idecobot

robotics IDE, motion planning studio, DSL compiler, and real-time serial protocol streamer

---

Project maintained by vroncevic Hosted on GitHub Pages — Theme by mattgraham

idecobot: Robot IDE & Motion Studio for Elephant Robotics myCobot 280

idecobot is a standalone robotics IDE, motion planning studio, DSL compiler, and real-time serial protocol streamer for Elephant Robotics myCobot 280 6-DOF robotic manipulators.

Developed in python code.

The README is used to introduce the modules and provide instructions on how to install the modules, any machine dependencies it may have and any other information that should be provided before the modules are installed.

Table of Contents

• 🚀 Installation
  • Install using pip
  • Install using build
  • Install using py setup
  • Install using docker
• 📦 Dependencies
• 📁 Tool structure
  • 🏗 Architecture & SOLID Principles
    • SOLID Principles Compliance
    • Automated Quality Gates (run_quality_gates.sh)
  • ✨ Features
  • 📐 myCobot 280 Kinematic & Physical Robot Boundaries
  • 📜 myCobot Domain-Specific Language (DSL) & .cobot Programs
    • myCobot DSL Instruction Reference
    • Example .cobot Program: Industrial Pick & Place
  • 📡 Serial Communication Protocol
    • Packet Framing (PC $\leftrightarrow$ Robot)
    • Protocol Command Set
• 📊 Code coverage
• 🛠 Usage
  • CLI Command Options
  • Interactive Robot Studio Workflow
• 📚 Docs
• 👥 Contributing
• 📄 Copyright and licence

🚀 Installation

Used next development environment

Currently there are three ways to install package

• Install process based on using pip mechanism
• Install process based on build mechanism
• Install process based on setup.py mechanism
• Install process based on docker mechanism

Install using pip

idecobot is located at pypi.org.

You can install by using pip

# python3
pip3 install idecobot

Install using build

Navigate to release page download and extract release archive.

To install idecobot type the following

tar xvzf idecobot-x.y.z.tar.gz
cd idecobot-x.y.z/
# python3
wget https://bootstrap.pypa.io/get-pip.py
python3 get-pip.py 
python3 -m pip install --upgrade setuptools
python3 -m pip install --upgrade pip
python3 -m pip install --upgrade build
pip3 install -r requirements.txt
python3 -m build --no-isolation --wheel
pip3 install ./dist/idecobot-*-py3-none-any.whl
rm -f get-pip.py
chmod 755 /usr/local/lib/python3.10/dist-packages/usr/local/bin/idecobot_run.py
ln -s /usr/local/lib/python3.10/dist-packages/usr/local/bin/idecobot_run.py /usr/local/bin/idecobot_run.py

Install using py setup

Navigate to release page download and extract release archive.

To install idecobot locate and run setup.py with arguments

tar xvzf idecobot-x.y.z.tar.gz
cd idecobot-x.y.z
# python3
pip3 install -r requirements.txt
python3 setup.py install_lib
python3 setup.py install_egg_info

Install using docker

You can use Dockerfile to create image/container.

📦 Dependencies

idecobot requires next modules and libraries

• ats-utilities - Python App/Tool/Script Utilities
• pyserial - Python Serial Port Extension

📁 Tool structure

idecobot is based on OOP and Clean Architecture.

