Python¶

class jacobi.drivers.Result¶

Bases: ReturnCode

__init__(*args, **kwargs)¶

class jacobi.drivers.FutureResult¶

Bases: pybind11_object

__init__(*args, **kwargs)¶

get(self: FutureResult) → Result¶

wait(self: FutureResult) → None¶

class jacobi_driver_simulated.Driver¶

Bases: pybind11_object

__init__(*args, **kwargs)¶

add_event(self: Driver, trigger: jacobi_driver_simulated.Trigger, action: jacobi_driver_simulated.Action) → None¶

blend_into(self: Driver, trajectory: Trajectory, duration: float) → jacobi_driver_simulated.Result¶

Blend into a trajectory.

Blend into the new trajectory from the current state, so that the robot will be on the given trajectory exactly after the duration time [s].

blend_into_async(self: Driver, trajectory: Trajectory, duration: float) → jacobi_driver_simulated.FutureResult¶

Blend into a trajectory asynchronously.

Blend into the new trajectory from the current state, so that the robot will be on the given trajectory exactly after the duration time [s].

create_io_alias(*args, **kwargs)¶

Overloaded function.

create_io_alias(self: jacobi_driver_simulated.Driver, name: str, address: int) -> None

Give I/O address an alias name

create_io_alias(self: jacobi_driver_simulated.Driver, name: str, address_in: int, address_out: int) -> None

Give I/O address an alias name

disable(self: Driver) → jacobi_driver_simulated.Result¶: Disable robot’s servos (if available).

disconnect(self: Driver) → bool¶: Disconnect from the robot. Returns disconnection success.

enable(self: Driver) → jacobi_driver_simulated.Result¶: Enable robot’s servos (if available).

get_analog_input(self: Driver, name: str) → float | None¶: Read a analog input.

get_digital_input(self: Driver, name: str) → int | None¶: Read a digital input.

get_double_register(self: Driver, name: str) → float | None¶

get_group_input(self: Driver, name: str) → int | None¶: Read a group input.

get_int_register(self: Driver, name: str) → int | None¶

move_along(self: Driver, name: str, goal: list[float] | Waypoint | CartesianWaypoint | jacobi.MultiRobotPoint | None = None, ignore_collisions: bool = False) → jacobi_driver_simulated.Result¶: Move along a pre-defined motion.

move_along_async(self: Driver, name: str, goal: list[float] | Waypoint | CartesianWaypoint | jacobi.MultiRobotPoint | None = None, ignore_collisions: bool = False) → jacobi_driver_simulated.FutureResult¶: Move along a pre-defined motion asynchronously.

move_to(self: Driver, goal: list[float] | Waypoint | CartesianWaypoint | jacobi.MultiRobotPoint, ignore_collisions: bool = False) → jacobi_driver_simulated.Result¶: Move to an exact waypoint.

move_to_async(self: Driver, point: list[float] | Waypoint | CartesianWaypoint | jacobi.MultiRobotPoint, ignore_collisions: bool = False) → jacobi_driver_simulated.FutureResult¶: Move to an exact waypoint asynchronously.

pause(self: Driver) → bool¶: Pause along the currently executed trajectory. Driver will be in paused state afterwards, except the motion did finish while pausing.

pause_async(self: Driver) → jacobi_driver_simulated.FutureBool¶: Pause along the currently executed trajectory. Driver will be in paused state afterwards, except the motion did finish while pausing.

reconnect(self: Driver) → bool¶: Connect to the robot, in particular after an external disconnection. Returns reconnection success.

resume(self: Driver) → jacobi_driver_simulated.Result¶: Resume a paused trajectory.

resume_async(self: Driver) → jacobi_driver_simulated.FutureResult¶: Resume a paused trajectory asynchronously.

run(self: Driver, trajectory: Trajectory) → jacobi_driver_simulated.Result¶: Run a trajectory.

