Studio Live¶

class jacobi.Studio¶

Bases: pybind11_object

Helper class to connect and visualize trajectories and events in Jacobi Studio.

The Studio class provides functionality to connect to Jacobi Studio via a WebSocket, and to visualize trajectories and events. It manages the connection, handles incoming and outgoing messages, and allows the user to create and execute actions within Jacobi Studio.

class Action¶

Bases: pybind11_object

An action that can be performed in Jacobi Studio.

The Action class represents an action in Jacobi Studio, such as setting a robot’s joint position, adding an obstacle, or manipulating the environment. An action can contain multiple commands, allowing for complex interactions in Studio.

__init__(*args, **kwargs)¶

class Events¶

Bases: pybind11_object

A container that maps a specific timing to one or multiple actions. The static methods of this class do not change the visualization in Jacobi Studio immediately, but only return an action that can be executed later (e.g. alongside a trajectory).

The Events struct allows for scheduling actions in Jacobi Studio at specific times. Static methods are provided to create various actions, which can be executed later.

__init__(self: Events) → None¶

The Events struct allows for scheduling actions in Jacobi Studio at specific times. Static methods are provided to create various actions, which can be executed later.

static add_camera(camera: Camera) → Action¶

Returns an action that adds a camera.

Parameter camera:: The camera to be added.
Returns:: The action to add the camera.

static add_obstacle(obstacle: Obstacle) → Action¶

Returns an action that adds the given obstacle to the environment.

Parameter obstacle:: The obstacle to be added.
Returns:: The action to add the obstacle.

static add_robot(robot: Robot) → Action¶

Returns an action that adds the given robot to the environment.

Parameter robot:: The robot to be added.
Returns:: The action to add the robot.

static add_robot_path(points: list[list[float]], robot: Robot = None, name: str = '', color: str = '', stroke: float = -1.0, arrow_size: float = 1.0) → Action¶

Returns an action that adds a visualization of a path for the given robot.

Parameter points:: The points defining the path.
Parameter robot:: Optional robot associated with the path.
Parameter name:: Optional name for the path.
Parameter color:: Optional color for the path visualization.
Parameter stroke:: Optional stroke width for the path visualization.
Parameter arrow_size:: Optional size of arrow for end of path
Returns:: The action to add the robot path visualization.

Returns an action that adds the given Cartesian waypoint to the environment.

Parameter point:: The Cartesian waypoint to be added.
Returns:: The action to add the Cartesian waypoint.

static remove_camera(camera: Camera) → Action¶

Returns an action that removes a camera.

Parameter camera:: The camera to be removed.
Returns:: The action to remove the camera.

static remove_obstacle(obstacle: Obstacle) → Action¶

Returns an action that removes the given obstacle (by name) from the environment.

Parameter obstacle:: The obstacle to be removed.
Returns:: The action to remove the obstacle.

static remove_robot_path(robot: Robot, name: str) → Action¶

Returns an action that removes a visualization of a named path for the given robot.

Parameter robot:: The robot associated with the path.
Parameter name:: The name of the path to be removed.
Returns:: The action to remove the robot path visualization.

static set_camera_depth_map(depths: list[list[float]], x: float, y: float, camera: Camera = None) → Action¶

Returns an action that sets the depth map visualization of a camera.

Parameter depths:: The depth map data.
Parameter x:: Size of the depth map along the x-axis.
Parameter y:: Size of the depth map along the y-axis.
Parameter camera:: Optional camera associated with the depth map.
Returns:: The action to set the camera depth map.

static set_camera_image_encoded(image: str, camera: Camera) → Action¶

Returns an action that sets an image for a camera encoded as a string.

Parameter image:: The encoded image to be set.
Parameter camera:: Optional camera associated with the image.
Returns:: The action to set the camera image.

static set_end_effector(obstacle: Obstacle | None, robot: Robot = None) → Action¶

Returns an action that sets the end-effector obstacle of the given robot, or the last active robot instead.

Parameter obstacle:: Optional obstacle to be set.
Parameter robot:: Optional robot associated with the obstacle.
Returns:: The action to set the item obstacle.

static set_io_signal(name: str, value: int | float, robot: Robot = None) → Action¶

Returns an action that sets an I/O signal of the given robot, or the last active robot instead.

Parameter name:: The name of the I/O signal.
Parameter value:: The value to be set for the I/O signal.
Parameter robot:: Optional robot associated with the I/O signal.
Returns:: The action to set the I/O signal.

static set_item(obstacle: Obstacle | None, robot: Robot = None) → Action¶

Returns an action that sets the item obstacle of the given robot, or the last active robot instead.

