit_address: Annotated[int | None, Field(ge=0, le=7)] = None
     """
     The bit address of the input/output variable within the byte or word address.
     The bit address is used to specify the exact bit within the byte or word that corresponds to the input/output variable.
@@ -4342,7 +4286,7 @@ class ProfinetIOs(RootModel):
     Array of PROFINET input/output variable configurations.
     """
 
-    root: List[ProfinetIO]
+    root: list[ProfinetIO]
     """
     Array of PROFINET input/output variable configurations.
     """
@@ -4473,7 +4417,7 @@ class ModbusIOs(RootModel):
     Array of MODBUS input/output variable configurations.
     """
 
-    root: List[ModbusIO]
+    root: list[ModbusIO]
     """
     Array of MODBUS input/output variable configurations.
     """
@@ -4520,7 +4464,7 @@ class ConfigurationResource(BaseModel):
     """
     Human-readable name of the configuration resource.
     """
-    children: Optional[ConfigurationResourceArray] = None
+    children: ConfigurationResourceArray | None = None
 
 
 class ConfigurationResourceArray(RootModel):
@@ -4528,7 +4472,7 @@ class ConfigurationResourceArray(RootModel):
     Array of configuration resources.
     """
 
-    root: List[ConfigurationResource]
+    root: list[ConfigurationResource]
     """
     Array of configuration resources.
     """