@wandelbots/nova-js/dist/experimental/nats/index.d.mts

Official JS client for the Wandelbots API

import { t as Nova } from "../../Nova-Bd4sVjdb.mjs";
import { ConnectionOptions, Msg, NatsConnection } from "@nats-io/nats-core";

//#region src/lib/experimental/nats/buildNatsServerUrl.d.ts
/**
 * Builds the WebSocket URL for a NOVA instance's NATS gateway from its
 * instance URL, e.g. `https://foo.instance.wandelbots.io` becomes
 * `wss://foo.instance.wandelbots.io/api/nats`.
 *
 * Pass the result as `servers` in the `NovaNatsClientConfig` passed to
 * `NovaNatsClient`.
 */
declare function buildNatsServerUrl(instanceUrl: string): string;
//#endregion
//#region src/lib/experimental/nats/generated/types.d.ts
/**
 * AUTO-GENERATED FILE - DO NOT EDIT.
 * Generated from src/asyncapi.yaml by scripts/generate-nats-client.ts.
 * Run `pnpm generate:nats` to regenerate.
 */
/**
 * A unique name for the cell used as an identifier for addressing the cell in all API calls.
 * It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "CellName".
 */
type CellName = string;
/**
 * A description of the cell.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "CellDescription".
 */
type CellDescription = string;
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Manufacturer".
 */
type Manufacturer = "abb" | "fanuc" | "kuka" | "staubli" | "universalrobots" | "yaskawa";
/**
 * Identifies a single motion group model.
 * See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "MotionGroupModel".
 */
type MotionGroupModel = string;
/**
 * Request body wrapper for `addVirtualControllerMotionGroup`.
 * Allow either referencing a predefined motion group model or
 * uploading a JSON configuration that the backend converts into a
 * motion group description.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "AddVirtualControllerMotionGroupRequest".
 */
type AddVirtualControllerMotionGroupRequest = MotionGroupFromModel | MotionGroupFromJSON;
/**
 * A list of environment variables with name and their value.
 * These can be used to configure the containerized application, and turn features on or off.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ContainerEnvironment".
 */
type ContainerEnvironment = {
  name: string;
  value: string;
}[];
/**
 * The amount of requested storage capacity.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Capacity".
 */
type Capacity = string;
/**
 * The state of a program run.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ProgramRunState".
 */
type ProgramRunState = "PREPARING" | "RUNNING" | "COMPLETED" | "FAILED" | "STOPPED";
/**
 * State of the program run.
 */
type ProgramRunState1 = "PREPARING" | "RUNNING" | "COMPLETED" | "FAILED" | "STOPPED";
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ServiceGroup".
 */
type ServiceGroup = "SystemService" | "CellService" | "RobotController" | "App";
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ServiceStatusSeverity".
 */
type ServiceStatusSeverity = "INFO" | "WARNING" | "ERROR";
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ServiceStatusPhase".
 */
type ServiceStatusPhase = "Terminating" | "Initialized" | "Running" | "NoReady" | "Completed" | "ContainerCreating" | "PodInitializing" | "Unknown" | "CrashLoopBackOff" | "Error" | "ImagePullBackOff" | "OOMKilled" | "Pending" | "Evicted";
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ServiceStatusList".
 */
type ServiceStatusList = ServiceStatus[];
/**
 * A three-dimensional vector [x, y, z] with double precision.
 *
 *
 * @minItems 3
 * @maxItems 3
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Vector3d".
 */
type Vector3D = [number, number, number];
/**
 * Defines a rotation in 3D space.
 * A three-dimensional Vector [rx, ry, rz] with double precision.
 * Rotation is applied around the vector.
 * The angle of rotation equals the length of the vector.
 *
 *
 * @minItems 3
 * @maxItems 3
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "RotationVector".
 */
type RotationVector = [number, number, number];
/**
 * A link chain is a kinematic chain of links that is connected via joints.
 * A motion group can be used to control the motion of the joints in a link chain.
 *
 * A link is a group of colliders that is attached to the link reference frame.
 *
 * The reference frame of a link is obtained after applying all sets of Denavit-Hartenberg-parameters from base to (including) the link index.
 *
 * This means that the reference frame of the link is on the rotation axis of the next joint in the kinematic chain.
 * Example: For a motion group with 2 joints, the collider reference frame (CRF) for link 1 is on the rotation axis of joint 2. The chain looks like:
 * - Origin >> Mounting >> Base >> (CRF Base) Joint 0 >> Link 0 >> (CRF Link 0) Joint 1 >> Link 1 >> (CRF Link 1) Flange (CRF Tool) >> TCP
 *
 * Adjacent links in the kinematic chain of the motion group are not checked for mutual collision.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "LinkChain".
 */
type LinkChain = CollisionMotionGroupLink[];
/**
 * The shape of the motion groups links to validate against colliders.