Parameter obstacle:: Optional obstacle to be set.
Parameter robot:: Optional robot associated with the obstacle.
Returns:: The action to set the item obstacle.

static set_joint_position(joint_position: list[float], robot: Robot = None) → Action¶

Returns an action that sets the joint position of the given robot, or the last active robot instead.

Parameter joint_position:: The desired joint position.
Parameter robot:: Optional robot to set the joint position for.
Returns:: The action to set the joint position.

static set_material(material: str, robot: Robot = None) → Action¶

Returns an action that sets the material of the given robot, or the last active robot instead.

Parameter material:: The material to be set.
Parameter robot:: Optional robot associated with the material.
Returns:: The action to set the material.

static update_camera(camera: Camera) → Action¶

Returns an action that updates a camera with the same name.

Parameter camera:: The camera to be updated.
Returns:: The action to update the camera.

static update_obstacle(obstacle: Obstacle) → Action¶

Returns an action that updates the obstacle with the same name.

Parameter obstacle:: The obstacle to be updated.
Returns:: The action to update the obstacle.

__init__(self: Studio, auto_sync: bool = False, auto_connect: bool = True, timeout: float = 3.0) → None¶

Interface Jacobi Studio via code. Connects to Jacobi Studio automatically - please make sure to enable the Studio Live feature in the Jacobi Studio settings.

Parameter auto_sync:: Whether to sync changes of the environment to Studio Live automatically. Only a subset of commands are supported right now, including: Environment::add_obstacle, Environment::remove_obstacle, Environment::update_joint_position, RobotArm::set_end_effector, RobotArm::set_item
Parameter auto_connect:: Whether to connect to Studio Live automatically.
Parameter timeout:: The timeout for connecting to Studio Live.

add_camera(self: Studio, camera: Camera) → bool¶

Adds a camera in Jacobi Studio.

Parameter camera:: The camera to be added.

add_obstacle(self: Studio, obstacle: Obstacle) → bool¶

Adds the given obstacle to the environment.

Parameter obstacle:: The obstacle to be added.

add_robot(self: Studio, robot: Robot) → bool¶

Adds the given robot to the environment.

Parameter robot:: The robot to be added.

add_robot_path(self: Studio, points: list[list[float]], robot: Robot = None, name: str = '', color: str = '', stroke: float = -1.0, arrow_size: float = 1.0) → bool¶

Adds a visualization of a path for the given robot.

Parameter points:: The points defining the path.
Parameter robot:: Optional robot associated with the path.
Parameter name:: Optional name for the path.
Parameter color:: Optional color for the path visualization.
Parameter stroke:: Optional stroke width for the path visualization.
Parameter arrow_size:: Optional size of arrow for end of path

Adds the given Cartesian waypoint to the environment.

Parameter point:: The Cartesian waypoint to be added.

get_camera_image_encoded(self: Studio, stream: jacobi.CameraStream, camera: Camera = None) → str¶

Get an image from a camera encoded as a string.

Parameter stream:: The type of camera stream to get.
Parameter camera:: Optional camera to get the image from.
Returns:: The encoded image from the camera.

get_joint_position(self: Studio, robot: Robot = None) → list[float]¶

Get the joint position of a robot.

Parameter robot:: Optional robot to get the joint position for.
Returns:: The joint position of the robot.

reconnect(self: Studio, timeout: float = 3.0) → bool¶

Reconnect to Studio Live

Parameter timeout:: The timeout for reconnecting to Studio Live.
Returns:: Whether the reconnection was successful.

remove_camera(self: Studio, camera: Camera) → bool¶

Removes a camera in Jacobi Studio.

Parameter camera:: The camera to be removed.

remove_obstacle(self: Studio, obstacle: Obstacle) → bool¶

Removes the given obstacle (by name) from the environment.

Parameter obstacle:: The obstacle to be removed.

remove_robot_path(self: Studio, robot: Robot, name: str) → bool¶

Removes a named visualization of a path for the given robot.

Parameter robot:: The robot associated with the path.
Parameter name:: The name of the path to be removed.

reset(self: Studio) → bool¶: Resets the environment to the state before a trajectory or events were run. In particular, it removes all obstacles there were added dynamically.

run_action(self: Studio, action: Action) → bool¶

Run the given action in Jacobi Studio.

Parameter action:: The action to be run.
Returns:: Was the action successfully sent to Studio?

run_events(self: Studio, events: Events) → bool¶

Run the events at the specified timings in Jacobi Studio.

