UnderAutomation.Fanuc 2.3.0.0__py3-none-any.whl → 3.0.0.0__py3-none-any.whl

underautomation/fanuc/common/cartesian_position.py

@@ -14,6 +14,20 @@ class CartesianPosition(XYZPosition):
 			self._instance = _internal
 	def __repr__(self):
 		return self._instance.ToString()
+	def to_homogeneous_matrix(self) -> typing.List[float]:
+		return self._instance.ToHomogeneousMatrix()
+	@staticmethod
+	def from_homogeneous_matrix(R: typing.List[float]) -> 'CartesianPosition':
+		return CartesianPosition(None, None, None, None, None, None, None, cartesian_position.FromHomogeneousMatrix(R))
+	@staticmethod
+	def normalize_angle(angle: float) -> float:
+		return cartesian_position.NormalizeAngle(angle)
+	@staticmethod
+	def normalize_angles(pose: 'CartesianPosition') -> None:
+		cartesian_position.NormalizeAngles(pose._instance if pose else None)
+	@staticmethod
+	def is_near(a: 'CartesianPosition', b: 'CartesianPosition', mmTolerance: float, degreesTolerance: float) -> bool:
+		return cartesian_position.IsNear(a._instance if a else None, b._instance if b else None, mmTolerance, degreesTolerance)
 	@property
 	def w(self) -> float:
 		return self._instance.W

underautomation/fanuc/common/configuration.py

@@ -19,6 +19,9 @@ class Configuration:
 	def from_string(self, value: str) -> None:
 		self._instance.FromString(value)
 	@property
+	def is_unknown(self) -> bool:
+		return self._instance.IsUnknown
+	@property
 	def wrist_flip(self) -> WristFlip:
 		return WristFlip(self._instance.WristFlip)
 	@wrist_flip.setter
@@ -43,20 +46,20 @@ class Configuration:
 	def arm_front_back(self, value: ArmFrontBack):
 		self._instance.ArmFrontBack = value
 	@property
-	def turn_axis1(self) -> int:
-		return self._instance.TurnAxis1
-	@turn_axis1.setter
-	def turn_axis1(self, value: int):
-		self._instance.TurnAxis1 = value
-	@property
-	def turn_axis2(self) -> int:
-		return self._instance.TurnAxis2
-	@turn_axis2.setter
-	def turn_axis2(self, value: int):
-		self._instance.TurnAxis2 = value
-	@property
-	def turn_axis3(self) -> int:
-		return self._instance.TurnAxis3
-	@turn_axis3.setter
-	def turn_axis3(self, value: int):
-		self._instance.TurnAxis3 = value
+	def turn_axis4(self) -> int:
+		return self._instance.TurnAxis4
+	@turn_axis4.setter
+	def turn_axis4(self, value: int):
+		self._instance.TurnAxis4 = value
+	@property
+	def turn_axis5(self) -> int:
+		return self._instance.TurnAxis5
+	@turn_axis5.setter
+	def turn_axis5(self, value: int):
+		self._instance.TurnAxis5 = value
+	@property
+	def turn_axis6(self) -> int:
+		return self._instance.TurnAxis6
+	@turn_axis6.setter
+	def turn_axis6(self, value: int):
+		self._instance.TurnAxis6 = value

underautomation/fanuc/common/extended_cartesian_position.py

@@ -6,9 +6,9 @@ clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",
 from UnderAutomation.Fanuc.Common import ExtendedCartesianPosition as extended_cartesian_position
 
