genericroboticarm.robo_APIs.precise_flex.pf_on_rail module

Implementation of RoboInterface for a PF400 on a rail. This extends the PF400 implementation

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

Bases: PFImplementation

_abc_impl = <_abc._abc_data object>

property current_coordinates: Dict[str, float]

return:

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

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)

we simply forbid simultaneous movements of rail and head

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

Parameters:

coords

Returns:

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

next_positions: List[str]

socket: PFSocket | PFSimulation