Stellar X API Documentation

Index

• API
• A. Initialization and Default State
  • is_ready
  • get_status
  • get_operating_status
  • get_error_status
  • get_alarm
  • reset_trigger
• B. Operational Mode
  • get_operational_mode
  • set_operational_mode
  • set_direct_teaching_on_off
• C. Collision Detection
  • set_collision_detection_sensitivity
  • set_post_collision_mode
  • get_collision_joint_status
  • reset_collision_state
• D. Movement and Control
  • set_servo_on_off
  • stop
  • pause
  • resume
  • move_jog
  • move_home
  • move_joint
  • move_linear
  • move_circle
  • check_finish
  • set_feed_rate
  • get_feed_rate
• E. Program Execution
  • execute_internal_program
  • stop_executing_internal_program
• F. Joint and Pose Status
  • get_trajectory_status
  • get_actual_joint_velocity_utilization
  • get_actual_joint_position
  • get_actual_joint_velocity
  • get_actual_joint_effort
  • get_residual_effort
  • get_actual_pose
  • get_actual_twist
  • get_actual_wrench
  • get_actual_tcp_wrench
  • get_target_joint_position
  • get_target_joint_velocity
  • get_target_joint_effort
  • get_target_pose
  • get_target_twist
  • get_target_wrench
  • get_joint_temperature
  • get_default_joint_limit
  • get_user_joint_limit
  • get_current_joint_limit
  • set_user_joint_limit
  • set_user_joint_limit_on_off_state
  • get_current_user_joint_limit_on_off_state
• G. Configuration Changes (TCP, Payload)
  • get_tcp
  • get_payload
  • set_tcp
  • set_payload
  • set_tcp_with_bank
  • set_payload_with_bank
• H. Bank Data Management
  • get_tcp_bank_data
  • add_tcp_bank_data
  • update_tcp_bank_data
  • remove_tcp_bank_data
  • get_payload_bank_data
  • add_payload_bank_data
  • update_payload_bank_data
  • remove_payload_bank_data
  • get_pose_bank_data
  • add_pose_bank_data
  • update_pose_bank_data
  • remove_pose_bank_data
• I. Kinematics Computation
  • solve_forward_kinematics
  • solve_inverse_kinematics
• J. TCP and Payload Measurement
  • calculate_tcp
  • measure_payload_start
  • append_pose_wrench_sample
  • remove_pose_wrench_sample
  • get_pose_wrench_sample_list
  • calculate_payload

---

API

From this point onward, the main functions of the Stellar X API are categorized and explained by functionality.

General Notes

• Rotation Representation:
  Stellar X API uses the Rotation Vector convention as its orientation convention.

• Function Argument Passing:
  Stellar X API does not support positional arguments, so argument names (keyword arguments) must be explicitly specified when providing inputs.

• Function Return Values: All functions invoked via the remote library include, as the first element of their return value, a bool indicating the communication status with Stellar X. For example, the is_ready function, which originally returns a bool, will return a value structured as [True, <return value of is_ready>] when called through Stellar X. Here, the first element, True, indicates that communication with Stellar X was successful. Therefore, please refer to the second element (index 1) of the return value as the final result of any function. If something goes wrong and the function returns False, the second element of the return value is error code in str type.

• Units:

• Pose: Position is expressed in meters (m), and rotation in radians (rad)
• Joint Vector: radians (rad)
• Force/Torque: Force is expressed in newtons (N), and torque in newton-meters (Nm)
• Miscellaneous: Mass is expressed in kilograms (kg), the center of mass in meters (m), and inertia in kg·m²

---

A. Initialization and Default State

is_ready

Signature:

def is_ready(self) -> bool

Usage:

robot.is_ready()

Description:
Checks whether the robot is currently in an operable state. Returns False if the robot cannot operate due to conditions such as an emergency stop or collision detection, and True if it is in a normal state.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
bool	True if robot is operational, else False

Example Output:

[True, True] # The second element corresponds to the return value of is_ready.

---

get_status

Signature:

def get_status(self) -> Dict

Usage:

robot.get_status()

Description:
Returns a dictionary containing the robot’s overall status information. It includes various details such as error status, motion status, and servo status.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
dict	A dictionary containing the robot’s overall status information

Example Output:

# The second element corresponds to the return value of get_status.
[True,
 {'count_down_time': -2111.9530835214264,
  'error_status': {'alarm': {'alarm_code': '', 'alarm_description': ''},
                   'collision_detected': False,
                   'drive_error': False,
                   'emergency': False,
                   'joint_limit': False,
                   'not_following': False,
                   'processing_overload': False,
                   'safe_guard': False,
                   'self_collision': False,
                   'total_error': False},
  'internal_io_status': {'in': [1, 1, 8, 0, 0, 0, 0, 0],
                         'out': [1, 1, 0, 0, 0, 0, 0, 0]},
  'joint_temperature': [0, 0, 0, 0, 0, 0, 0],
  'model': None,
  'motion_pause_resume_state': 1,
  'operation_status': {'auto_mode': False,
                       'free_drive_mode': False,
                       'manual_mode': True,
                       'moving': False,
                       'paused': False,
                       'program': False,
                       'ready': True,
                       'remote_mode': False,
                       'safety_controller_check_enable': False,
                       'safety_controller_normal': False,
                       'strict_operation_policy': True},
  'serial_number': None,
  'servo_status': {'servo_drive_coe_mode_of_operation': [8, 8, 8, 0, 0, 0, 0],
                   'servo_drive_coe_pds': [4, 4, 4, -1, -1, -1, -1],
                   'servo_drive_error': [0, 0, 0, 0, 0, 0, 0],
                   'servo_on': True},
  'trajectory_status': {'actual_joint_effort': [35.00772476196289,
                                                6.51925802230835e-08,
                                                1.4901161193847656e-07,
                                                0.0,
                                                0.0,
                                                0.0,
                                                0.0],
                        'actual_joint_position': [0.21831373870372772,
                                                  -0.03177299723029137,
                                                  -0.8192387819290161,
                                                  0.0,
                                                  0.0,
                                                  0.0,
                                                  0.0],
                        'actual_joint_velocity': [0.0,
                                                  0.0,
                                                  0.0,
                                                  0.0,
                                                  0.0,
                                                  0.0,
                                                  0.0],
                        'actual_pose': [0.15463924134614646,
                                        0.1716203457161464,
                                        0.5038137387037277,
                                        0.0,
                                        0.0,
                                        2.2905808744304856],
                        'actual_twist': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
                        'actual_wrench': [0, 0, 0, 0, 0, 0],
                        'collision_joint_status': [0, 0, 0, 0, 0, 0, 0],
                        'feed_rate': 1.0,
                        'joint_temperature': [],
                        'residual_effort': [37.087829138037115,
                                            -0.0,
                                            -0.0,
                                            0.0,
                                            0.0,
                                            0.0,
                                            0.0],
                        'target_joint_effort': [0, 0, 0, 0, 0, 0, 0],
                        'target_joint_position': [0.21831373870372772,
                                                  -0.03177299723029137,
                                                  -0.8192387819290161,
                                                  0.0,
                                                  0.0,
                                                  0.0,
                                                  5.325169965892e-310],
                        'target_joint_velocity': [1.3155372962047583e-53,
                                                  1.3572550297507825e-56,
                                                  -2.194467079681263e-55,
                                                  0.0,
                                                  0.0,
                                                  0.0,
                                                  0.0],
                        'target_pose': [0.15463924134614646,
                                        0.1716203457161464,
                                        0.5038137387037277,
                                        0.0,
                                        0.0,
                                        2.2905808744304856],
                        'target_twist': [3.752118437230104e-56,
                                         3.7035264430471718e-56,
                                         1.3155372962047583e-53,
                                         0.0,
                                         0.0,
                                         -2.058741576706185e-55],
                        'target_wrench': [0, 0, 0, 0, 0, 0],
                        'time_stamp': 2190.5200000013933}}]

