wandelbots-api-client 25.6.0.dev7__py3-none-any.whl → 25.10.0rc2__py3-none-any.whl

wandelbots_api_client/v2/api/controller_api.py

@@ -3,15 +3,14 @@
 """
     Wandelbots NOVA API
 
-    Interact with robots in an easy and intuitive way.  > **Note:** API version 2 is experimental and will experience functional changes. 
+    Interact with robots in an easy and intuitive way. 
 
-    The version of the OpenAPI document: 2.0.0 beta
+    The version of the OpenAPI document: 2.1.0 dev
     Generated by OpenAPI Generator (https://openapi-generator.tech)
 
     Do not edit the class manually.
 """  # noqa: E501
 
-
 from furl import furl
 import json
 import humps
@@ -23,13 +22,11 @@ from typing import Any, AsyncGenerator, Callable, Dict, List, Optional, Tuple, U
 from typing_extensions import Annotated
 from urllib.parse import quote
 
-from pydantic import Field, StrictInt, StrictStr
-from typing import Optional
+from pydantic import Field, StrictStr
+from typing import List, Optional
 from typing_extensions import Annotated
-from wandelbots_api_client.v2.models.controllers_list import ControllersList
+from wandelbots_api_client.v2.models.controller_description import ControllerDescription
 from wandelbots_api_client.v2.models.coordinate_system import CoordinateSystem
-from wandelbots_api_client.v2.models.get_mode_response import GetModeResponse
-from wandelbots_api_client.v2.models.list_coordinate_systems_response import ListCoordinateSystemsResponse
 from wandelbots_api_client.v2.models.orientation_type import OrientationType
 from wandelbots_api_client.v2.models.robot_controller import RobotController
 from wandelbots_api_client.v2.models.robot_controller_state import RobotControllerState
@@ -73,7 +70,7 @@ class ControllerApi:
     ) -> None:
         """Add Robot Controller
 
-        Add a robot controller to the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Add a robot controller to the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -152,7 +149,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Add Robot Controller
 
-        Add a robot controller to the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Add a robot controller to the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -231,7 +228,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Add Robot Controller
 
-        Add a robot controller to the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Add a robot controller to the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -387,7 +384,7 @@ class ControllerApi:
     ) -> None:
         """Clear Robot Controllers
 
-        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with the 'Add Robot Controller' endpoint.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -460,7 +457,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Clear Robot Controllers
 
-        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with the 'Add Robot Controller' endpoint.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -533,7 +530,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Clear Robot Controllers
 
-        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with the 'Add Robot Controller' endpoint.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete all robot controllers from the cell.  To replace all robot controllers in a cell, use this endpoint in combination with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -669,7 +666,7 @@ class ControllerApi:
     ) -> None:
         """Delete Robot Controller
 
-        Delete a robot controller from the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete a robot controller from the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -746,7 +743,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Delete Robot Controller
 
-        Delete a robot controller from the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete a robot controller from the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -823,7 +820,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Delete Robot Controller
 
-        Delete a robot controller from the cell.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Delete a robot controller from the cell. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -945,12 +942,10 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_coordinate_system(
+    async def get_controller_description(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
-        coordinate_system: Annotated[StrictStr, Field(description="Unique identifier addressing a coordinate system.")],
-        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -963,19 +958,15 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> CoordinateSystem:
-        """Coordinate System
+    ) -> ControllerDescription:
+        """Description
 
-        Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
         :param controller: Unique identifier to address a controller in the cell. (required)
         :type controller: str
-        :param coordinate_system: Unique identifier addressing a coordinate system. (required)
-        :type coordinate_system: str
-        :param orientation_type:
-        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -998,11 +989,9 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_coordinate_system_serialize(
+        _param = self._get_controller_description_serialize(
             cell=cell,
             controller=controller,
-            coordinate_system=coordinate_system,
-            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1010,7 +999,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "CoordinateSystem",
+            '200': "ControllerDescription",
             '400': "Error",
             '404': "Error",
         }
@@ -1026,12 +1015,10 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_coordinate_system_with_http_info(
+    async def get_controller_description_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
-        coordinate_system: Annotated[StrictStr, Field(description="Unique identifier addressing a coordinate system.")],
-        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1044,19 +1031,15 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[CoordinateSystem]:
-        """Coordinate System
+    ) -> ApiResponse[ControllerDescription]:
+        """Description
 