Tool structure

Click to expand framework structure</summary>

    idecobot/
         ├── core/
         │   ├── __init__.py
         │   ├── model/
         │   │   ├── communication/
         │   │   │   ├── __init__.py
         │   │   │   ├── mycobot_frame.py
         │   │   │   ├── protocol_constants.py
         │   │   │   ├── stream_config.py
         │   │   │   ├── stream_progress.py
         │   │   │   └── stream_state.py
         │   │   ├── dsl/
         │   │   │   ├── ast/
         │   │   │   │   ├── __init__.py
         │   │   │   │   ├── mycobot_command_type.py
         │   │   │   │   ├── mycobot_instruction.py
         │   │   │   │   └── mycobot_program.py
         │   │   │   ├── diagnostic/
         │   │   │   │   ├── __init__.py
         │   │   │   │   ├── mycobot_diagnostic.py
         │   │   │   │   └── mycobot_diagnostic_severity.py
         │   │   │   ├── __init__.py
         │   │   │   └── token/
         │   │   │       ├── dsl_grammar_constants.py
         │   │   │       ├── __init__.py
         │   │   │       ├── mycobot_token.py
         │   │   │       └── mycobot_token_type.py
         │   │   ├── __init__.py
         │   │   └── kinematics/
         │   │       ├── __init__.py
         │   │       ├── joint_bounds.py
         │   │       ├── joint_limit.py
         │   │       ├── mycobot_bounds.py
         │   │       ├── spatial_bounds.py
         │   │       ├── speed_bounds.py
         │   │       └── trajectory_bounds.py
         │   └── service/
         │       ├── communication/
         │       │   ├── imycobot_controller.py
         │       │   ├── imycobot_streamer.py
         │       │   ├── __init__.py
         │       │   └── itransport.py
         │       ├── dsl/
         │       │   ├── compiler/
         │       │   │   ├── commands/
         │       │   │   │   ├── home_command_compiler.py
         │       │   │   │   ├── icommand_compiler.py
         │       │   │   │   ├── __init__.py
         │       │   │   │   ├── move_coords_command_compiler.py
         │       │   │   │   ├── move_joints_command_compiler.py
         │       │   │   │   ├── power_command_compiler.py
         │       │   │   │   ├── relax_command_compiler.py
         │       │   │   │   ├── speed_command_compiler.py
         │       │   │   │   ├── tool_command_compiler.py
         │       │   │   │   └── wait_command_compiler.py
         │       │   │   ├── compiler_context.py
         │       │   │   ├── imycobot_compiler.py
         │       │   │   ├── __init__.py
         │       │   │   └── mycobot_compiler.py
         │       │   ├── dsl_service_factory.py
         │       │   ├── imycobot_dsl_service.py
         │       │   ├── __init__.py
         │       │   ├── lexer/
         │       │   │   ├── imycobot_lexer.py
         │       │   │   ├── __init__.py
         │       │   │   └── mycobot_lexer.py
         │       │   ├── linter/
         │       │   │   ├── imycobot_linter.py
         │       │   │   ├── __init__.py
         │       │   │   ├── mycobot_linter.py
         │       │   │   └── rules/
         │       │   │       ├── ground_safety_rule.py
         │       │   │       ├── imycobot_lint_rule.py
         │       │   │       ├── __init__.py
         │       │   │       ├── jerk_limit_rule.py
         │       │   │       ├── joint_bounds_rule.py
         │       │   │       ├── speed_limit_rule.py
         │       │   │       └── workspace_reach_rule.py
         │       │   ├── mycobot_dsl_service.py
         │       │   └── parser/
         │       │       ├── commands/
         │       │       │   ├── home_command_parser.py
         │       │       │   ├── icommand_parser.py
         │       │       │   ├── __init__.py
         │       │       │   ├── move_command_parser.py
         │       │       │   ├── power_command_parser.py
         │       │       │   ├── relax_command_parser.py
         │       │       │   ├── speed_command_parser.py
         │       │       │   ├── tool_command_parser.py
         │       │       │   └── wait_command_parser.py
         │       │       ├── imycobot_parser.py
         │       │       ├── __init__.py
         │       │       └── mycobot_parser.py
         │       ├── engine.py
         │       ├── __init__.py
         │       ├── iservice.py
         │       └── kinematics/
         │           ├── ikinematic_validator.py
         │           ├── __init__.py
         │           └── kinematic_validator.py
         ├── engine.py
         ├── infrastructure/
         │   ├── cli/
         │   │   ├── engine.py
         │   │   ├── icli.py
         │   │   ├── __init__.py
         │   │   └── setup/
         │   │       ├── bundle.py
         │   │       ├── dep_validator.py
         │   │       ├── dependencies.py
         │   │       ├── factory.py
         │   │       ├── __init__.py
         │   │       ├── keys.py
         │   │       ├── opt_validator.py
         │   │       ├── options.py
         │   │       ├── registry.py
         │   │       └── validator.py
         │   ├── command/
         │   │   ├── command.py
         │   │   ├── icommand_definition.py
         │   │   ├── icommand_executor.py
         │   │   ├── __init__.py
         │   │   ├── studio_command_definition.py
         │   │   └── studio_command_executor.py
         │   ├── communication/
         │   │   ├── __init__.py
         │   │   ├── iserial_port_scanner.py
         │   │   ├── protocol/
         │   │   │   ├── imotion_codec.py
         │   │   │   ├── imycobot_protocol_codec.py
         │   │   │   ├── __init__.py
         │   │   │   ├── iprotocol_codec_factory.py
         │   │   │   ├── iprotocol_framer.py
         │   │   │   ├── isystem_codec.py
         │   │   │   ├── itool_codec.py
         │   │   │   ├── motion_codec.py
         │   │   │   ├── mycobot_protocol_codec.py
         │   │   │   ├── protocol_codec_factory.py
         │   │   │   ├── protocol_framer.py
         │   │   │   ├── system_codec.py
         │   │   │   └── tool_codec.py
         │   │   ├── serial_port_scanner.py
         │   │   ├── streamer/
         │   │   │   ├── connection_manager.py
         │   │   │   ├── controller_factory.py
         │   │   │   ├── iconnection_manager.py
         │   │   │   ├── icontroller_factory.py
         │   │   │   ├── __init__.py
         │   │   │   ├── irobot_actuator.py
         │   │   │   ├── irobot_telemetry.py
         │   │   │   ├── istreamer_factory.py
         │   │   │   ├── mycobot_controller.py
         │   │   │   ├── mycobot_streamer.py
         │   │   │   ├── robot_actuator.py
         │   │   │   ├── robot_telemetry.py
         │   │   │   └── streamer_factory.py
         │   │   └── transport/
         │   │       ├── __init__.py
         │   │       ├── mock_serial_transport.py
         │   │       ├── serial_transport.py
         │   │       └── transport_constants.py
         │   ├── config/
         │   │   ├── examples.tgz
         │   │   ├── idecobot.cfg
         │   │   ├── idecobot.logo
         │   │   ├── mycobot_geometry.json
         │   │   └── scheme.json
         │   ├── diagnostics/
         │   │   ├── diagnostics_constants.py
         │   │   ├── diagnostics_coordinator.py
         │   │   ├── diagnostics_factory.py
         │   │   ├── idiagnostics_coordinator.py
         │   │   ├── ijoint_diagnostics_reader.py
         │   │   ├── __init__.py
         │   │   ├── iservo_diagnostics_reader.py
         │   │   ├── ispatial_diagnostics_reader.py
         │   │   ├── joint_diagnostics_reader.py
         │   │   ├── servo_diagnostics_reader.py
         │   │   └── spatial_diagnostics_reader.py
         │   ├── gui/
         │   │   ├── editor/
         │   │   │   ├── code_editor.py
         │   │   │   ├── editor_constants.py
         │   │   │   ├── editor_coordinator.py
         │   │   │   ├── editor_panel.py
         │   │   │   ├── editor_panel_factory.py
         │   │   │   ├── __init__.py
         │   │   │   └── syntax_highlighter.py
         │   │   ├── engine.py
         │   │   ├── engine_constants.py
         │   │   ├── igui.py
         │   │   ├── __init__.py
         │   │   ├── jog/
         │   │   │   ├── cartesian_constants.py
         │   │   │   ├── cartesian_panel.py
         │   │   │   ├── __init__.py
         │   │   │   ├── jog_constants.py
         │   │   │   ├── jog_coordinator.py
         │   │   │   ├── jog_panel.py
         │   │   │   ├── jog_panel_factory.py
         │   │   │   ├── joint_constants.py
         │   │   │   ├── joint_panel.py
         │   │   │   ├── step_constants.py
         │   │   │   ├── step_panel.py
         │   │   │   ├── tool_constants.py
         │   │   │   └── tool_panel.py
         │   │   ├── log/
         │   │   │   ├── bytecode_constants.py
         │   │   │   ├── bytecode_preview.py
         │   │   │   ├── console_constants.py
         │   │   │   ├── __init__.py
         │   │   │   ├── log_constants.py
         │   │   │   ├── log_panel.py
         │   │   │   ├── log_panel_factory.py
         │   │   │   └── serial_console.py
         │   │   ├── menu/
         │   │   │   ├── diagnostics_menu_handler.py
         │   │   │   ├── file_menu_handler.py
         │   │   │   ├── help_menu_handler.py
         │   │   │   ├── idiagnostics_menu_handler.py
         │   │   │   ├── ifile_menu_handler.py
         │   │   │   ├── ihelp_menu_handler.py
         │   │   │   ├── imenu_bar.py
         │   │   │   ├── __init__.py
         │   │   │   ├── menu_bar.py
         │   │   │   ├── menu_bar_constants.py
         │   │   │   └── menu_bar_factory.py
         │   │   ├── setup/
         │   │   │   ├── bundle.py
         │   │   │   ├── dep_validator.py
         │   │   │   ├── dependencies.py
         │   │   │   ├── factory.py
         │   │   │   ├── gui_bundle_factory_constants.py
         │   │   │   ├── gui_event_handler.py
         │   │   │   ├── igui_event_handler.py
         │   │   │   ├── igui_event_target.py
         │   │   │   ├── __init__.py
         │   │   │   ├── keys.py
         │   │   │   ├── opt_validator.py
         │   │   │   ├── options.py
         │   │   │   ├── registry.py
         │   │   │   └── validator.py
         │   │   ├── stream/
         │   │   │   ├── connection_constants.py
         │   │   │   ├── connection_panel.py
         │   │   │   ├── connection_panel_factory.py
         │   │   │   ├── __init__.py
         │   │   │   ├── status_bar.py
         │   │   │   └── status_bar_constants.py
         │   │   ├── theme/
         │   │   │   ├── color_palette.py
         │   │   │   ├── font_config.py
         │   │   │   ├── __init__.py
         │   │   │   ├── theme.py
         │   │   │   └── theme_constants.py
         │   │   └── toolbar/
         │   │       ├── __init__.py
         │   │       ├── itoolbar.py
         │   │       ├── toolbar.py
         │   │       ├── toolbar_constants.py
         │   │       └── toolbar_factory.py
         │   ├── __init__.py
         │   └── storage/
         │       ├── __init__.py
         │       ├── iscript_storage_service.py
         │       ├── iworkspace_service.py
         │       ├── script_storage_service.py
         │       ├── storage_constants.py
         │       ├── workspace_constants.py
         │       └── workspace_service.py
         ├── __init__.py
         ├── py.typed
         └── setup/
             ├── bounds_loader.py
             ├── bundle.py
             ├── dep_validator.py
             ├── dependencies.py
             ├── factory.py
             ├── gui_factory.py
             ├── __init__.py
             ├── keys.py
             ├── opt_validator.py
             ├── options.py
             ├── registry.py
             └── validator.py

