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

wandelbots_api_client/{v2/api/virtual_robot_mode_api.py → v2_pydantic/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
@@ -23,19 +22,18 @@ 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, StrictBool, StrictStr
-from typing import Optional
+from pydantic import Field, StrictStr
 from typing_extensions import Annotated
-from wandelbots_api_client.v2.models.cycle_time import CycleTime
-from wandelbots_api_client.v2.models.flag import Flag
-from wandelbots_api_client.v2.models.op_mode import OpMode
-from wandelbots_api_client.v2.models.operation_mode import OperationMode
+from wandelbots_api_client.v2_pydantic.models import AddTrajectoryRequest
+from wandelbots_api_client.v2_pydantic.models import AddTrajectoryResponse
+from wandelbots_api_client.v2_pydantic.models import GetTrajectoryResponse
+from wandelbots_api_client.v2_pydantic.models import ListTrajectoriesResponse
 
-from wandelbots_api_client.v2.api_client import ApiClient, RequestSerialized
-from wandelbots_api_client.v2.api_response import ApiResponse
-from wandelbots_api_client.v2.rest import RESTResponseType
+from wandelbots_api_client.v2_pydantic.api_client import ApiClient, RequestSerialized
+from wandelbots_api_client.v2_pydantic.api_response import ApiResponse
+from wandelbots_api_client.v2_pydantic.rest import RESTResponseType
 
-class VirtualRobotModeApi:
+class TrajectoryCachingApi:
     """NOTE: This class is auto generated by OpenAPI Generator
     Ref: https://openapi-generator.tech
 
@@ -48,10 +46,11 @@ class VirtualRobotModeApi:
         self.api_client = api_client
 
     @validate_call
-    async def get_cycle_time(
+    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,
             Annotated[StrictFloat, Field(gt=0)],
@@ -64,15 +63,17 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> CycleTime:
-        """Cycle Time
+    ) -> AddTrajectoryResponse:
+        """Add Trajectory
 
-        Get the cycle time of controller communication in [ms]. 
+        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
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -95,9 +96,10 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_cycle_time_serialize(
+        _param = self._add_trajectory_serialize(
             cell=cell,
             controller=controller,
+            add_trajectory_request=add_trajectory_request,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -105,9 +107,11 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "CycleTime",
+            '200': "AddTrajectoryResponse",
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -120,10 +124,11 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def get_cycle_time_with_http_info(
+    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,
             Annotated[StrictFloat, Field(gt=0)],
@@ -136,15 +141,17 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[CycleTime]:
-        """Cycle Time
+    ) -> ApiResponse[AddTrajectoryResponse]:
+        """Add Trajectory
 
-        Get the cycle time of controller communication in [ms]. 
+        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
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -167,9 +174,10 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_cycle_time_serialize(
+        _param = self._add_trajectory_serialize(
             cell=cell,
             controller=controller,
+            add_trajectory_request=add_trajectory_request,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -177,9 +185,11 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "CycleTime",
+            '200': "AddTrajectoryResponse",
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -192,10 +202,11 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def get_cycle_time_without_preload_content(
+    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,
             Annotated[StrictFloat, Field(gt=0)],
@@ -209,14 +220,16 @@ class VirtualRobotModeApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Cycle Time
+        """Add Trajectory
 
-        Get the cycle time of controller communication in [ms]. 
+        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
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -239,9 +252,10 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_cycle_time_serialize(
+        _param = self._add_trajectory_serialize(
             cell=cell,
             controller=controller,
+            add_trajectory_request=add_trajectory_request,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -249,9 +263,11 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "CycleTime",
+            '200': "AddTrajectoryResponse",
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -259,10 +275,11 @@ class VirtualRobotModeApi:
         return response_data.response
 
 
-    def _get_cycle_time_serialize(
+    def _add_trajectory_serialize(
         self,
         cell,
         controller,
+        add_trajectory_request,
         _request_auth,
         _content_type,
         _headers,
@@ -290,6 +307,8 @@ class VirtualRobotModeApi:
         # process the header parameters
         # process the form parameters
         # process the body parameter
+        if add_trajectory_request is not None:
+            _body_params = add_trajectory_request
 
 
         # set the HTTP header `Accept`
@@ -299,6 +318,19 @@ class VirtualRobotModeApi:
             ]
         )
 
+        # set the HTTP header `Content-Type`
+        if _content_type:
+            _header_params['Content-Type'] = _content_type
+        else:
+            _default_content_type = (
+                self.api_client.select_header_content_type(
+                    [
+                        'application/json'
+                    ]
+                )
+            )
+            if _default_content_type is not None:
+                _header_params['Content-Type'] = _default_content_type
 