-        Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
         :param controller: Unique identifier to address a controller in the cell. (required)
         :type controller: str
-        :param coordinate_system: Unique identifier addressing a coordinate system. (required)
-        :type coordinate_system: str
-        :param orientation_type:
-        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -1079,11 +1062,9 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_coordinate_system_serialize(
+        _param = self._get_controller_description_serialize(
             cell=cell,
             controller=controller,
-            coordinate_system=coordinate_system,
-            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1091,7 +1072,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "CoordinateSystem",
+            '200': "ControllerDescription",
             '400': "Error",
             '404': "Error",
         }
@@ -1107,12 +1088,10 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_coordinate_system_without_preload_content(
+    async def get_controller_description_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
-        coordinate_system: Annotated[StrictStr, Field(description="Unique identifier addressing a coordinate system.")],
-        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1126,18 +1105,14 @@ class ControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Coordinate System
+        """Description
 
-        Request a coordinate system specification for a given identifier. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        Get description of a configured robot controller including a list of connected motion group identifiers. Use [getMotionGroupDescription](getMotionGroupDescription) to get more information about the motion group. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
         :param controller: Unique identifier to address a controller in the cell. (required)
         :type controller: str
-        :param coordinate_system: Unique identifier addressing a coordinate system. (required)
-        :type coordinate_system: str
-        :param orientation_type:
-        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -1160,11 +1135,9 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_coordinate_system_serialize(
+        _param = self._get_controller_description_serialize(
             cell=cell,
             controller=controller,
-            coordinate_system=coordinate_system,
-            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1172,7 +1145,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "CoordinateSystem",
+            '200': "ControllerDescription",
             '400': "Error",
             '404': "Error",
         }
@@ -1183,12 +1156,10 @@ class ControllerApi:
         return response_data.response
 
 
-    def _get_coordinate_system_serialize(
+    def _get_controller_description_serialize(
         self,
         cell,
         controller,
-        coordinate_system,
-        orientation_type,
         _request_auth,
         _content_type,
         _headers,
@@ -1212,13 +1183,7 @@ class ControllerApi:
             _path_params['cell'] = cell
         if controller is not None:
             _path_params['controller'] = controller
-        if coordinate_system is not None:
-            _path_params['coordinate-system'] = coordinate_system
         # process the query parameters
-        if orientation_type is not None:
-            
-            _query_params.append(('orientation_type', orientation_type.value))
-            
         # process the header parameters
         # process the form parameters
         # process the body parameter
@@ -1240,7 +1205,7 @@ class ControllerApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/controllers/{controller}/coordinate-systems/{coordinate-system}',
+            resource_path='/cells/{cell}/controllers/{controller}/description',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -1256,10 +1221,12 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_current_robot_controller_state(
+    async def get_coordinate_system(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
+        coordinate_system: Annotated[StrictStr, Field(description="Unique identifier addressing a coordinate system.")],
+        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1272,15 +1239,19 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> RobotControllerState:
-        """State
+    ) -> CoordinateSystem:
+        """Coordinate System
 
-        Get the current state of a robot controller.
+        Request a coordinate system specification for a given identifier. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
         :param controller: Unique identifier to address a controller in the cell. (required)
         :type controller: str
+        :param coordinate_system: Unique identifier addressing a coordinate system. (required)
+        :type coordinate_system: str
+        :param orientation_type:
+        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -1303,9 +1274,11 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_current_robot_controller_state_serialize(
+        _param = self._get_coordinate_system_serialize(
             cell=cell,
             controller=controller,
+            coordinate_system=coordinate_system,
+            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1313,7 +1286,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "RobotControllerState",
+            '200': "CoordinateSystem",
             '400': "Error",
             '404': "Error",
         }
@@ -1329,10 +1302,12 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_current_robot_controller_state_with_http_info(
+    async def get_coordinate_system_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
+        coordinate_system: Annotated[StrictStr, Field(description="Unique identifier addressing a coordinate system.")],
+        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1345,15 +1320,19 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[RobotControllerState]:
-        """State
+    ) -> ApiResponse[CoordinateSystem]:
+        """Coordinate System
 
