Staubli SDK

Frame intermediate = controller.Soap.ForwardKinematics(robot: 0, joints).Position;
intermediate.Py += 0.05;
controller.Soap.SetPower(true);

// Joint move to joint values, in radians
IMoveResult result = controller.Soap.MoveJJ(robot: 0, joints, mdesc);

// Joint move to a Cartesian frame
result = controller.Soap.MoveJC(robot: 0, target, mdesc);

// Straight line to a Cartesian frame
result = controller.Soap.MoveL(robot: 0, target, mdesc);

// Circle through an intermediate frame, to a target frame
result = controller.Soap.MoveC(robot: 0, intermediate, target, mdesc);

// The controller accepted the move, or tells why not
if (result.ReturnCode != MotionReturnCode.Success)
    Console.WriteLine($"Move {result.Id} refused: {result.ReturnCode}");
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Path of the project on the disk of the controller
string project = "Disk://myProject/myProject.pjx";

// Load the application in memory, without starting it
controller.Soap.LoadProject(project);

// Start it
controller.Soap.StartApplication(project);
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Joints and flange position of the first robot, in one request
CartesianJointPosition position = controller.Soap.GetCurrentCartesianJointPosition(robot: 0);

// Joint values, in radians
double[] joints = position.JointsPosition;

// Flange position in the world frame: X, Y, Z in meters, Rx, Ry, Rz in radians
CartesianPosition flange = position.CartesianPosition;
Console.WriteLine($"X={flange.X} Y={flange.Y} Z={flange.Z}");
Console.WriteLine($"Rx={flange.Rx} Ry={flange.Ry} Rz={flange.Rz}");
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
double[] current = controller.Soap.GetCurrentJointPosition(robot: 0);
JointRange range = controller.Soap.GetJointRange(robot: 0);

// Target: the current flange frame, 50 mm higher
IForwardKinematics fk = controller.Soap.ForwardKinematics(robot: 0, current);
Frame target = fk.Position;
target.Pz += 0.050;

// Keep the current configuration of the arm
IReverseKinematics ik = controller.Soap.ReverseKinematics(robot: 0, current, target, fk.Config, range);

if (ik.Result == ReversingResult.Success)
    Console.WriteLine(string.Join(", ", ik.Joint));
else
    Console.WriteLine($"No solution: {ik.Result}"); // OutOfWorkspace, JointOutOfRange...
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// The robots driven by the controller. The index in this array
// is the robot number that the other methods take.
Robot[] robots = controller.Soap.GetRobots();

for (int i = 0; i < robots.Length; i++)
{
    Robot robot = robots[i];
    Console.WriteLine($"Robot {i}: {robot.Arm}"); // for example TX2-60
    Console.WriteLine($"  Kinematic: {robot.Kinematic}"); // Anthropomorph6, Scara...
    Console.WriteLine($"  Mount type: {robot.MountType}"); // Floor, Ceiling, Wall
    Console.WriteLine($"  Tuning: {robot.Tuning}");
}
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Names as returned by GetAllPhysicalIos
string[] names = { @"BasicIO-1\%I0", @"BasicIO-1\%Q0" };

// One state per name, in the same order
PhysicalIoState[] states = controller.Soap.ReadIos(names);

for (int i = 0; i < names.Length; i++)
{
    PhysicalIoState state = states[i];

    // State tells if the name exists on this controller
    if (state.State != PhysicalIoEnumState.Defined)
    {
        Console.WriteLine($"{names[i]}: {state.State}");
        continue;
    }

    Console.WriteLine($"{names[i]} = {state.Value} locked={state.Locked} simulated={state.Simulated}");
}
controller.Disconnect();
}