---

get_operating_status

Signature:

def get_operating_status(self) -> Dict

Usage:

robot.get_operating_status()

Description:
Returns a dictionary containing the robot’s operational state (automatic/manual, direct teaching, motion pause, etc.).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
dict	A dictionary that includes flags related to the operational state

Example Output:

[True,
 {'auto_mode': False,
  'free_drive_mode': False,
  'manual_mode': True,
  'moving': False,
  'paused': False,
  'program': False,
  'ready': True,
  'remote_mode': False,
  'safety_controller_check_enable': False,
  'safety_controller_normal': False,
  'strict_operation_policy': True}]

---

get_error_status

Signature:

def get_error_status(self) -> Dict

Usage:

robot.get_error_status()

Description:
Returns comprehensive error information provided by the manufacturer, including collisions, emergency events, and other error details.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
dict	A dictionary containing error status and alarm information

Example Output:

[True,
 {'alarm': {'alarm_code': '', 'alarm_description': ''},
  'collision_detected': False,
  'drive_error': False,
  'emergency': False,
  'joint_limit': False,
  'not_following': False,
  'processing_overload': False,
  'safe_guard': False,
  'self_collision': False,
  'total_error': False}]

---

get_alarm

Signature:

def get_alarm(self) -> Dict

Usage:

robot.get_alarm()

Description:
Returns the most recent alarm code and its description provided by the manufacturer.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
dict	A dictionary containing the last alarm code and its description

Example Output:

[True, {'alarm_code': '', 'alarm_description': ''}]

---

reset_trigger

Signature:

def reset_trigger(self) -> bool

Usage:

robot.reset_trigger()

Description:
Clears errors caused by conditions such as an emergency stop or a collision.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
bool	Returns True if the command is successfully issued and False if it fails (this does not indicate whether the error was actually cleared)

Example Output:

[True, True]

---

B. Operational mode

get_operational_mode

Signature:

def get_operational_mode(self) -> str

Usage:

robot.get_operational_mode()

Description:
Returns the current operation mode.
Returns "AUTO" for automatic mode and "MANUAL" for manual mode.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
str	"AUTO" or "MANUAL"

Example Output:

[True, 'AUTO']

---

set_operational_mode

Signature:

def set_operational_mode(self, *, operational_mode: str) -> bool

Usage:

robot.set_operational_mode(operational_mode='AUTO')

Description:
Sets the robot’s operation mode. In MANUAL mode, the TCP speed is limited to 250 mm/sec.

Parameters:

Parameter	Type	Description
operational_mode	str	"AUTO" or "MANUAL"

Return Value:

Return Type	Description
bool	Returns True

Example Output:

[True, True]

---

set_direct_teaching_on_off

Signature:

def set_direct_teaching_on_off(self, state: bool) -> bool

Usage:

robot.set_direct_teaching_on_off(state=True)

Description:
Used to switch to direct teaching mode.
If state is True, the robot switches to direct teaching mode; if False, it switches to position control mode.

Parameters:

Parameter	Type	Description
state	bool	True: switch to direct teaching mode, False: switch to position control mode

Return Value:

Return Type	Description
bool or None	Returns True

Example Output:

[True, True]

---

C. Collision Detection

set_collision_detection_sensitivity

Signature:

def set_collision_detection_sensitivity(self, *, sensitivity: float) -> bool

Usage:

robot.set_collision_detection_sensitivity(sensitivity=100)

Description:
Sets the collision detection sensitivity to a value between 0 and 100.

Parameters:

Parameter	Type	Description
sensitivity	float	0 (very insensitive) to 100 (very sensitive)

Return Value:

Return Type	Description
bool	Returns True

Example Output:

[True, True]

---

set_post_collision_mode

Signature:

def set_post_collision_mode(self, *, mode: int) -> bool

Usage:

robot.set_post_collision_mode(mode=2)

Description:
Sets the mode the robot will switch to when a collision occurs.

• 0 : Servo Off (motor power off)
• 1 : Free Drive (free drive mode)
• 2 : Pause (pause at the current state)

Parameters:

Parameter	Type	Description
mode	int	Post-collision operation mode (0, 1, 2)

Return Value:

Return Type	Description
bool	Whether the setting was successful

Example Output:

[True, True]

---

get_collision_joint_status

Signature:

def get_collision_joint_status(self) -> list[int]

Usage:

robot.get_collision_joint_status()

Description:
Returns the collision status of each joint. Each element indicates 0 (normal) or 1 (collision).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[int]	Collision status for each joint (0 = normal, 1 = collision)

Example Output:

[True, [0, 0, 0, 0, 0, 0, 0]]
# Example: collision detected on joint 2
[True, [0, 0, 1, 0, 0, 0, 0]]

---

reset_collision_state

Signature:

def reset_collision_state(self) -> bool

Usage:

robot.reset_collision_state()

Description:
Resets the collision detection status. After this call, the values returned by get_collision_joint_status are reset to 0.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
bool	Whether the reset was successful

Example Output:

[True, True]

---

D. Movement and Control

set_servo_on_off

Signature:

def set_servo_on_off(self, *, state: bool) -> bool

Usage:

robot.set_servo_on_off(state=True)

Description:
Turns the motor power on or off.