-        Get the current state of a robot controller.
+        Request a coordinate system specification for a given identifier. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
         :param controller: Unique identifier to address a controller in the cell. (required)
         :type controller: str
+        :param coordinate_system: Unique identifier addressing a coordinate system. (required)
+        :type coordinate_system: str
+        :param orientation_type:
+        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -1376,9 +1355,11 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_current_robot_controller_state_serialize(
+        _param = self._get_coordinate_system_serialize(
             cell=cell,
             controller=controller,
+            coordinate_system=coordinate_system,
+            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1386,7 +1367,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "RobotControllerState",
+            '200': "CoordinateSystem",
             '400': "Error",
             '404': "Error",
         }
@@ -1402,10 +1383,12 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_current_robot_controller_state_without_preload_content(
+    async def get_coordinate_system_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
+        coordinate_system: Annotated[StrictStr, Field(description="Unique identifier addressing a coordinate system.")],
+        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1419,14 +1402,18 @@ class ControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """State
+        """Coordinate System
 
-        Get the current state of a robot controller.
+        Request a coordinate system specification for a given identifier. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
         :param controller: Unique identifier to address a controller in the cell. (required)
         :type controller: str
+        :param coordinate_system: Unique identifier addressing a coordinate system. (required)
+        :type coordinate_system: str
+        :param orientation_type:
+        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -1449,9 +1436,11 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_current_robot_controller_state_serialize(
+        _param = self._get_coordinate_system_serialize(
             cell=cell,
             controller=controller,
+            coordinate_system=coordinate_system,
+            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1459,7 +1448,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "RobotControllerState",
+            '200': "CoordinateSystem",
             '400': "Error",
             '404': "Error",
         }
@@ -1470,10 +1459,12 @@ class ControllerApi:
         return response_data.response
 
 
-    def _get_current_robot_controller_state_serialize(
+    def _get_coordinate_system_serialize(
         self,
         cell,
         controller,
+        coordinate_system,
+        orientation_type,
         _request_auth,
         _content_type,
         _headers,
@@ -1497,7 +1488,13 @@ class ControllerApi:
             _path_params['cell'] = cell
         if controller is not None:
             _path_params['controller'] = controller
+        if coordinate_system is not None:
+            _path_params['coordinate-system'] = coordinate_system
         # process the query parameters
+        if orientation_type is not None:
+            
+            _query_params.append(('orientation_type', orientation_type.value))
+            
         # process the header parameters
         # process the form parameters
         # process the body parameter
@@ -1519,7 +1516,7 @@ class ControllerApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/controllers/{controller}/state',
+            resource_path='/cells/{cell}/controllers/{controller}/coordinate-systems/{coordinate-system}',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -1535,7 +1532,7 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_mode(
+    async def get_current_robot_controller_state(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
@@ -1551,10 +1548,10 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> GetModeResponse:
-        """Current Mode
+    ) -> RobotControllerState:
+        """State
 
-        Get the current robot system mode of a registered robot controller. The robot system mode indicates if a robot controller can be used. See [setDefaultMode](setDefaultMode) for more information about the different modes. The mode is influenced by the operating mode of the robot controller. The operating mode can be changed via [setDefaultMode](setDefaultMode). Request the current operating mode of the robot controller via [getCurrentRobotControllerState](getCurrentRobotControllerState). 
+        Get the current state of a robot controller.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1582,7 +1579,7 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_mode_serialize(
+        _param = self._get_current_robot_controller_state_serialize(
             cell=cell,
             controller=controller,
             _request_auth=_request_auth,
@@ -1592,7 +1589,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "GetModeResponse",
+            '200': "RobotControllerState",
             '400': "Error",
             '404': "Error",
         }
@@ -1608,7 +1605,7 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_mode_with_http_info(
+    async def get_current_robot_controller_state_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
@@ -1624,10 +1621,10 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[GetModeResponse]:
-        """Current Mode
+    ) -> ApiResponse[RobotControllerState]:
+        """State
 