         # authentication setting
         _auth_settings: List[str] = [
@@ -307,8 +339,8 @@ class VirtualRobotModeApi:
         ]
 
         return self.api_client.param_serialize(
-            method='GET',
-            resource_path='/cells/{cell}/controllers/{controller}/teach-pendant/cycle-time',
+            method='POST',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -324,7 +356,7 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def get_emergency_stop(
+    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.")],
@@ -340,10 +372,10 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> Flag:
-        """Get Emergency Stop State
+    ) -> None:
+        """Clear Trajectories
 
-        Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
+        Clear the trajectory cache.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -371,7 +403,7 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_emergency_stop_serialize(
+        _param = self._clear_trajectories_serialize(
             cell=cell,
             controller=controller,
             _request_auth=_request_auth,
@@ -381,9 +413,10 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "Flag",
+            '200': None,
             '400': "Error",
-        }
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -396,7 +429,7 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def get_emergency_stop_with_http_info(
+    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.")],
@@ -412,10 +445,10 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[Flag]:
-        """Get Emergency Stop State
+    ) -> ApiResponse[None]:
+        """Clear Trajectories
 
-        Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
+        Clear the trajectory cache.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -443,7 +476,7 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_emergency_stop_serialize(
+        _param = self._clear_trajectories_serialize(
             cell=cell,
             controller=controller,
             _request_auth=_request_auth,
@@ -453,9 +486,10 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "Flag",
+            '200': None,
             '400': "Error",
-        }
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -468,7 +502,7 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def get_emergency_stop_without_preload_content(
+    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.")],
@@ -485,9 +519,9 @@ class VirtualRobotModeApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Get Emergency Stop State
+        """Clear Trajectories
 
-        Requests the Emergency Stop state of the virtual robot controller.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed when using virtual robot controllers. 
+        Clear the trajectory cache.
 
         :param cell: Unique identifier addressing a cell in all API calls.  (required)
         :type cell: str
@@ -515,7 +549,7 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_emergency_stop_serialize(
+        _param = self._clear_trajectories_serialize(
             cell=cell,
             controller=controller,
             _request_auth=_request_auth,
@@ -525,9 +559,10 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "Flag",
+            '200': None,
             '400': "Error",
-        }
+        }        
+
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -535,7 +570,7 @@ class VirtualRobotModeApi:
         return response_data.response
 
 
-    def _get_emergency_stop_serialize(
+    def _clear_trajectories_serialize(
         self,
         cell,
         controller,
@@ -583,8 +618,8 @@ class VirtualRobotModeApi:
         ]
 
         return self.api_client.param_serialize(
-            method='GET',
-            resource_path='/cells/{cell}/controllers/{controller}/teach-pendant/emergency-stop',
+            method='DELETE',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -600,10 +635,11 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def get_operation_mode(
+    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,
             Annotated[StrictFloat, Field(gt=0)],
@@ -616,15 +652,17 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> OpMode:
-        """Get Operation Mode
+    ) -> None:
+        """Delete Trajectory
 
-        Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        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
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -647,9 +685,10 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_operation_mode_serialize(
+        _param = self._delete_trajectory_serialize(
             cell=cell,
             controller=controller,
+            trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -657,9 +696,11 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "OpMode",
+            '200': None,
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -672,10 +713,11 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def get_operation_mode_with_http_info(
+    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,
             Annotated[StrictFloat, Field(gt=0)],
@@ -688,15 +730,17 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[OpMode]:
-        """Get Operation Mode
+    ) -> ApiResponse[None]:
+        """Delete Trajectory
 
-        Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        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
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -719,9 +763,10 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_operation_mode_serialize(
+        _param = self._delete_trajectory_serialize(
             cell=cell,
             controller=controller,
+            trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -729,9 +774,11 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "OpMode",
+            '200': None,
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -744,10 +791,11 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def get_operation_mode_without_preload_content(
+    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,
             Annotated[StrictFloat, Field(gt=0)],
@@ -761,14 +809,16 @@ class VirtualRobotModeApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Get Operation Mode
+        """Delete Trajectory
 