Parameters:

Parameter	Type	Description
state	bool	True: power on, False: power off.

Return Value:

Return Type	Description
bool	Returns True

Example Output:

[True, True]

---

stop

Signature:

def stop(self, *, ramp_time: float = -1) -> bool

Usage:

robot.stop()

Description:
Stops the motion currently in progress. ramp_time is the deceleration time, and the robot switches to manual mode after stopping.

Parameters:

Parameter	Type	Description	Default Value
ramp_time	float	Deceleration time	-1

Return Value:

Return Type	Description
bool	Returns True

Example Output:

[True, True]

---

pause

Signature:

def pause(self, *, ramp_time: float = -1) -> bool

Usage:

robot.pause()

Description:
Pauses the current motion.

Parameters:

Parameter	Type	Description	Default Value
ramp_time	float	Deceleration time	-1

Return Value:

Return Type	Description
bool	Returns True

Example Output:

[True, True]

---

resume

Signature:

def resume(self, *, ramp_time: float = -1) -> bool

Usage:

robot.resume()

Description:
Resumes a paused motion.

Parameters:

Parameter	Type	Description	Default Value
ramp_time	float	Time required to resume	-1

Return Value:

Return Type	Description
bool	Returns True

Example Output:

[True, True]

---

move_jog

Signature:

def move_jog(self, *, mode: int, type: int, index: int, direction: int, speed_level: int) -> bool

Usage:

robot.move_jog(mode=0, type=0, index=5, direction=-1, speed_level=1)

Description:
A jog function with the following parameters: - mode: 0 = Joint jog, 1 = Task jog (base coordinate frame), 2 = Task jog (tool coordinate frame) - type: 0 = Continuous jog, 1 = Tick jog - index: 0–5 for joint jog, or one of [x, y, z, rx, ry, rz] for task jog - direction: 1 = positive direction, -1 = negative direction - speed_level: 1–10 (speed level) When used, the robot switches to manual mode, and returns True on success.

Parameters:

Parameter	Type	Description
mode	int	0: Joint jog, 1: Task jog (base), 2: Task jog (tool)
type	int	0: Continuous jog, 1: Tick jog
index	int	Joint number (0–5) for joint jog, or one of [x, y, z, rx, ry, rz] for task jog
direction	int	1: Positive direction, -1: Negative direction
speed_level	int	1–10 (speed level)

Return Value:

Return Type	Description
bool	Returns True if the command succeeds, False if it fails

Example Output:

[True, True]

---

move_home

Signature:

def move_home(self) -> bool

Usage:

robot.move_home()

Description:
Moves the robot to its home pose. The robot moves using the move_joint command to the default pose specified in Motion Studio.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
bool	Returns True

Example Output:

[True, True]

---

move_joint

Signature:

def move_joint(self, *, waypoints: list[dict]) -> tuple[bool, float]

Usage:

robot.move_joint(waypoints=[
    {'q': [0, 0, 1.0], 'vel': 0.5, 'acc': 0.5, 'radius': 0.0},
    {'q': [0, -1, math.pi/2.0], 'vel': 0.5, 'acc': 0.5, 'radius': 0.0}
])

Description:
Moves sequentially through waypoints using a joint command. Each waypoint consists of q (joint angles, rad), vel (velocity, rad/sec), acc (acceleration, rad/sec²), and radius (blending radius).

Parameters:

Parameter	Type	Description
waypoints	list[dict]	A list of waypoint dictionaries. Each dict: {'q': [...], 'vel': float, 'acc': float, 'radius': float}

Return Value:

Return Type	Description
bool	Returns True if the command succeeds, False if it fails

Example Output:

[True, (True, 0.0)]

---

move_linear

Signature:

def move_linear(self, *, waypoints: list[dict]) -> tuple[bool, float]

Usage:

robot.set_ignore_orientation_for_ik_on_off_state(state=True) # Solves inverse kinematics while ignoring orientation.

robot.move_linear(waypoints=[
    {'pose': [0.3, 0.2, 0.3, 0, 0, 0], 'vel': 0.1, 'acc': 0.1, 'radius': 0.01},
    {'pose': [0.4, 0.3, 0.3, 0, 0, 0], 'vel': 0.1, 'acc': 0.1, 'radius': 0.01},
    {'pose': [0.3, 0.1, 0.3, 0, 0, 0], 'vel': 0.1, 'acc': 0.1, 'radius': 0.0}
])

Description:
Moves sequentially through waypoints along a linear path using a linear command. pose is specified as [x, y, z, rx, ry, rz] (m, rad).

Parameters:

Parameter	Type	Description
waypoints	list[dict]	A list of waypoint dictionaries. Each dict: {'pose': [...], 'vel': float, 'acc': float, 'radius': float}

Return Value:

Return Type	Description
bool	Returns True if the command succeeds, False if it fails

Example Output:

[True, (True, 0.0)]

---

move_circle

Signature:

def move_circle(
    self,
    *,
    pose: list[float],
    via_position: list[float],
    arc_angle: float = -1,
    orientation_fix: bool = False,
    vel: float = -1,
    acc: float = -1
) -> tuple[bool, float]

Usage:

robot.move_circle(
    pose=[0.2, 0.2, 0.4, 0, 0.0, 0],
    via_position=[0.3, 0.3, 0.3],
    arc_angle=-1,
    orientation_fix=True,
    vel=0.1,
    acc=0.1
)

Description:
Starting from the current position, performs an arc motion that passes through a specified via position and reaches the final pose. - If arc_angle is negative, the robot moves to the target pose and then stops. - If arc_angle is greater than 0, the robot rotates by the specified angle. - If orientation_fix is True, the starting orientation is fixed; if False, the orientation is interpolated and rotated.