     41 directories, 244 files

</details>

🏗 Architecture & SOLID Principles

idecobot is built on a strictly decoupled, Layered Clean Architecture where presentation, domain logic, AST compilation, and hardware communication are segregated through pure Python structural protocols:

                  ┌─────────────────────────────────────────────────────────┐
                  │                       Engine                            │ (Presenter / Main Window)
                  └────────────────────────────┬────────────────────────────┘
                                               │ Orchestrates UI Panels & Coordinators via DI
         ┌─────────────────────────┬───────────┴─────────────┬──────────────────────────┐
         ▼                         ▼                         ▼                          ▼
┌──────────────────┐      ┌─────────────────┐      ┌───────────────────┐      ┌──────────────────┐
│     JogPanel     │      │   EditorPanel   │      │     LogPanel      │      │ ConnectionPanel  │
│ (Joint/Cartesian/│      │ (CodeEditor,    │      │ (SerialConsole,   │      │ (Port Scanner &  │
│  Tool/Step)      │      │  Highlighter)   │      │  BytecodePreview) │      │  Baud Selector)  │
└────────┬─────────┘      └────────┬────────┘      └─────────┬─────────┘      └────────┬─────────┘
         │                         │                         │                         │
         └────────────┬────────────┴─────────────────────────┴─────────────────────────┘
                      │ Observes / Invokes Domain Services via Protocols
                      ▼
         ┌──────────────────────────┐
         │     MyCobotBounds        │ (Domain Model: Kinematics Limits & Physical Geometry)
         └────────────┬─────────────┘
                      │
         ┌────────────┴────────────┬────────────────────────┐
         ▼                         ▼                        ▼
┌──────────────────┐      ┌──────────────────┐     ┌─────────────────┐
│ KinematicsService│      │    DslService    │     │ ScriptStorage   │
│(Forward/Inverse) │      │(Lexer,Parser,Gen)│     │ (.cobot Storage)│
└──────────────────┘      └────────┬─────────┘     └─────────────────┘
                                   │
              ┌────────────────────┼────────────────────┐
              ▼                    ▼                    ▼
     ┌─────────────────┐  ┌─────────────────┐  ┌─────────────────┐
     │    CobotLexer   │  │   CobotParser   │  │BytecodeGenerator│
     │  (Token Stream) │  │  (AST Builder)  │  │ (Binary Stream) │
     └─────────────────┘  └─────────────────┘  └─────────────────┘
                                                        │
                                                        ▼
                                               ┌──────────────────┐
                                               │ SerialTransport  │ (0xFE 0xFE Framing)
                                               └──────────────────┘

