# Motion API

## MotionMode

```python
MotionMode.PTP
MotionMode.LINE
MotionMode.CIRCLE
MotionMode.SPLINE
```

Integer values are also accepted.

| Integer | Mode |
|---:|---|
| 1 | PTP |
| 2 | LINE |
| 3 | CIRCLE |
| 4 | SPLINE |

## move()

```python
robot.move(
    target,
    motion_mode=None,
    coord_type=None,
    offset=None,
    speed=None,
    accel=None,
    is_async=True,
)
```

Perform a single-target move.

### P String

```python
robot.move("P1")
robot.move("@P P1")
robot.move("@0 P1")
robot.move("P1+(0,0,10)")
```

For a single-target `move()`, `@P` and `@0` do not affect blending.

### Numeric P Coordinates

```python
robot.move(
    [300, 0, 200, 0, 180, 0],
    motion_mode=MotionMode.LINE,
    coord_type="P",
)
```

### Numeric J Coordinates

```python
robot.move(
    [0, -90, 90, 0, 90, 0],
    coord_type="J",
)
```

## Internal Mapping

| Input | Internal API |
|---|---|
| `coord_type="J"` | `moveJ()` |
| P + `PTP` | `moveJ_IK()` |
| P + `LINE` | `moveL()` |
| Single-target `CIRCLE` / `SPLINE` | Unsupported |

## move_path()

```python
robot.move_path(
    ["P1", "P2", "P3"],
    motion_mode=MotionMode.LINE,
    speed=20,
    accel=20,
    blend=None,
    is_async=True,
)
```

Perform a multi-target move.

`blend` is measured in meters.

If omitted, blending follows `path_blend`.

- `@0`: blend = 0  
- `@P`: `UR_DEFAULT_BLEND_RADIUS`  

## dev()

```python
target = robot.dev("P1", [0, 0, 10, 0, 0, 0])
```

Add six components directly, similar to COBOTTA-style `P1+(...)`.

## pose_trans()

```python
target = robot.pose_trans("P1", [0, 0, 10, 0, 0, 0])
```

Compose poses in the same manner as URScript `pose_trans()`.

## p2j() / j2p()

```python
j = robot.p2j([300, 0, 200, 0, 180, 0])
p = robot.j2p([0, -90, 90, 0, 90, 0])
```

Perform inverse/forward kinematics.

## drive()

```python
robot.drive((1, 5), relative=True)
```

Move the specified joint axis, numbered 1 through 6.

## stop()

```python
robot.stop()
```

Call `stopL()` if the last motion mode was LINE; otherwise call `stopJ()`.

`halt()`, `task_stop()`, and `hand_stop()` are aliases of `stop()`.