def version() -> str:
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def init() -> None:
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def timestamp() -> int:
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def sleep_ms(ms: int):
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def discover_devices(time: int) -> list[object]:
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def connect(ip: str, simu: bool) -> Robot:
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class Robot:
def is_connected(self) -> bool:
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def wait_disconnect(self) -> str:
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def call(self, method: str, param: str | None) -> str:
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def subscribe(self, method: str, param:str | None) -> RobotSubscription:
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def measure_manipulation(self, p: list[float]) -> float:
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def kinematics_forward(self, p: list[float] | dict[str, float]) -> dict[str, float]:
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def kinematics_inverse(self, p: list[float] | dict[str, float], refer: list[float] | None) -> list[float]:
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def pose_trans(self, a: list[float] | dict[str, float], b: list[float] | dict[str, float]) -> dict[str, float]:
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def pose_add(self, pose: list[float] | dict[str, float], deta: dict[str, float], frame: dict[str, float] | None) -> dict[str, float]:
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def pose_inverse(self, p: list[float] | dict[str, float]) -> dict[str, float]:
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def save_pose(self, name: str, pose: list[float] | dict[str, float] | None, dir: str | None, refer: list[float] | None) -> None:
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def load_pose(self, name: str, dir: str | None, raw_pose: bool | None) -> list[float] | dict[str, float] | None:
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def load_frame(self, name: str, dir: str | None) -> dict[str, float]:
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def pause_move(self) -> None:
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def resume_move(self) -> None:
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def stop_move(self) -> None:
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def wait_move(self, id: int | None) -> None:
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def get_running_motion(self) -> int:
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def get_motion_state(self, id: int) -> str:
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def towardj(self, p: list[float] | dict[str, float], a: float, v: float, t: float|None, r: float|None) -> int:
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def movej(self, p: list[float] | dict[str, float], a: float, v: float, t: float|None, r: float|None) -> int:
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def movel(self, p: list[float] | dict[str, float], a: float, v: float, t: float|None, r: float|None) -> int:
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def movec(self, via: list[float] | dict[str, float], p: list[float] | dict[str, float], rad: float, a: float, v: float, t: float|None, r: float|None) -> int:
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def move_pvat(self, p: list[float], v: list[float], a: list[float], t: float) -> None:
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def move_pvt(self, p: list[float], v: list[float], t: float) -> None:
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def move_pt(self, p: list[float], t: float) -> None:
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def move_trajectory(self, name: str, dir: str | None) -> int:
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def speedj(self, a: float, v: list[float], t: float|None) -> int:
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def speedl(self, a: float, v: dict[str, float], t: float|None, frame: dict[str, float]|None) -> int:
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def teach_mode(self) -> None:
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def end_teach_mode(self) -> None:
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def set_dio_mode(self, device: str, pin: int, mode: str) -> None:
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def get_dio_mode(self, device: str, pin: int) -> str:
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def set_do(self, device: str, pin: int, value: int) -> None:
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def get_do(self, device: str, pin: int) -> int:
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def get_dos(self, device: str, pin: int, num: int) -> list[int]:
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def get_di(self, device: str, pin: int) -> int:
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def get_dis(self, device: str, pin: int, num: int) -> list[int]:
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def set_ao(self, device: str, pin: int, value: float) -> None:
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def get_ao(self, device: str, pin: int) -> float:
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def get_aos(self, device: str, pin: int, num: int) -> list[float]:
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def get_ai(self, device: str, pin: int) -> float:
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def get_ais(self, device: str, pin: int, num: int) -> list[float]:
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def set_signal(self, index: int, value: int) -> None:
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def set_signals(self, index: int, values: list[int]) -> None:
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def get_signal(self, index: int) -> int:
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def get_signals(self, index: int, num: int) -> list[int]:
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def add_signal(self, index: int, value: int) -> None:
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def set_item(self, key: str, value: str) -> None:
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def get_item(self, key: str) -> dict[str, str]:
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def get_items(self, prefix: str) -> list[dict[str, str]]:
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def run_plugin_cmd(self, name: str, params: list[str]|None) -> object:
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def start_task(self, scene: str, params: list[str]|None, dir: str|None, is_parallel: bool|None, loop_to:int|None) -> int:
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def get_task_list(self) -> list[int]:
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def get_main_task_id(self) -> int|None:
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def wait_task(self, id: int|None) -> str:
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def get_task_state(self, id: int|None) -> str:
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def cancel_task(self, id: int|None) -> None:
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def pause_task(self, id: int|None) -> None:
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def resume_task(self, id: int|None) -> None:
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def set_serial_timeout(self, device: str, timeout: int) -> None:
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def set_serial_baud_rate(self, device: str, baud_rate: int) -> None:
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def set_serial_parity(self, device: str, parity: str) -> None:
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def write_serial(self, device: str, data: list[int]) -> None:
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def read_serial(self, device: str, len: int) -> list[int]:
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def disconnect_modbus(self, device: str) -> None:
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def set_modbus_timeout(self, device: str, timeout: int) -> None:
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def set_modbus_retry(self, device: str, retry: int) -> None:
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def write_single_coil(self, device: str, pin: str, value: bool) -> None:
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def write_multiple_coils(self, device: str, pin: str, values: list[bool]) -> None:
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def read_coils(self, device: str, pin: str, count: int) -> list[bool]:
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def read_discrete_inputs(self, device: str, pin: str, count: int) -> list[bool]:
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def write_single_register(self, device: str, pin: str, value: int) -> None:
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def write_multiple_registers(self, device: str, pin: str, values: list[int]) -> None:
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def read_holding_registers(self, device: str, pin: str, count: int) -> list[int]:
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def read_input_registers(self, device: str, pin: str, count: int) -> list[int]:
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def init_claw(self, force: bool|None) -> None:
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def set_claw(self, force: float|None, amplitude: float|None) -> None:
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def get_claw(self) -> object:
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def set_flange_baud_rate(self, baud_rate: int) -> None:
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def load_led_style(self, name: str, dir: str|None) -> object:
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def set_led_style(self, style: object) -> None:
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def set_led(self, mode: int, speed: int, colors: list[int]) -> None:
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def set_voice(self, voice: int, volume: int) -> None:
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def set_fan(self, mode: int) -> None:
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def start_sys(self) -> None:
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def stop_sys(self) -> None:
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def powerdown(self) -> None:
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def reboot(self) -> None:
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def stop(self) -> None:
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def estop(self) -> None:
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def set_collision_detector_sensitivity(self, sensitivity: int) -> None:
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def disable_collision_detector(self) -> None:
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def enable_collision_detector(self) -> None:
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def disable_joint_limits(self) -> None:
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def enable_joint_limits(self) -> None:
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def find_zero(self) -> None:
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def load_tcp(self, name: str, dir: str|None) -> dict[str, float]:
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def set_tcp(self, tcp: dict[str, float]) -> None:
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def get_tcp(self) -> dict[str, float]:
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def set_velocity_factor(self, speed_factor: int) -> None:
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def get_velocity_factor(self) -> int:
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def get_estop_reason(self) -> str:
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def get_kin_data(self) -> object:
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def get_robot_state(self) -> str:
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def get_phy_data(self) -> object:
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def load_payload(self, name: str, dir: str|None) -> object:
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def set_payload(self, mass: float|None, cog: object|None) -> None:
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def get_payload(self) -> object:
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def set_gravity(self, pose: object) -> None:
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def get_gravity(self) -> object:
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def can_move(self, robot_state: str) -> bool:
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def in_pose(self, p: list[float] | dict[str, float]) -> bool:
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class RobotSubscription:
def next(self) -> str | None:
...