Parameter events:: The events to be run at the specified timings.

run_path_command(self: Studio, path_command: jacobi.PathCommand, duration: float, events: Events = Studio.Events(), loop_forever: bool = False, robot: Robot = None) → bool¶

Visualize a path command for the given robot (or the last active robot) in Jacobi Studio, alongside the events at the specified timings. Optionally, the visualization can be looped.

Parameter path_command:: The path command to be run.
Parameter duration:: The duration of the resulting trajectory.
Parameter events:: The events to be run at the specified timings.
Parameter loop_forever:: Whether to loop the visualization forever.
Parameter robot:: Optional robot to run the trajectory for.

run_trajectories(self: Studio, trajectories: list[tuple[Trajectory, Robot]], events: Events = Studio.Events(), loop_forever: bool = False) → bool¶

Runs multiple trajectories for different robots in parallel, alongside the events at the specified timings. Optionally, the visualization can be looped.

Parameter trajectories:: Pairs of trajectories per robot to be run.
Parameter events:: The events to be run at the specified timings.
Parameter loop_forever:: Whether to loop the visualization forever.

run_trajectory(self: Studio, trajectory: Trajectory, events: Events = Studio.Events(), loop_forever: bool = False, robot: Robot = None) → bool¶

Runs a trajectory for the given robot (or the last active robot) in Jacobi Studio, alongside the events at the specified timings. Optionally, the visualization can be looped.

Parameter trajectory:: The trajectory to be run.
Parameter events:: The events to be run at the specified timings.
Parameter loop_forever:: Whether to loop the visualization forever.
Parameter robot:: Optional robot to run the trajectory for.

set_camera_depth_map(self: Studio, depths: list[list[float]], x: float, y: float, camera: Camera = None) → bool¶

Sets the depth map visualization of a camera.

Parameter depths:: The depth map data.
Parameter x:: Size of the depth map along the x-axis.
Parameter y:: Size of the depth map along the y-axis.
Parameter camera:: Optional camera associated with the depth map.

set_camera_image_encoded(self: Studio, image: str, camera: Camera) → bool¶

Sets an image for a camera encoded as a string.

Parameter image:: The encoded image to be set.
Parameter camera:: Optional camera associated with the image.

set_camera_point_cloud(self: Studio, points: list[float], camera: Camera = None) → bool¶

Sets the point cloud visualization of a camera.

Parameter points:: The point cloud data.
Parameter camera:: Optional camera associated with the point cloud.

set_end_effector(self: Studio, obstacle: Obstacle | None, robot: Robot = None) → bool¶

Sets the end-effector of the given robot, or the last active robot instead.

Parameter obstacle:: Optional obstacle to be set.
Parameter robot:: Optional robot associated with the obstacle.

set_io_signal(self: Studio, name: str, value: int | float, robot: Robot = None) → bool¶

Sets an I/O signal of the given robot, or the last active robot instead.

Parameter name:: The name of the I/O signal.
Parameter value:: The value to be set for the I/O signal.
Parameter robot:: Optional robot associated with the I/O signal.

set_item(self: Studio, obstacle: Obstacle | None, robot: Robot = None) → bool¶

Sets the item obstacle of the given robot, or the last active robot instead.

Parameter obstacle:: Optional obstacle to be set.
Parameter robot:: Optional robot associated with the obstacle.

set_joint_position(self: Studio, joint_position: list[float], robot: Robot = None) → bool¶

Sets the joint position of the given robot, or the last active robot instead.

Parameter joint_position:: The desired joint position.
Parameter robot:: Optional robot to set the joint position for.

set_material(self: Studio, material: str, robot: Robot = None) → bool¶

Sets the material of the given robot, or the last active robot instead.

Parameter material:: The material to be set.
Parameter robot:: Optional robot associated with the material.

update_camera(self: Studio, camera: Camera) → bool¶

Updates the camera with the same name in Jacobi Studio.

Parameter camera:: The camera to be updated.

update_obstacle(self: Studio, obstacle: Obstacle) → bool¶

Updates the obstacle with the same name.

Parameter obstacle:: The obstacle to be updated.

property is_connected¶

Whether the library is connected to Studio Live

Returns:: Whether the library is connected to Studio Live.

property port¶: Port of the websocket connection

property speedup¶: A factor to speed up or slow down running trajectories or events.

class jacobi.Studio.Action¶

Bases: pybind11_object

An action that can be performed in Jacobi Studio.

__init__(*args, **kwargs)¶

class jacobi.Studio.Events¶

Bases: pybind11_object

The Events struct allows for scheduling actions in Jacobi Studio at specific times. Static methods are provided to create various actions, which can be executed later.

