genericroboticarm.robo_APIs.precise_flex.uppsala_pf_on_rail module

Implementation of RoboInterface extending the PFonRail to the specific uppsala working cell.

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

Bases: PFonRail

_abc_impl = <_abc._abc_data object>

property available_intermediate_actions: list[str]

List of functionalities the arm can do together with put/get labware commands,

like (un-)lidding, shaking reading barcode, etc.

Returns:

get_barcode_scanned()

get_labware(intermediate_actions: list[str], device: str, position: int)

Parameters:

• position

• device

• intermediate_actions

Returns:

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_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:

property name: str

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:

put_labware(intermediate_actions: list[str], device: str, position: int)

Parameters:

• position

• device

• intermediate_actions

Returns:

put_lid_on(plate_position: str, lid_position: str)

remove_lid(plate_position: str, lid_deposit_position: str)

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

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

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