UnderAutomation.Fanuc 3.5.0.0__py3-none-any.whl

underautomation/fanuc/ftp/variables/zip_cfg_variable_type.py

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+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZipCfgVariableType as zip_cfg_variable_type
+
+class ZipCfgVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zip_cfg_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def dbglvl(self) -> int:
+		return self._instance.Dbglvl
+	@property
+	def ldebug(self) -> typing.List[int]:
+		return self._instance.Ldebug
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zmpcf_grp_variable_type.py

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+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZmpcfGrpVariableType as zmpcf_grp_variable_type
+
+class ZmpcfGrpVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zmpcf_grp_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def zmp_enb(self) -> int:
+		return self._instance.ZmpEnb
+	@property
+	def zmp_dmy_lnk(self) -> typing.List[float]:
+		return self._instance.ZmpDmyLnk
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zmpos_grp_variable_type.py

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+import typing
+from underautomation.fanuc.ftp.variables.cartesian_position_variable import CartesianPositionVariable
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZmposGrpVariableType as zmpos_grp_variable_type
+
+class ZmposGrpVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zmpos_grp_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def m_pos_enb(self) -> int:
+		return self._instance.MPosEnb
+	@property
+	def cmcmd_scl(self) -> int:
+		return self._instance.CmcmdScl
+	@property
+	def cart_mcmd(self) -> typing.List[float]:
+		return self._instance.CartMcmd
+	@property
+	def p_act(self) -> CartesianPositionVariable:
+		return CartesianPositionVariable(self._instance.PAct)
+	@property
+	def j_act(self) -> typing.List[float]:
+		return self._instance.JAct
+	@property
+	def p_des(self) -> CartesianPositionVariable:
+		return CartesianPositionVariable(self._instance.PDes)
+	@property
+	def j_des(self) -> typing.List[float]:
+		return self._instance.JDes
+	@property
+	def p_des2(self) -> CartesianPositionVariable:
+		return CartesianPositionVariable(self._instance.PDes2)
+	@property
+	def j_des2(self) -> typing.List[float]:
+		return self._instance.JDes2
+	@property
+	def p_act_uf(self) -> typing.List[float]:
+		return self._instance.PActUf
+	@property
+	def p_des_uf(self) -> typing.List[float]:
+		return self._instance.PDesUf
+	@property
+	def uxwpr_enb(self) -> int:
+		return self._instance.UxwprEnb
+	@property
+	def uxeul_enb(self) -> int:
+		return self._instance.UxeulEnb
+	@property
+	def uxwpr_act(self) -> typing.List[float]:
+		return self._instance.UxwprAct
+	@property
+	def uxwpr_des(self) -> typing.List[float]:
+		return self._instance.UxwprDes
+	@property
+	def uxeul_act(self) -> typing.List[float]:
+		return self._instance.UxeulAct
+	@property
+	def uxeul_des(self) -> typing.List[float]:
+		return self._instance.UxeulDes
+	@property
+	def p_aftflt(self) -> CartesianPositionVariable:
+		return CartesianPositionVariable(self._instance.PAftflt)
+	@property
+	def j_aftflt(self) -> typing.List[float]:
+		return self._instance.JAftflt
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zp_cfg_variable_type.py

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+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZpCfgVariableType as zp_cfg_variable_type
+
+class ZpCfgVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zp_cfg_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def enable(self) -> bool:
+		return self._instance.Enable
+	@property
+	def debug(self) -> int:
+		return self._instance.Debug
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zp_cylinder_variable_type.py

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+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZpCylinderVariableType as zp_cylinder_variable_type
+
+class ZpCylinderVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zp_cylinder_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def radius(self) -> float:
+		return self._instance.Radius
+	@property
+	def height(self) -> float:
+		return self._instance.Height
+	@property
+	def prog_name(self) -> typing.List[str]:
+		return self._instance.ProgName
+	@property
+	def line_num(self) -> typing.List[int]:
+		return self._instance.LineNum
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zp_grp_variable_type.py

@@ -0,0 +1,49 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZpGrpVariableType as zp_grp_variable_type
+
+class ZpGrpVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zp_grp_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def options(self) -> typing.List[int]:
+		return self._instance.Options
+	@property
+	def break_time(self) -> int:
+		return self._instance.BreakTime
+	@property
+	def work_shift(self) -> int:
+		return self._instance.WorkShift
+	@property
+	def enable(self) -> bool:
+		return self._instance.Enable
+	@property
+	def rv_life(self) -> typing.List[int]:
+		return self._instance.RvLife
+	@property
+	def shift_ovc(self) -> typing.List[float]:
+		return self._instance.ShiftOvc
+	@property
+	def part_id(self) -> int:
+		return self._instance.PartId
+	@property
+	def optm_rate(self) -> typing.List[float]:
+		return self._instance.OptmRate
+	@property
+	def max_i_rate(self) -> int:
+		return self._instance.MaxIRate
+	@property
+	def max_di_rate(self) -> int:
+		return self._instance.MaxDiRate
+	@property
+	def trace_env(self) -> float:
+		return self._instance.TraceEnv
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