-        Get the current robot system mode of a registered robot controller. The robot system mode indicates if a robot controller can be used. See [setDefaultMode](setDefaultMode) for more information about the different modes. The mode is influenced by the operating mode of the robot controller. The operating mode can be changed via [setDefaultMode](setDefaultMode). Request the current operating mode of the robot controller via [getCurrentRobotControllerState](getCurrentRobotControllerState). 
+        Get the current state of a robot controller.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1655,7 +1652,7 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_mode_serialize(
+        _param = self._get_current_robot_controller_state_serialize(
             cell=cell,
             controller=controller,
             _request_auth=_request_auth,
@@ -1665,7 +1662,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "GetModeResponse",
+            '200': "RobotControllerState",
             '400': "Error",
             '404': "Error",
         }
@@ -1681,7 +1678,7 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_mode_without_preload_content(
+    async def get_current_robot_controller_state_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
@@ -1698,9 +1695,9 @@ class ControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Current Mode
+        """State
 
-        Get the current robot system mode of a registered robot controller. The robot system mode indicates if a robot controller can be used. See [setDefaultMode](setDefaultMode) for more information about the different modes. The mode is influenced by the operating mode of the robot controller. The operating mode can be changed via [setDefaultMode](setDefaultMode). Request the current operating mode of the robot controller via [getCurrentRobotControllerState](getCurrentRobotControllerState). 
+        Get the current state of a robot controller.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -1728,7 +1725,7 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_mode_serialize(
+        _param = self._get_current_robot_controller_state_serialize(
             cell=cell,
             controller=controller,
             _request_auth=_request_auth,
@@ -1738,7 +1735,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "GetModeResponse",
+            '200': "RobotControllerState",
             '400': "Error",
             '404': "Error",
         }
@@ -1749,7 +1746,7 @@ class ControllerApi:
         return response_data.response
 
 
-    def _get_mode_serialize(
+    def _get_current_robot_controller_state_serialize(
         self,
         cell,
         controller,
@@ -1798,7 +1795,7 @@ class ControllerApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/controllers/{controller}/mode',
+            resource_path='/cells/{cell}/controllers/{controller}/state',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -2090,7 +2087,7 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_virtual_robot_configuration(
+    async def get_virtual_controller_configuration(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
@@ -2107,9 +2104,9 @@ class ControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> VirtualRobotConfiguration:
-        """Virtual Robot Configuration
+        """Virtual Controller Configuration
 
-        Receive the configuration for a virtual robot controller. Used to configure a virtual robot controller via [addRobotController](addRobotController).  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+        Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2137,7 +2134,7 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_virtual_robot_configuration_serialize(
+        _param = self._get_virtual_controller_configuration_serialize(
             cell=cell,
             controller=controller,
             _request_auth=_request_auth,
@@ -2163,7 +2160,7 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_virtual_robot_configuration_with_http_info(
+    async def get_virtual_controller_configuration_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
@@ -2180,9 +2177,9 @@ class ControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> ApiResponse[VirtualRobotConfiguration]:
-        """Virtual Robot Configuration
+        """Virtual Controller Configuration
 
-        Receive the configuration for a virtual robot controller. Used to configure a virtual robot controller via [addRobotController](addRobotController).  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+        Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2210,7 +2207,7 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_virtual_robot_configuration_serialize(
+        _param = self._get_virtual_controller_configuration_serialize(
             cell=cell,
             controller=controller,
             _request_auth=_request_auth,
@@ -2236,7 +2233,7 @@ class ControllerApi:
 
 
     @validate_call
-    async def get_virtual_robot_configuration_without_preload_content(
+    async def get_virtual_controller_configuration_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
         controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
@@ -2253,9 +2250,9 @@ class ControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Virtual Robot Configuration
+        """Virtual Controller Configuration
 