 class ExtendedCartesianPosition(CartesianPosition):
-	def __init__(self, x: float, y: float, z: float, w: float, p: float, r: float, e1: float, e2: float, e3: float, t4: int, t5: int, t6: int, _internal = 0):
+	def __init__(self, x: float, y: float, z: float, w: float, p: float, r: float, e1: float, e2: float, e3: float, _internal = 0):
 		if(_internal == 0):
-			self._instance = extended_cartesian_position(x, y, z, w, p, r, e1, e2, e3, t4, t5, t6)
+			self._instance = extended_cartesian_position(x, y, z, w, p, r, e1, e2, e3)
 		else:
 			self._instance = _internal
 	@property
@@ -29,21 +29,3 @@ class ExtendedCartesianPosition(CartesianPosition):
 	@e3.setter
 	def e3(self, value: float):
 		self._instance.E3 = value
-	@property
-	def t4(self) -> int:
-		return self._instance.T4
-	@t4.setter
-	def t4(self, value: int):
-		self._instance.T4 = value
-	@property
-	def t5(self) -> int:
-		return self._instance.T5
-	@t5.setter
-	def t5(self, value: int):
-		self._instance.T5 = value
-	@property
-	def t6(self) -> int:
-		return self._instance.T6
-	@t6.setter
-	def t6(self, value: int):
-		self._instance.T6 = value

underautomation/fanuc/common/joints_position.py

@@ -5,13 +5,22 @@ clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",
 from UnderAutomation.Fanuc.Common import JointsPosition as joints_position
 
 class JointsPosition:
-	def __init__(self, j1: float, j2: float, j3: float, j4: float, j5: float, j6: float, j7: float, j8: float, j9: float, _internal = 0):
+	def __init__(self, j1Deg: float, j2Deg: float, j3Deg: float, j4Deg: float, j5Deg: float, j6Deg: float, j7Deg: float, j8Deg: float, j9Deg: float, _internal = 0):
 		if(_internal == 0):
-			self._instance = joints_position(j1, j2, j3, j4, j5, j6, j7, j8, j9)
+			self._instance = joints_position(j1Deg, j2Deg, j3Deg, j4Deg, j5Deg, j6Deg, j7Deg, j8Deg, j9Deg)
 		else:
 			self._instance = _internal
 	def __repr__(self):
 		return self._instance.ToString()
+	@staticmethod
+	def is_near(j1: 'JointsPosition', j2: 'JointsPosition', degreesTolerance: float) -> bool:
+		return joints_position.IsNear(j1._instance if j1 else None, j2._instance if j2 else None, degreesTolerance)
+	@property
+	def item(self) -> float:
+		return self._instance.Item
+	@item.setter
+	def item(self, value: float):
+		self._instance.Item = value
 	@property
 	def values(self) -> typing.List[float]:
 		return self._instance.Values

underautomation/fanuc/common/position.py

@@ -32,7 +32,7 @@ class Position:
 		self._instance.JointsPosition = value
 	@property
 	def cartesian_position(self) -> ExtendedCartesianPosition:
-		return ExtendedCartesianPosition(None, None, None, None, None, None, None, None, None, None, None, None, self._instance.CartesianPosition)
+		return ExtendedCartesianPosition(None, None, None, None, None, None, None, None, None, self._instance.CartesianPosition)
 	@cartesian_position.setter
 	def cartesian_position(self, value: ExtendedCartesianPosition):
 		self._instance.CartesianPosition = value

underautomation/fanuc/fanuc_robot.py

@@ -17,7 +17,7 @@ class FanucRobot:
 		else:
 			self._instance = _internal
 	def connect(self, parameters: ConnectionParameters) -> None:
-		self._instance.Connect(parameters._instance)
+		self._instance.Connect(parameters._instance if parameters else None)
 	def disconnect(self) -> None:
 		self._instance.Disconnect()
 	@staticmethod