SOLID Principles Compliance

• S — Single Responsibility Principle (SRP):
  • Every module and class has exactly one clearly bounded reason to change.
  • GUI sub-panels, coordinators, parser, compiler, and storage handlers are segregated into dedicated, focused files.
  • Enforced by automated gate: strict limit of $\le 15$ methods per class across the entire codebase.
• O — Open/Closed Principle (OCP):
  • The DSL parser, compiler, and command executors are open for extension without modifying existing code.
  • New DSL keywords, kinematic transforms, and protocol commands plug in dynamically.
• L — Liskov Substitution Principle (LSP):
  • Pure structural subtyping via Python @runtime_checkable Protocol definitions. Concrete classes never inherit from interfaces, ensuring zero circular dependencies and complete interchangeability.
• I — Interface Segregation Principle (ISP):
  • Clients depend only on the minimal interfaces they require (IKinematicsService, IDslService, IScriptStorageService, ISerialTransport, IAppMenuBar, IControlsPanel).
• D — Dependency Inversion Principle (DIP):
  • Core domain entities, services, and presenters depend strictly on abstractions (Protocols), not concrete classes. All dependencies are injected via setup/factory.py.

Automated Quality Gates (run_quality_gates.sh)

Every build is validated against 4 strict automated quality gates:

1. Structural Protocols Gate: Verifies 100% compliance with @runtime_checkable Protocol structural typing.
2. Interface Segregation Gate (ISP): Verifies that no bloated or unused interfaces exist.
3. Module Limits Gate: Enforces file length and line length limits ($\le 100$ characters).
4. Single Responsibility Gate (SRP): Strictly enforces $\le 15$ methods per class.

✨ Features

• Interactive 6-DOF Robot Studio: Dedicated Joint jog sliders (J1–J6) with real-time degree readouts, Cartesian translation (X, Y, Z, Rx, Ry, Rz), end-effector tool gripper control (Grip / Release / Angle), and variable step increments (1.0, 5.0, 10.0, 50.0 mm/deg).
• Integrated .cobot DSL Editor & Compiler: Full-featured code editor with real-time syntax highlighting for industrial myCobot scripts (.cobot), AST compilation, and instant bidirectional visual status synchronization.
• Kinematic Reachability & Boundary Enforcement: Spherical workspace boundary validation ensuring joint angles remain within physical limits (J1–J5: $\pm 165^\circ$, J6: $\pm 175^\circ$) and arm reach does not exceed $285\text{ mm}$.
• Binary Bytecode Disassembly & Inspection: Live bytecode preview panel displaying compiled hex and instruction mnemonic streams before physical transmission to the robot.
• Packetized Serial Communication: Multi-threaded USB serial transport implementing Elephant Robotics binary framing protocol (0xFE 0xFE <len> <cmd> <payload...> 0xFA) with baudrate selection (115200 default) and auto-detection.
• Manual Jogging & Diagnostics: Real-time jog execution, servo torque enable/release (Power/Relax), synchronous wait, homing, and live serial console log.
• Pure Clean Architecture & Dependency Injection: 100% structural protocol decoupling, zero ISP/SRP violations, granular imports, and comprehensive test coverage.

📐 myCobot 280 Kinematic & Physical Robot Boundaries

The robot kinematic parameters and physical limits are encapsulated within MyCobotBounds:

Parameter	Limit Value	Description
j1_min / j1_max	-165.0° / +165.0°	Base rotation joint limit.
j2_min / j2_max	-165.0° / +165.0°	Shoulder elevation joint limit.
j3_min / j3_max	-165.0° / +165.0°	Elbow joint limit.
j4_min / j4_max	-165.0° / +165.0°	Wrist pitch joint limit.
j5_min / j5_max	-165.0° / +165.0°	Wrist roll joint limit.
j6_min / j6_max	-175.0° / +175.0°	Tool rotation joint limit.
reach_max	285.0 mm	Maximum spherical reach from robot base origin.
min_speed / max_speed	1% / 100%	Allowable joint and Cartesian travel velocity range.

📜 myCobot Domain-Specific Language (DSL) & .cobot Programs

idecobot includes a dedicated Domain-Specific Language designed specifically for 6-DOF myCobot manipulators. Programs are written in plain text files with the .cobot extension and compiled into validated binary machine instructions via a clean AST pipeline:

                    ┌─────────────────────────┐
                    │      .cobot Source      │
                    └────────────┬────────────┘
                                 │ CobotLexer
                                 ▼
                    ┌─────────────────────────┐
                    │      Token Stream       │
                    └────────────┬────────────┘
                                 │ CobotParser
                                 ▼
                    ┌─────────────────────────┐
                    │      Abstract AST       │
                    └────────────┬────────────┘
                                 │ CobotCompiler & BytecodeGenerator
                                 ▼
                    ┌─────────────────────────┐
                    │     Bytecode Stream     │ (0xFE 0xFE Binary Packets)
                    └─────────────────────────┘

myCobot DSL Instruction Reference

Category	Instruction & Syntax	Parameters	Description
Power & State	HOME	None	Moves all 6 joints to calibrated zero reference position ($0.0^\circ$).
	RELAX	None	Releases servo brakes / disables motor torque for manual teaching.
	POWER	None	Energizes servo motors and enables active position control.
Timing & Speed	SPEED <percent>	percent (1% - 100%)	Sets travel feedrate velocity percentage.
	WAIT <ms>	ms (milliseconds)	Dwells execution for specified hardware duration.
Tool Actuation	TOOL GRIP	None	Closes electric gripper end-effector.
	TOOL RELEASE	None	Opens electric gripper end-effector.
	TOOL ANGLE <deg>	deg (0° - 100°)	Sets electric gripper opening angle.
Motion	MOVE J1 <j1> J2 <j2> J3 <j3> J4 <j4> J5 <j5> J6 <j6> [SPEED <s>]	J1..J6 (deg), SPEED (%)	Coordinated 6-DOF multi-joint motion.
	MOVE_L X <x> Y <y> Z <z> RX <rx> RY <ry> RZ <rz> [SPEED <s>]	X,Y,Z (mm), RX,RY,RZ (deg)	Cartesian linear tool interpolated path.

