genericroboticarm.robo_APIs.precise_flex.imager_pf module

Implementation of RoboInterface extending the PF400 to the specific uppsala pf400 in the imaging room.

class genericroboticarm.robo_APIs.precise_flex.imager_pf.ImagerPF(start_simulating: bool = True, host: str = '10.10.0.98', port: int = 10100)

Bases: PFImplementation

GRIPPER_OPEN: float = 95

_abc_impl = <_abc._abc_data object>

default_offset = {'z': -3}

classmethod get_name() → str

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

move_straight_to_position(identifier, offset=None)

Moves the robot straight to the specified position, i.e. queries its coordinates, adds the offset and call move_to_coordinates() on the result. :param offset: :param identifier: :return:

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

Parameters:

coords

Returns:

move_to_position(target_position, offset=None)

Parameters:

• offset

• target_position

Returns:

move_to_safe_pos(identifier: str, offset: dict[str, float] | None = None)

Moves to the approach position belonging to the specified position :param offset: :param identifier: :return:

origin_is_squid = False

pick_at_position(identifier: str, offset: dict[str, float] | None = None)

Opens the gripper, moves to a specified location and closes the gripper there :param identifier: Position identifier :param offset: :return:

place_at_position(identifier: str, offset: dict[str, float] | None = None)

Opens the gripper, moves to a specified location and opens the gripper there :param identifier: Position identifier :param offset: :return:

prepare_for_input(internal_pos: int, device: str, position: int, plate_type: str) → bool

Parameters:

• plate_type

• plate_type

• position

• device

• internal_pos

Returns:

prepare_for_output(internal_pos: int, device: str, position: int) → bool

Parameters:

• position

• device

• internal_pos

Returns:

site_to_position_identifier(device: str, slot: int) → str

genericroboticarm.robo_APIs.precise_flex.imager_pf.approach_position(device: str) → str

genericroboticarm.robo_APIs.precise_flex.imager_pf.device_from_identifier(identifier: str) → str