underautomation/fanuc/ftp/variables/zp_sphere_variable_type.py

@@ -0,0 +1,25 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_variable_type import GenericVariableType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Ftp.Variables import ZpSphereVariableType as zp_sphere_variable_type
+
+class ZpSphereVariableType(GenericVariableType):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = zp_sphere_variable_type()
+		else:
+			self._instance = _internal
+	@property
+	def radius(self) -> float:
+		return self._instance.Radius
+	@property
+	def prog_name(self) -> typing.List[str]:
+		return self._instance.ProgName
+	@property
+	def line_num(self) -> typing.List[int]:
+		return self._instance.LineNum
+	@property
+	def fanuc_internal_type_name(self) -> str:
+		return self._instance.FanucInternalTypeName

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/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/dh_parameters.py

@@ -0,0 +1,77 @@
+import typing
+from underautomation.fanuc.kinematics.i_dh_parameters import IDhParameters
+from underautomation.fanuc.kinematics.kinematics_category import KinematicsCategory
+from underautomation.fanuc.kinematics.arm_kinematic_models import ArmKinematicModels
+from underautomation.fanuc.ftp.variables.symotn_file import SymotnFile
+from underautomation.fanuc.ftp.variables.mrr_grp_variable_type import MrrGrpVariableType
+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 DhParameters as dh_parameters
+
+class DhParameters(IDhParameters):
+	def __init__(self, d4: float, d5: float, d6: float, a1: float, a2: float, a3: float, _internal = 0):
+		if(_internal == 0):
+			self._instance = dh_parameters(d4, d5, d6, a1, a2, a3)
+		else:
+			self._instance = _internal
+	@staticmethod
+	def from_arm_kinematic_model(model: ArmKinematicModels) -> 'DhParameters':
+		return DhParameters(None, None, None, None, None, None, dh_parameters.FromArmKinematicModel(model))
+	@staticmethod
+	def from_opw_parameters(a1: float, a2: float, c2: float, c3: float, c4: float) -> 'DhParameters':
+		return DhParameters(None, None, None, None, None, None, dh_parameters.FromOpwParameters(a1, a2, c2, c3, c4))
+	@staticmethod
+	def from_def_file(doc: typing.Any) -> typing.List['DhParameters']:
+		return [DhParameters(x) for x in dh_parameters.FromDefFile(doc)]
+	@staticmethod
+	def from_symotn_file(file: SymotnFile) -> typing.List['DhParameters']:
+		return [DhParameters(x) for x in dh_parameters.FromSymotnFile(file._instance if file else None)]
+	@staticmethod
+	def from_mrr_grp(mrrGrp: MrrGrpVariableType) -> 'DhParameters':
+		return DhParameters(None, None, None, None, None, None, dh_parameters.FromMrrGrp(mrrGrp._instance if mrrGrp else None))
+	@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
+	@property
+	def a1(self) -> float:
+		return self._instance.A1
+	@a1.setter
+	def a1(self, value: float):
+		self._instance.A1 = value
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@a2.setter
+	def a2(self, value: float):
+		self._instance.A2 = value
+	@property
+	def a3(self) -> float:
+		return self._instance.A3
+	@a3.setter
+	def a3(self, value: float):
+		self._instance.A3 = value
+	@property
+	def kinematics_category(self) -> KinematicsCategory:
+		return KinematicsCategory(self._instance.KinematicsCategory)
+	@property
+	def tag(self) -> typing.Any:
+		return self._instance.Tag
+	@tag.setter
+	def tag(self, value: typing.Any):
+		self._instance.Tag = value

underautomation/fanuc/kinematics/i_dh_parameters.py

@@ -0,0 +1,30 @@
+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 import IDhParameters as i_dh_parameters
+
+class IDhParameters:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = i_dh_parameters()
+		else:
+			self._instance = _internal
+	@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
+	@property
+	def a1(self) -> float:
+		return self._instance.A1
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@property
+	def a3(self) -> float:
+		return self._instance.A3

underautomation/fanuc/kinematics/internal/arm_model_attribute.py

@@ -0,0 +1,31 @@
+import typing
+from underautomation.fanuc.kinematics.i_dh_parameters import IDhParameters
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Kinematics.Internal import ArmModelAttribute as arm_model_attribute
+
+class ArmModelAttribute(IDhParameters):
+	def __init__(self, description: str, d4: float, d5: float, d6: float, a1: float, a2: float, a3: float, _internal = 0):
+		if(_internal == 0):
+			self._instance = arm_model_attribute(description, d4, d5, d6, a1, a2, a3)
+		else:
+			self._instance = _internal
+	@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
+	@property
+	def a1(self) -> float:
+		return self._instance.A1
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@property
+	def a3(self) -> float:
+		return self._instance.A3