Parameters:

Parameter	Type	Description
pose	list[float]	Final target pose [x, y, z, rx, ry, rz] (m, rad)
via_position	list[float]	Via position [x, y, z] (m)
arc_angle	float	Arc angle (rad), default is -1 (a negative value such as -1 means the robot draws an arc through the via position to reach the target pose)
orientation_fix	bool	True: fix the starting orientation, False: interpolate and rotate
vel	float	Velocity (m/sec)
acc	float	Acceleration (m/sec²)

Return Value:

Return Type	Description
bool	Returns True on success, False on failure

Example Output:

[True, (True, 0.0)]

---

check_finish

Signature:

def check_finish(self, *, finish_mode: str = 'FINE') -> bool

Usage:

robot.check_finish()

Description:
Checks whether the current motion has reached its target.

Parameters:

Parameter	Type	Description
finish_mode	str	'FINE': Checks whether the robot has actually reached the target position based on encoder values. 'ROUGH': Returns True once the planned trajectory is completed

Return Value:

Return Type	Description
bool	Returns True if the target has been reached, False otherwise

Example Output:

[True, True]

---

set_feed_rate

Signature:

def set_feed_rate(self, *, feed_rate: float) -> bool

Usage:

robot.set_feed_rate(feed_rate=0.5)

Description:
Sets the feed rate (speed ratio) (0.1 ≤ feed_rate ≤ 1.5 ) It serves the same function as the feed rate adjustment slider on the web interface and is applied starting from subsequent commands.

Parameters:

Parameter	Type	Description
feed_rate	float	0.1 ≤ feed_rate ≤ 1.5

Return Value:

Return Type	Description
bool	Returns True on success, False on failure

Example Output:

[True, True]

---

get_feed_rate

Signature:

def get_feed_rate(self) -> Union[float, None]

Usage:

robot.get_feed_rate()

Description:
Returns the currently configured feed rate value.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
float or None	Current feed rate value

Example Output:

[True, 0.5]

---

E. Program Execution

execute_internal_program

Signature:

def execute_internal_program(self, *, program_id: str) -> bool

Usage:

robot.execute_internal_program(program_id='default_script')

Description:
Executes a program on the web interface. Be careful: if program_id contains whitespace characters, it may be interpreted as a different name.

Parameters:

Parameter	Type	Description
program_id	str	Title of the program to execute

Return Value:

Return Type	Description
bool	Returns True on success, False on failure

Example Output:

[True, True]

---

stop_executing_internal_program

Signature:

def stop_executing_internal_program(self) -> bool

Usage:

robot.stop_executing_internal_program()

Description:
Stops the internal program that is currently running.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
bool	Returns True if the command succeeds

Example Output:

[True, True]

---

F. Joint and Pose Status

get_trajectory_status

Signature:

def get_trajectory_status(self) -> Dict

Usage:

robot.get_trajectory_status()

Description:
Returns a dictionary containing joint and task status information.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
dict	A dictionary that includes state information such as joints, pose, velocity, and torque

Example Output:

[True,
 {'actual_joint_effort': [-1.0968292951583862,
                          -51.081275939941406,
                          -45.3602180480957,
                          4.267107009887695,
                          -1.883137583732605,
                          -0.9523519277572632,
                          0.0],
  'actual_joint_position': [0.5585400483113837,
                            0.00565151755594642,
                            1.4713047563692259,
                            -0.0005265977459574519,
                            1.3927553526495569,
                            0.5563672084675018,
                            0.0],
  'actual_joint_velocity': [-0.15509339720423812,
                            -0.0005539124095640995,
                            -0.13436095443408028,
                            -0.0,
                            -0.1067753992308215,
                            -0.14942199592583263,
                            0.0],
  'actual_pose': [0.5306729125976563,
                  0.3697042236328125,
                  0.5142694702148437,
                  0.0009823458193079307,
                  2.9034452644463578,
                  0.209994957089481],
  'actual_twist': [0.11467050170898438,
                   -0.04673583221435547,
                   0.09596857452392578,
                   0.09351894066084204,
                   -0.2264775160767786,
                   -0.011254475074188227],
  'actual_wrench': [4.989142894744873,
                    7.498985290527344,
                    4.928271770477295,
                    -2.98199725151062,
                    1.9668713808059692,
                    -1.2975391149520874],
  'collision_joint_status': [],
  'feed_rate': 1.0,
  'joint_temperature': [-273.1499938964844,
                        -273.1499938964844,
                        -273.1499938964844,
                        -273.1499938964844,
                        -273.1499938964844,
                        -273.1499938964844],
  'residual_effort': [0.8374617099761963,
                      3.030996799468994,
                      -2.037428140640259,
                      -0.42755478620529175,
                      0.2849666178226471,
                      0.8491820693016052,
                      0.0],
  'target_joint_effort': [-0.0006173491710796952,
                          -48.9547119140625,
                          -42.57754898071289,
                          3.9992575645446777,
                          0.5115765333175659,
                          0.04202323779463768,
                          0.0],
  'target_joint_position': [0.5576234881327193,
                            0.005693802000183883,
                            1.470586368665177,
                            -0.0005339404243809096,
                            1.3921602693039785,
                            0.5555522811739375,
                            0.0],
  'target_joint_velocity': [-0.15382716397444632,
                            -0.0015707040628272875,
                            -0.12981693582413256,
                            0.00014729390681101397,
                            -0.1081821391752502,
                            -0.15325579940732664,
                            0.0],
  'target_pose': [0.5312263793945312,
                  0.3694648742675781,
                  0.5146617431640625,
                  0.0011285743791562448,
                  2.902426837258773,
                  0.21047647170812725],
  'target_twist': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
  'target_wrench': [],
  'time_stamp': 1739615796.9633026}]

---

get_actual_joint_velocity_utilization

Signature:

def get_actual_joint_velocity_utilization(self) -> list[float]

Usage:

robot.get_actual_joint_velocity_utilization()

Description:
Returns the ratio of the current speed of each joint relative to its maximum speed.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float]	A list of joint speed utilization ratios. (ex: [-0.0727, ...])

