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

wandelbots_api_client/v2/api/trajectory_caching_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
@@ -50,6 +49,7 @@ class TrajectoryCachingApi:
     async def add_trajectory(
         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.")],
         add_trajectory_request: AddTrajectoryRequest,
         _request_timeout: Union[
             None,
@@ -66,10 +66,12 @@ class TrajectoryCachingApi:
     ) -> AddTrajectoryResponse:
         """Add Trajectory
 
-        <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
+        Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable.  <!-- theme: info -->  > #### NOTE > > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
 
         :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 add_trajectory_request: (required)
         :type add_trajectory_request: AddTrajectoryRequest
         :param _request_timeout: timeout setting for this request. If one
@@ -96,6 +98,7 @@ class TrajectoryCachingApi:
 
         _param = self._add_trajectory_serialize(
             cell=cell,
+            controller=controller,
             add_trajectory_request=add_trajectory_request,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -123,6 +126,7 @@ class TrajectoryCachingApi:
     async def add_trajectory_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.")],
         add_trajectory_request: AddTrajectoryRequest,
         _request_timeout: Union[
             None,
@@ -139,10 +143,12 @@ class TrajectoryCachingApi:
     ) -> ApiResponse[AddTrajectoryResponse]:
         """Add Trajectory
 
-        <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
+        Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable.  <!-- theme: info -->  > #### NOTE > > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
 
         :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 add_trajectory_request: (required)
         :type add_trajectory_request: AddTrajectoryRequest
         :param _request_timeout: timeout setting for this request. If one
@@ -169,6 +175,7 @@ class TrajectoryCachingApi:
 
         _param = self._add_trajectory_serialize(
             cell=cell,
+            controller=controller,
             add_trajectory_request=add_trajectory_request,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -196,6 +203,7 @@ class TrajectoryCachingApi:
     async def add_trajectory_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.")],
         add_trajectory_request: AddTrajectoryRequest,
         _request_timeout: Union[
             None,
@@ -212,10 +220,12 @@ class TrajectoryCachingApi:
     ) -> RESTResponseType:
         """Add Trajectory
 
-        <!-- theme: info -->  > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable. The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
+        Loads and validates the data of a trajectory into the execution cache, rendering the trajectory executable.  <!-- theme: info -->  > #### NOTE > > Using the trajectory cache is an optional performance optimization. It is not necessary to use the cache to execute trajectories.  The response contains the result of the validation of the trajectory.  Validation can lead to three different results: - Fully valid: The whole trajectory can be executed from start to end. The response will contain an unique identifier which is used to move the robot. - Partially valid: Only parts of the trajectory can be executed. The response will contain an unique identifier to move the robot   and information about the failure for the part that is not executable. - Invalid: The trajectory can not be executed. The response will tell you the reason of failure.  If the trajectory is at least partially valid, the parts of the trajectory that are valid can be executed using the [executeTrajectory](executeTrajectory) endpoint.  The workflow is as follows:   - Generate a trajectory with [planTrajectory](planTrajectory) or your own motion planner,   - Send the trajectory to this endpoint to validate it and get a unique identifier for it,   - The unique identifier will appear in the list of available trajectories, see [listTrajectories](listTrajectories) endpoint, if it is at least partially executable.   - Execute your trajectory using the [executeTrajectory](executeTrajectory) endpoint. 
 
         :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 add_trajectory_request: (required)
         :type add_trajectory_request: AddTrajectoryRequest
         :param _request_timeout: timeout setting for this request. If one
@@ -242,6 +252,7 @@ class TrajectoryCachingApi:
 
         _param = self._add_trajectory_serialize(
             cell=cell,
+            controller=controller,
             add_trajectory_request=add_trajectory_request,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -264,6 +275,7 @@ class TrajectoryCachingApi:
     def _add_trajectory_serialize(
         self,
         cell,
+        controller,
         add_trajectory_request,
         _request_auth,
         _content_type,
@@ -286,6 +298,8 @@ class TrajectoryCachingApi:
         # 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
         # process the header parameters
         # process the form parameters
@@ -323,7 +337,7 @@ class TrajectoryCachingApi:
 
         return self.api_client.param_serialize(
             method='POST',
-            resource_path='/cells/{cell}/trajectories',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -342,6 +356,7 @@ class TrajectoryCachingApi:
     async def clear_trajectories(
         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.")],
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -361,6 +376,8 @@ class TrajectoryCachingApi:
 
         :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 _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
@@ -385,6 +402,7 @@ class TrajectoryCachingApi:
 
         _param = self._clear_trajectories_serialize(
             cell=cell,
+            controller=controller,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -410,6 +428,7 @@ class TrajectoryCachingApi:
     async def clear_trajectories_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.")],
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -429,6 +448,8 @@ class TrajectoryCachingApi:
 