-        Receive the configuration for a virtual robot controller. Used to configure a virtual robot controller via [addRobotController](addRobotController).  > **NOTE** > > The output generated by this endpoint can be too large for the site to handle, and may produce an error or incorrect output. > Use `curl` in combination with `> output.json` to capture the output, or use an API client like Postman. 
+        Receive data to configure a virtual robot controller based on another controller. This can be used to create a virtual clone of a specific physical robot.  When adding a virtual controller, use the Virtual configuration variant of [addRobotController](addRobotController) and pass the content string from this endpoint as the `json` field. Omit the `type` field that selects a preset configuration which is not required when providing a complete configuration. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -2283,7 +2280,7 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_virtual_robot_configuration_serialize(
+        _param = self._get_virtual_controller_configuration_serialize(
             cell=cell,
             controller=controller,
             _request_auth=_request_auth,
@@ -2304,7 +2301,7 @@ class ControllerApi:
         return response_data.response
 
 
-    def _get_virtual_robot_configuration_serialize(
+    def _get_virtual_controller_configuration_serialize(
         self,
         cell,
         controller,
@@ -2369,9 +2366,11 @@ class ControllerApi:
 
 
     @validate_call
-    async def list_controllers(
+    async def list_coordinate_systems(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
+        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -2384,13 +2383,17 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ControllersList:
-        """List Descriptions
+    ) -> List[CoordinateSystem]:
+        """List Coordinate Systems
 
-        List all configured robot controllers. 
+        Lists all specifications of coordinate systems from robot controllers. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
+        :param controller: Unique identifier to address a controller in the cell. (required)
+        :type controller: str
+        :param orientation_type:
+        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -2413,8 +2416,10 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._list_controllers_serialize(
+        _param = self._list_coordinate_systems_serialize(
             cell=cell,
+            controller=controller,
+            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -2422,7 +2427,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ControllersList",
+            '200': "List[CoordinateSystem]",
             '400': "Error",
         }
         response_data = await self.api_client.call_api(
@@ -2437,9 +2442,11 @@ class ControllerApi:
 
 
     @validate_call
-    async def list_controllers_with_http_info(
+    async def list_coordinate_systems_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
+        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -2452,13 +2459,17 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[ControllersList]:
-        """List Descriptions
+    ) -> ApiResponse[List[CoordinateSystem]]:
+        """List Coordinate Systems
 
-        List all configured robot controllers. 
+        Lists all specifications of coordinate systems from robot controllers. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
+        :param controller: Unique identifier to address a controller in the cell. (required)
+        :type controller: str
+        :param orientation_type:
+        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -2481,8 +2492,10 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._list_controllers_serialize(
+        _param = self._list_coordinate_systems_serialize(
             cell=cell,
+            controller=controller,
+            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -2490,7 +2503,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ControllersList",
+            '200': "List[CoordinateSystem]",
             '400': "Error",
         }
         response_data = await self.api_client.call_api(
@@ -2505,9 +2518,11 @@ class ControllerApi:
 
 
     @validate_call
-    async def list_controllers_without_preload_content(
+    async def list_coordinate_systems_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
+        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
+        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -2521,12 +2536,16 @@ class ControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """List Descriptions
+        """List Coordinate Systems
 
-        List all configured robot controllers. 
+        Lists all specifications of coordinate systems from robot controllers. Use parameter `orientation_type` to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter `orientation_type` is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with `On` + the unique identifier of the robot controller. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
+        :param controller: Unique identifier to address a controller in the cell. (required)
+        :type controller: str
+        :param orientation_type:
+        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -2549,8 +2568,10 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._list_controllers_serialize(
+        _param = self._list_coordinate_systems_serialize(
             cell=cell,
+            controller=controller,
+            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -2558,7 +2579,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ControllersList",
+            '200': "List[CoordinateSystem]",
             '400': "Error",
         }
         response_data = await self.api_client.call_api(
@@ -2568,9 +2589,11 @@ class ControllerApi:
         return response_data.response
 
 
-    def _list_controllers_serialize(
+    def _list_coordinate_systems_serialize(
         self,
         cell,
+        controller,
+        orientation_type,
         _request_auth,
         _content_type,
         _headers,
@@ -2592,7 +2615,13 @@ class ControllerApi:
         # process the path parameters
         if cell is not None:
             _path_params['cell'] = cell
+        if controller is not None:
+            _path_params['controller'] = controller
         # process the query parameters
+        if orientation_type is not None:
+            
+            _query_params.append(('orientation_type', orientation_type.value))
+            
         # process the header parameters
         # process the form parameters
         # process the body parameter
@@ -2614,7 +2643,7 @@ class ControllerApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/controllers',
+            resource_path='/cells/{cell}/controllers/{controller}/coordinate-systems',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -2630,11 +2659,9 @@ class ControllerApi:
 