Example Output:

[True,
 [-0.0727253278096517,
  -0.0003424342100818952,
  -0.041764473915100096,
  -0.0,
  -0.027298683590359158,
  -0.0391118409898546]]

---

get_actual_joint_position

Signature:

def get_actual_joint_position(self) -> Union[list[float], None]

Usage:

robot.get_actual_joint_position()

Description:
Returns the current actual angle (rad) of each joint (the first six joints are used).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list of joint angles (radians)

Example Output:

[True,
 [0.5563801913778158,
  0.005630928511917395,
  1.4695007310468062,
  -0.0005240696284607344,
  1.391253063478643,
  0.5542385105186878,
  0.0]]

---

get_actual_joint_velocity

Signature:

def get_actual_joint_velocity(self) -> Union[list[float], None]

Usage:

robot.get_actual_joint_velocity()

Description:
Returns the actual velocity (rad/sec) of each joint.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list of joint velocities (radians/sec)

Example Output:

[True,
 [-0.15476, -0.000773, -0.13366, 2.58e-06, -0.10626, -0.15581, 0.0]]

---

get_actual_joint_effort

Signature:

def get_actual_joint_effort(self) -> Union[list[float], None]

Usage:

robot.get_actual_joint_effort()

Description:
Returns the torque applied to each joint (Nm) (control torque).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list of joint torques (Nm)

Example Output:

[True,
 [-0.40564, -50.26886, -44.47928, 4.25959, -1.94794, -1.00433, 0.0]]

---

get_residual_effort

Signature:

def get_residual_effort(self) -> Union[list[float], None]

Usage:

robot.get_residual_effort()

Description:
Returns the external torque acting on each joint (Nm).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list of external torques (Nm)

Example Output:

[True,
 [0.69302, 2.92925, -2.20712, -0.43450, 0.25531, 0.84002, 0.0]]

---

get_actual_pose

Signature:

def get_actual_pose(self) -> Union[list[float], None]

Usage:

robot.get_actual_pose()

Description:
Returns the current TCP pose [x, y, z, rx, ry, rz] (m, rad).
(Note: the rotation convention is not ZYZ; it uses the rotation vector representation.)

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	TA list representing the TCP pose (m, rad)

Example Output:

[True,
 [0.53338, 0.36857, 0.51652, 0.0009746, 2.89784, 0.21278]]

---

get_actual_twist

Signature:

def get_actual_twist(self) -> Union[list[float], None]

Usage:

robot.get_actual_twist()

Description:
Returns the current TCP twist [vel_x, vel_y, vel_z, vel_rx, vel_ry, vel_rz] (m/sec, rad/sec).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list representing the TCP twist (m/sec, rad/sec)

Example Output:

[True,
 [0.11384, -0.04760, 0.09602, 0.08997, -0.22732, -0.00501]]

---

get_actual_wrench

Signature:

def get_actual_wrench(self) -> Union[list[float], None]

Usage:

robot.get_actual_wrench()

Description:
Returns the force/torque acting on the TCP in the base coordinate frame (N, Nm).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list representing the TCP force/torque (N, Nm)

Example Output:

[True,
 [5.12109, 7.16200, 5.31352, -2.89485, 2.06011, -1.27893]]

---

get_actual_tcp_wrench

Signature:

def get_actual_tcp_wrench(self) -> Union[list[list[float], float], None]

Usage:

robot.get_actual_tcp_wrench()

Description:
Returns the force/torque acting on the TCP in the tool coordinate frame along with a timestamp.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	[TCP force/torque list, timestamp]

Example Output:

[True,
 [[-5.86882, 8.02504, -2.71073, 3.23542, 1.82216, 0.85161],
  1739615797.0013]]

---

get_target_joint_position

Signature:

def get_target_joint_position(self) -> Union[list[float], None]

Usage:

robot.get_target_joint_position()

Description:
Returns the target joint angles (rad).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list of target joint angles (radians)

Example Output:

[True,
 [0.55239, 0.00564, 1.46617, -0.0005289, 1.38848, 0.55034, 0.0]]

---

get_target_joint_velocity

Signature:

def get_target_joint_velocity(self) -> Union[list[float], None]

Usage:

robot.get_target_joint_velocity()

Description:
Returns the target joint velocities (rad/sec).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list of target joint velocities (rad/sec)

Example Output:

[True,
 [-0.15383, -0.0015707, -0.12982, 0.0001473, -0.10818, -0.15326, 0.0]]

---

get_target_joint_effort

Signature:

def get_target_joint_effort(self) -> Union[list[float], None]

Usage:

robot.get_target_joint_effort()

Description:
Returns the target joint torques (Nm).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list of target joint torques (Nm)

Example Output:

[True,
 [-0.00061735, -48.95471, -42.57755, 3.99926, 0.51158, 0.042023, 0.0]]

---

get_target_pose

Signature:

def get_target_pose(self) -> Union[list[float], None]

Usage:

robot.get_target_pose()

Description:
Returns the target TCP pose [x, y, z, rx, ry, rz] (m, rad).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list representing the target TCP pose (m, rad)

Example Output:

[True,
 [0.53619, 0.36737, 0.51881, 0.0011658, 2.89209, 0.21556]]

---

get_target_twist

Signature:

def get_target_twist(self) -> Union[list[float], None]

Usage:

robot.get_target_twist()

Description:
Returns the target TCP twist [vel_x, vel_y, vel_z, vel_rx, vel_ry, vel_rz] (m/sec, rad/sec).

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list representing the target TCP twist (m/sec, rad/sec)

Example Output:

[True, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]

---

get_target_wrench

Signature:

def get_target_wrench(self) -> Union[list[float], None]

Usage:

robot.get_target_wrench()

Description:
Returns the target TCP wrench.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list representing the target TCP wrench

Example Output:

[True, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]

---

get_joint_temperature

Signature:

def get_joint_temperature(self) -> Union[list[float], None]

Usage:

robot.get_joint_temperature()

Description:
Returns the temperature (°C) of each joint.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list of joint temperatures (°C)

Example Output:

[True,
 [-273.15, -273.15, -273.15, -273.15, -273.15, -273.15]]

---

get_default_joint_limit

Signature:

def get_default_joint_limit(self, *, joint_index: int) -> list[float, float]

Usage:

robot.get_default_joint_limit(joint_index=0)

Description:
Returns the system (model) default joint limits. These are default values independent of any user-defined limits.

Parameters:

Parameter	Type	Description
joint_index	int	Joint index (0-based) to query

Return Value:

Return Type	Description
list[float, float]	(negative, positive)

Example Output:

[True, [0.0, 0.225]]

---

get_user_joint_limit

Signature:

def get_user_joint_limit(self, *, joint_index: int) -> Union[list[float, float], None]

Usage:

robot.get_user_joint_limit(joint_index=0)

Description:
Returns the user-defined joint limits set by the user. Returns None if no user-defined limits are configured.