underautomation/fanuc/ftp/fanuc_file_readers.py

@@ -30,24 +30,17 @@ class FanucFileReaders:
 	@property
 	def readers(self) -> typing.List[IFileReader1]:
 		return [IFileReader1(x) for x in self._instance.Readers]
-	@property
-	def variable_reader(self) -> VariableReader:
-		return VariableReader(self._instance.VariableReader)
-	@property
-	def error_list_reader(self) -> ErrorListReader:
-		return ErrorListReader(self._instance.ErrorListReader)
-	@property
-	def summary_diagnostic_reader(self) -> SummaryDiagnosisReader:
-		return SummaryDiagnosisReader(self._instance.SummaryDiagnosticReader)
-	@property
-	def current_position_reader(self) -> DiagnosisReader2[CurrentPosition, CurrentPositionReader]:
-		return DiagnosisReader2[CurrentPosition, CurrentPositionReader](self._instance.CurrentPositionReader)
-	@property
-	def io_state_reader(self) -> DiagnosisReader2[IOState, IOStateParser]:
-		return DiagnosisReader2[IOState, IOStateParser](self._instance.IOStateReader)
-	@property
-	def safety_status_reader(self) -> DiagnosisReader2[SafetyStatus, SafetyStatusParser]:
-		return DiagnosisReader2[SafetyStatus, SafetyStatusParser](self._instance.SafetyStatusReader)
-	@property
-	def program_states(self) -> DiagnosisReader2[ProgramStates, ProgramStatesParser]:
-		return DiagnosisReader2[ProgramStates, ProgramStatesParser](self._instance.ProgramStates)
+
+FanucFileReaders.variable_reader = FanucFileReaders(fanuc_file_readers.VariableReader)
+
+FanucFileReaders.error_list_reader = FanucFileReaders(fanuc_file_readers.ErrorListReader)
+
+FanucFileReaders.summary_diagnostic_reader = FanucFileReaders(fanuc_file_readers.SummaryDiagnosticReader)
+
+FanucFileReaders.current_position_reader = FanucFileReaders(fanuc_file_readers.CurrentPositionReader)
+
+FanucFileReaders.io_state_reader = FanucFileReaders(fanuc_file_readers.IOStateReader)
+
+FanucFileReaders.safety_status_reader = FanucFileReaders(fanuc_file_readers.SafetyStatusReader)
+
+FanucFileReaders.program_states = FanucFileReaders(fanuc_file_readers.ProgramStates)

underautomation/fanuc/ftp/internal/ftp_client_base.py

@@ -15,7 +15,6 @@ import os
 clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
 from UnderAutomation.Fanuc.Ftp.Internal import FtpClientBase as ftp_client_base
 
-렫 = typing.TypeVar('렫')
 class FtpClientBase:
 	def __init__(self, _internal = 0):
 		if(_internal == 0):

underautomation/fanuc/ftp/variables/generic_variable_type_helpers.py

@@ -13,7 +13,7 @@ class GenericVariableTypeHelpers:
 			self._instance = _internal
 	@staticmethod
 	def get_ancestors(element: IGenericVariableType) -> typing.List[IGenericVariableType]:
-		return [IGenericVariableType(x) for x in generic_variable_type_helpers.GetAncestors(element._instance)]
+		return [IGenericVariableType(x) for x in generic_variable_type_helpers.GetAncestors(element._instance if element else None)]
 	@staticmethod
 	def get_field(element: IGenericVariableType, name: str) -> IGenericVariableType:
-		return IGenericVariableType(generic_variable_type_helpers.GetField(element._instance, name))
+		return IGenericVariableType(generic_variable_type_helpers.GetField(element._instance if element else None, name))

underautomation/fanuc/ftp/variables/variable_reader.py

@@ -43,7 +43,6 @@ import os
 clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
 from UnderAutomation.Fanuc.Ftp.Variables import VariableReader as variable_reader
 
