class RealmanMock:
    def __init__(self):
        self.joint = [0.0]*6
        self.pose = [0.0]*6
        self.gripper = 0
        pass
    def rm_create_robot_arm(self, ip: str, port: int, level: int = 3, log_func = None) -> int:
        return 1
    def rm_movej(self, joint: list[float], v: int, r: int, connect: int, block: int) -> int:
        self.joint = joint
    def rm_get_current_arm_state(self) -> tuple[int, dict[str, any]]:
        return (0, {"joint": self.joint, "pose": self.pose})
    
    def rm_get_gripper_state(self) -> tuple[int, dict[str, any]]:
        return (0, {"actpos": self.gripper})
    
    def rm_movep_canfd(self, pose: list[float], follow: bool, trajectory_mode: int = 0, radio: int = 0) -> int:
        self.pose = pose
        return 0
    def rm_set_gripper_position(self, position: int, block: bool, timeout: int) -> int:
        self.gripper = position
        return 0
    
    def rm_movej(self, joint: list[float], v: int, r: int, connect: int, block: int) -> int:
        self.joint = joint
        return 0
    
    def rm_set_arm_run_mode(self, mode: int) ->int:
        return 0