Parameters:

Parameter	Type	Description
joint_index	int	Joint index (0-based) to query

Return Value:

Return Type	Description
list[float, float] or None	(negative, positive) or None

Example Output:

[True, [-2.0, 2.0]]
# or
[True, None]

---

get_current_joint_limit

Signature:

def get_current_joint_limit(self, *, joint_index: int) -> list[float, float]

Usage:

robot.get_current_joint_limit(joint_index=0)

Description:
Returns the joint limits that are currently in effect. If user-defined limits are enabled, the user limits are applied; otherwise, the default limits are used.

Parameters:

Parameter	Type	Description
joint_index	int	Joint index (0-based) to query

Return Value:

Return Type	Description
list[float, float]	(negative, positive)

Example Output:

[True, [0.0, 0.225]]

---

set_user_joint_limit

Signature:

def set_user_joint_limit(self, *, joint_index: int, negative_limit: float, positive_limit: float) -> bool

Usage:

robot.set_user_joint_limit(joint_index=0, negative_limit=-2.0, positive_limit=2.0)

Description:
Stores the user-defined limit values for a specific joint. Note: This only saves the values; to apply them, you must enable them using set_user_joint_limit_on_off_state(state=True).

Parameters:

Parameter	Type	Description
joint_index	int	Target joint index (0-based)
negative_limit	float	Negative direction limit
positive_limit	float	Positive direction limit

Return Value:

Return Type	Description
bool	Whether the setting was successful

Example Output:

[True, True]

---

set_user_joint_limit_on_off_state

Signature:

def set_user_joint_limit_on_off_state(self, *, state: bool) -> bool

Usage:

# 사용자 리밋 적용 활성화
robot.set_user_joint_limit_on_off_state(state=True)

Description:
Enables or disables the application of user-defined limits globally. If True, the user-defined limits are reflected in get_current_joint_limit.

Parameters:

Parameter	Type	Description
state	bool	Enable state (True/False)

Return Value:

Return Type	Description
bool	Whether the setting was successful

Example Output:

[True, True]

---

get_current_user_joint_limit_on_off_state

Signature:

def get_current_user_joint_limit_on_off_state(self) -> Union[bool, None]

Usage:

robot.get_current_user_joint_limit_on_off_state()

Description:
Returns the current user-defined limit application state.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
bool or None	Enable state (True/False) or None

Example Output:

[True, True]

---

G. Configuration Changes (TCP, Payload)

get_tcp

Signature:

def get_tcp(self) -> Union[list[float], None]

Usage:

robot.get_tcp()

Description:
Returns the currently set TCP offset values. The return value is a list in the form [x, y, z, rx, ry, rz] (units: m, rad), where the orientation is represented using the rotation vector convention.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float] or None	A list of TCP offset values ([x, y, z, rx, ry, rz])

Example Output:

[True, [0.0, 0.0, 0.2, 0.0, 0.0, 0.0]]

---

get_payload

Signature:

def get_payload(self) -> Union[list[float, list[float], list[float]], None]

Usage:

robot.get_payload()

Description:
Returns the currently configured payload information. The return value is in the form [mass, center_of_mass, inertia], where
- mass: kg
- center_of_mass: [x, y, z] (m)
- inertia: [Ixx, Iyy, Izz, Ixy, Iyz, Ixz] (kg·m²)

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float, list[float], list[float]] or None	payload information: [mass, center_of_mass, inertia]

Example Output:

[True,
 [1.7330000400543213,
  [-0.045, -0.009, 0.085],
  [0.0038488577120006084,
   0.0038488577120006084,
   0.0038488577120006084,
   0.0,
   0.0,
   0.0]]]

---

set_tcp

Signature:

def set_tcp(self, *, tcp: list[float]) -> bool

Usage:

robot.set_tcp(tcp=[0.0, 0.0, 0.2, math.pi/2.0, 0, 0])

Description:
Sets the TCP offset with respect to the flange coordinate frame. When providing arguments, the argument name tcp must be explicitly specified. The list should be formatted as [x, y, z, rx, ry, rz] (units: m, rad). Note: This function cannot be used when the servo is turned off in AUTO mode.

Parameters:

Parameter	Type	Description
tcp	list[float]	[x, y, z, rx, ry, rz] (m, rad)

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

set_payload

Signature:

def set_payload(self, *, payload: dict) -> bool

Usage:

robot.set_payload(payload={'mass': 1.733, 'center_of_mass': [-0.045, 0.009, 0.085], 'inertia': [0, 0, 0, 0, 0, 0]})

Description:
Sets the payload information - mass: kg
- center_of_mass: [x, y, z] (m)
- inertia: [Ixx, Iyy, Izz, Ixy, Ixz, Iyz] (kg·m²)
Note: This function cannot be used when the servo is turned off in AUTO mode.

Parameters:

Parameter	Type	Description
payload	dict	payload information. Keys: mass, center_of_mass, inertia

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

set_tcp_with_bank

Signature:

def set_tcp_with_bank(self, *, name: str) -> bool

Usage:

robot.set_tcp_with_bank(name='default_tool')

Description:
Applies the TCP information stored in the Tool tab of the web teaching interface to the robot. This function sets only the TCP and does not modify the payload information.

Parameters:

Parameter	Type	Description
name	str	tool bank title

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

set_payload_with_bank

Signature:

def set_payload_with_bank(self, *, name: str) -> bool

Usage:

robot.set_payload_with_bank(name='default_tool')

Description:
Applies the payload information stored in the Tool tab of the web teaching interface using the specified index. This function sets only the payload and does not modify the TCP information.

Parameters:

Parameter	Type	Description
name	str	tool bank title

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

H. Bank Data Management

get_tcp_bank_data

Signature:

def get_tcp_bank_data(self, *, name: str) -> list[bool, list[str], str, list[float]]

Usage:

robot.get_tcp_bank_data(name='default_tool')

Description:
Loads the TCP information registered in the web teaching interface. The return value is (status, hash tag, description, TCP offset list).

Parameters:

Parameter	Type	Description
name	str	Tool title of the TCP to load

Return Value:

Return Type	Description
list[bool, list[str], str, list[float]]	(status, hash tag, description, TCP offset list)

Example Output:

[True, [True, [], '', [0, 0, 0.123, 0, 0, 0]]]

---

add_tcp_bank_data

Signature:

def add_tcp_bank_data(self, *, name: str, hashtags: list[str], tcp: list[float], description: str = "") -> bool

Usage:

robot.add_tcp_bank_data(
    name="gripper",
    hashtags=["endtool", "default"],
    tcp=[0.0, 0.0, 0.150, 0, 0, 0],
    description="basic gripper tool"
)

Description:
Adds new TCP information to the tool bank in the web teaching interface. Note: If a TCP with the same name already exists, this function returns False. To modify an existing TCP, use update_tcp_bank_data.