 
     @validate_call
-    async def list_coordinate_systems(
+    async def list_robot_controllers(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
-        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -2647,17 +2674,13 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ListCoordinateSystemsResponse:
-        """List Coordinate Systems
+    ) -> List[str]:
+        """List Robot Controllers
 
-        Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        List the names of all deployed robot controllers.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param controller: Unique identifier to address a controller in the cell. (required)
-        :type controller: str
-        :param orientation_type:
-        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -2680,10 +2703,8 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._list_coordinate_systems_serialize(
+        _param = self._list_robot_controllers_serialize(
             cell=cell,
-            controller=controller,
-            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -2691,8 +2712,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ListCoordinateSystemsResponse",
-            '400': "Error",
+            '200': "List[str]",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -2706,11 +2726,9 @@ class ControllerApi:
 
 
     @validate_call
-    async def list_coordinate_systems_with_http_info(
+    async def list_robot_controllers_with_http_info(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
-        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -2723,17 +2741,13 @@ class ControllerApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[ListCoordinateSystemsResponse]:
-        """List Coordinate Systems
+    ) -> ApiResponse[List[str]]:
+        """List Robot Controllers
 
-        Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        List the names of all deployed robot controllers.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param controller: Unique identifier to address a controller in the cell. (required)
-        :type controller: str
-        :param orientation_type:
-        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -2756,10 +2770,8 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._list_coordinate_systems_serialize(
+        _param = self._list_robot_controllers_serialize(
             cell=cell,
-            controller=controller,
-            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -2767,8 +2779,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ListCoordinateSystemsResponse",
-            '400': "Error",
+            '200': "List[str]",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -2782,11 +2793,9 @@ class ControllerApi:
 
 
     @validate_call
-    async def list_coordinate_systems_without_preload_content(
+    async def list_robot_controllers_without_preload_content(
         self,
         cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")],
-        controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")],
-        orientation_type: Optional[OrientationType] = None,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -2800,16 +2809,12 @@ class ControllerApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """List Coordinate Systems
+        """List Robot Controllers
 
-        Lists all specifications of coordinate systems from robot controllers. Use parameter orientation_type to get the orientation part of the transformation offset of the coordinate system returned in the requested orientation notation. If parameter orientation_type is not set, the orientation part of the transformation offset of the coordinate system is returned in rotation vector notation.  The coordinate systems from the robot controller are loaded when the motion group associated with the coordinate system is activated. With deactivation of the motion group, the associated coordinate systems are removed from NOVA. The unique identifier of the coordinate systems from the robot controllers are suffixed with \"On\" + the unique identifier of the robot controller. 
+        List the names of all deployed robot controllers.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
-        :param controller: Unique identifier to address a controller in the cell. (required)
-        :type controller: str
-        :param orientation_type:
-        :type orientation_type: OrientationType
         :param _request_timeout: timeout setting for this request. If one
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -2832,10 +2837,8 @@ class ControllerApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._list_coordinate_systems_serialize(
+        _param = self._list_robot_controllers_serialize(
             cell=cell,
-            controller=controller,
-            orientation_type=orientation_type,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -2843,8 +2846,7 @@ class ControllerApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "ListCoordinateSystemsResponse",
-            '400': "Error",
+            '200': "List[str]",
         }
         response_data = await self.api_client.call_api(
             *_param,
@@ -2853,11 +2855,9 @@ class ControllerApi:
         return response_data.response
 