run_async(self: Driver, trajectory: Trajectory) → jacobi_driver_simulated.FutureResult¶: Run a trajectory asynchronously.

set_analog_output(self: Driver, name: str, value: float) → bool¶: Write to a analog output. Returns whether successful.

set_digital_output(self: Driver, name: str, value: int) → bool¶: Write to a digital output. Returns whether successful.

set_double_register(self: Driver, name: str, value: float) → bool¶

set_group_output(self: Driver, name: str, value: int) → bool¶: Write to a group output. Returns whether successful.

set_int_register(self: Driver, name: str, value: int) → bool¶

set_speed(self: Driver, speed: float, duration: float = 0.0) → None¶: Set the driver’s speed scaling gracefully, change it linearly within the duration. If the robot is not running, set the speed immediately.

stop(self: Driver, fast_stop: bool = True) → jacobi_driver_simulated.Result¶: Stop a motion as fast as possible

stop_async(self: Driver, fast_stop: bool = True) → jacobi_driver_simulated.FutureResult¶: Stop a motion as fast as possible asynchronously.

property connect_timeout¶: Timeout for reconnecting to the robot

property current_joint_position¶: Get and read current joint position

property current_state¶: Get and read current robot state

property degrees_of_freedom¶: Degrees of freedom of the robot

property delta_time¶: Control interval of the robot’s driver

property host¶: The host address of the robot controller

property is_paused¶: Is the robot currently in a paused state?

property is_running¶: Whether the robot is moving right now

property log_motions¶: Whether to log motions

property monitor_path_deviation¶: Monitor the path deviation between planned and executed trajectory

property port¶: The port of the robot controller

property speed¶: Set the driver’s speed scaling. A speed of zero corresponds to the paused state.

property studio¶: The underlying connection to Jacobi Studio

class jacobi.drivers.ABBDriver¶

Bases: Driver

class RWS¶

Bases: pybind11_object

A robot connection using the ABB Robot Web Services interface.

class ControllerState¶

Bases: pybind11_object

Members:

Init

MotorOn

MotorOff

GuardStop

EmergencyStop

EmergencyStopReset

SysFail

__init__(self: ControllerState, value: int) → None¶

property name¶

class ExecutionCycle¶

Bases: pybind11_object

Members:

Forever

AsIs

Once

__init__(self: ExecutionCycle, value: int) → None¶

property name¶

class MastershipDomain¶

Bases: pybind11_object

Members:

Edit

Motion

Rapid

Cfg

__init__(self: MastershipDomain, value: int) → None¶

property name¶

class OperationMode¶

Bases: pybind11_object

Members:

Init

AutoCh

ManFCh

ManR

ManF

Auto

Undef

__init__(self: OperationMode, value: int) → None¶

property name¶

class SignalMode¶

Bases: pybind11_object

Members:

Value

Invert

Pulse

Toggle

Delay

__init__(self: SignalMode, value: int) → None¶

property name¶

__init__(self: RWS, host: str, version: RobotWareVersion, module: jacobi_driver_abb.ABBDriver.RapidModule, user: str = 'Default User', password: str = 'robotics') → None¶

add_grant_to_role(self: RWS, role: str, grant: str) → None¶

call_procedure(self: RWS, name: str) → None¶

delete_file(self: RWS, file: str) → None¶

execute(self: RWS, state_machine: jacobi_driver_abb.ABBDriver.RapidModule, init: str = 'egm') → jacobi_driver_abb.Result¶

execute_rapid(self: RWS, task: str, rapid: str) → jacobi_driver_abb.Result¶

execute_rapid_main(self: RWS) → jacobi_driver_abb.Result¶

get_file(self: RWS, file: str) → str¶

get_joint_position(self: RWS, mechunit: str = 'ROB_1') → list[float]¶

get_rapid_symbol(self: RWS, symbol: str) → str¶

get_signal(self: RWS, signal: str, network: str = '', device: str = '') → jacobi_driver_abb.ABBDriver.RWS.Signal¶

get_user_grants(self: RWS, user: str) → None¶

invert_signal(self: RWS, signal: str, network: str = '', device: str = '') → None¶

load_module(self: RWS, task: str, file: str, replace: bool = False) → None¶

logout(self: RWS) → None¶

release_mastership(*args, **kwargs)¶

Overloaded function.

