pylabrobot.brooks.precise_flex.PreciseFlexArm#
- class pylabrobot.brooks.precise_flex.PreciseFlexArm(driver: PreciseFlexDriver)#
Bases:
objectThe arm of a PreciseFlex: its joints, read and moved through the controller.
Reached as
driver.arm. Sends through the driver’ssend_command; every move whose target joint states are known before it is sent goes through_guarded_move.Attributes
The pose
park()moves to.Methods
__init__(driver)at_speed(speed_percent)Run the moves inside at their own speed, then put the profile speed back.
change_elbow_orientation([grip_mode, ...])Change Robot configuration from Righty to Lefty or vice versa using customizable locations.
Change Robot configuration from Righty to Lefty or vice versa using algorithm.
drop_at_joint_state(joint_state, resource_width)Drop at the specified joint state.
drop_at_location(location, direction, ...[, ...])Drop at the specified Cartesian location.
halt()Stops the current robot immediately but leaves power on.
move_through_cartesian_poses(poses[, ...])Move through a sequence of Cartesian poses using one planned IK route.
move_to_joint_state(joint_state[, ...])Move the arm to the specified joint state.
move_to_location(location, direction[, ...])Move the arm to the specified Cartesian location.
park(*[, close_gripper_without_force_sensing])Move to
self.parking_position; defaults at setup, reassignable at runtime.pick_up_at_joint_state(joint_state, ...[, ...])Pick up at the specified joint state.
pick_up_at_location(location, direction, ...)Pick up at the specified Cartesian location.
recover_axes_within_limits([speed_percent, ...])Bring out-of-range axes back inside their soft limits, one axis at a time.
reengage_brake(axis)Re-engage the axis brake.
release_brake(axis)Release the axis brake.
Get the robot base offset.
request_destination_joint_state([mode])Get the destination or current joint location of the robot.
Get the current pose using our kinematics model (no firmware
wherec).request_joint_limits([hard])Per-axis travel limits as {PreciseFlexAxis: (min, max)}.
Get the current joint position of the arm.
Build PF400Params from the controller's stored geometry.
(l1, l2) SCARA link lengths in mm: shoulder->elbow, elbow->wrist.
Global cap on the acceleration percentage (one value, applies to all joints).
Global cap on the deceleration percentage (one value, applies to all joints).
Global cap on the speed percentage (one value, applies to all joints).
Get the global system (monitor) speed.
request_motion_profile_values(profile)Get the current motion profile values for the specified profile index on the PreciseFlex robot.
Get the payload percent value for the current robot.
Where every joint of the arm is, worked out from the joint state; nothing else is asked.
request_profile_acceleration(profile_index)Get the acceleration property of the specified profile.
request_profile_acceleration_ramp(profile_index)Get the acceleration ramp property of the specified profile.
request_profile_deceleration(profile_index)Get the deceleration property of the specified profile.
request_profile_deceleration_ramp(profile_index)Get the deceleration ramp property of the specified profile.
request_profile_in_range(profile_index)Get the InRange property of the specified profile.
request_profile_speed(profile_index)Get the speed property of the specified profile.
request_profile_speed2(profile_index)Get the speed2 property of the specified profile.
request_profile_straight(profile_index)Get the Straight property of the specified profile.
Per-axis rated acceleration at 100%.
Rated Cartesian (translational) acceleration at 100%, in mm/s^2.
Rated Cartesian (translational) speed at 100%, in mm/s.
Per-axis rated speed at 100%; J1/J5 in mm/s, J2-J4 in deg/s.
Return state of motion.
Wrist->TCP distance in mm (z of the tool-offset transform).
Get the current tool transformation values.
set_base(x_offset, y_offset, z_offset, ...)Set the robot base offset.
set_monitor_speed(speed_percent)Set the global system (monitor) speed.
set_motion_profile_values(profile, ...)Set motion profile values for the specified profile index on the PreciseFlex robot.
set_payload(payload_percent)Set the payload percent of maximum for the currently selected or attached robot.
set_profile_acceleration(profile_index, ...)Set the acceleration property of the specified profile.
set_profile_acceleration_ramp(profile_index, ...)Set the acceleration ramp property of the specified profile.
set_profile_deceleration(profile_index, ...)Set the deceleration property of the specified profile.
set_profile_deceleration_ramp(profile_index, ...)Set the deceleration ramp property of the specified profile.
set_profile_in_range(profile_index, ...)Set the InRange property of the specified profile.
set_profile_speed(profile_index, speed_percent)Set the speed property of the specified profile.
set_profile_speed2(profile_index, speed2_percent)Set the speed2 property of the specified profile.
set_profile_straight(profile_index, ...)Set the Straight property of the specified profile.
set_station_to_current_joint_state(station_index)Record the current position of the selected robot into the specified Location as angles.
start_freedrive_mode([free_axes])Enter freedrive mode, allowing manual movement of the specified joints.
start_zero_torque([axis_mask])Place axes of the selected robot in zero torque mode.
Exit freedrive mode for all axes.
Take the entire robot out of zero torque mode.
update_joint_state(joints)Stand the resources that model the arm where every joint is.
- Parameters:
driver (PreciseFlexDriver)