Python

class jacobi.drivers.Result

Bases: pybind11_object

__init__(*args, **kwargs)
class jacobi.drivers.FutureResult

Bases: pybind11_object

__init__(*args, **kwargs)
get(self: FutureResult) → Result
wait(self: FutureResult) → None
class jacobi.drivers.ABBDriver

Bases: Driver

class RobotWareVersion

Bases: pybind11_object

Members:

RobotWare6

RobotWare7

__init__(self: RobotWareVersion, value: int) → None
property name
__init__(*args, **kwargs)

Overloaded function.

  1. __init__(self: jacobi_driver_abb.ABBDriver, planner: jacobi.Planner, port: int) -> None

  2. __init__(self: jacobi_driver_abb.ABBDriver, planner: jacobi.Planner, robot: jacobi.Robot, port: int) -> None

  3. __init__(self: jacobi_driver_abb.ABBDriver, planner: jacobi.Planner, host: str, module: jacobi_driver_abb.ABBDriver.RapidModule = <jacobi_driver_abb.ABBDriver.RapidModule object at 0x7faf22032270>, version: jacobi_driver_abb.ABBDriver.RobotWareVersion = <RobotWareVersion.RobotWare7: 1>) -> None

  4. __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 0x7faf220324b0>, version: jacobi_driver_abb.ABBDriver.RobotWareVersion = <RobotWareVersion.RobotWare7: 1>) -> None

  5. __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 0x7faf220326b0>, version: jacobi_driver_abb.ABBDriver.RobotWareVersion = <RobotWareVersion.RobotWare7: 1>) -> None

  6. __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 0x7faf2fbb25b0>, 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.

  1. __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)

  1. __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.

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

  2. __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.

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

  2. __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