Difference between featuremodel and featurecontributionmodel?
and also TCPModel vs TCPContributionModel
the FeatureContributionModel enables you to add, update and remove features in Polyscope.
The FeatureModel does return current available Features in the Robot installation.
This applies for the TCPContributionModel/TCPModel in the same way.
You can find further information about the available functions of the API in the API Reference.