 * Indexed along the kinematic chain, starting with a static base shape before first joint.
 * The base of the motion group is not checked for collision against the environment.
 *
 */
type LinkChain1 = CollisionMotionGroupLink[];
/**
 * Current state of the BUS input/output service.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "BusIOsStateEnum".
 */
type BusIOsStateEnum = "BUS_IOS_STATE_UNKNOWN" | "BUS_IOS_STATE_INITIALIZING" | "BUS_IOS_STATE_CONNECTED" | "BUS_IOS_STATE_DISCONNECTED";
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "IOValue".
 */
type IOValue = IOBooleanValue | IOIntegerValue | IOFloatValue;
/**
 * Array of input/output values.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ListIOValuesResponse".
 */
type ListIOValuesResponse = IOValue[];
/**
 * Defines the current system mode of the robot system, including NOVA communicating with the robot controller.
 *
 * ### MODE_CONTROLLER_NOT_CONFIGURED
 *
 * No controller with the specified identifier is configured. Call [addRobotController](#/operations/addRobotController) to register a controller.
 *
 * ### MODE_INITIALIZING
 *
 * Indicates that a connection to the robot controller is established or reestablished in case of a disconnect.
 * On success, the controller is set to MODE_MONITOR.
 * On failure, the initialization process is retried until successful or cancelled by the user.
 *
 * ### MODE_MONITOR
 *
 * Read-only mode with an active controller connection.
 * - Receives robot state and I/O signals
 * - Move requests are rejected
 * - No commands are sent to the controller
 *
 * ### MODE_CONTROL
 *
 * Active control mode.
 *
 * **Movement is possible in this mode**
 *
 * The robot is cyclically commanded to hold its current position.
 * The robot state is received in sync with the controller cycle.
 * Motion and jogging requests are accepted and executed.
 * Input/Output interaction is enabled.
 *
 * ### MODE_FREE_DRIVE
 *
 * Read-only mode with servo motors enabled for manual movement (Free Drive).
 *
 * Move requests are rejected.
 *
 * Not supported by all robots: Use [getSupportedModes](#/operations/getSupportedModes) to check Free Drive availability.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "RobotSystemMode".
 */
type RobotSystemMode = "MODE_CONTROLLER_NOT_CONFIGURED" | "MODE_INITIALIZING" | "MODE_MONITOR" | "MODE_CONTROL" | "MODE_FREE_DRIVE";
/**
 * Current operation mode of the configured robot controller.
 * Operation modes in which the attached motion groups can be moved are:
 * - OPERATION_MODE_MANUAL (if enabling switch is pressed)
 * - OPERATION_MODE_MANUAL_T1 (if enabling switch is pressed)
 * - OPERATION_MODE_MANUAL_T2 (if enabling switch is pressed)
 * - OPERATION_MODE_AUTO (without needing to press enabling switch)
 * All other modes are considered as non-operational.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "OperationMode".
 */
type OperationMode = "OPERATION_MODE_UNKNOWN" | "OPERATION_MODE_NO_CONTROLLER" | "OPERATION_MODE_DISCONNECTED" | "OPERATION_MODE_POWER_ON" | "OPERATION_MODE_PENDING" | "OPERATION_MODE_MANUAL" | "OPERATION_MODE_MANUAL_T1" | "OPERATION_MODE_MANUAL_T2" | "OPERATION_MODE_AUTO" | "OPERATION_MODE_RECOVERY";
/**
 * Current safety state of the configured robot controller.
 * Operation modes in which the attached motion groups can be moved are:
 * - SAFETY_STATE_NORMAL
 * - SAFETY_STATE_REDUCED
 * All other modes are considered as non-operational.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "SafetyStateType".
 */
type SafetyStateType = "SAFETY_STATE_UNKNOWN" | "SAFETY_STATE_FAULT" | "SAFETY_STATE_NORMAL" | "SAFETY_STATE_MASTERING" | "SAFETY_STATE_CONFIRM_SAFETY" | "SAFETY_STATE_OPERATOR_SAFETY" | "SAFETY_STATE_PROTECTIVE_STOP" | "SAFETY_STATE_REDUCED" | "SAFETY_STATE_STOP" | "SAFETY_STATE_STOP_0" | "SAFETY_STATE_STOP_1" | "SAFETY_STATE_STOP_2" | "SAFETY_STATE_RECOVERY" | "SAFETY_STATE_DEVICE_EMERGENCY_STOP" | "SAFETY_STATE_ROBOT_EMERGENCY_STOP" | "SAFETY_STATE_VIOLATION";
/**
 * This structure describes a set of joint values, e.g., positions, currents, torques, of a motion group.
 *
 * Float precision is the default.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Joints".
 */
type Joints = number[];
/**
 * - The location is a scalar value that defines a position along a path, typically ranging from 0 to `n`,
 *   where `n` denotes the number of motion commands
 * - Each integer value of the location corresponds to a specific motion command,
 *   while non-integer values interpolate positions within the segments.