         :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 _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
@@ -453,6 +474,7 @@ class TrajectoryCachingApi:
 
         _param = self._clear_trajectories_serialize(
             cell=cell,
+            controller=controller,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -478,6 +500,7 @@ class TrajectoryCachingApi:
     async def clear_trajectories_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.")],
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -497,6 +520,8 @@ class TrajectoryCachingApi:
 
         :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 _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
@@ -521,6 +546,7 @@ class TrajectoryCachingApi:
 
         _param = self._clear_trajectories_serialize(
             cell=cell,
+            controller=controller,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -541,6 +567,7 @@ class TrajectoryCachingApi:
     def _clear_trajectories_serialize(
         self,
         cell,
+        controller,
         _request_auth,
         _content_type,
         _headers,
@@ -562,6 +589,8 @@ class TrajectoryCachingApi:
         # 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
         # process the header parameters
         # process the form parameters
@@ -584,7 +613,7 @@ class TrajectoryCachingApi:
 
         return self.api_client.param_serialize(
             method='DELETE',
-            resource_path='/cells/{cell}/trajectories',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -603,6 +632,7 @@ class TrajectoryCachingApi:
     async def delete_trajectory(
         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.")],
         trajectory: Annotated[StrictStr, Field(description="This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory. ")],
         _request_timeout: Union[
             None,
@@ -619,10 +649,12 @@ class TrajectoryCachingApi:
     ) -> None:
         """Delete Trajectory
 
-        Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
+        Delete a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
 
         :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 trajectory: This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.  (required)
         :type trajectory: str
         :param _request_timeout: timeout setting for this request. If one
@@ -649,6 +681,7 @@ class TrajectoryCachingApi:
 
         _param = self._delete_trajectory_serialize(
             cell=cell,
+            controller=controller,
             trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -676,6 +709,7 @@ class TrajectoryCachingApi:
     async def delete_trajectory_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.")],
         trajectory: Annotated[StrictStr, Field(description="This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory. ")],
         _request_timeout: Union[
             None,
@@ -692,10 +726,12 @@ class TrajectoryCachingApi:
     ) -> ApiResponse[None]:
         """Delete Trajectory
 
-        Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
+        Delete a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
 
         :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 trajectory: This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.  (required)
         :type trajectory: str
         :param _request_timeout: timeout setting for this request. If one
@@ -722,6 +758,7 @@ class TrajectoryCachingApi:
 
         _param = self._delete_trajectory_serialize(
             cell=cell,
+            controller=controller,
             trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -749,6 +786,7 @@ class TrajectoryCachingApi:
     async def delete_trajectory_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.")],
         trajectory: Annotated[StrictStr, Field(description="This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory. ")],
         _request_timeout: Union[
             None,
@@ -765,10 +803,12 @@ class TrajectoryCachingApi:
     ) -> RESTResponseType:
         """Delete Trajectory
 
-        Delete a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
+        Delete a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. Trajectories are removed automatically if the motion group or the corresponding controller is disconnected. 
 
         :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 trajectory: This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.  (required)
         :type trajectory: str
         :param _request_timeout: timeout setting for this request. If one
@@ -795,6 +835,7 @@ class TrajectoryCachingApi:
 
         _param = self._delete_trajectory_serialize(
             cell=cell,
+            controller=controller,
             trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -817,6 +858,7 @@ class TrajectoryCachingApi:
     def _delete_trajectory_serialize(
         self,
         cell,
+        controller,
         trajectory,
         _request_auth,
         _content_type,
@@ -839,6 +881,8 @@ class TrajectoryCachingApi:
         # process the path parameters
         if cell is not None:
             _path_params['cell'] = cell
+        if controller is not None:
+            _path_params['controller'] = controller
         if trajectory is not None:
             _path_params['trajectory'] = trajectory
         # process the query parameters
@@ -863,7 +907,7 @@ class TrajectoryCachingApi:
 
         return self.api_client.param_serialize(
             method='DELETE',
-            resource_path='/cells/{cell}/trajectories/{trajectory}',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories/{trajectory}',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -882,6 +926,7 @@ class TrajectoryCachingApi:
     async def get_trajectory(
         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.")],
         trajectory: Annotated[StrictStr, Field(description="This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory. ")],
         _request_timeout: Union[
             None,
@@ -898,10 +943,12 @@ class TrajectoryCachingApi:
     ) -> GetTrajectoryResponse:
         """Get Trajectory
 
-        Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. 
+        Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. 
 
