pylabrobot.brooks.precise_flex.PreciseFlexArm.pick_up_at_location#

async PreciseFlexArm.pick_up_at_location(location: Coordinate, direction: float, resource_width: float, finger_speed_percent: float | None = None, grasp_force: float | None = None, orientation: Literal['right', 'left'] | None = None, wrist: Literal['cw', 'ccw'] | None = None, rail_position: float | None = None) → None#

Pick up at the specified Cartesian location.

Parameters:

  • location (Coordinate) – Cartesian location to pick from.

  • direction (float) – Approach direction, applied as the pose’s z rotation in degrees.

  • resource_width (float) – Width of the resource to grasp, in mm.

  • finger_speed_percent (float | None) – Finger closing speed as a percentage (0-100). default_finger_speed_percent when None.

  • grasp_force (float | None) – Grasp force in Newtons. default_grasp_force when None.

  • orientation (Literal['right', 'left'] | None) – Elbow orientation ("lefty" or "righty"). If None, the robot picks the closest configuration.

  • wrist (Literal['cw', 'ccw'] | None) – Wrist configuration. If None, the robot picks the closest configuration.

  • rail_position (float | None) – Linear rail position in mm. Required when the arm has a rail.

Return type:

None