 * - The location is calculated from the joint path
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Location".
 */
type Location = number;
/**
 * Current joint position of each joint.
 * The unit depends on the type of joint: For revolute joints, the angle is given in [rad]; for prismatic joints, the displacement is given in [mm].
 *
 */
type Joints1 = number[];
/**
 * Current joint torque of each joint in [Nm].
 * Is only available if the robot controller supports it, e.g., available for UR controllers.
 *
 */
type Joints2 = number[];
/**
 * Current at TCP in [A].
 * Is only available if the robot controller supports it, e.g., available for UR controllers.
 *
 */
type Joints3 = number[];
/**
 * State of indicated motion groups.
 * In case of state request via controller all configured motion groups are returned.
 * In case of executing a motion only the affected motion groups are returned.
 *
 */
type MotionGroupState1 = MotionGroupState[];
/**
 * A three-dimensional vector [x, y, z] with double precision.
 *
 *
 * @minItems 3
 * @maxItems 3
 */
type Vector3D1 = [number, number, number];
/**
 * A three-dimensional vector [x, y, z] with double precision.
 *
 *
 * @minItems 3
 * @maxItems 3
 */
type Vector3D2 = [number, number, number];
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "JointTypeEnum".
 */
type JointTypeEnum = "REVOLUTE_JOINT" | "PRISMATIC_JOINT";
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "SystemUpdateStartedEvent".
 */
type SystemUpdateStartedEvent = CloudEvent & {
  type?: "nova.v2.events.system.update.started";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this update process
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the update process started (RFC3339)
   */
  time: {
    [k: string]: unknown;
  };
  /**
   * System update started event payload
   */
  data: {
    /**
     * New system version being installed
     */
    newVersion: string;
    /**
     * Previous system version, if available
     */
    oldVersion?: string;
  };
};
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "SystemUpdateCompletedEvent".
 */
type SystemUpdateCompletedEvent = CloudEvent & {
  type?: "nova.v2.events.system.update.completed";
  source?: "/nova/service-manager";
  /**
   * Same unique identifier from the started event for correlation
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the update process completed (RFC3339)
   */
  time: {
    [k: string]: unknown;
  };
  /**
   * System update completed event payload
   */
  data: {
    /**
     * New system version that was installed
     */
    newVersion: string;
    /**
     * Error message if update failed
     */
    error?: string;
  };
};
/**
 * The operating state.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "OperatingState".
 */
type OperatingState = "ACTIVE" | "INACTIVE";
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "CellCreatedEvent".
 */
type CellCreatedEvent = {
  type?: "nova.v2.events.cells.{cell}.created";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this cell created event.
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the cell foundation release was created.
   */
  time: {
    [k: string]: unknown;
  };
  data: CellEventData;
} & CloudEvent;
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "CellUpdatedEvent".
 */
type CellUpdatedEvent = {
  type?: "nova.v2.events.cells.{cell}.updated";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this cell updated event.
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the cell foundation release was updated.
   */
  time: {
    [k: string]: unknown;
  };
  data: CellEventData;
} & CloudEvent;
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "CellDeletedEvent".
 */
type CellDeletedEvent = {
  type?: "nova.v2.events.cells.{cell}.deleted";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this cell deleted event.
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the cell foundation release was deleted.
   */
  time: {
    [k: string]: unknown;
  };
  data: CellEventData;
} & CloudEvent;
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "AppCreatedEvent".
 */
type AppCreatedEvent = {
  type?: "nova.v2.events.cells.{cell}.apps.{app}.created";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this app created event.
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the app release was created.
   */
  time: {
    [k: string]: unknown;
  };
  data: AppEventData;
} & CloudEvent;
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "AppUpdatedEvent".
 */
type AppUpdatedEvent = {
  type?: "nova.v2.events.cells.{cell}.apps.{app}.updated";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this app updated event.
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the app release was updated.
   */
  time: {
    [k: string]: unknown;
  };
  data: AppEventData;
} & CloudEvent;
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "AppDeletedEvent".
 */
type AppDeletedEvent = {
  type?: "nova.v2.events.cells.{cell}.apps.{app}.deleted";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this app deleted event.
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the app release was deleted.
   */
  time: {
    [k: string]: unknown;
  };
  data: AppEventData;
} & CloudEvent;
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "RobotControllerCreatedEvent".
 */
type RobotControllerCreatedEvent = {
  type?: "nova.v2.events.cells.{cell}.controllers.{controller}.created";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this robot controller created event.
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the robot controller release was created.
   */
  time: {
    [k: string]: unknown;
  };
  data: RobotControllerEventData;
} & CloudEvent;
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "RobotControllerUpdatedEvent".
