Get started with Python

🚀 Introduction

✅ Install the SDK with pip install UnderAutomation.Staubli.
✅ Connect to Staubli controllers via the native SOAP protocol.
✅ Control motion, read/write I/O, monitor robots, and manage applications directly from Python.

Highlights:

• ⚡ Real-time SOAP communication through the embedded UnderAutomation.Staubli.dll
• 🐍 Pythonic wrappers for controllers, parameters, and data objects
• 🔁 Full motion lifecycle & kinematics helpers
• 📡 Access to physical & logical I/Os
• 📦 VAL 3 project and task management

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📦 Installation

pip install UnderAutomation.Staubli

The package bundles the required .NET assemblies and depends on pythonnet to bridge Python and .NET. Make sure the target machine has a compatible .NET runtime installed.

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✨ Features

🔌 Connect to Your Controller

from underautomation.staubli.staubli_controller import StaubliController
from underautomation.staubli.connection_parameters import ConnectionParameters

controller = StaubliController()
parameters = ConnectionParameters("192.168.0.1")

parameters.soap.enable = True
parameters.soap.user = "default"
parameters.soap.password = "default"

controller.connect(parameters)

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🔍 Explore System Information

• List robots: controller.soap.get_robots()
• Inspect controller parameters: controller.soap.get_controller_parameters()
• Retrieve DH parameters: controller.soap.get_dh_parameters(robot=0)

robots = controller.soap.get_robots()
controller_params = controller.soap.get_controller_parameters()
dh = controller.soap.get_dh_parameters(robot=0)

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📍 Track Positions & Joints

• Cartesian pose + joints: controller.soap.get_current_cartesian_joint_position()
• Joint-only feedback: controller.soap.get_current_joint_position()

cartesian = controller.soap.get_current_cartesian_joint_position(robot=0)
print(cartesian.joints_position)

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🧠 Kinematics Helpers

• Forward kinematics: controller.soap.forward_kinematics(robot, joints)
• Inverse kinematics: controller.soap.reverse_kinematics(robot, joints, target, config, joint_range)

joints = controller.soap.get_current_joint_position(robot=0)
forward = controller.soap.forward_kinematics(0, joints)
joint_range = controller.soap.get_joint_range(robot=0)
reverse = controller.soap.reverse_kinematics(0, joints, forward.position, forward.config, joint_range)

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⚙️ Motion Control Lifecycle

• Power management: controller.soap.set_power(True)
• Motion primitives: move_l, move_jc, move_jj, move_c
• Lifecycle control: stop_motion, reset_motion, restart_motion

from underautomation.staubli.soap.data.motion_desc import MotionDesc
from underautomation.staubli.soap.data.frame import Frame

mdesc = MotionDesc()
mdesc.velocity = 250

frame = Frame()
frame.px, frame.py, frame.pz = 300, 0, 450

controller.soap.set_power(True)
controller.soap.move_l(0, frame, mdesc)

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📡 Physical & Logical I/O Management

• Discover I/Os: controller.soap.get_all_physical_ios()
• Read states: controller.soap.read_ios([...])
• Write outputs: controller.soap.write_ios([...], [...])

physical_ios = controller.soap.get_all_physical_ios()
controller.soap.write_ios(["out1"], [1.0])

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📦 Application & Project Control

• Load projects: controller.soap.load_project("Disk://project.pjx")
• Inspect VAL apps: controller.soap.get_val_applications()
• Control lifecycle: stop_application(), stop_and_unload_all()

controller.soap.load_project("Disk://project.pjx")
applications = controller.soap.get_val_applications()
controller.soap.stop_and_unload_all()

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🔁 Task Supervision

• List VAL tasks: controller.soap.get_tasks()
• Control execution: task_suspend, task_resume, task_kill

tasks = controller.soap.get_tasks()
controller.soap.task_kill(tasks[0].name, tasks[0].created_by)

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✅ Compatibility

• Controllers: CS8, CS9
• Operating Systems: Windows, Linux, macOS
• Python: 3.7+
• Dependency: pythonnet 3.0+

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📜 License

⚠️ Commercial license required
🔗 View EULA

Register your license at runtime with:

from underautomation.staubli.staubli_controller import StaubliController

license_info = StaubliController.register_license("Your Company", "XXXX-XXXX")
print(license_info.state)

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🤝 Contributing

You're welcome to:

• Submit issues & pull requests
• Share feature suggestions
• Help improve documentation & samples

👉 Contribute on GitHub