-렫 = typing.TypeVar('렫')
 class VariableReader(FileReader1[GenericVariableFile]):
 	def __init__(self, _internal = 0):
 		if(_internal == 0):
@@ -58,108 +57,73 @@ class VariableReader(FileReader1[GenericVariableFile]):
 	@staticmethod
 	def parse_variable_file(stream: typing.Any) -> typing.List[GenericVariable]:
 		return [GenericVariable(x) for x in variable_reader.ParseVariableFile(stream)]
-	@property
-	def aavmmain_file(self) -> VariableReader1[AavmmainFile]:
-		return VariableReader1[AavmmainFile](self._instance.AavmmainFile)
-	@property
-	def bicsetup_file(self) -> VariableReader1[BicsetupFile]:
-		return VariableReader1[BicsetupFile](self._instance.BicsetupFile)
-	@property
-	def cbparam_file(self) -> VariableReader1[CbparamFile]:
-		return VariableReader1[CbparamFile](self._instance.CbparamFile)
-	@property
-	def cellio_file(self) -> VariableReader1[CellioFile]:
-		return VariableReader1[CellioFile](self._instance.CellioFile)
-	@property
-	def comset_file(self) -> VariableReader1[ComsetFile]:
-		return VariableReader1[ComsetFile](self._instance.ComsetFile)
-	@property
-	def diocfgsv_file(self) -> VariableReader1[DiocfgsvFile]:
-		return VariableReader1[DiocfgsvFile](self._instance.DiocfgsvFile)
-	@property
-	def gemdata_file(self) -> VariableReader1[GemdataFile]:
-		return VariableReader1[GemdataFile](self._instance.GemdataFile)
-	@property
-	def htcolrec_file(self) -> VariableReader1[HtcolrecFile]:
-		return VariableReader1[HtcolrecFile](self._instance.HtcolrecFile)
-	@property
-	def httpkcl_file(self) -> VariableReader1[HttpkclFile]:
-		return VariableReader1[HttpkclFile](self._instance.HttpkclFile)
-	@property
-	def irc_counter_file(self) -> VariableReader1[IrcCounterFile]:
-		return VariableReader1[IrcCounterFile](self._instance.IrcCounterFile)
-	@property
-	def irc_msg_file(self) -> VariableReader1[IrcMsgFile]:
-		return VariableReader1[IrcMsgFile](self._instance.IrcMsgFile)
-	@property
-	def irc_status_file(self) -> VariableReader1[IrcStatusFile]:
-		return VariableReader1[IrcStatusFile](self._instance.IrcStatusFile)
-	@property
-	def irc_stlabel_file(self) -> VariableReader1[IrcStlabelFile]:
-		return VariableReader1[IrcStlabelFile](self._instance.IrcStlabelFile)
-	@property
-	def klaction_file(self) -> VariableReader1[KlactionFile]:
-		return VariableReader1[KlactionFile](self._instance.KlactionFile)
-	@property
-	def mixlogic_file(self) -> VariableReader1[MixlogicFile]:
-		return VariableReader1[MixlogicFile](self._instance.MixlogicFile)
-	@property
-	def mtparam_file(self) -> VariableReader1[MtparamFile]:
-		return VariableReader1[MtparamFile](self._instance.MtparamFile)
-	@property
-	def numreg_file(self) -> VariableReader1[NumregFile]:
-		return VariableReader1[NumregFile](self._instance.NumregFile)
-	@property
-	def palreg_file(self) -> VariableReader1[PalregFile]:
-		return VariableReader1[PalregFile](self._instance.PalregFile)
-	@property
-	def posreg_file(self) -> VariableReader1[PosregFile]:
-		return VariableReader1[PosregFile](self._instance.PosregFile)
-	@property
-	def strreg_file(self) -> VariableReader1[StrregFile]:
-		return VariableReader1[StrregFile](self._instance.StrregFile)
-	@property
-	def swiupdt_file(self) -> VariableReader1[SwiupdtFile]:
-		return VariableReader1[SwiupdtFile](self._instance.SwiupdtFile)
-	@property
-	def sycldint_file(self) -> VariableReader1[SycldintFile]:
-		return VariableReader1[SycldintFile](self._instance.SycldintFile)
-	@property
-	def symotn_file(self) -> VariableReader1[SymotnFile]:
-		return VariableReader1[SymotnFile](self._instance.SymotnFile)
-	@property
-	def synosave_file(self) -> VariableReader1[SynosaveFile]:
-		return VariableReader1[SynosaveFile](self._instance.SynosaveFile)
-	@property
-	def sysframe_file(self) -> VariableReader1[SysframeFile]:
-		return VariableReader1[SysframeFile](self._instance.SysframeFile)
-	@property
-	def sysfsac_file(self) -> VariableReader1[SysfsacFile]:
-		return VariableReader1[SysfsacFile](self._instance.SysfsacFile)