 */
type RobotControllerUpdatedEvent = {
  type?: "nova.v2.events.cells.{cell}.controllers.{controller}.updated";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this robot controller updated event.
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the robot controller release was updated.
   */
  time: {
    [k: string]: unknown;
  };
  data: RobotControllerEventData;
} & CloudEvent;
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "RobotControllerDeletedEvent".
 */
type RobotControllerDeletedEvent = {
  type?: "nova.v2.events.cells.{cell}.controllers.{controller}.deleted";
  source?: "/nova/service-manager";
  /**
   * Unique identifier for this robot controller deleted event.
   */
  id: {
    [k: string]: unknown;
  };
  /**
   * Timestamp when the robot controller release was deleted.
   */
  time: {
    [k: string]: unknown;
  };
  data: RobotControllerEventData;
} & CloudEvent;
interface AbbController {
  kind: "AbbController";
  controller_ip: string;
  /**
   * Default values: 80, 443. If custom value is set, field is required.
   *
   */
  controller_port: number;
  /**
   * The EGM server runs inside of the cell, thus its IP must be in the same network as the 'controller_ip'
   */
  egm_server: {
    ip: string;
    port: number;
  };
}
/**
 * Optional dedicated network interface for a physical robot controller.
 *
 * When set, the controller is given its own network interface on the selected
 * physical network port (`pf`) with the given `address`, so it can reach the
 * robot network directly.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ControllerNetworkInterface".
 */
interface ControllerNetworkInterface {
  /**
   * IPv4 address in CIDR notation to assign to the controller's network
   * interface, for example `192.168.1.10/24`. The value must be a valid IPv4
   * address followed by a prefix length between 0 and 32.
   *
   */
  address: string;
  /**
   * Name of the node's physical network port that connects to the robot
   * network, for example `enp10s0f0`. The controller's interface is provided
   * from this port.
   *
   */
  pf: string;
}
/**
 * The configuration of a physical FANUC robot controller has to contain IP address of the controller.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "FanucController".
 */
interface FanucController {
  kind: "FanucController";
  controller_ip: string;
  network_interface?: ControllerNetworkInterface;
}
/**
 * The configuration of a physical KUKA robot controller has to contain an IP address.
 * Additionally an RSI server configuration has to be specified in order to control the robot.
 * Deploying the server is a functionality of this API.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "KukaController".
 */
interface KukaController {
  kind: "KukaController";
  controller_ip: string;
  controller_port: number;
  /**
   * The RSI server runs inside of the cell.
   */
  rsi_server: {
    ip: string;
    port: number;
  };
  /**
   * If true, uses slower cycle time of 12ms instead of 4ms.
   *
   */
  slow_cycle_rate?: boolean;
}
/**
 * The configuration of a physical Universal Robots controller has to contain IP address of the controller.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "UniversalrobotsController".
 */
interface UniversalrobotsController {
  kind: "UniversalrobotsController";
  controller_ip: string;
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "MotionGroupFromType".
 */
interface MotionGroupFromModel {
  /**
   * Unique identifier for the motion group to be added.
   */
  motion_group: string;
  motion_group_model: MotionGroupModel;
  /**
   * Initial joint position of the added motion group.
   * Provides the joint position as a JSON array of float values in radians. The array length
   * must match the robot's degrees of freedom, e.g., `"[0, 0, 0, 0, 0, 0]"` for a 6-DOF robot.
   * If the provided array length does not match the robot's DOF, the array will be adjusted; if it is longer, extra values will be truncated;
   * if it is shorter, missing values will be filled with zeros.
   *
   */
  initial_joint_position?: string;
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "MotionGroupFromJson".
 */
interface MotionGroupFromJSON {
  /**
   * Unique identifier for the motion group to be added.
   */
  motion_group: string;
  /**
   * JSON configuration of the virtual robot controller, can be obtained from the physical controller's configuration
   * via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration).
   *
   */
  json_data: string;
  /**
   * The identifier of the motion group that needs to be extracted from the provided JSON configuration.
   *
   */
  extracted_motion_group_id: string;
  /**
   * Initial joint position of the added motion group.
   * Provides the joint position as a JSON array of float values in radians. The array length
   * must match the robot's degrees of freedom, e.g., `"[0, 0, 0, 0, 0, 0]"` for a 6-DOF robot.
   * If the provided array length does not match the robot's DOF, the array will be adjusted: if it is longer, extra values will be truncated;
   * if it is shorter, missing values will be filled with zeros.
   *
   */
  initial_joint_position?: string;
}
/**
 * The configuration of a virtual robot controller has to contain the manufacturer string,
 * an optional joint position string array, and either a preset `type` **or** the complete JSON configuration.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "VirtualController".
 */
interface VirtualController {
  kind: "VirtualController";
  manufacturer: Manufacturer;
  /**
   * Preset type of the virtual robot controller.