__init__(self: Events) → None¶

The Events struct allows for scheduling actions in Jacobi Studio at specific times. Static methods are provided to create various actions, which can be executed later.

static add_camera(camera: Camera) → Action¶

Returns an action that adds a camera.

Parameter camera:: The camera to be added.
Returns:: The action to add the camera.

static add_obstacle(obstacle: Obstacle) → Action¶

Returns an action that adds the given obstacle to the environment.

Parameter obstacle:: The obstacle to be added.
Returns:: The action to add the obstacle.

static add_robot(robot: Robot) → Action¶

Returns an action that adds the given robot to the environment.

Parameter robot:: The robot to be added.
Returns:: The action to add the robot.

static add_robot_path(points: list[list[float]], robot: Robot = None, name: str = '', color: str = '', stroke: float = -1.0, arrow_size: float = 1.0) → Action¶

Returns an action that adds a visualization of a path for the given robot.

Parameter points:: The points defining the path.
Parameter robot:: Optional robot associated with the path.
Parameter name:: Optional name for the path.
Parameter color:: Optional color for the path visualization.
Parameter stroke:: Optional stroke width for the path visualization.
Parameter arrow_size:: Optional size of arrow for end of path
Returns:: The action to add the robot path visualization.

Returns an action that adds the given Cartesian waypoint to the environment.

Parameter point:: The Cartesian waypoint to be added.
Returns:: The action to add the Cartesian waypoint.

static remove_camera(camera: Camera) → Action¶

Returns an action that removes a camera.

Parameter camera:: The camera to be removed.
Returns:: The action to remove the camera.

static remove_obstacle(obstacle: Obstacle) → Action¶

Returns an action that removes the given obstacle (by name) from the environment.

Parameter obstacle:: The obstacle to be removed.
Returns:: The action to remove the obstacle.

static remove_robot_path(robot: Robot, name: str) → Action¶

Returns an action that removes a visualization of a named path for the given robot.

Parameter robot:: The robot associated with the path.
Parameter name:: The name of the path to be removed.
Returns:: The action to remove the robot path visualization.

static set_camera_depth_map(depths: list[list[float]], x: float, y: float, camera: Camera = None) → Action¶

Returns an action that sets the depth map visualization of a camera.

Parameter depths:: The depth map data.
Parameter x:: Size of the depth map along the x-axis.
Parameter y:: Size of the depth map along the y-axis.
Parameter camera:: Optional camera associated with the depth map.
Returns:: The action to set the camera depth map.

static set_camera_image_encoded(image: str, camera: Camera) → Action¶

Returns an action that sets an image for a camera encoded as a string.

Parameter image:: The encoded image to be set.
Parameter camera:: Optional camera associated with the image.
Returns:: The action to set the camera image.

static set_end_effector(obstacle: Obstacle | None, robot: Robot = None) → Action¶

Returns an action that sets the end-effector obstacle of the given robot, or the last active robot instead.

Parameter obstacle:: Optional obstacle to be set.
Parameter robot:: Optional robot associated with the obstacle.
Returns:: The action to set the item obstacle.

static set_io_signal(name: str, value: int | float, robot: Robot = None) → Action¶

Returns an action that sets an I/O signal of the given robot, or the last active robot instead.

Parameter name:: The name of the I/O signal.
Parameter value:: The value to be set for the I/O signal.
Parameter robot:: Optional robot associated with the I/O signal.
Returns:: The action to set the I/O signal.

static set_item(obstacle: Obstacle | None, robot: Robot = None) → Action¶

Returns an action that sets the item obstacle of the given robot, or the last active robot instead.

Parameter obstacle:: Optional obstacle to be set.
Parameter robot:: Optional robot associated with the obstacle.
Returns:: The action to set the item obstacle.

static set_joint_position(joint_position: list[float], robot: Robot = None) → Action¶

Returns an action that sets the joint position of the given robot, or the last active robot instead.

Parameter joint_position:: The desired joint position.
Parameter robot:: Optional robot to set the joint position for.
Returns:: The action to set the joint position.

static set_material(material: str, robot: Robot = None) → Action¶

Returns an action that sets the material of the given robot, or the last active robot instead.

Parameter material:: The material to be set.
Parameter robot:: Optional robot associated with the material.
Returns:: The action to set the material.

static update_camera(camera: Camera) → Action¶

Returns an action that updates a camera with the same name.

Parameter camera:: The camera to be updated.
Returns:: The action to update the camera.

static update_obstacle(obstacle: Obstacle) → Action¶

Returns an action that updates the obstacle with the same name.

Parameter obstacle:: The obstacle to be updated.
Returns:: The action to update the obstacle.