Parameters:

Parameter	Type	Description
name	str	Name of the TCP to save
hashtags	list[str]	list of hash tags to associate with the TCP
tcp	list[float]	TCP offset list [x, y, z, rx, ry, rz] (m, rad)
description	str	TCP description (optional, default is an empty string)

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

update_tcp_bank_data

Signature:

def update_tcp_bank_data(self, *, name: str, hashtags: list[str], tcp: list[float], description: str = "") -> bool

Usage:

robot.update_tcp_bank_data(
    name="gripper",
    hashtags=["endtool", "v2"],
    tcp=[0.0, 0.0, 0.180, 0, 0, 0],
    description="updated gripper tool"
)

Description:
Updates an existing registered TCP information.

Parameters:

Parameter	Type	Description
name	str	Name of the TCP to modify
hashtags	list[str]	New list of hash tags to apply
tcp	list[float]	New TCP offset [x, y, z, rx, ry, rz] (m, rad)
description	str	New description (optional, default is an empty string)

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

remove_tcp_bank_data

Signature:

def remove_tcp_bank_data(self, *, name: str) -> bool

Usage:

robot.remove_tcp_bank_data(name="gripper")

Description:
Deletes the specified TCP from the tool bank in the web teaching interface.

Parameters:

Parameter	Type	Description
name	str	Name of the TCP to delete

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

get_payload_bank_data

Signature:

def get_payload_bank_data(self, *, name: str) -> list[bool, list[str], str, Dict]

Usage:

robot.get_payload_bank_data(name="default_tool")

Description:
Loads the payload information registered in the web teaching interface. The return value is (status, hash tag, description, payload information dictionary).

Parameters:

Parameter	Type	Description
name	str	Name of the payload to load

Return Value:

Return Type	Description
list[bool, list[str], str, dict]	(status, hash tag, description, payload information dictionary)

Example Output:

[True, [True, [], '', {'mass': 0.2, 'center_of_mass': [0.1, -0.01, 0], 'inertia': [0, 0, 0, 0, 0, 0]}]]

---

add_payload_bank_data

Signature:

def add_payload_bank_data(self, *, name: str, hashtags: list[str], description: str, payload: dict) -> bool

Usage:

robot.add_payload_bank_data(
    name="vacuum_payload",
    hashtags=["vacuum", "tool"],
    description="vacuum tool payload",
    payload={
        "mass": 1.2,
        "center_of_mass": [0, 0, 0.08],
        "inertia": [0.005, 0, 0, 0.005, 0, 0.005]
    }
)

Description:
Adds new payload information to the Payload bank in the web teaching interface. Note: If a payload with the same name already exists, this function returns False. To modify an existing payload, use update_payload_bank_data.

Parameters:

Parameter	Type	Description
name	str	Name of the payload to save
hashtags	list[str]	list of hash tags to associate with the payload
description	str	Payload description
payload	dict	Payload information { "mass": float, "center_of_mass": [x,y,z], "inertia": [ixx, ixy, ixz, iyy, iyz, izz] }

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

update_payload_bank_data

Signature:

def update_payload_bank_data(self, *, name: str, hashtags: list[str], description: str, payload: dict) -> bool

Usage:

robot.update_payload_bank_data(
    name="vacuum_payload",
    hashtags=["vacuum", "tool", "rev2"],
    description="updated vacuum tool payload",
    payload={
        "mass": 1.3,
        "center_of_mass": [0, 0, 0.09],
        "inertia": [0.006, 0, 0, 0.006, 0, 0.006]
    }
)

Description:
Updates existing registered payload information.

Parameters:

Parameter	Type	Description
name	str	Name of the payload to modify
hashtags	list[str]	New list of hash tags to apply
description	str	New description
payload	dict	Upated payload information { "mass": float, "center_of_mass": [x,y,z], "inertia": [...] }

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

remove_payload_bank_data

Signature:

def remove_payload_bank_data(self, *, name: str) -> bool

Usage:

robot.remove_payload_bank_data(name="vacuum_payload")

Description:
Deletes the specified payload information from the Payload bank in the web teaching interface.

Parameters:

Parameter	Type	Description
name	str	Name of the payload to delete

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

get_pose_bank_data

Signature:

def get_pose_bank_data(self, *, name: str) -> list[bool, list[str], str, list[float], list[float]]

Usage:

robot.get_pose_bank_data(name="home_pose")

Description:
Loads the pose information registered in the web teaching interface. The return value is (status, hash tag, description, pose list, joint list).

Parameters:

Parameter	Type	Description
name	str	Name of the pose to load

Return Value:

Return Type	Description
list[bool, list[str], str, list[float], list[float]]	(status, hash tag, description, [x, y, z, rx, ry, rz], joint list)

Example Output:

[True, [True, [], '', [0.688218505859375, -0.05760165786743164, 0.6952191772460937, 1.209862261852436, 1.2082374332873191, 1.2083641231430755], [0, 0, 1.5707963267948966, 0, 1.5707963267948966, 0, 0]]]

---

add_pose_bank_data

Signature:

def add_pose_bank_data(
    self,
    *,
    name: str,
    hashtags: list[str],
    description: str,
    pose: list[float],
    joint_positions: list[float]
) -> bool

Usage:

robot.add_pose_bank_data(
    name="pick_pose",
    hashtags=["pick", "object"],
    description="pick position",
    pose=[0.2, 0.1, 0.15, 0, 3.14, 0],
    joint_positions=[0.1, -1.2, 1.4, 0, 1.57, 0]
)

Description:
Adds new pose information to the Pose bank in the web teaching interface. Note: If a pose with the same name already exists, this function returns False. To modify an existing pose, use update_pose_bank_data.

Parameters:

Parameter	Type	Description
name	str	Name of the pose to save
hashtags	list[str]	list of hash tags to associate with the pose
description	str	Pose description
pose	list[float]	Pose offset [x, y, z, rx, ry, rz] (m, rad)
joint_positions	list[float]	list of joint values corresponding to the pose

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

update_pose_bank_data

Signature:

def update_pose_bank_data(
    self,
    *,
    name: str,
    hashtags: list[str],
    description: str,
    pose: list[float],
    joint_positions: list[float]
) -> bool

Usage:

robot.update_pose_bank_data(
    name="pick_pose",
    hashtags=["pick", "object", "rev2"],
    description="updated pick pose",
    pose=[0.25, 0.1, 0.18, 0, 3.14, 0],
    joint_positions=[0.15, -1.25, 1.45, 0, 1.57, 0]
)

Description:
Updates existing registered pose information.