   * See [getRobotConfigurations](#/operations/getRobotConfigurations) for supported types.
   *
   */
  type?: string;
  /**
   * Complete JSON configuration of the virtual robot controller.
   * Can be obtained from the physical controller's configuration via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration).
   * If provided, the `type` field should not be used.
   *
   */
  json?: string;
  /**
   * Initial joint position of the first motion group from the virtual robot controller.
   * Provides the joint position as a JSON array of float values in radians. The array length
   * must match the robot's degrees of freedom, e.g., `"[0, 0, 0, 0, 0, 0]"` for a 6-DOF robot.
   * If the provided array length does not match the robot's DOF, the array will be adjusted: if it is longer, extra values will be truncated;
   * if it is shorter, missing values will be filled with zeros.
   *
   */
  initial_joint_position?: string;
  /**
   * Adds a motion group configuration for the virtual robot controller.
   *
   * > **NOTE**
   * >
   * > Set only one of the two options, **motion_group_model**, or **json_data**
   *
   * - **motion_group_model**: Identifies a single motion group. See [getMotionGroupModels](#/operations/getMotionGroupModels) for supported types
   * - **json_data**: JSON configuration of the virtual robot controller, can be obtained from the physical controller's configuration
   *     via [getVirtualControllerConfiguration](#/operations/getVirtualControllerConfiguration)
   * - **extracted_motion_group_id**: Motion group identifier to extract from the provided JSON configuration,  required when using json_data
   * - **motion_group**: Unique identifier for the motion group
   * - **initial_joint_position**: Specifies the initial joint position for the added motion group
   *
   *
   * @maxItems 10
   */
  motion_groups?: [] | [AddVirtualControllerMotionGroupRequest] | [AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest] | [AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest] | [AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest] | [AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest] | [AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest] | [AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest] | [AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest] | [AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest] | [AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest, AddVirtualControllerMotionGroupRequest];
}
/**
 * The configuration of a physical Yaskawa robot controller has to contain IP address of the controller.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "YaskawaController".
 */
interface YaskawaController {
  kind: "YaskawaController";
  controller_ip: string;
}
/**
 * The configuration of a physical or virtual robot controller.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "RobotController".
 */
interface RobotController {
  /**
   * Unique name of controller within the cell.
   * It must be a valid k8s label name as defined by [RFC 1035](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#rfc-1035-label-names).
   *
   */
  name: string;
  configuration: AbbController | FanucController | KukaController | UniversalrobotsController | VirtualController | YaskawaController;
}
/**
 * User provided credentials for creating a secret to pull an image from a registry.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ImageCredentials".
 */
interface ImageCredentials {
  registry: string;
  user: string;
  password: string;
}
/**
 * A user provided, custom container image and the required credentials to pull it from a registry.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ContainerImage".
 */
interface ContainerImage {
  /**
   * The location of a container image in the form of `<registry>/<image>:<tag>`.
   */
  image: string;
  credentials?: ImageCredentials;
  /**
   * Known secrets for authentication with the container registry.
   */
  secrets?: {
    name: string;
  }[];
}
/**
 * The path and capacity of a volume that retains data across application restarts.
 * The maximal requestable capacity is 300Mi.
 * If you need more capacity consider using [storeObject](#/operations/storeObject).
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ContainerStorage".
 */
interface ContainerStorage {
  mount_path: string;
  /**
   * The amount of local storage available for the application.
   *
   * **NOTE:** The capacity can NEVER be reduced!
   *
   */
  capacity: string;
}
/**
 * Additional resources that the application requires.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ContainerResources".
 */
interface ContainerResources {
  /**
   * Number of GPUs the application requires.
   */
  intel_gpu?: number;
  /**
   * The maximum memory allocated to this application.
   */
  memory_limit?: string;
}
/**
 * An App is defined by a webserver, packed inside a container, serving a web-application.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "App".
 */
interface App {
  /**
   * The name of the provided application.
   * The name must be unique within the cell and is used as an identifier for addressing the application in all API calls
   * , e.g., when updating the application.
   *
   * It also defines where the application is reachable (/$cell/$name).
   *
   * It must be a valid k8s label name as defined by [RFC 1035](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#rfc-1035-label-names).
   *
   */
  name: string;
  /**
   * The path of the icon for the App (/$cell/$name/$app_icon).
   */
  app_icon: string;
  container_image: ContainerImage;
  /**
   * The port the containerized webserver is listening on.
   */
  port?: number;
  environment?: ContainerEnvironment;
  storage?: ContainerStorage;
  resources?: ContainerResources;
  /**
   * Defines the URL path suffix used to check the application's health status. The complete health check URL
   * is constructed as `/$cell/$name/$health_path`. When the application is working as expected,
   * the endpoint returns an HTTP 200 status code.
   *
   * If not specified, the system will default to using the application icon path suffix
   * (the value of `app_icon`) as the health check endpoint, resulting in `/$cell/$name/$app_icon`.