-	@property
-	def syshost_file(self) -> VariableReader1[SyshostFile]:
-		return VariableReader1[SyshostFile](self._instance.SyshostFile)
-	@property
-	def sysmacro_file(self) -> VariableReader1[SysmacroFile]:
-		return VariableReader1[SysmacroFile](self._instance.SysmacroFile)
-	@property
-	def sysmast_file(self) -> VariableReader1[SysmastFile]:
-		return VariableReader1[SysmastFile](self._instance.SysmastFile)
-	@property
-	def syspass_file(self) -> VariableReader1[SyspassFile]:
-		return VariableReader1[SyspassFile](self._instance.SyspassFile)
-	@property
-	def sysservo_file(self) -> VariableReader1[SysservoFile]:
-		return VariableReader1[SysservoFile](self._instance.SysservoFile)
-	@property
-	def system_file(self) -> VariableReader1[SystemFile]:
-		return VariableReader1[SystemFile](self._instance.SystemFile)
-	@property
-	def sysuif_file(self) -> VariableReader1[SysuifFile]:
-		return VariableReader1[SysuifFile](self._instance.SysuifFile)
-	@property
-	def tpsnap_file(self) -> VariableReader1[TpsnapFile]:
-		return VariableReader1[TpsnapFile](self._instance.TpsnapFile)
-	@property
-	def vcmrinit_file(self) -> VariableReader1[VcmrinitFile]:
-		return VariableReader1[VcmrinitFile](self._instance.VcmrinitFile)
+
+VariableReader.aavmmain_file = VariableReader(variable_reader.AavmmainFile)
+
+VariableReader.bicsetup_file = VariableReader(variable_reader.BicsetupFile)
+
+VariableReader.cbparam_file = VariableReader(variable_reader.CbparamFile)
+
+VariableReader.cellio_file = VariableReader(variable_reader.CellioFile)
+
+VariableReader.comset_file = VariableReader(variable_reader.ComsetFile)
+
+VariableReader.diocfgsv_file = VariableReader(variable_reader.DiocfgsvFile)
+
+VariableReader.gemdata_file = VariableReader(variable_reader.GemdataFile)
+
+VariableReader.htcolrec_file = VariableReader(variable_reader.HtcolrecFile)
+
+VariableReader.httpkcl_file = VariableReader(variable_reader.HttpkclFile)
+
+VariableReader.irc_counter_file = VariableReader(variable_reader.IrcCounterFile)
+
+VariableReader.irc_msg_file = VariableReader(variable_reader.IrcMsgFile)
+
+VariableReader.irc_status_file = VariableReader(variable_reader.IrcStatusFile)
+
+VariableReader.irc_stlabel_file = VariableReader(variable_reader.IrcStlabelFile)
+
+VariableReader.klaction_file = VariableReader(variable_reader.KlactionFile)
+
+VariableReader.mixlogic_file = VariableReader(variable_reader.MixlogicFile)
+
+VariableReader.mtparam_file = VariableReader(variable_reader.MtparamFile)
+
+VariableReader.numreg_file = VariableReader(variable_reader.NumregFile)
+
+VariableReader.palreg_file = VariableReader(variable_reader.PalregFile)
+
+VariableReader.posreg_file = VariableReader(variable_reader.PosregFile)
+
+VariableReader.strreg_file = VariableReader(variable_reader.StrregFile)
+
+VariableReader.swiupdt_file = VariableReader(variable_reader.SwiupdtFile)
+
+VariableReader.sycldint_file = VariableReader(variable_reader.SycldintFile)
+
+VariableReader.symotn_file = VariableReader(variable_reader.SymotnFile)
+
+VariableReader.synosave_file = VariableReader(variable_reader.SynosaveFile)
+
+VariableReader.sysframe_file = VariableReader(variable_reader.SysframeFile)
+
+VariableReader.sysfsac_file = VariableReader(variable_reader.SysfsacFile)
+
+VariableReader.syshost_file = VariableReader(variable_reader.SyshostFile)
+
+VariableReader.sysmacro_file = VariableReader(variable_reader.SysmacroFile)
+
+VariableReader.sysmast_file = VariableReader(variable_reader.SysmastFile)
+
+VariableReader.syspass_file = VariableReader(variable_reader.SyspassFile)
+
+VariableReader.sysservo_file = VariableReader(variable_reader.SysservoFile)
+
+VariableReader.system_file = VariableReader(variable_reader.SystemFile)
+
+VariableReader.sysuif_file = VariableReader(variable_reader.SysuifFile)
+
+VariableReader.tpsnap_file = VariableReader(variable_reader.TpsnapFile)
+
+VariableReader.vcmrinit_file = VariableReader(variable_reader.VcmrinitFile)