release_mastership(self: jacobi_driver_abb.ABBDriver.RWS) -> None
release_mastership(self: jacobi_driver_abb.ABBDriver.RWS, domain: jacobi_driver_abb.ABBDriver.RWS.MastershipDomain) -> None

request_mastership(*args, **kwargs)¶

Overloaded function.

request_mastership(self: jacobi_driver_abb.ABBDriver.RWS) -> None
request_mastership(self: jacobi_driver_abb.ABBDriver.RWS, domain: jacobi_driver_abb.ABBDriver.RWS.MastershipDomain) -> None

reset_program_pointer_to_main(self: RWS) → None¶

restart_controller(self: RWS) → None¶

restart_panel(self: RWS) → None¶

set_payload(self: RWS, payload_name: str, mechunit: str = 'ROB_1') → None¶

set_rapid_symbol(self: RWS, symbol: str, value: str, init_value: bool = True, log: bool = False) → None¶

set_signal(self: RWS, signal: str, value: str, network: str = '', device: str = '') → None¶

set_signal_value(*args, **kwargs)¶

Overloaded function.

set_signal_value(self: jacobi_driver_abb.ABBDriver.RWS, signal: str, value: str, mode: jacobi_driver_abb.ABBDriver.RWS.SignalMode = <SignalMode.Value: 0>, delay: int = 0, pulses: int = 1, active_pulse: int = 10, passive_pulse: int = 10, network: str = ‘’, device: str = ‘’) -> None
set_signal_value(self: jacobi_driver_abb.ABBDriver.RWS, signal: str, value: int, mode: jacobi_driver_abb.ABBDriver.RWS.SignalMode = <SignalMode.Value: 0>, delay: int = 0, pulses: int = 1, active_pulse: int = 10, passive_pulse: int = 10, network: str = ‘’, device: str = ‘’) -> None

set_tool(self: RWS, tool_name: str, mechunit: str = 'ROB_1') → None¶

start_execution(self: jacobi_driver_abb.ABBDriver.RWS, cycle: jacobi_driver_abb.ABBDriver.RWS.ExecutionCycle = <ExecutionCycle.Once: 2>) → bool¶

stop_execution(self: RWS) → bool¶

toggle_signal(self: RWS, signal: str, pulses: int = 1, active_pulse: int = 10, passive_pulse: int = 0, network: str = '', device: str = '') → None¶

unload_module(self: RWS, task: str, module: str) → None¶

upload_file(self: RWS, file: str, content: str) → None¶

class RobotWareVersion¶

Bases: pybind11_object

Members:

