panda_py.exceptions module

Exceptions raised by panda-py.

exception panda_py.exceptions.IncompatibleVersionError(server_version: int, library_version: int)

Bases: RuntimeError

The robot speaks a different research interface protocol version than the libfranka this panda-py was built with, so it refused the connection.

Raised in place of libfranka’s IncompatibleVersionException, which would otherwise reach Python as a plain RuntimeError and lose the robot’s version. It still derives from RuntimeError, so existing handlers keep working. The message names the panda-py build to install instead.

server_version

Protocol version the robot speaks.

library_version

Protocol version this panda-py’s libfranka speaks.

property libfranka_version: str | None

The libfranka version of the panda-py build that supports this robot, or None if no build does.

panda_py.exceptions.LIBFRANKA_FOR_SERVER_VERSION = {3: '0.7.1', 4: '0.8.0', 5: '0.9.2', 6: '0.13.2', 7: '0.13.6', 8: '0.14.2', 9: '0.17.0', 10: '0.21.3'}

The libfranka version panda-py is built against for each research interface protocol version, i.e. the server version a robot reports. There is one panda-py build per protocol version, listed in the README.