underautomation/fanuc/kinematics/kinematics_category.py

@@ -0,0 +1,9 @@
+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 KinematicsCategory as kinematics_category
+
+class KinematicsCategory(int):
+	Invalid = kinematics_category.Invalid
+	Crx = kinematics_category.Crx
+	Opw = kinematics_category.Opw

underautomation/fanuc/kinematics/kinematics_utils.py

@@ -0,0 +1,24 @@
+import typing
+from underautomation.fanuc.common.cartesian_position import CartesianPosition
+from underautomation.fanuc.common.joints_position import JointsPosition
+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 import KinematicsUtils as kinematics_utils
+
+class KinematicsUtils:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = kinematics_utils()
+		else:
+			self._instance = _internal
+	@staticmethod
+	def forward_kinematics(jointAnglesRad: typing.List[float], dhParameters: DhParameters) -> CartesianPosition:
+		return CartesianPosition(None, None, None, None, None, None, None, kinematics_utils.ForwardKinematics(jointAnglesRad, dhParameters._instance if dhParameters else None))
+	@staticmethod
+	def inverse_kinematics(position: CartesianPosition, parameters: DhParameters) -> typing.List[JointsPosition]:
+		return [JointsPosition(x) for x in kinematics_utils.InverseKinematics(position._instance if position else None, parameters._instance if parameters else None)]
+	@staticmethod
+	def mul(A: typing.List[float], B: typing.List[float]) -> typing.List[float]:
+		return kinematics_utils.Mul(A, B)

underautomation/fanuc/kinematics/opw/opw_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.Opw import OpwKinematicsUtils as opw_kinematics_utils
+
+class OpwKinematicsUtils:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = opw_kinematics_utils()
+		else:
+			self._instance = _internal
+	@staticmethod
+	def inverse_kinematics(pose: CartesianPosition, dhParameters: DhParameters) -> typing.List[JointsPosition]:
+		return [JointsPosition(x) for x in opw_kinematics_utils.InverseKinematics(pose._instance if pose else None, dhParameters._instance if dhParameters else None)]

underautomation/fanuc/lib/version.txt

@@ -0,0 +1 @@
+3.5.0.0

underautomation/fanuc/license/invalid_license_exception.py

@@ -0,0 +1,16 @@
+import typing
+from underautomation.fanuc.license.license_info import LicenseInfo
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.License import InvalidLicenseException as invalid_license_exception
+
+class InvalidLicenseException:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = invalid_license_exception()
+		else:
+			self._instance = _internal
+	@property
+	def license_info(self) -> LicenseInfo:
+		return LicenseInfo(None, None, self._instance.LicenseInfo)

underautomation/fanuc/license/license_info.py

@@ -0,0 +1,48 @@
+import typing
+from underautomation.fanuc.license.license_state import LicenseState
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.License import LicenseInfo as license_info
+
+class LicenseInfo:
+	def __init__(self, licenseIdentifier: str, licenseKey: str, _internal = 0):
+		if(_internal == 0):
+			self._instance = license_info(licenseIdentifier, licenseKey)
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def license_key(self) -> str:
+		return self._instance.LicenseKey
+	@property
+	def product(self) -> str:
+		return self._instance.Product
+	@property
+	def evaluation_days_left(self) -> typing.Any:
+		return self._instance.EvaluationDaysLeft
+	@property
+	def evaluation_start_date(self) -> typing.Any:
+		return self._instance.EvaluationStartDate
+	@property
+	def licensee(self) -> str:
+		return self._instance.Licensee
+	@property
+	def trial_period_expiration_date(self) -> typing.Any:
+		return self._instance.TrialPeriodExpirationDate
+	@property
+	def state(self) -> LicenseState:
+		return LicenseState(self._instance.State)
+	@property
+	def product_release_date(self) -> typing.Any:
+		return self._instance.ProductReleaseDate
+	@property
+	def maintenance_years(self) -> int:
+		return self._instance.MaintenanceYears
+	@property
+	def license_issued_date(self) -> typing.Any:
+		return self._instance.LicenseIssuedDate
+	@property
+	def maintenance_expiration_date(self) -> typing.Any:
+		return self._instance.MaintenanceExpirationDate

underautomation/fanuc/license/license_state.py

@@ -0,0 +1,12 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.License import LicenseState as license_state
+
+class LicenseState(int):
+	Invalid = license_state.Invalid
+	Trial = license_state.Trial
+	ExtraTrial = license_state.ExtraTrial
+	Expired = license_state.Expired
+	MaintenanceNeeded = license_state.MaintenanceNeeded
+	Licensed = license_state.Licensed