underautomation/fanuc/kinematics/arm_kinematic_models.py

@@ -0,0 +1,88 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Kinematics import ArmKinematicModels as arm_kinematic_models
+
+class ArmKinematicModels(int):
+	ARCMate0iA = arm_kinematic_models.ARCMate0iA
+	ARCMate0iB = arm_kinematic_models.ARCMate0iB
+	ARCMate0iB_2 = arm_kinematic_models.ARCMate0iB_2
+	ARCMate100iD = arm_kinematic_models.ARCMate100iD
+	ARCMate100iD10L = arm_kinematic_models.ARCMate100iD10L
+	ARCMate100iD16S = arm_kinematic_models.ARCMate100iD16S
+	ARCMate100iD8L = arm_kinematic_models.ARCMate100iD8L
+	ARCMate120iD = arm_kinematic_models.ARCMate120iD
+	ARCMate120iD12L = arm_kinematic_models.ARCMate120iD12L
+	ARCMate120iD35 = arm_kinematic_models.ARCMate120iD35
+	CR14iAL = arm_kinematic_models.CR14iAL
+	CR15iA = arm_kinematic_models.CR15iA
+	CR35iA = arm_kinematic_models.CR35iA
+	CR7iA = arm_kinematic_models.CR7iA
+	CR7iAL = arm_kinematic_models.CR7iAL
+	CRX10iA = arm_kinematic_models.CRX10iA
+	CRX10iAL = arm_kinematic_models.CRX10iAL
+	LRMate200iD = arm_kinematic_models.LRMate200iD
+	LRMate200iD7C = arm_kinematic_models.LRMate200iD7C
+	LRMate200iD7L = arm_kinematic_models.LRMate200iD7L
+	LRMate200iD7LC = arm_kinematic_models.LRMate200iD7LC
+	LaserRobotHA = arm_kinematic_models.LaserRobotHA
+	M10iA10M = arm_kinematic_models.M10iA10M
+	M10iA10MS = arm_kinematic_models.M10iA10MS
+	M10iA12 = arm_kinematic_models.M10iA12
+	M10iA12S = arm_kinematic_models.M10iA12S
+	M10iA7L = arm_kinematic_models.M10iA7L
+	M10iA8L = arm_kinematic_models.M10iA8L
+	M2000iA1700L = arm_kinematic_models.M2000iA1700L
+	M2000iA2300 = arm_kinematic_models.M2000iA2300
+	M2000iA1200 = arm_kinematic_models.M2000iA1200
+	M2000iA900L = arm_kinematic_models.M2000iA900L
+	M20iA = arm_kinematic_models.M20iA
+	M20iA12L = arm_kinematic_models.M20iA12L
+	M20iA20M = arm_kinematic_models.M20iA20M
+	M20iA35M = arm_kinematic_models.M20iA35M
+	M20iB25C = arm_kinematic_models.M20iB25C
+	M410iC110 = arm_kinematic_models.M410iC110
+	M410iC185_2 = arm_kinematic_models.M410iC185_2
+	M410iC185 = arm_kinematic_models.M410iC185