Example .cobot Program: Industrial Pick & Place

# ----------------------------------------------------
# Elephant Robotics myCobot 280 Pick-and-Place Cycle
# ----------------------------------------------------
POWER
SPEED 40
HOME
WAIT 500

# Approach workpiece pick station
MOVE J1 0.0 J2 20.0 J3 -45.0 J4 0.0 J5 30.0 J6 0.0 SPEED 50
MOVE_L X 180.0 Y -50.0 Z 120.0 RX 0.0 RY 90.0 RZ 0.0 SPEED 30

# Grip object and wait for mechanical engagement
TOOL GRIP
WAIT 300

# Retract and transfer to drop location
MOVE_L X 180.0 Y -50.0 Z 200.0 RX 0.0 RY 90.0 RZ 0.0 SPEED 30
MOVE J1 90.0 J2 15.0 J3 -30.0 J4 0.0 J5 20.0 J6 45.0 SPEED 40
MOVE_L X 0.0 Y 180.0 Z 100.0 RX 0.0 RY 90.0 RZ 45.0 SPEED 20

# Release object
TOOL RELEASE
WAIT 300

# Return to safe home altitude
HOME

📡 Serial Communication Protocol

All communication between idecobot and the physical myCobot 280 microcontroller is governed by the standard binary framing protocol:

Packet Framing (PC $\leftrightarrow$ Robot)

┌──────┬──────┬─────────┬─────────┬─────────────────┬──────┐
│ 0xFE │ 0xFE │ LEN (N) │ CMD_ID  │ PAYLOAD (N - 2) │ 0xFA │
└──────┴──────┴─────────┴─────────┴─────────────────┴──────┘
  Header 2B     Length    Command        Data bytes     Tail

Protocol Command Set

Command ID	Command Name	Description
0x10	POWER_ON	Powers on and activates all servo motors.
0x11	POWER_OFF	Powers off all servo motors.
0x13	RELEASE_ALL_SERVOS	Disables torque holding for manual positioning.
0x20	WRITE_ANGLES	Sends target joint angles ($J_1 \dots J_6$) with speed.
0x21	READ_ANGLES	Queries active joint angles from robot controllers.
0x22	WRITE_COORDS	Sends target Cartesian coordinates ($X, Y, Z, Rx, Ry, Rz$) with speed.
0x23	READ_COORDS	Queries active Cartesian pose from robot controllers.
0x80	SET_GRIPPER_STATE	Opens or closes electric gripper end-effector.

