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API Reference

Complete API documentation for pib3.

Module Overview

pib3
├── Core Functions
│   ├── generate_trajectory()    # One-shot image to trajectory
│   ├── image_to_sketch()        # Image to 2D strokes
│   └── sketch_to_trajectory()   # 2D strokes to 3D trajectory
│
├── Core Types
│   ├── Joint                    # Enum for joint names (IDE autocomplete)
│   ├── AIModel                  # Enum for AI models (YOLOV8N, HAND, POSE, etc.)
│   ├── Stroke                   # Single continuous line
│   ├── Sketch                   # Collection of strokes
│   └── Trajectory               # Robot joint positions
│
├── AI/Camera Types
│   ├── Detection                # Object detection result
│   ├── HandLandmarks            # Hand tracking with finger angles
│   ├── FingerAngles             # Finger bend angles → servo values
│   ├── PoseKeypoints            # Body pose estimation
│   └── CameraFrame              # Single camera frame
│
├── Configuration
│   ├── TrajectoryConfig         # Main configuration
│   ├── PaperConfig              # Drawing surface settings
│   ├── IKConfig                 # IK solver settings
│   └── ImageConfig              # Image processing settings
│
├── Backends
│   ├── Robot / RealRobotBackend # Real robot via rosbridge
│   │   ├── robot.ai             # AI subsystem (simplified API)
│   │   └── robot.camera         # Camera subsystem (simplified API)
│   └── Webots / WebotsBackend   # Webots simulator
│
├── Kinematics
│   ├── PibLeft / PibRight       # DH models for arm kinematics
│   └── camera_to_base()         # Coordinate transformations
│
└── Hand Poses
    ├── HandPose                 # Preset hand poses (enum)
    ├── LEFT_HAND_JOINTS         # Left hand joint list
    └── RIGHT_HAND_JOINTS        # Right hand joint list

Quick Reference

Main Functions

Function Description
generate_trajectory() Convert image directly to trajectory
image_to_sketch() Convert image to 2D strokes
sketch_to_trajectory() Convert strokes to 3D trajectory
play_audio() Play raw audio data
play_file() Play audio from WAV file
speak() Text-to-speech synthesis

Core Types

Type Description
Stroke Single continuous drawing line
Sketch Collection of strokes
Trajectory Robot joint positions over time
Joint Enum for joint names with IDE autocomplete
AIModel Enum for AI models with IDE autocomplete

Backends

Backend Description
RealRobotBackend Control real PIB robot
WebotsBackend Webots simulator

AI/Camera Subsystems

Subsystem Description
robot.ai AI inference with auto-managed subscriptions
robot.camera Camera streaming with auto-managed subscriptions

Import Examples

import pib3
from pib3 import Robot, Joint, Trajectory

# Generate trajectory
trajectory = pib3.generate_trajectory("image.png")

# Control robot with IDE tab completion
with Robot(host="172.26.34.149") as robot:
    robot.set_joint(Joint.ELBOW_LEFT, 50.0)
    robot.run_trajectory(trajectory)

Documentation Sections