genericroboticarm.robo_APIs.precise_flex package

Submodules

Module contents

class genericroboticarm.robo_APIs.precise_flex.PFImplementation(start_simulating: bool = True, host: str = '10.10.0.98', port: int = 10100)[source]

Bases: InteractiveRobot

_abc_impl = <_abc._abc_data object>
cancel_transfer()[source]
Returns:

property current_coordinates: Dict[str, float]

return:

finish_movement(max_time: float = 60, tolerance: float = 1) → bool[source]

Returns True as soon as the robots position is tolerance near its current target or False if this does not happen until max_time seconds elapsed. :param max_time: :param tolerance:x :return:

get_labware(intermediate_actions: List[str], device: str, position: int)[source]
Parameters:

  • position

  • device

  • intermediate_actions

Returns:

classmethod get_name() → str[source]

The name will be used as parameter in command line startup (-r), as sila server name and to save the position graph. :return: the name

classmethod get_used_cli_args() → dict[str, str][source]

Defines the arguments that are forwarded from the command line to the robots constructor. :return: a dictionary of type [constructor parameter name, command line argument name]

grip_close(**kwargs)[source]
Returns:

grip_open(**kwargs)[source]
Returns:

property gripper_fully_closed: bool
init_connection(host: str, port: int)[source]

Sets up the hardware connection :return:

property joint_names: list[str]

Returns a list of names of the individual coordinates used by the robot. For example [x, y, z, roll, pitch, grip] or [j1, j2, j3, j4, j5] :return:

move_joint(joint_index: int, target_angle: float) → str[source]

Moves a specific joint. The movement will be executed after current movements have finished :param joint_index: :param target_angle: :return:

move_relative(movements: List[Tuple[str, float]], **kwargs)[source]
Parameters:

movements

Returns:

move_to_coordinates(coords: Dict[str, float], **kwargs) → None[source]
Parameters:

coords

Returns:

property name: str
property number_internal_positions: int

return:

prepare_for_input(internal_pos: int, device: str, position: int, plate_type: str) → bool[source]
Parameters:

  • plate_type

  • plate_type

  • position

  • device

  • internal_pos

Returns:

prepare_for_output(internal_pos: int, device: str, position: int) → bool[source]
Parameters:

  • position

  • device

  • internal_pos

Returns:

put_labware(intermediate_actions: List[str], device: str, position: int)[source]
Parameters:

  • position

  • device

  • intermediate_actions

Returns:

run_custom_command(cmd: str) → str[source]

Runs a custom command on the hardware. The implementation for a specific hardware might look very different and the response must be a string. Be default returns ‘Not Implemented’. Use on your own risk. :param cmd: :return:

set_acceleration(new_acceleration: float, **kwargs)[source]
Parameters:

new_acceleration

Returns:

set_speed(new_speed: float)[source]

Set the speed :param new_speed: :return:

socket: PFSocket | PFSimulation
stop_moving()[source]

Immediately(Or as quickly as possible) stops all movements :return:

class genericroboticarm.robo_APIs.precise_flex.PFonRail(start_simulating: bool = True, host: str = '10.10.0.98', port: int = 10100)[source]

Bases: PFImplementation

_abc_impl = <_abc._abc_data object>
property current_coordinates: Dict[str, float]

return:

classmethod get_name() → str[source]

The name will be used as parameter in command line startup (-r), as sila server name and to save the position graph. :return: the name

property joint_names: list[str]

Returns a list of names of the individual coordinates used by the robot. For example [x, y, z, roll, pitch, grip] or [j1, j2, j3, j4, j5] :return:

move_relative(movements: List[Tuple[str, float]], **kwargs)[source]

we simply forbid simultaneous movements of rail and head

move_to_coordinates(coords: Dict[str, float], **kwargs) → None[source]
Parameters:

coords

Returns:

my_dist(u: Dict[str, float], v: Dict[str, float]) → float[source]