RobotWare6

RobotWare7

__init__(self: RobotWareVersion, value: int) → None¶

property name¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: jacobi_driver_abb.ABBDriver, planner: jacobi.Planner, port: int) -> None
__init__(self: jacobi_driver_abb.ABBDriver, planner: jacobi.Planner, robot: jacobi.Robot, port: int) -> None
__init__(self: jacobi_driver_abb.ABBDriver, planner: jacobi.Planner, host: str, module: jacobi_driver_abb.ABBDriver.RapidModule = <jacobi_driver_abb.ABBDriver.RapidModule object at 0x7fd0cbaba6b0>, version: jacobi_driver_abb.ABBDriver.RobotWareVersion = <RobotWareVersion.RobotWare7: 1>) -> None
__init__(self: jacobi_driver_abb.ABBDriver, planner: jacobi.Planner, robot: jacobi.Robot, host: str, module: jacobi_driver_abb.ABBDriver.RapidModule = <jacobi_driver_abb.ABBDriver.RapidModule object at 0x7fd0cbac82f0>, version: jacobi_driver_abb.ABBDriver.RobotWareVersion = <RobotWareVersion.RobotWare7: 1>) -> None
__init__(self: jacobi_driver_abb.ABBDriver, planner: jacobi.Planner, host: str, port: int, module: jacobi_driver_abb.ABBDriver.RapidModule = <jacobi_driver_abb.ABBDriver.RapidModule object at 0x7fd0cbac84f0>, version: jacobi_driver_abb.ABBDriver.RobotWareVersion = <RobotWareVersion.RobotWare7: 1>) -> None
__init__(self: jacobi_driver_abb.ABBDriver, planner: jacobi.Planner, robot: jacobi.Robot, host: str, port: int, module: jacobi_driver_abb.ABBDriver.RapidModule = <jacobi_driver_abb.ABBDriver.RapidModule object at 0x7fd0d4f961b0>, version: jacobi_driver_abb.ABBDriver.RobotWareVersion = <RobotWareVersion.RobotWare7: 1>) -> None

call_procedure(self: ABBDriver, name: str) → jacobi_driver_abb.Result¶

call_procedure_async(self: ABBDriver, name: str) → jacobi_driver_abb.FutureResult¶

class jacobi.drivers.SimulatedDriver¶

Bases: Driver

class Signal¶

Bases: pybind11_object

A simulated I/O Signal

__init__(self: Signal, name: str, value: int | float = 0.0, description: str | None = None) → None¶

property description¶: Description of the signal, as shown in UI

property name¶: The name of the I/O signal

property value¶: The current value of the signal

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: jacobi_driver_simulated.SimulatedDriver, planner: jacobi.Planner, sync_with_studio: bool = False, log_stream: bool = False, keep_running: bool = False, host: str = ‘192.168.0.1’, port: int = 8000) -> None

Create a UniversalDriver with planning capabilities (with move, stop, and safety monitoring)

__init__(self: jacobi_driver_simulated.SimulatedDriver, planner: jacobi.Planner, robot: jacobi.Robot, sync_with_studio: bool = False, log_stream: bool = False, keep_running: bool = False, host: str = ‘192.168.0.1’, port: int = 8000) -> None

create_io(self: SimulatedDriver, name: str, default_value: int | float) → None¶: Create a simulated I/O

load_io_config(self: SimulatedDriver, config: list[Signal]) → None¶

load_io_config_from_file(self: SimulatedDriver, file: os.PathLike) → None¶

set_current_joint_position(self: SimulatedDriver, joint_position: list[float]) → None¶: Set the joint position

property enable_result¶: Result of enabling/disabling

property run_result¶: Result of a motion

property time_speed¶: Simulated time speed for the control cycle (does not affect velocities and accelerations)

class jacobi.drivers.UniversalDriver¶

Bases: Driver

class RobotType¶

Bases: pybind11_object

Members:

CB3

ESeries

__init__(self: RobotType, value: int) → None¶

property name¶

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: jacobi_driver_universal.UniversalDriver, planner: jacobi.Planner, host: str) -> None
__init__(self: jacobi_driver_universal.UniversalDriver, planner: jacobi.Planner, robot: jacobi.Robot, host: str) -> None

class jacobi.drivers.YaskawaDriver¶

Bases: Driver

__init__(*args, **kwargs)¶

Overloaded function.

__init__(self: jacobi_driver_yaskawa.YaskawaDriver, planner: jacobi.Planner, host: str = ‘192.168.1.31’, port: int = 50240) -> None
__init__(self: jacobi_driver_yaskawa.YaskawaDriver, planner: jacobi.Planner, robot: jacobi.Robot, host: str = ‘192.168.1.31’, port: int = 50240) -> None

set_goal_timeout(self: YaskawaDriver, timeout: int) → None¶