pylabrobot.brooks.precise_flex.PreciseFlexConfiguration#

class pylabrobot.brooks.precise_flex.PreciseFlexConfiguration(manufacturer: str, controller_model: str, hardware_version: str, gpl_version: str, controller_serial: str, robot_name: str, robot_type: int, tcs_version: str, modules: tuple, num_axes: int, extra_axes: int, axis_mask: int, arm: PreciseFlexArmConfiguration, gripper: PreciseFlexGripperConfiguration, rail: PreciseFlexRailConfiguration | None = None, camera_count: int = 0, _power_state: int | None = None)#

Bases: object

Device configuration resolved once at setup; immutable afterwards.

The identity fields are read from the controller (pd <DataID> and the version command); limits, maxima and kinematics are on arm, gripper and rail. Derived: has_rail from the joint set, is_dual_gripper from the axis mask’s &H80 bit, has_vision_gripper from the camera count, and reach_class from the link lengths the controller reports.

Attributes

`camera_count`
`gripper_width_range`	use `gripper.soft_limit_range`.
`hard_limits`	merged from the arm, gripper and rail configurations.
`has_rail`
`has_vision_gripper`
`is_dual_gripper`	use `gripper.is_dual_gripper`.
`is_vision_gripper`	use `has_vision_gripper`.
`kinematics`	use `arm.kinematics`.
`kinematics_source`	use `arm.kinematics_source`.
`max_cartesian_acceleration`	use `arm.max_cartesian_acceleration`.
`max_cartesian_speed`	use `arm.max_cartesian_speed`.
`max_joint_acceleration`	merged from the arm, gripper and rail configurations.
`max_joint_deceleration`	merged from the arm, gripper and rail configurations.
`max_joint_speed`	merged from the arm, gripper and rail configurations.
`power_state`	use `PreciseFlexDriver.request_system_state`.
`rail`
`reach_class`	use `arm.reach_class`.
`soft_limits`	merged from the arm, gripper and rail configurations.
`work_envelope`	use `arm.work_envelope`.
`z_range`	use `arm.z_range`.
`manufacturer`
`controller_model`
`hardware_version`
`gpl_version`
`controller_serial`
`robot_name`
`robot_type`
`tcs_version`
`modules`
`num_axes`
`extra_axes`
`axis_mask`
`arm`
`gripper`

Methods

__init__(manufacturer, controller_model, ...)

Parameters:

manufacturer (str)
controller_model (str)
hardware_version (str)
gpl_version (str)
controller_serial (str)
robot_name (str)
robot_type (int)
tcs_version (str)
modules (tuple)
num_axes (int)
extra_axes (int)
axis_mask (int)
arm (PreciseFlexArmConfiguration)
gripper (PreciseFlexGripperConfiguration)
rail (PreciseFlexRailConfiguration | None)
camera_count (int)
_power_state (int | None)