📊 Code coverage

Click to expand code coverage</summary>

Name	Stmts	Miss	Cover
idecobot/__init__.py	9	0	100%
idecobot/core/__init__.py	9	0	100%
idecobot/core/model/__init__.py	9	0	100%
idecobot/core/model/communication/__init__.py	9	0	100%
idecobot/core/model/communication/mycobot_frame.py	15	0	100%
idecobot/core/model/communication/protocol_constants.py	44	0	100%
idecobot/core/model/communication/stream_config.py	13	0	100%
idecobot/core/model/communication/stream_progress.py	18	0	100%
idecobot/core/model/communication/stream_state.py	17	0	100%
idecobot/core/model/dsl/__init__.py	9	0	100%
idecobot/core/model/dsl/ast/__init__.py	9	0	100%
idecobot/core/model/dsl/ast/mycobot_command_type.py	19	0	100%
idecobot/core/model/dsl/ast/mycobot_instruction.py	18	0	100%
idecobot/core/model/dsl/ast/mycobot_program.py	14	0	100%
idecobot/core/model/dsl/diagnostic/__init__.py	9	0	100%
idecobot/core/model/dsl/diagnostic/mycobot_diagnostic.py	17	0	100%
idecobot/core/model/dsl/diagnostic/mycobot_diagnostic_severity.py	14	0	100%
idecobot/core/model/dsl/token/__init__.py	9	0	100%
idecobot/core/model/dsl/token/dsl_grammar_constants.py	32	0	100%
idecobot/core/model/dsl/token/mycobot_token.py	17	0	100%
idecobot/core/model/dsl/token/mycobot_token_type.py	18	0	100%
idecobot/core/model/kinematics/__init__.py	9	0	100%
idecobot/core/model/kinematics/joint_bounds.py	19	0	100%
idecobot/core/model/kinematics/joint_limit.py	14	0	100%
idecobot/core/model/kinematics/mycobot_bounds.py	20	0	100%
idecobot/core/model/kinematics/spatial_bounds.py	14	0	100%
idecobot/core/model/kinematics/speed_bounds.py	15	0	100%
idecobot/core/model/kinematics/trajectory_bounds.py	13	0	100%
idecobot/core/service/__init__.py	9	0	100%
idecobot/core/service/communication/__init__.py	9	0	100%
idecobot/core/service/communication/imycobot_controller.py	25	0	100%
idecobot/core/service/communication/imycobot_streamer.py	24	0	100%
idecobot/core/service/communication/itransport.py	20	0	100%
idecobot/core/service/dsl/__init__.py	9	0	100%
idecobot/core/service/dsl/compiler/__init__.py	9	0	100%
idecobot/core/service/dsl/compiler/commands/__init__.py	9	0	100%
idecobot/core/service/dsl/compiler/commands/home_command_compiler.py	28	0	100%
idecobot/core/service/dsl/compiler/commands/icommand_compiler.py	20	0	100%
idecobot/core/service/dsl/compiler/commands/move_coords_command_compiler.py	37	1	97%
idecobot/core/service/dsl/compiler/commands/move_joints_command_compiler.py	35	1	97%
idecobot/core/service/dsl/compiler/commands/power_command_compiler.py	25	1	96%
idecobot/core/service/dsl/compiler/commands/relax_command_compiler.py	25	1	96%
idecobot/core/service/dsl/compiler/commands/speed_command_compiler.py	25	1	96%
idecobot/core/service/dsl/compiler/commands/tool_command_compiler.py	33	1	97%
idecobot/core/service/dsl/compiler/commands/wait_command_compiler.py	28	1	96%
idecobot/core/service/dsl/compiler/compiler_context.py	34	0	100%
idecobot/core/service/dsl/compiler/imycobot_compiler.py	19	0	100%
idecobot/core/service/dsl/compiler/mycobot_compiler.py	34	0	100%
idecobot/core/service/dsl/dsl_service_factory.py	48	0	100%
idecobot/core/service/dsl/imycobot_dsl_service.py	23	0	100%
idecobot/core/service/dsl/lexer/__init__.py	9	0	100%
idecobot/core/service/dsl/lexer/imycobot_lexer.py	17	0	100%
idecobot/core/service/dsl/lexer/mycobot_lexer.py	80	25	69%
idecobot/core/service/dsl/linter/__init__.py	9	0	100%
idecobot/core/service/dsl/linter/imycobot_linter.py	18	0	100%
idecobot/core/service/dsl/linter/mycobot_linter.py	29	2	93%
idecobot/core/service/dsl/linter/rules/__init__.py	9	0	100%
idecobot/core/service/dsl/linter/rules/ground_safety_rule.py	36	6	83%
idecobot/core/service/dsl/linter/rules/imycobot_lint_rule.py	18	0	100%
idecobot/core/service/dsl/linter/rules/jerk_limit_rule.py	44	3	93%
idecobot/core/service/dsl/linter/rules/joint_bounds_rule.py	38	2	95%
idecobot/core/service/dsl/linter/rules/speed_limit_rule.py	38	6	84%
idecobot/core/service/dsl/linter/rules/workspace_reach_rule.py	39	8	79%
idecobot/core/service/dsl/mycobot_dsl_service.py	49	4	92%
idecobot/core/service/dsl/parser/__init__.py	9	0	100%
idecobot/core/service/dsl/parser/commands/__init__.py	9	0	100%
idecobot/core/service/dsl/parser/commands/home_command_parser.py	23	1	96%
idecobot/core/service/dsl/parser/commands/icommand_parser.py	18	0	100%
idecobot/core/service/dsl/parser/commands/move_command_parser.py	57	7	88%
idecobot/core/service/dsl/parser/commands/power_command_parser.py	23	3	87%
idecobot/core/service/dsl/parser/commands/relax_command_parser.py	23	1	96%
idecobot/core/service/dsl/parser/commands/speed_command_parser.py	27	2	93%
idecobot/core/service/dsl/parser/commands/tool_command_parser.py	39	7	82%
idecobot/core/service/dsl/parser/commands/wait_command_parser.py	27	2	93%
idecobot/core/service/dsl/parser/imycobot_parser.py	19	0	100%
idecobot/core/service/dsl/parser/mycobot_parser.py	53	4	92%
idecobot/core/service/engine.py	40	3	92%
idecobot/core/service/iservice.py	24	0	100%
idecobot/core/service/kinematics/__init__.py	9	0	100%
idecobot/core/service/kinematics/ikinematic_validator.py	17	0	100%
idecobot/core/service/kinematics/kinematic_validator.py	29	1	97%
idecobot/engine.py	57	57	0%
idecobot/infrastructure/__init__.py	9	0	100%
idecobot/infrastructure/cli/__init__.py	9	0	100%
idecobot/infrastructure/cli/engine.py	39	0	100%
idecobot/infrastructure/cli/icli.py	15	0	100%
idecobot/infrastructure/cli/setup/__init__.py	9	0	100%
idecobot/infrastructure/cli/setup/bundle.py	22	1	95%
idecobot/infrastructure/cli/setup/dep_validator.py	36	0	100%
idecobot/infrastructure/cli/setup/dependencies.py	18	0	100%
idecobot/infrastructure/cli/setup/factory.py	37	1	97%
idecobot/infrastructure/cli/setup/keys.py	28	0	100%
idecobot/infrastructure/cli/setup/opt_validator.py	36	0	100%
idecobot/infrastructure/cli/setup/options.py	17	0	100%
idecobot/infrastructure/cli/setup/registry.py	24	1	96%
idecobot/infrastructure/cli/setup/validator.py	43	0	100%
idecobot/infrastructure/command/__init__.py	9	0	100%
idecobot/infrastructure/command/command.py	16	0	100%
idecobot/infrastructure/command/icommand_definition.py	14	0	100%
idecobot/infrastructure/command/icommand_executor.py	14	0	100%
idecobot/infrastructure/command/studio_command_definition.py	29	0	100%
idecobot/infrastructure/command/studio_command_executor.py	41	0	100%
idecobot/infrastructure/communication/__init__.py	9	0	100%
idecobot/infrastructure/communication/iserial_port_scanner.py	16	0	100%
idecobot/infrastructure/communication/protocol/__init__.py	9	0	100%
idecobot/infrastructure/communication/protocol/imotion_codec.py	19	0	100%
idecobot/infrastructure/communication/protocol/imycobot_protocol_codec.py	26	0	100%
idecobot/infrastructure/communication/protocol/iprotocol_codec_factory.py	16	0	100%
idecobot/infrastructure/communication/protocol/iprotocol_framer.py	17	0	100%
idecobot/infrastructure/communication/protocol/isystem_codec.py	17	0	100%
idecobot/infrastructure/communication/protocol/itool_codec.py	15	0	100%
idecobot/infrastructure/communication/protocol/motion_codec.py	44	3	93%
idecobot/infrastructure/communication/protocol/mycobot_protocol_codec.py	48	0	100%
idecobot/infrastructure/communication/protocol/protocol_codec_factory.py	22	0	100%
idecobot/infrastructure/communication/protocol/protocol_framer.py	27	1	96%
idecobot/infrastructure/communication/protocol/system_codec.py	22	0	100%
idecobot/infrastructure/communication/protocol/tool_codec.py	21	0	100%