   *
   * If the health check fails (no response or non-200 status code), the system will
   * automatically restart the application container to restore service.
   *
   */
  health_path?: string;
  /**
   * Defines the URL path suffix used to provide an endpoint for diagnosis data collection.
   * The complete diagnosis check URL is constructed as `/$cell/$name/$diagnosis_path`.
   *
   * The endpoint is called when a diagnosis package is requested via the diagnosis API.
   * The endpoint needs to return the data within a zip file `application/zip` response.
   *
   */
  diagnosis_path?: string;
}
/**
 * To create a robot cell, only a valid name is required.
 * Once created, a robot cell provides access to the Wandelbots NOVA foundation services.
 * The configuration can be customized, e.g., robot controllers, also within apps.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Cell".
 */
interface Cell {
  /**
   * A unique name for the cell used as an identifier for addressing the cell in all API calls.
   * It must be a valid k8s label name as defined by [RFC 1123](https://kubernetes.io/docs/concepts/overview/working-with-objects/names/#dns-label-names).
   *
   */
  name: string;
  /**
   * Wandelbots NOVA version of the cell.
   * This version must not exceed the current system version.
   *
   */
  version?: string;
  description?: CellDescription;
  controllers?: RobotController[];
  apps?: App[];
  [k: string]: unknown;
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ProgramStatus".
 */
interface ProgramStatus {
  /**
   * The app name where the program is hosted.
   */
  app: string;
  /**
   * Unique identifier of the program.
   */
  program: string;
  /**
   * Unique identifier of the program run.
   */
  run: string;
  state: ProgramRunState1;
  /**
   * Error message if the program run failed.
   */
  error?: string;
  /**
   * RFC3339 timestamp when the program run started.
   */
  start_time?: string;
  /**
   * RFC3339 timestamp when the program run ended.
   */
  end_time?: string;
  /**
   * RFC3339 timestamp when the program run ended.
   */
  timestamp: string;
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ServiceStatus".
 */
interface ServiceStatus {
  service: string;
  group: ServiceGroup;
  status: {
    severity: ServiceStatusSeverity;
    code: ServiceStatusPhase;
    reason?: string;
  };
}
/**
 * Lifecycle event for a cell cycle.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "CellCycleEvent".
 */
interface CellCycleEvent {
  /**
   * Type of the cycle event.
   */
  event_type: "cycle_started" | "cycle_finished" | "cycle_failed";
  /**
   * Unique identifier of this cycle event.
   */
  id: string;
  /**
   * Unique identifier of the cycle this event belongs to.
   */
  cycle_id: string;
  /**
   * Timestamp when the cycle event occurred, in ISO 8601 format.
   */
  timestamp: string;
  /**
   * Unique identifier of the cell the event belongs to.
   */
  cell: string;
  /**
   * Additional event-specific data. May be empty.
   */
  extra?: {
    [k: string]: unknown;
  };
  /**
   * Duration of the cycle in milliseconds.
   */
  duration_ms?: number;
  /**
   * Reason for cycle failure.
   */
  reason?: string;
}
/**
 * Defines a spherical shape centred around the origin.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Sphere".
 */
interface Sphere {
  shape_type: "sphere";
  /**
   * The radius of the sphere in [mm].
   */
  radius: number;
}
/**
 * Defines a cuboid shape centred around an origin.
 *
 * If a margin is applied to the box type full, it is added to all size values. The shape will keep its edges.
 * The hollow box type consists of thin boxes that make up its walls.
 * If a margin is applied to the box type hollow, its size values are reduced by the margin.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Box".
 */
interface Box {
  shape_type: "box";
  /**
   * The dimension in x-direction in [mm].
   */
  size_x: number;
  /**
   * The dimension in y-direction in [mm].
   */
  size_y: number;
  /**
   * The dimension in z-direction in [mm].
   */
  size_z: number;
  /**
   * The box type defines if the box is hollow or full.
   */
  box_type: "HOLLOW" | "FULL";
}
/**
 * Defines an x/y-plane with finite size. Centred around the z-axis.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Rectangle".
 */
interface Rectangle {
  shape_type: "rectangle";
  /**
   * The dimension in x-direction in [mm].
   */
  size_x: number;
  /**
   * The dimension in y-direction in [mm].
   */
  size_y: number;
}
/**
 * Defines an x/y-plane with infinite size.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Plane".
 */
interface Plane {
  shape_type: "plane";
}
/**
 * Defines a cylindrical shape.
 * Centred around origin, symmetric around z-axis.
 *
 * If a margin is applied, it is added to radius and height. The shape will keep its edges.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Cylinder".
 */
interface Cylinder {
  shape_type: "cylinder";
  /**
   * The radius of the cylinder in [mm].
   */
  radius: number;
  /**
   * The height of the cylinder in [mm].
