cobotta2

Contents:

  • cobotta2
    • cobotta2 package
      • Subpackages
        • cobotta2.bcapclient package
        • cobotta2.pad package
        • cobotta2.server_fastapi package
        • cobotta2.server_grpc package
        • cobotta2.util package
      • Submodules
      • cobotta2.cobotta_bcap module
        • CobottaBcap
        • main0()
        • main1()
      • cobotta2.cobotta_bcap_dummy module
        • CobottaBcapDummy
      • cobotta2.cobotta_ctrl module
        • CobottaCtrl
      • cobotta2.cobotta_ctrl_joypad module
      • cobotta2.cobotta_orin2 module
        • CobottaOrin2
      • cobotta2.cobotta_orin2_state module
      • cobotta2.cobotta_orin2_test module
      • cobotta2.config module
        • Config
      • cobotta2.robot_var_manager module
        • RobotVarManager
      • cobotta2.server module
  • Tutorials
    • Overview of COBOTTA Control
      • Fundamentals of COBOTTA (DENSO WAVE)
        • ORiN2 is based on COM
        • Both ORiN2 and b-CAP use the RC8 provider
        • Basic structure of COBOTTA control in SUSANOO
      • Author
    • Quick Start
      • Starting the server directly
      • Author
    • Server-Class Installation
      • Required packages and repositories (software developed by the laboratory)
      • x_logger
      • ese774_frame
      • cobotta2
      • Starting the server directly from Python
        • Testing with a local client
        • Testing communication through FastAPI
      • Creating directories for server logs and services
      • Registering cobotta-server as a Windows service
      • Registering aandd-server as a Windows service
      • Author
    • Client-Class Installation
      • Required packages and repositories (software developed by the laboratory)
      • Using client programs (accessing the COBOTTA server)
      • Displaying the current position (XYZ coordinates)
      • Basic motion using internal position variables
      • Author
    • Config
      • Config (class mode)
      • Config (instance mode)
      • Author
    • Starting the Control Server
      • Introduction
      • Preparing a Python program
      • Notes on file paths
      • Running as a Windows service
      • Author
    • Overview of the COBOTTA Client Using Device Class and Device Proxy
      • Registering a DeviceClass with DeviceProxy
      • Author
    • Basic Control
      • Prerequisites
      • Basic control through the COBOTTA server
      • Loading YAML configuration
      • Configuration for starting the control server
      • Author
    • Camera
      • Basic usage from Python
      • Camera calibration
      • Author
    • COBOTTA Internal Variables
      • Managing COBOTTA internal variables
      • Author
    • Variable Manager
      • Managing COBOTTA internal variables with a manager
      • COBOTTA Variable Manager
      • Using the coordinate manager without attaching to a COBOTTA instance
        • Saving internal variable values to a file
        • Loading values from a file into internal variables
        • Reading COBOTTA values into the variable manager
        • Writing internal variable values to COBOTTA
      • Controlling COBOTTA with CobottaCtrl alone
        • Using the coordinate manager without attaching to a COBOTTA instance
        • Saving internal variable values to a file
        • Loading values from a file into internal variables
        • Reading COBOTTA values into the variable manager
        • Writing internal variable values to COBOTTA
      • Author
    • Controlling PacScript
      • Running a script stored on COBOTTA
      • Uploading a script to COBOTTA
      • Listing scripts stored on COBOTTA
      • Downloading a script from COBOTTA
      • Author
    • Local Control
      • Controlling COBOTTA directly with CobottaCtrl
      • Author
    • Author
  • Alternative examples
    • Writing config.yaml
    • STOP
    • Checking current errors
    • Basic command: take_arm
    • Basic command: give_arm (not implemented)
    • Basic command: turn_on_motor
    • Basic command: turn_off_motor
    • Basic command: set_coord_type
    • Basic command: set_motion_mode
    • Basic command: set_speed
    • Basic command: set_accel
    • Basic command: set_decel
    • Current arm position
    • Checking whether an operation succeeded
    • Arm movement 0 (DENSO syntax)
    • Arm movement 1: standard usage
    • Arm movement 2 (position)
    • Arm movement 3 (j2p, p2j)
    • Arm movement 4 (angle)
    • Arm movement 5 (coord_type)
    • Arm movement 6 (path_blend)
    • Arm movement 7 (speed)
    • Arm movement 8 (accel/decel)
    • Arm movement 9 (motion_mode)
    • Arm movement 10 (drive command)
    • Arm movement 11 (offset command)
    • Arm movement 12 (rotate)
    • Gripper 1 (distance-controlled movement)
    • Gripper 2 (force-controlled closing)
    • Changing the coordinate system (defining work coordinates)
    • Retrieving COBOTTA hardware logs
    • Reading and writing internal variables 1 (get_P)
    • Reading and writing internal variables 2 (property)
    • Writing internal variable values from a file to COBOTTA
    • Saving internal variables to a file
    • Listing internal PacScript programs
    • Running an internal PacScript program
    • Loading an internal PacScript program (upload)
    • Saving an internal PacScript program (download)
    • Author
  • cobotta camera (EVP2)
    • Calibration
    • Simple example
    • Author
  • Controlling COBOTTA with a Joypad
    • Required software
    • Checking the mapping between joypad buttons and program inputs
    • Joypad controls: switching between P and J modes
    • Joypad controls: speed adjustment
    • Joypad controls: P mode (XYZ)
    • Joypad controls: J mode (J1–J6)
    • Gripper
    • Starting the joypad program without a GUI
      • server script
      • Running the client on the PC connected to the joypad
    • Using the GUI
    • Author
  • Tips
    • Free-axis stop on collision
      • Configuring free-axis collision handling
    • Maximum-speed parameters
      • Configuring the parameters
  • history & comment
    • 2026.05.13
    • 2026.05.12
    • 2026.04.28
    • 2026.04.28
      • Recovery after a robot collision
    • 2026.04.21
    • 2026.04.21
    • 2026.04.20
      • Purpose of the revision
      • High-level interface
      • FastAPI
      • target and pose
      • offset
      • ORiN2 / b-CAP
    • 2026.04.17
    • 2026.04.16
    • 2026.04.10
    • 2026.04.08
    • 2026.04.08
    • 2026.04.08
    • 2026.04.07
    • 2026.03.27
    • 2026.03.26
    • 2026.03.26
cobotta2
  • Overview: module code

All modules for which code is available

  • cobotta2.bcapclient.bcapclient
  • cobotta2.bcapclient.orinexception
  • cobotta2.bcapclient.variant
  • cobotta2.cobotta_bcap
  • cobotta2.cobotta_bcap_dummy
  • cobotta2.cobotta_ctrl
  • cobotta2.cobotta_orin2
  • cobotta2.config
  • cobotta2.pad.input_grpc_server
  • cobotta2.pad.joypad_core
  • cobotta2.pad.joypad_mover
  • cobotta2.robot_var_manager
  • cobotta2.util.cobotta_motion_mode
  • cobotta2.util.cobotta_var_data
  • cobotta2.util.release_arm
  • cobotta2.util.reset_error

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