pylabrobot.brooks.precise_flex.PreciseFlexArm.park

async PreciseFlexArm.park(*, close_gripper_without_force_sensing: bool = False) → None

Move to self.parking_position; defaults at setup, reassignable at runtime.

parking_position is filled at setup with PARKING_POSITION_RIGHT (a planar fold facing right, Z column at 3/4 of its discovered travel); assign one of the PARKING_POSITION_* class constants or any JointState to park elsewhere. Falls back to the firmware movetosafe while it is unset. No collision checks against 3rd-party obstacles.

A parking pose says which way the gripper faces, and the wrist reaches that every full turn. On an arm that is modelled, a pose whose way there is refused is tried a full turn either side, the shorter turn first; the pose as written is taken whenever its way is clear. The arm is read for that, and again by the move.

Parameters:

close_gripper_without_force_sensing (bool) – allow a parking pose whose gripper axis is below the live one, and the movetosafe fallback, which closes the jaws by position first.

Raises:

ValueError – If parking would close the jaws, unless asked.

Return type:

None