         :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 trajectory: This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.  (required)
         :type trajectory: str
         :param _request_timeout: timeout setting for this request. If one
@@ -928,6 +975,7 @@ class TrajectoryCachingApi:
 
         _param = self._get_trajectory_serialize(
             cell=cell,
+            controller=controller,
             trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -955,6 +1003,7 @@ class TrajectoryCachingApi:
     async def get_trajectory_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.")],
         trajectory: Annotated[StrictStr, Field(description="This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory. ")],
         _request_timeout: Union[
             None,
@@ -971,10 +1020,12 @@ class TrajectoryCachingApi:
     ) -> ApiResponse[GetTrajectoryResponse]:
         """Get Trajectory
 
-        Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. 
+        Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. 
 
         :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 trajectory: This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.  (required)
         :type trajectory: str
         :param _request_timeout: timeout setting for this request. If one
@@ -1001,6 +1052,7 @@ class TrajectoryCachingApi:
 
         _param = self._get_trajectory_serialize(
             cell=cell,
+            controller=controller,
             trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -1028,6 +1080,7 @@ class TrajectoryCachingApi:
     async def get_trajectory_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.")],
         trajectory: Annotated[StrictStr, Field(description="This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory. ")],
         _request_timeout: Union[
             None,
@@ -1044,10 +1097,12 @@ class TrajectoryCachingApi:
     ) -> RESTResponseType:
         """Get Trajectory
 
-        Get a previously created trajectory from cache. Use [listTrajectories](listTrajectories) to list all cached trajectories. 
+        Get a previously created trajectory from cache.  Use [listTrajectories](listTrajectories) to list all cached trajectories. 
 
         :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 trajectory: This represents the unique identifier of a trajectory. Every executable or partially executable trajectory is cached and an unique identifier is returned. Indicate the unique identifier to execute the trajectory or retrieve information on the trajectory.  (required)
         :type trajectory: str
         :param _request_timeout: timeout setting for this request. If one
@@ -1074,6 +1129,7 @@ class TrajectoryCachingApi:
 
         _param = self._get_trajectory_serialize(
             cell=cell,
+            controller=controller,
             trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
@@ -1096,6 +1152,7 @@ class TrajectoryCachingApi:
     def _get_trajectory_serialize(
         self,
         cell,
+        controller,
         trajectory,
         _request_auth,
         _content_type,
@@ -1118,6 +1175,8 @@ class TrajectoryCachingApi:
         # process the path parameters
         if cell is not None:
             _path_params['cell'] = cell
+        if controller is not None:
+            _path_params['controller'] = controller
         if trajectory is not None:
             _path_params['trajectory'] = trajectory
         # process the query parameters
@@ -1142,7 +1201,7 @@ class TrajectoryCachingApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/trajectories/{trajectory}',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories/{trajectory}',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -1161,6 +1220,7 @@ class TrajectoryCachingApi:
     async def list_trajectories(
         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.")],
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1176,10 +1236,12 @@ class TrajectoryCachingApi:
     ) -> ListTrajectoriesResponse:
         """List Trajectories
 
-        List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
+        List currently cached trajectories.  Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
 
         :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 _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
@@ -1204,6 +1266,7 @@ class TrajectoryCachingApi:
 
         _param = self._list_trajectories_serialize(
             cell=cell,
+            controller=controller,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1229,6 +1292,7 @@ class TrajectoryCachingApi:
     async def list_trajectories_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.")],
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1244,10 +1308,12 @@ class TrajectoryCachingApi:
     ) -> ApiResponse[ListTrajectoriesResponse]:
         """List Trajectories
 
-        List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
+        List currently cached trajectories.  Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
 
         :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 _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
@@ -1272,6 +1338,7 @@ class TrajectoryCachingApi:
 
         _param = self._list_trajectories_serialize(
             cell=cell,
+            controller=controller,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1297,6 +1364,7 @@ class TrajectoryCachingApi:
     async def list_trajectories_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.")],
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1312,10 +1380,12 @@ class TrajectoryCachingApi:
     ) -> RESTResponseType:
         """List Trajectories
 
-        List currently cached trajectories. Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
+        List currently cached trajectories.  Use [addTrajectory](addTrajectory) to add a new trajectory. Adding trajectories is necessary to execute them. Trajectories are removed if the corresponding motion group or controller disconnects. 
 
         :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 _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
@@ -1340,6 +1410,7 @@ class TrajectoryCachingApi:
 
         _param = self._list_trajectories_serialize(
             cell=cell,
+            controller=controller,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1360,6 +1431,7 @@ class TrajectoryCachingApi:
     def _list_trajectories_serialize(
         self,
         cell,
+        controller,
         _request_auth,
         _content_type,
         _headers,
@@ -1381,6 +1453,8 @@ class TrajectoryCachingApi:
         # 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
         # process the header parameters
         # process the form parameters
@@ -1403,7 +1477,7 @@ class TrajectoryCachingApi:
 
         return self.api_client.param_serialize(
             method='GET',
-            resource_path='/cells/{cell}/trajectories',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,