+	M410iC500 = arm_kinematic_models.M410iC500
+	M410iC500_2 = arm_kinematic_models.M410iC500_2
+	M800iA60 = arm_kinematic_models.M800iA60
+	M900iB280L = arm_kinematic_models.M900iB280L
+	M900iB330L = arm_kinematic_models.M900iB330L
+	M900iB360 = arm_kinematic_models.M900iB360
+	M900iB400L = arm_kinematic_models.M900iB400L
+	M900iB700 = arm_kinematic_models.M900iB700
+	M900iBKAI = arm_kinematic_models.M900iBKAI
+	M20iB25 = arm_kinematic_models.M20iB25
+	M20iB35S = arm_kinematic_models.M20iB35S
+	M710iC12L = arm_kinematic_models.M710iC12L
+	M710iC20M = arm_kinematic_models.M710iC20M
+	M710iC45M = arm_kinematic_models.M710iC45M
+	M710iC50 = arm_kinematic_models.M710iC50
+	P700iANewRightyArmRightOffset = arm_kinematic_models.P700iANewRightyArmRightOffset
+	P350iA45LeftHand = arm_kinematic_models.P350iA45LeftHand
+	P350iA45RightHand = arm_kinematic_models.P350iA45RightHand
+	R1000iA100F = arm_kinematic_models.R1000iA100F
+	R1000iA130F = arm_kinematic_models.R1000iA130F
+	R1000iA80F = arm_kinematic_models.R1000iA80F
+	R2000iB125L = arm_kinematic_models.R2000iB125L
+	R2000iB175L = arm_kinematic_models.R2000iB175L
+	R2000iC100S = arm_kinematic_models.R2000iC100S
+	R2000iC270F = arm_kinematic_models.R2000iC270F
+	R2000iD100FH = arm_kinematic_models.R2000iD100FH
+	R1000iA100F7 = arm_kinematic_models.R1000iA100F7
+	R1000iA120F7B_3 = arm_kinematic_models.R1000iA120F7B_3
+	R1000iA120F7B_2 = arm_kinematic_models.R1000iA120F7B_2
+	R1000iA120F7B = arm_kinematic_models.R1000iA120F7B
+	R1000iA120F7BS = arm_kinematic_models.R1000iA120F7BS
+	R1000iA120F7BS_3 = arm_kinematic_models.R1000iA120F7BS_3
+	R1000iA120F7BS_2 = arm_kinematic_models.R1000iA120F7BS_2
+	R2000iB210FS = arm_kinematic_models.R2000iB210FS
+	R2000iB220US = arm_kinematic_models.R2000iB220US
+	R2000iC125L = arm_kinematic_models.R2000iC125L
+	R2000iC190U = arm_kinematic_models.R2000iC190U
+	R2000iC210F = arm_kinematic_models.R2000iC210F
+	R2000iC210L = arm_kinematic_models.R2000iC210L
+	R2000iC210WE = arm_kinematic_models.R2000iC210WE
+	R2000iC210WEProto = arm_kinematic_models.R2000iC210WEProto
+	R2000iC220U = arm_kinematic_models.R2000iC220U

