Controller and robots

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");
Parameter[] parameters = controller.Soap.GetControllerParameters();

foreach (Parameter parameter in parameters)
    Console.WriteLine($"{parameter.Key} | {parameter.Name} = {parameter.Value}");
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// One entry per joint of the first robot
DhParameters[] dh = controller.Soap.GetDhParameters(robot: 0);

for (int i = 0; i < dh.Length; i++)
    Console.WriteLine($"J{i + 1}: theta={dh[i].Theta} d={dh[i].D} a={dh[i].A} alpha={dh[i].Alpha} beta={dh[i].Beta}");
controller.Disconnect();
}

var controller = new StaubliController();
controller.Connect("192.168.0.254");
// Software limits of each joint of the first robot, in radians
JointRange range = controller.Soap.GetJointRange(robot: 0);

for (int i = 0; i < range.Min.Length; i++)
    Console.WriteLine($"J{i + 1}: {range.Min[i]} to {range.Max[i]}");
controller.Disconnect();
}