Custom Types

This document lists the custom data types used in the SDK, corresponding to Python SDK type declarations (lebai_sdk.pyi). The structure of SDKs in each language is nearly identical, only the syntax differs.

TIP

• Joint pose JointPose is a 6-element array (radians).
• Cartesian pose CartesianPose is a dictionary: position unit m, angle unit rad.
• Enum types in all languages are strings (e.g. robot state "IDLE", "MOVING").

Pose Types

JointPose

Joint pose (radians): [joint1, joint2, ..., joint6], i.e. [list[float]]

CartesianPose

Cartesian pose (position unit m, angle unit rad)

Field	Type	Description
x	[float]	X coordinate (m)
y	[float]	Y coordinate (m)
z	[float]	Z coordinate (m)
rx	[float]	Rotation angle around X axis (rad)
ry	[float]	Rotation angle around Y axis (rad)
rz	[float]	Rotation angle around Z axis (rad)

Pose

Pose parameter: either joint pose or Cartesian pose, i.e. [JointPose] | [CartesianPose]

Position

Spatial position (unit m)

Field	Type	Description
x	[float]	X coordinate (m)
y	[float]	Y coordinate (m)
z	[float]	Z coordinate (m)

Data Object Types

DeviceInfo

Device information returned by device discovery

Field	Type	Description
name	[str]	Device name
mac	[str]	MAC address
ip	[str]	IP address
online	[bool]	Whether online

KinData

Motion data (current state)

Field	Type	Description
actual_joint_pose	[JointPose]	Current joint position (radians)
actual_joint_speed	[JointPose]	Current joint speed (rad/s)
actual_joint_acc	[JointPose]	Current joint acceleration (rad/s²)
actual_joint_torque	[JointPose]	Current joint torque (Nm)
target_joint_pose	[JointPose]	Target joint position (radians)
target_joint_speed	[JointPose]	Target joint speed (rad/s)
target_joint_acc	[JointPose]	Target joint acceleration (rad/s²)
target_joint_torque	[JointPose]	Target joint torque (Nm)
actual_tcp_pose	[CartesianPose]	Current TCP pose
target_tcp_pose	[CartesianPose]	Target TCP pose
actual_flange_pose	[CartesianPose]	Current flange pose

PhyData

Physical data

Field	Type	Description
joint_temp	[list[float]]	Joint temperature (°C)
joint_voltage	[list[float]]	Joint voltage (V)
flange_voltage	[float]	Flange voltage (V)

Payload

Payload parameters

Field	Type	Description
mass	[float]	Payload mass (kg)
cog	[Position]	Payload center of gravity offset position (m)

Claw

Gripper status

Field	Type	Description
force	[float]	Gripper force (force control)
amplitude	[float]	Gripper amplitude (position control)
weight	[float]	Payload weight (deprecated)
hold_on	[bool]	Whether amplitude is stable

LedStyle

LED light strip style

Field	Type	Description
mode	[int]	Mode
speed	[int]	Speed
colors	[list[int]]	RGB color list
voice	[int]	Sound
volume	[int]	Volume

CommandStdout

Command execution result

Field	Type	Description
done	[bool]	Not started or completed
stdout	[str]	Debug information
stderr	[str]	Warning information
code	[int]	Return code, non-0 is failure

Item

KV storage item

Field	Type	Description
key	[str]	Key name
value	[str]	Key value

HttpRequest

HTTP request

Field	Type	Description
method	[str]	Request method, e.g. "GET", "POST"
url	[str]	Request URL
headers	[dict[str, str]]	Request headers
body	[str]	Request body

HttpResponse

HTTP response

Field	Type	Description
status	[int]	Status code
headers	[dict[str, str]]	Response headers
body	[str]	Response body

ConnectOption

Connection options

Field	Type	Description
request_timeout	[int]	Request timeout (seconds)

Enum Types (all strings)

IoDevice

IO device name (unknown device name defaults to "ROBOT")

Value	Description
ROBOT	Control box
FLANGE	Flange
EXTRA	Expansion board
SHOULDER	Shoulder light board
FLANGE_BTN	Flange button

DigitalMode

Digital IO mode

Value	Description
INPUT	Input
OUTPUT	Output

Relation

Signal comparison relation

Value	Description
EQ	Equal
NEQ	Not equal
LT	Less than
LTE	Less than or equal
GT	Greater than
GTE	Greater than or equal

Parity

Serial port parity ("None" means no parity)

Value	Description
None	No parity
Odd	Odd parity
Even	Even parity

AutoCfg

Auto configuration on startup

Value	Description
ARM_POWER	Auto power on after startup
ENABLE_JOINT	Auto power on and start arm after startup
INIT_CLAW	Auto initialize gripper after power on

RobotState

Robot state

Value	Description
DISCONNECTED	Robot hardware communication fault
ESTOP	Robot in emergency stop state, please confirm safety
BOOTING	Robot initializing
ROBOT_OFF	Robot power not turned on
ROBOT_ON	Robot power turned on
IDLE	Robot idle
PAUSED	Robot in paused state
MOVING	Robot moving
UPDATING	Robot system updating
STARTING	Robot startup from initialization to idle
STOPPING	Robot transitioning from idle to stopped
TEACHING	Robot in teaching mode
STOP	Robot stopped, not emergency stopped

EstopReason

Emergency stop reason

Value	Description
NONE	No emergency stop
SYSTEM	Software
MANUAL	Manual API call
HARD_ESTOP	Hardware emergency stop button
COLLISION	Collision
JOINT_LIMIT	Joint limit
EXCEED	Overspeed
TRAJECTORY_ERROR	Motion planning error
COMM_ERROR	Communication fault
CAN_ERROR	CAN communication fault
JOINT_ERROR	Joint fault

Other Types

Robot

Robot control interface. After successful connection, you can call various control and query methods. It can be copied, with multiple references sharing the same connection.

RobotSubscription

RPC subscription object, can repeatedly call next() to get push data.