underautomation/fanuc/kinematics/crx/crx10ia_dhm_parameters.py

@@ -0,0 +1,25 @@
+import typing
+from underautomation.fanuc.kinematics.crx.i_crx_dhm_parameters import ICrxDhmParameters
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Kinematics.Crx import Crx10iaDhmParameters as crx10ia_dhm_parameters
+
+class Crx10iaDhmParameters(ICrxDhmParameters):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = crx10ia_dhm_parameters()
+		else:
+			self._instance = _internal
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@property
+	def d4(self) -> float:
+		return self._instance.D4
+	@property
+	def d5(self) -> float:
+		return self._instance.D5
+	@property
+	def d6(self) -> float:
+		return self._instance.D6

underautomation/fanuc/kinematics/crx/crx10ia_l_dhm_parameters.py

@@ -0,0 +1,25 @@
+import typing
+from underautomation.fanuc.kinematics.crx.i_crx_dhm_parameters import ICrxDhmParameters
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Kinematics.Crx import Crx10iaLDhmParameters as crx10ia_l_dhm_parameters
+
+class Crx10iaLDhmParameters(ICrxDhmParameters):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = crx10ia_l_dhm_parameters()
+		else:
+			self._instance = _internal
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@property
+	def d4(self) -> float:
+		return self._instance.D4
+	@property
+	def d5(self) -> float:
+		return self._instance.D5
+	@property
+	def d6(self) -> float:
+		return self._instance.D6

underautomation/fanuc/kinematics/crx/crx_dhm_parameters.py

@@ -0,0 +1,37 @@
+import typing
+from underautomation.fanuc.kinematics.crx.i_crx_dhm_parameters import ICrxDhmParameters
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Kinematics.Crx import CrxDhmParameters as crx_dhm_parameters
+
+class CrxDhmParameters(ICrxDhmParameters):
+	def __init__(self, a1: float, r4: float, r5: float, r6: float, _internal = 0):
+		if(_internal == 0):
+			self._instance = crx_dhm_parameters(a1, r4, r5, r6)
+		else:
+			self._instance = _internal
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@a2.setter
+	def a2(self, value: float):
+		self._instance.A2 = value
+	@property
+	def d4(self) -> float:
+		return self._instance.D4
+	@d4.setter
+	def d4(self, value: float):
+		self._instance.D4 = value
+	@property
+	def d5(self) -> float:
+		return self._instance.D5
+	@d5.setter
+	def d5(self, value: float):
+		self._instance.D5 = value
+	@property
+	def d6(self) -> float:
+		return self._instance.D6
+	@d6.setter
+	def d6(self, value: float):
+		self._instance.D6 = value

underautomation/fanuc/kinematics/crx/crx_kinematics_utils.py

@@ -0,0 +1,18 @@
+import typing
+from underautomation.fanuc.common.joints_position import JointsPosition
+from underautomation.fanuc.common.cartesian_position import CartesianPosition
+from underautomation.fanuc.kinematics.dh_parameters import DhParameters
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Kinematics.Crx import CrxKinematicsUtils as crx_kinematics_utils
+
+class CrxKinematicsUtils:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = crx_kinematics_utils()
+		else:
+			self._instance = _internal
+	@staticmethod
+	def inverse_kinematics(pose: CartesianPosition, parameters: DhParameters, includeDuals: bool=True, seedJoints: typing.List[float]=None) -> typing.List[JointsPosition]:
+		return [JointsPosition(x) for x in crx_kinematics_utils.InverseKinematics(pose._instance if pose else None, parameters._instance if parameters else None, includeDuals, seedJoints)]

underautomation/fanuc/kinematics/crx/i_crx_dhm_parameters.py

@@ -0,0 +1,24 @@
+import typing
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Kinematics.Crx import ICrxDhmParameters as i_crx_dhm_parameters
+
+class ICrxDhmParameters:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = i_crx_dhm_parameters()
+		else:
+			self._instance = _internal
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@property
+	def d4(self) -> float:
+		return self._instance.D4
+	@property
+	def d5(self) -> float:
+		return self._instance.D5
+	@property
+	def d6(self) -> float:
+		return self._instance.D6