Parameters:

Parameter	Type	Description
name	str	Name of the pose to modify
hashtags	list[str]	New list of hash tags to apply
description	str	New description
pose	list[float]	New pose offset [x, y, z, rx, ry, rz] (m, rad)
joint_positions	list[float]	New list of joint values to apply

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

remove_pose_bank_data

Signature:

def remove_pose_bank_data(self, *, name: str) -> bool

Usage:

robot.remove_pose_bank_data(name="pick_pose")

Description:
Deletes the specified pose information from the Pose bank in the web teaching interface.

Parameters:

Parameter	Type	Description
name	str	Name of the pose to delete

Return Value:

Return Type	Description
bool	Returns True on success and False on failure

Example Output:

[True, True]

---

I. Kinematics Computation

solve_forward_kinematics

Signature:

def solve_forward_kinematics(
    self,
    *,
    target_q: list[float],
    tcp: list[float] | None = None
) -> list[bool, list[float] | None]

Usage:

robot.solve_forward_kinematics(
    target_q=[
        0.7365882795706941,
        0.2465629272153449,
        1.2036360278436509
    ]
)

Description:
Computes the TCP pose using the given joint angles (target_q). The return value is composed of (calculation success status, TCP pose).

Parameters:

Parameter	Type	Description
target_q	list[float]	Joint angle list (rad)
tcp	list[float]	TCP offset (default: None)

Return Value:

Return Type	Description
list[bool, list[float]]	(calculation success status, TCP pose)

Example Output:

[True,
 [True,
  [0.50103, 0.49837, 0.57559, -0.0043026, -3.14136, -0.0004011]]]

---

solve_inverse_kinematics

Signature:

def solve_inverse_kinematics(
    self,
    *,
    target_p: list[float],
    seed_q: list[float] | None = None,
    tcp: list[float] | None = None
) -> list[int, list[float] | None]

Usage:

robot.set_ignore_orientation_for_ik_on_off_state(state=True) # Solves inverse kinematics while ignoring orientation.
robot.solve_inverse_kinematics(
    target_p=[0.3, 0.3, 0.3, 0, 0, 0],
    seed_q=[0, 0, 0]
)

Description:
Computes the joint angles required to reach the target pose (target_p). If seed_q is provided as an option, a solution close to it is returned. As with forward kinematics, the TCP argument is not used.

Parameters:

Parameter	Type	Description
target_p	list[float]	Target pose [x, y, z, rx, ry, rz] (m, rad)
seed_q	list[float]	(Optional) Initial joint angles (rad)
tcp	list[float]	(Optional) TCP offset; omit or pass None

Return Value:

Return Type	Description
list[int, list[float]]	(error code, joint angle list)

Example Output:

[True, 
[0, [0.014500000000000035, 0.1878823471042462, -1.7235809182862791, 0.0, 0.0, 0.0, 0.0]]]

---

J. TCP and Payload Measurement

calculate_tcp

Signature:

def calculate_tcp(self, *, sample_pose_list: list[list[float]]) -> listlist[bool, list[float], float]

Usage:

robot.calculate_tcp(sample_pose_list=[
    [0.55893, 0.11289, 0.44632, 0.06411, -2.94076, 1.07034],
    [0.45922, 0.11287, 0.40890, 0.26171, 2.31932, -0.86081],
    [0.45910, -0.13073, 0.42216, 0.85044, 2.45128, 1.11725]
])

Description:
Calculates the TCP offset and error based on multiple sample poses. The sample poses must be pivoted poses measured with a zero TCP (flange coordinate frame).

Parameters:

Parameter	Type	Description
sample_pose_list	list[list[float]]	list of sample pose values, each pose: [x, y, z, rx, ry, rz]

Return Value:

Return Type	Description
list[bool, list[float], float]	(calculation success status, TCP offset list, error value)

Example Output:

[True, [True, [-7.01592e-06, 3.11402e-06, 0.19998], 1.17771e-05]]

---

measure_payload_start

Signature:

def measure_payload_start(self) -> bool

Usage:

robot.measure_payload_start()

Description:
Sets the TCP and payload to zero and initializes the measurement buffer for payload measurement. After executing this function, no separate termination command is required.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
bool	Returns True

Example Output:

[True, True]

---

append_pose_wrench_sample

Signature:

def append_pose_wrench_sample(self) -> bool

Usage:

robot.append_pose_wrench_sample()

Description:
Adds the current pose and end-effector wrench data to the measurement buffer.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
bool	Returns True on success

Example Output:

[True, True]

---

remove_pose_wrench_sample

Signature:

def remove_pose_wrench_sample(self) -> bool

Usage:

robot.remove_pose_wrench_sample()

Description:
Removes the most recently added pose–wrench data from the measurement buffer.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
bool	Returns True if the removal is successful

Example Output:

[True, True]

---

get_pose_wrench_sample_list

Signature:

def get_pose_wrench_sample_list(self) -> list[float]

Usage:

robot.get_pose_wrench_sample_list()

Description:
Returns the pose–wrench data currently stored in the measurement buffer.

Parameters:

Parameter	Type	Description
None		N/A

Return Value:

Return Type	Description
list[float]	A list of pose–wrench sample data

Example Output:

[True, []]

---

calculate_payload

Signature:

def calculate_payload(self, *, sample_pose_wrench_list: Optional[list[float]] = None) -> list[bool, float, list[float]]

Usage:

robot.calculate_payload()

Description:
Calculates the payload based on the internal measurement buffer (or a provided list of pose–wrench samples). The return value is composed of (calculation success status, mass (float), center of mass [x, y, z]).

Parameters:

Parameter	Type	Description
sample_pose_wrench_list (opt.)	Optional[list[float]	Pose–wrench sample data list (optional; if omitted, the internal buffer is used)

Return Value:

Return Type	Description
list[bool, float, list[float]]	(calculation success status, mass, center of mass [x, y, z]) (units: kg, m)

Example Output:

[True, [False, 0, [0.0, 0.0, 0.0]]]

---

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