idecobot/infrastructure/communication/serial_port_scanner.py	20	2	90%
idecobot/infrastructure/communication/streamer/__init__.py	9	0	100%
idecobot/infrastructure/communication/streamer/connection_manager.py	24	0	100%
idecobot/infrastructure/communication/streamer/controller_factory.py	23	0	100%
idecobot/infrastructure/communication/streamer/iconnection_manager.py	18	0	100%
idecobot/infrastructure/communication/streamer/icontroller_factory.py	18	0	100%
idecobot/infrastructure/communication/streamer/irobot_actuator.py	21	0	100%
idecobot/infrastructure/communication/streamer/irobot_telemetry.py	16	0	100%
idecobot/infrastructure/communication/streamer/istreamer_factory.py	17	0	100%
idecobot/infrastructure/communication/streamer/mycobot_controller.py	44	0	100%
idecobot/infrastructure/communication/streamer/mycobot_streamer.py	84	5	94%
idecobot/infrastructure/communication/streamer/robot_actuator.py	37	0	100%
idecobot/infrastructure/communication/streamer/robot_telemetry.py	36	2	94%
idecobot/infrastructure/communication/streamer/streamer_factory.py	19	0	100%
idecobot/infrastructure/communication/transport/__init__.py	9	0	100%
idecobot/infrastructure/communication/transport/mock_serial_transport.py	82	3	96%
idecobot/infrastructure/communication/transport/serial_transport.py	62	0	100%
idecobot/infrastructure/communication/transport/transport_constants.py	19	0	100%
idecobot/infrastructure/diagnostics/__init__.py	9	0	100%
idecobot/infrastructure/diagnostics/diagnostics_constants.py	21	0	100%
idecobot/infrastructure/diagnostics/diagnostics_coordinator.py	43	0	100%
idecobot/infrastructure/diagnostics/diagnostics_factory.py	29	0	100%
idecobot/infrastructure/diagnostics/idiagnostics_coordinator.py	22	0	100%
idecobot/infrastructure/diagnostics/ijoint_diagnostics_reader.py	15	0	100%
idecobot/infrastructure/diagnostics/iservo_diagnostics_reader.py	15	0	100%
idecobot/infrastructure/diagnostics/ispatial_diagnostics_reader.py	15	0	100%
idecobot/infrastructure/diagnostics/joint_diagnostics_reader.py	57	3	95%
idecobot/infrastructure/diagnostics/servo_diagnostics_reader.py	49	1	98%
idecobot/infrastructure/diagnostics/spatial_diagnostics_reader.py	53	3	94%
idecobot/infrastructure/gui/__init__.py	9	0	100%
idecobot/infrastructure/gui/editor/__init__.py	9	0	100%
idecobot/infrastructure/gui/editor/code_editor.py	57	3	95%
idecobot/infrastructure/gui/editor/editor_constants.py	54	0	100%
idecobot/infrastructure/gui/editor/editor_coordinator.py	76	1	99%
idecobot/infrastructure/gui/editor/editor_panel.py	69	1	99%
idecobot/infrastructure/gui/editor/editor_panel_factory.py	60	4	93%
idecobot/infrastructure/gui/editor/syntax_highlighter.py	48	0	100%
idecobot/infrastructure/gui/engine.py	92	40	57%
idecobot/infrastructure/gui/engine_constants.py	24	0	100%
idecobot/infrastructure/gui/igui.py	17	0	100%
idecobot/infrastructure/gui/jog/__init__.py	9	0	100%
idecobot/infrastructure/gui/jog/cartesian_constants.py	33	0	100%
idecobot/infrastructure/gui/jog/cartesian_panel.py	56	3	95%
idecobot/infrastructure/gui/jog/jog_constants.py	60	0	100%
idecobot/infrastructure/gui/jog/jog_coordinator.py	90	8	91%
idecobot/infrastructure/gui/jog/jog_panel.py	50	3	94%
idecobot/infrastructure/gui/jog/jog_panel_factory.py	59	8	86%
idecobot/infrastructure/gui/jog/joint_constants.py	33	0	100%
idecobot/infrastructure/gui/jog/joint_panel.py	56	3	95%
idecobot/infrastructure/gui/jog/step_constants.py	30	0	100%
idecobot/infrastructure/gui/jog/step_panel.py	52	8	85%
idecobot/infrastructure/gui/jog/tool_constants.py	38	0	100%
idecobot/infrastructure/gui/jog/tool_panel.py	53	1	98%
idecobot/infrastructure/gui/log/__init__.py	9	0	100%
idecobot/infrastructure/gui/log/bytecode_constants.py	26	0	100%
idecobot/infrastructure/gui/log/bytecode_preview.py	60	12	80%
idecobot/infrastructure/gui/log/console_constants.py	33	0	100%
idecobot/infrastructure/gui/log/log_constants.py	17	0	100%
idecobot/infrastructure/gui/log/log_panel.py	50	7	86%
idecobot/infrastructure/gui/log/log_panel_factory.py	37	1	97%
idecobot/infrastructure/gui/log/serial_console.py	64	9	86%
idecobot/infrastructure/gui/menu/__init__.py	9	0	100%
idecobot/infrastructure/gui/menu/diagnostics_menu_handler.py	36	0	100%
idecobot/infrastructure/gui/menu/file_menu_handler.py	48	11	77%
idecobot/infrastructure/gui/menu/help_menu_handler.py	24	2	92%
idecobot/infrastructure/gui/menu/idiagnostics_menu_handler.py	21	0	100%
idecobot/infrastructure/gui/menu/ifile_menu_handler.py	16	0	100%
idecobot/infrastructure/gui/menu/ihelp_menu_handler.py	15	0	100%
idecobot/infrastructure/gui/menu/imenu_bar.py	19	0	100%
idecobot/infrastructure/gui/menu/menu_bar.py	59	7	88%
idecobot/infrastructure/gui/menu/menu_bar_constants.py	40	0	100%
idecobot/infrastructure/gui/menu/menu_bar_factory.py	52	1	98%
idecobot/infrastructure/gui/setup/__init__.py	9	0	100%
idecobot/infrastructure/gui/setup/bundle.py	37	1	97%
idecobot/infrastructure/gui/setup/dep_validator.py	36	5	86%
idecobot/infrastructure/gui/setup/dependencies.py	33	0	100%
idecobot/infrastructure/gui/setup/factory.py	122	7	94%
idecobot/infrastructure/gui/setup/gui_bundle_factory_constants.py	23	0	100%
idecobot/infrastructure/gui/setup/gui_event_handler.py	42	0	100%
idecobot/infrastructure/gui/setup/igui_event_handler.py	22	0	100%
idecobot/infrastructure/gui/setup/igui_event_target.py	22	0	100%
idecobot/infrastructure/gui/setup/keys.py	43	0	100%
idecobot/infrastructure/gui/setup/opt_validator.py	36	5	86%
idecobot/infrastructure/gui/setup/options.py	17	0	100%
idecobot/infrastructure/gui/setup/registry.py	24	1	96%
idecobot/infrastructure/gui/setup/validator.py	61	5	92%
idecobot/infrastructure/gui/stream/__init__.py	9	0	100%
idecobot/infrastructure/gui/stream/connection_constants.py	42	0	100%
idecobot/infrastructure/gui/stream/connection_panel.py	85	2	98%
idecobot/infrastructure/gui/stream/connection_panel_factory.py	44	0	100%
idecobot/infrastructure/gui/stream/status_bar.py	71	24	66%
idecobot/infrastructure/gui/stream/status_bar_constants.py	33	0	100%
idecobot/infrastructure/gui/theme/__init__.py	9	0	100%
idecobot/infrastructure/gui/theme/color_palette.py	34	0	100%
idecobot/infrastructure/gui/theme/font_config.py	21	0	100%
idecobot/infrastructure/gui/theme/theme.py	50	1	98%
idecobot/infrastructure/gui/theme/theme_constants.py	38	0	100%
idecobot/infrastructure/gui/toolbar/__init__.py	9	0	100%
idecobot/infrastructure/gui/toolbar/itoolbar.py	16	0	100%
idecobot/infrastructure/gui/toolbar/toolbar.py	60	0	100%
idecobot/infrastructure/gui/toolbar/toolbar_constants.py	28	0	100%
idecobot/infrastructure/gui/toolbar/toolbar_factory.py	37	0	100%
idecobot/infrastructure/storage/__init__.py	9	0	100%
idecobot/infrastructure/storage/iscript_storage_service.py	16	0	100%
idecobot/infrastructure/storage/iworkspace_service.py	17	0	100%
idecobot/infrastructure/storage/script_storage_service.py	40	6	85%
idecobot/infrastructure/storage/storage_constants.py	19	0	100%
idecobot/infrastructure/storage/workspace_constants.py	17	0	100%
idecobot/infrastructure/storage/workspace_service.py	53	5	91%
idecobot/setup/__init__.py	9	0	100%
idecobot/setup/bounds_loader.py	41	2	95%
idecobot/setup/bundle.py	25	0	100%
idecobot/setup/dep_validator.py	36	0	100%
idecobot/setup/dependencies.py	21	0	100%
idecobot/setup/factory.py	64	2	97%
idecobot/setup/gui_factory.py	34	0	100%
idecobot/setup/keys.py	33	0	100%
idecobot/setup/opt_validator.py	36	0	100%
idecobot/setup/options.py	16	0	100%
idecobot/setup/registry.py	34	1	97%
idecobot/setup/validator.py	53	0	100%
Total	7030	377	95%

