Python class

Class

Basic usage

# import the main class
import libiiwa

# init robot interface
iiwa = libiiwa.LibIiwa()

Note

After the LibIiwa class is instantiated, program execution is blocked until the Java library installed in the KUKA Sunrise Cabinet is executed via the smartHMI.

Class constructor

class libiiwa.LibIiwa(ip: str = '0.0.0.0', port: int = 12225, double_precision: bool = False, run_without_communication: bool = False)

__init__(ip: str = '0.0.0.0', port: int = 12225, double_precision: bool = False, run_without_communication: bool = False) → None

KUKA LBR iiwa robot library

Parameters:

ip (str, optional) – IP address of the library communication endpoint (default: all interfaces)
port (int, optional) – Port of the library communication endpoint (default: 12225)
run_without_communication (bool, optional) – Run the library without creating the communication socket (default: False). Useful for testing the library without the robot

Example:

>>> import libiiwa
>>>
>>> # create instance with default parameters
>>> iiwa = libiiwa.LibIiwa()