 
-    def _list_coordinate_systems_serialize(
+    def _list_robot_controllers_serialize(
         self,
         cell,
-        controller,
-        orientation_type,
         _request_auth,
         _content_type,
         _headers,
@@ -2879,13 +2879,7 @@ class ControllerApi:
         # process the path parameters
         if cell is not None:
             _path_params['cell'] = cell
-        if controller is not None:
-            _path_params['controller'] = controller
         # process the query parameters
-        if orientation_type is not None:
-            
-            _query_params.append(('orientation_type', orientation_type.value))
-            
         # process the header parameters
         # process the form parameters
         # process the body parameter
@@ -2907,7 +2901,7 @@ class ControllerApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/controllers/{controller}/coordinate-systems',
+            resource_path='/cells/{cell}/controllers',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -2943,7 +2937,7 @@ class ControllerApi:
     ) -> None:
         """Set Default Mode
 
-        Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state 'normal' or 'reduced'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
+        Switch between monitor and control usage as default for a robot controller.  Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network, monitoring mode is always possible.  To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state `normal` or `reduced`. If the robot controller is in `manual` operating mode, you have to manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3020,7 +3014,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Set Default Mode
 
-        Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state 'normal' or 'reduced'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
+        Switch between monitor and control usage as default for a robot controller.  Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network, monitoring mode is always possible.  To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state `normal` or `reduced`. If the robot controller is in `manual` operating mode, you have to manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3097,7 +3091,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Set Default Mode
 
-        Switch between monitor and control usage as default for a robot controller. Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network monitoring mode is always possible. To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state 'normal' or 'reduced'. If the robot controller is in `manual` operating mode, you have manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
+        Switch between monitor and control usage as default for a robot controller.  Monitoring mode is used to read information from the robot controller and control mode is used to command the robot system. As long as the robot controller is connected via network, monitoring mode is always possible.  To switch to control mode the robot controller must be in `automatic` or `manual` operating mode and safety state `normal` or `reduced`. If the robot controller is in `manual` operating mode, you have to manually confirm the control usage activation on the robot control panel. This manual confirmation can't be replaced with this API. Without manual confirmation the robot controller will stay in monitor mode.  The robot system will try to activate the required operation mode for the requested usage unless no active call requires a different mode.  > **NOTE** > > `setDefaultMode` enables the robot controller to stay in control mode to keep the motors activated. > This allows for faster execution of sequential movements as no mode switches are required.  > **NOTE** > > Some robot controllers prevent the external activation of automatic operating mode. In this case, changing the operating mode manually at the robot controller is mandatory.  > **NOTE** > > The current operation mode and safety state can be requested via [getCurrentRobotControllerState](getCurrentRobotControllerState).  If a mode change is not possible, the response lists reasons for the failed change. 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3219,10 +3213,10 @@ class ControllerApi:
 
 
     @validate_call
-    async def stream_free_drive(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], response_rate: Optional[StrictInt] = None) -> AsyncGenerator[RobotControllerState, None]:  # noqa: E501
+    async def stream_free_drive(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], response_rate: Optional[Annotated[int, Field(le=2147483647, strict=True, ge=0)]] = None) -> AsyncGenerator[RobotControllerState, None]:  # noqa: E501
         """Stream Free Drive  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot.  <!-- theme: danger -->  > **DANGER**  > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being > crushed, drawn in or caught due to the robot's complex movement sequences. Before opening the websocket, ensure that  > - The robot is in a safe state,  > - The right payload is set (e.g by using the (getActivePayload)[getActivePayload] endpoint),  > - No humans or object are within the robot's reach or within the cell.  As long as the websocket connection is open you will get the current state of the robot system in the response in the specified response_rate. If the activation failed, the returned status will return possible reasons for the failure.  Free drive mode is only available for robot controllers that support it, in particular Collobarative Robots (\"Cobots\"). Use the (listController)[listController] endpoint to check if the robot controller supports free drive mode.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Sets the robot controller into freedrive mode and stays in freedrive until the websocket connection is closed by the client. In freedrive mode, it is possible to move the attached motion groups by hand. This is a blocking call. As long as the websocket connection is open, no other endpoint can control or move the robot.  <!-- theme: danger -->  > **DANGER** > > Danger caused by robot. Improper assessment by the integrator of the application-specific hazards can result in people being > crushed, drawn in or caught due to the robot's complex movement sequences. Before opening the websocket, ensure that > > - The robot is in a safe state, > - The right payload is set, > - No humans or object are within the robot's reach or within the cell.  As long as the websocket connection is open you will get the current state of the robot system in the response in the specified `response_rate`. If the activation failed, the returned status will return possible reasons for the failure.  Free drive mode is only available for robot controllers that support it, in particular cobots. Use [listRobotControllers](listRobotControllers) to check if the robot controller supports free drive mode.   # noqa: E501
         :param request: A StreamFreeDriveRequest
         :info All responses from the server will be yielded
         :type StreamFreeDriveRequest
@@ -3285,13 +3279,15 @@ class ControllerApi:
                     yield RobotControllerState.from_dict(response_data["result"])
             except websockets.exceptions.ConnectionClosed:
                 return
+            finally:
+                await websocket.close()
 