</details>

🛠 Usage

Install package

pip3 install idecobot

Prepare main entry point by downloading main.py or create your own.

wget -O main.py https://raw.githubusercontent.com/vroncevic/idecobot/main/main.py

CLI Command Options

Launch the graphical studio with default configuration:

python3 main.py studio

Launch with initial script file and pre-selected serial port:

python3 main.py studio --file ./scripts/pick_and_place.cobot --port /dev/ttyACM0 --verbose enable

Option	Type	Choices	Description
--file	str	File path	Path to initial .cobot DSL script file to load on startup.
--port	str	Serial port	Serial communication port (e.g. /dev/ttyACM0 or COM3).
--verbose	str	enable, disable	Enable or disable verbose ATS operational logging.

Interactive Robot Studio Workflow

1. Hardware Connection:
   • Under the Connection Panel, select the detected serial port (e.g., /dev/ttyACM0) or mock transport for offline testing.
   • Click Connect. The status bar updates to green Connected.
2. Manual Jogging:
   • Navigate through Joint, Cartesian, Tool, and Step sub-panels.
   • Jog individual joints ($J_1 \dots J_6$) or Cartesian axes ($X, Y, Z, Rx, Ry, Rz$) with instant degree readouts.
   • Toggle servo torque (Power / Relax) and control gripper state (Grip / Release).
3. DSL Scripting & Compilation:
   • Open the Script Editor tab to author .cobot automation scripts.
   • Load bundled industrial templates from the Example Catalog.
   • Click Compile to validate syntax and inspect generated bytecode in the Bytecode Preview panel.
4. Execution & Monitoring:
   • Stream compiled instructions directly to the physical robot.
   • Observe live serial communication traffic and acknowledgments in the Serial Console.

📚 Docs

More documentation and info at

• idecobot.readthedocs.io
• www.python.org

👥 Contributing

Contributing to idecobot

📄 Copyright and licence

Copyright (C) 2026 by vroncevic.github.io/idecobot

idecobot is free software; you can redistribute it and/or modify it under the same terms as Python itself, either Python version 3.x or, at your option, any later version of Python 3 you may have available.

Special thanks to Google and the Google developer ecosystem for their tremendous support and innovative tools from the Google bundle that empowered the development and realization of this project. Google, you make this world a better place! 🌍✨

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