   */
  height: number;
}
/**
 * Defines a cylindrical shape with 2 semi-spheres on the top and bottom.
 * Centred around origin, symmetric around z-axis.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Capsule".
 */
interface Capsule {
  shape_type: "capsule";
  /**
   * The radius of the cylinder and semi-spheres in [mm].
   */
  radius: number;
  /**
   * The height of the inner cylinder in [mm].
   */
  cylinder_height: number;
}
/**
 * Convex hull around four spheres. Sphere center points in x/y-plane, offset by either combination "+/- sizeX" or "+/- sizeY".
 *
 * Alternative description: Rectangle in x/y-plane with a 3D padding.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "RectangularCapsule".
 */
interface RectangularCapsule {
  shape_type: "rectangular_capsule";
  /**
   * The radius of the inner spheres in [mm].
   */
  radius: number;
  /**
   * The distance of the sphere center in x-direction in [mm].
   */
  sphere_center_distance_x: number;
  /**
   * The distance of the sphere center in y-direction in [mm].
   */
  sphere_center_distance_y: number;
}
/**
 * Defines a convex hull encapsulating a set of vertices.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ConvexHull".
 */
interface ConvexHull {
  shape_type: "convex_hull";
  /**
   * The list of encapsulated points.
   */
  vertices: Vector3D[];
}
/**
 * Defines a pose in 3D space.
 * A pose is a combination of a position and an orientation.
 * The position is applied before the orientation.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Pose".
 */
interface Pose {
  position?: Vector3D;
  orientation?: RotationVector;
}
/**
 * Defines a collider with a single shape.
 *
 * A collider is an object that is used for collision detection.
 * It defines the `shape` that is attached with the offset of `pose` to a reference frame.
 *
 * Use colliders to:
 * - Define the shape of a workpiece. The reference frame is the scene origin.
 * - Define the shape of a link in a motion group. The reference frame is the link coordinate system.
 * - Define the shape of a tool. The reference frame is the flange coordinate system.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Collider".
 */
interface Collider {
  shape: Sphere | Box | Rectangle | Plane | Cylinder | Capsule | RectangularCapsule | ConvexHull;
  pose?: Pose;
  /**
   * Increases the shape's size in all dimensions. Applied in [mm]. Can be used to keep a safe distance to the shape.
   */
  margin?: number;
}
/**
 * A collection of identifiable colliders.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "ColliderDictionary".
 */
interface ColliderDictionary {
  [k: string]: Collider;
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Link".
 */
interface CollisionMotionGroupLink {
  [k: string]: Collider;
}
/**
 * Defines the shape of a tool.
 *
 * A tool is a dictionary of colliders.
 *
 * All colliders that make up a tool are attached to the flange frame of the motion group.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "Tool".
 */
interface CollisionMotionGroupTool {
  [k: string]: Collider;
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "CollisionSetup".
 */
interface CollisionSetup {
  colliders?: ColliderDictionary1;
  link_chain?: LinkChain1;
  tool?: CollisionMotionGroupTool1;
  /**
   * If true, self-collision detection is enabled for the motion group.
   *
   * Self-collision detection checks if links in the kinematic chain of the motion group collide with each other.
   * Adjacent links in the kinematic chain of the motion group are not checked for mutual collision.
   * The tool is treated like a link at the end of the kinematic chain. It is checked against all links except the last one.
   *
   * Default is true.
   *
   */
  self_collision_detection?: boolean;
}
/**
 * Colliders are checked against links and tool.
 *
 */
interface ColliderDictionary1 {
  [k: string]: Collider;
}
/**
 * Shape of the tool to validate against colliders.
 *
 */
interface CollisionMotionGroupTool1 {
  [k: string]: Collider;
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "BusIOsState".
 */
interface BusIOsState {
  state: BusIOsStateEnum;
  /**
   * A message providing additional information on the input/output service, e.g., BUS service status, encountered errors.
   * May be empty if no additional information is available.
   *
   */
  message?: string;
}
/**
 * Input/Output boolean value representation.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "IOBooleanValue".
 */
interface IOBooleanValue {
  /**
   * Unique identifier of the input/output.
   */
  io: string;
  /**
   * Value of a digital input/output.
   *
   */
  value: boolean;
  value_type: "boolean";
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "IOIntegerValue".
 */
interface IOIntegerValue {
  /**
   * Unique identifier of the input/output.
   */
  io: string;
  /**
   * Value of an input/output with integer representation.
   *
   * > The integral value is transmitted as a string to avoid precision loss during conversion to JSON.
   * > Recommended: Use int64 in your implementation. If you want to interact with int64 in numbers,
   * > JS bigint libraries can help you to parse the string into an integral value.
   *
   */
  value: string;
  value_type: "integer";
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "IOFloatValue".
 */
interface IOFloatValue {
  /**
   * Unique identifier of the input/output.