-        Requests the Operation Mode of the virtual robot controller.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  **Note:** The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        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
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -791,9 +841,10 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._get_operation_mode_serialize(
+        _param = self._delete_trajectory_serialize(
             cell=cell,
             controller=controller,
+            trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -801,9 +852,11 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': "OpMode",
+            '200': None,
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -811,10 +864,11 @@ class VirtualRobotModeApi:
         return response_data.response
 
 
-    def _get_operation_mode_serialize(
+    def _delete_trajectory_serialize(
         self,
         cell,
         controller,
+        trajectory,
         _request_auth,
         _content_type,
         _headers,
@@ -838,6 +892,8 @@ class VirtualRobotModeApi:
             _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
         # process the header parameters
         # process the form parameters
@@ -859,8 +915,8 @@ class VirtualRobotModeApi:
         ]
 
         return self.api_client.param_serialize(
-            method='GET',
-            resource_path='/cells/{cell}/controllers/{controller}/teach-pendant/operationmode',
+            method='DELETE',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories/{trajectory}',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -876,11 +932,11 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def set_emergency_stop(
+    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.")],
-        active: Optional[StrictBool] = None,
+        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,
             Annotated[StrictFloat, Field(gt=0)],
@@ -893,17 +949,17 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> None:
-        """Push or Release Emergency Stop
+    ) -> GetTrajectoryResponse:
+        """Get Trajectory
 
-        Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+        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 active:
-        :type active: bool
+        :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
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -926,10 +982,10 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._set_emergency_stop_serialize(
+        _param = self._get_trajectory_serialize(
             cell=cell,
             controller=controller,
-            active=active,
+            trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -937,9 +993,11 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': None,
+            '200': "GetTrajectoryResponse",
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -952,11 +1010,11 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def set_emergency_stop_with_http_info(
+    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.")],
-        active: Optional[StrictBool] = None,
+        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,
             Annotated[StrictFloat, Field(gt=0)],
@@ -969,17 +1027,17 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[None]:
-        """Push or Release Emergency Stop
+    ) -> ApiResponse[GetTrajectoryResponse]:
+        """Get Trajectory
 
-        Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+        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 active:
-        :type active: bool
+        :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
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -1002,10 +1060,10 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._set_emergency_stop_serialize(
+        _param = self._get_trajectory_serialize(
             cell=cell,
             controller=controller,
-            active=active,
+            trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1013,9 +1071,11 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': None,
+            '200': "GetTrajectoryResponse",
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -1028,11 +1088,11 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def set_emergency_stop_without_preload_content(
+    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.")],
-        active: Optional[StrictBool] = None,
+        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,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1046,16 +1106,16 @@ class VirtualRobotModeApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Push or Release Emergency Stop
+        """Get Trajectory
 
-        Activates or releases the Emergency Stop on the virtual robot controller.  Activating the Emergency Stop stops the execution of all motions. The stop is executed on physical controllers immediately not gracefully and not on paths. Due to restricted physical behavior of the virtual robot controller, the Emergency Stop is executed on paths. To return to normal operation the Emergency Stop needs to be released.  Use [getCurrentMotionGroupState](getCurrentMotionGroupState) to get the Emergency Stop state regardless of the controller type. There the Emergency Stop state is visible as the `safety_state`.  > **NOTE** > > The Emergency Stop state can only be changed via API when using virtual robot controllers. 
+        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 active:
-        :type active: bool
+        :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
                                  number provided, it will be total request
                                  timeout. It can also be a pair (tuple) of
@@ -1078,10 +1138,10 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._set_emergency_stop_serialize(
+        _param = self._get_trajectory_serialize(
             cell=cell,
             controller=controller,
-            active=active,
+            trajectory=trajectory,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1089,9 +1149,11 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': None,
+            '200': "GetTrajectoryResponse",
             '400': "Error",
-        }
+            '404': "Error",
+        }        
+
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -1099,11 +1161,11 @@ class VirtualRobotModeApi:
         return response_data.response
 
 
-    def _set_emergency_stop_serialize(
+    def _get_trajectory_serialize(
         self,
         cell,
         controller,
-        active,
+        trajectory,
         _request_auth,
         _content_type,
         _headers,
@@ -1127,11 +1189,9 @@ class VirtualRobotModeApi:
             _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
-        if active is not None:
-            
-            _query_params.append(('active', active))
-            
         # process the header parameters
         # process the form parameters
         # process the body parameter
@@ -1152,8 +1212,8 @@ class VirtualRobotModeApi:
         ]
 
         return self.api_client.param_serialize(
-            method='PUT',
-            resource_path='/cells/{cell}/controllers/{controller}/teach-pendant/emergency-stop',
+            method='GET',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories/{trajectory}',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,
@@ -1169,11 +1229,10 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def set_operation_mode(
+    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.")],
-        mode: OperationMode,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1186,17 +1245,15 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> None:
-        """Set Operation Mode
+    ) -> ListTrajectoriesResponse:
+        """List Trajectories
 