 
     @validate_call
-    async def stream_robot_controller_state(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], response_rate: Optional[StrictInt] = None) -> AsyncGenerator[RobotControllerState, None]:  # noqa: E501
+    async def stream_robot_controller_state(self, cell: Annotated[StrictStr, Field(description="Unique identifier addressing a cell in all API calls. ")], controller: Annotated[StrictStr, Field(description="Unique identifier to address a controller in the cell.")], response_rate: Optional[Annotated[int, Field(le=2147483647, strict=True, ge=0)]] = None, add_controller_timeout: Optional[Annotated[int, Field(le=2147483647, strict=True, ge=0)]] = None) -> AsyncGenerator[RobotControllerState, None]:  # noqa: E501
         """Stream State  # noqa: E501
 
-        <!-- theme: danger -->  > Websocket endpoint  Receive updates of the state of a robot controller.   # noqa: E501
+        <!-- theme: success -->  > Websocket endpoint  Receive updates of the state of a robot controller.  The stream can be opened before the controller is registered. To register a controller, call [addRobotController](addRobotController).  While connecting, the stream sends initialization updates. Once the controller reaches `MODE_MONITOR`, it sends controller state updates.   # noqa: E501
         :param request: A StreamRobotControllerStateRequest
         :info All responses from the server will be yielded
         :type StreamRobotControllerStateRequest
@@ -3343,6 +3339,12 @@ class ControllerApi:
               url_schema += "&".join(["response_rate=" + s for s in response_rate])
             else:
               url_schema += "response_rate="+str(response_rate)
+        if locals().get("add_controller_timeout") is not None:
+            url_schema = append_parameter_connector(url_schema)
+            if isinstance(add_controller_timeout, list):
+              url_schema += "&".join(["add_controller_timeout=" + s for s in add_controller_timeout])
+            else:
+              url_schema += "add_controller_timeout="+str(add_controller_timeout)
         full_url = furl(url_schema)
 
         async with websockets.connect(full_url.url, open_timeout=10, additional_headers=headers) as websocket:
@@ -3354,6 +3356,8 @@ class ControllerApi:
                     yield RobotControllerState.from_dict(response_data["result"])
             except websockets.exceptions.ConnectionClosed:
                 return
+            finally:
+                await websocket.close()
 
 
     @validate_call
@@ -3378,7 +3382,7 @@ class ControllerApi:
     ) -> None:
         """Update Robot Controller
 
-        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3459,7 +3463,7 @@ class ControllerApi:
     ) -> ApiResponse[None]:
         """Update Robot Controller
 
-        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -3540,7 +3544,7 @@ class ControllerApi:
     ) -> RESTResponseType:
         """Update Robot Controller
 
-        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.  <!-- theme: warning --> > **WARNING** > > Using it in conjunction with the settings app may lead to unpredictable behavior. 
+        Update the configuration of a robot controller.  Reconfigure certain options of a robot controller, or deploy a specific container image of a robot controller.   To update a virtual controller, the previous controller will be deleted and a new one created. Changes to the configuration, e.g., TCPs, coordinate systems, mounting, are **not** transferred to the new robot.  <!-- theme: info --> > **NOTE** > > An update is not a reset. To do a reset: > 1. Get the current configuration via [getRobotController](getRobotController). > 2. Delete the existing virtual robot controller via [deleteRobotController](deleteRobotController). > 3. Add a virtual robot controller with [addRobotController](addRobotController). 
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str