   */
  io: string;
  /**
   * Value of an analog input/output in floating number representation.
   *
   */
  value: number;
  value_type: "float";
}
/**
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "SelectIOs".
 */
interface SelectIOs {
  /**
   * Array of input/output identifiers to retrieve the values for.
   */
  ios: string[];
  /**
   * Type of update.
   *     - changes: Only send updates when the value changes.
   *     - full: Send the full list of values at the update rate.
   *
   */
  update_type?: "changes" | "full";
}
/**
 * Array of input/output values.
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "StreamIOValuesResponse".
 */
interface StreamIOValuesResponse {
  io_values: IOValue[];
  /**
   * Timestamp indicating when the represented information was received from the robot controller.
   */
  timestamp: string;
  /**
   * Sequence number of the controller state. It starts with 0 upon establishing the connection with a physical controller.
   * The sequence number is reset when the connection to the physical controller is closed and re-established.
   *
   */
  sequence_number: number;
}
/**
 * Indicates which joint of the motion group is in a limit.
 * If a joint is in its limit, only this joint can be moved. Movements that affect any other joints are not executed.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "MotionGroupState_JointLimitReached".
 */
interface MotionGroupState_JointLimitReached {
  /**
   * If true, operational (soft) jointLimit is reached for specific joint.
   */
  limit_reached: boolean[];
}
/**
 * Jogging is active.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "JoggingRunning".
 */
interface JoggingRunning {
  kind: "RUNNING";
}
/**
 * User has paused jogging.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "JoggingPausedByUser".
 */
interface JoggingPausedByUser {
  kind: "PAUSED_BY_USER";
}
/**
 * Jogging was paused because of an I/O event.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "JoggingPausedOnIO".
 */
interface JoggingPausedOnIO {
  kind: "PAUSED_ON_IO";
}
/**
 * Jogging was paused because a joint is near its limit.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "JoggingPausedNearJointLimit".
 */
interface JoggingPausedNearJointLimit {
  kind: "PAUSED_NEAR_JOINT_LIMIT";
  joint_indices: number[];
}
/**
 * Jogging was paused because the motion group neared a collision.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "JoggingPausedNearCollision".
 */
interface JoggingPausedNearCollision {
  kind: "PAUSED_NEAR_COLLISION";
  description: string;
}
/**
 * Jogging was paused because the motion group neared a singularity or the workspace boundary.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "JoggingPausedNearSingularity".
 */
interface JoggingPausedNearSingularity {
  kind: "PAUSED_NEAR_SINGULARITY";
  description: string;
}
/**
 * State of jogging execution.
 * This state is sent during jogging movement, response-rate closest to the nearest multiple of controller step-rate but not exceeding the configured rate.
 * The jogging state can be one of the following:
 * - RUNNING: Jogging is active.
 * - PAUSED_BY_USER: User has paused jogging.
 * - PAUSED_NEAR_JOINT_LIMIT: Jogging was paused because a joint is near its limit.
 * - PAUSED_NEAR_COLLISION: Jogging was paused because the motion group neared a collision.
 * - PAUSED_NEAR_SINGULARITY: Jogging was paused because the motion group neared a singularity or the workspace boundary.
 * - PAUSED_ON_IO: Jogging was paused because of an I/O event.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "JoggingDetails".
 */
interface JoggingDetails {
  state: JoggingRunning | JoggingPausedByUser | JoggingPausedOnIO | JoggingPausedNearJointLimit | JoggingPausedNearCollision | JoggingPausedNearSingularity;
  /**
   * Timestamp of the current jogger session in milliseconds.
   * Only waypoint sessions are supported. Other sessions return 0.
   *
   * > **NOTE**
   * >
   * > This field is experimental and its behavior may change in future releases.
   *
   */
  jogger_session_timestamp_ms?: number;
  kind: "JOGGING";
}
/**
 * Trajectory is being executed.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "TrajectoryRunning".
 */
interface TrajectoryRunning {
  kind: "RUNNING";
  /**
   * Remaining time in milliseconds (ms) to reach the end of the motion.
   */
  time_to_end: number;
}
/**
 * User has paused execution.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "TrajectoryPausedByUser".
 */
interface TrajectoryPausedByUser {
  kind: "PAUSED_BY_USER";
}
/**
 * First or last sample (depending on direction) of trajectory has been sent.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "TrajectoryEnded".
 */
interface TrajectoryEnded {
  kind: "END_OF_TRAJECTORY";
}
/**
 * Waiting for an I/O event to start execution.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definition` "TrajectoryWaitForIO".
 */
interface TrajectoryWaitForIO {
  kind: "WAIT_FOR_IO";
}
/**
 * Execution was paused because of an I/O event.
 *
 *
 * This interface was referenced by `GeneratedNatsPayloadsRoot`'s JSON-Schema
 * via the `definitio