-        Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        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 mode: (required)
-        :type mode: OperationMode
         :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
@@ -1219,10 +1276,9 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._set_operation_mode_serialize(
+        _param = self._list_trajectories_serialize(
             cell=cell,
             controller=controller,
-            mode=mode,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1230,9 +1286,10 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': None,
+            '200': "ListTrajectoriesResponse",
             '400': "Error",
-        }
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -1245,11 +1302,10 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def set_operation_mode_with_http_info(
+    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.")],
-        mode: OperationMode,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1262,17 +1318,15 @@ class VirtualRobotModeApi:
         _content_type: Optional[StrictStr] = None,
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
-    ) -> ApiResponse[None]:
-        """Set Operation Mode
+    ) -> ApiResponse[ListTrajectoriesResponse]:
+        """List Trajectories
 
-        Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        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 mode: (required)
-        :type mode: OperationMode
         :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
@@ -1295,10 +1349,9 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._set_operation_mode_serialize(
+        _param = self._list_trajectories_serialize(
             cell=cell,
             controller=controller,
-            mode=mode,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1306,9 +1359,10 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': None,
+            '200': "ListTrajectoriesResponse",
             '400': "Error",
-        }
+        }        
+        
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -1321,11 +1375,10 @@ class VirtualRobotModeApi:
 
 
     @validate_call
-    async def set_operation_mode_without_preload_content(
+    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.")],
-        mode: OperationMode,
         _request_timeout: Union[
             None,
             Annotated[StrictFloat, Field(gt=0)],
@@ -1339,16 +1392,14 @@ class VirtualRobotModeApi:
         _headers: Optional[Dict[StrictStr, Any]] = None,
         _host_index: Annotated[StrictInt, Field(ge=0, le=0)] = 0,
     ) -> RESTResponseType:
-        """Set Operation Mode
+        """List Trajectories
 
-        Changes the Operation Mode of the virtual robot controller to the specified value.  To get the Operation Mode regardless of the controller type use [getCurrentMotionGroupState](getCurrentMotionGroupState).  > **NOTE** > > The Operating Mode can only change be changed via API when using virtual robot controllers. 
+        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 mode: (required)
-        :type mode: OperationMode
         :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
@@ -1371,10 +1422,9 @@ class VirtualRobotModeApi:
         :return: Returns the result object.
         """ # noqa: E501
 
-        _param = self._set_operation_mode_serialize(
+        _param = self._list_trajectories_serialize(
             cell=cell,
             controller=controller,
-            mode=mode,
             _request_auth=_request_auth,
             _content_type=_content_type,
             _headers=_headers,
@@ -1382,9 +1432,10 @@ class VirtualRobotModeApi:
         )
 
         _response_types_map: Dict[str, Optional[str]] = {
-            '200': None,
+            '200': "ListTrajectoriesResponse",
             '400': "Error",
-        }
+        }        
+
         response_data = await self.api_client.call_api(
             *_param,
             _request_timeout=_request_timeout
@@ -1392,11 +1443,10 @@ class VirtualRobotModeApi:
         return response_data.response
 
 
-    def _set_operation_mode_serialize(
+    def _list_trajectories_serialize(
         self,
         cell,
         controller,
-        mode,
         _request_auth,
         _content_type,
         _headers,
@@ -1421,10 +1471,6 @@ class VirtualRobotModeApi:
         if controller is not None:
             _path_params['controller'] = controller
         # process the query parameters
-        if mode is not None:
-            
-            _query_params.append(('mode', mode.value))
-            
         # process the header parameters
         # process the form parameters
         # process the body parameter
@@ -1445,8 +1491,8 @@ class VirtualRobotModeApi:
         ]
 
         return self.api_client.param_serialize(
-            method='PUT',
-            resource_path='/cells/{cell}/controllers/{controller}/teach-pendant/operationmode',
+            method='GET',
+            resource_path='/cells/{cell}/controllers/{controller}/trajectories',
             path_params=_path_params,
             query_params=_query_params,
             header_params=_header_params,