pylabrobot.brooks.precise_flex.PreciseFlexSimulationDriver

class pylabrobot.brooks.precise_flex.PreciseFlexSimulationDriver(declared_configuration_json: str, base_plate: Resource | None = None)

Bases: PreciseFlexDriver

A simulated PreciseFlex arm, driven exactly like the real one.

Attributes

PARKING_POSITION_BACK
PARKING_POSITION_FRONT
PARKING_POSITION_RIGHT
ResponseMode
closed_gripper_position	use gripper.closed_gripper_position.
configuration	The device configuration resolved at setup.
horizontal_compliance	use arm.horizontal_compliance.
horizontal_compliance_torque	use arm.horizontal_compliance_torque.
location_index	use arm.station_index.
max_gripper_width	use gripper.jaw_width_range.
min_gripper_width	use gripper.jaw_width_range.
parking_position	use arm.parking_position.
profile_index	use arm.profile_index.

Methods

__init__(declared_configuration_json[, ...])
are_grippers_closed(*args, **kwargs)	Deprecated: use gripper.sense_each_fully_closed.
attach([attach_state])	Attach or release the robot, or get attachment state.
change_config(*args, **kwargs)	Deprecated: use arm.change_elbow_orientation.
change_config2(*args, **kwargs)	Deprecated: use arm.change_elbow_orientation_by_algorithm.
connect()	Open the link and agree the response protocol.
dest_c(*args, **kwargs)	Deprecated: use arm.request_destination_joint_state.
dest_j(*args, **kwargs)	Deprecated: use arm.request_destination_joint_state.
detach()	Detach the robot.
disconnect()	Hand the arm back and close the links.
discover()	Adopt the declared configuration; the first time, stand the arm parked with its jaws open.
drop_at_joint_position(*args, **kwargs)	Deprecated: use arm.drop_at_joint_state.
drop_at_location(*args, **kwargs)	Deprecated: use arm.drop_at_location.
halt(*args, **kwargs)	Deprecated: use arm.halt.
here_c(*args, **kwargs)	Deprecated: use arm.set_station_to_current_joint_state.
here_j(*args, **kwargs)	Deprecated: use arm.set_station_to_current_joint_state.
home()	Home the robot associated with this thread.
home_all()	Home all robots.
initialize()	Raise high power, take control, end any freedrive, and read the configuration (discover).
is_gripper_closed(*args, **kwargs)	Deprecated: use gripper.sense_fully_closed.
move_gripper(width[, force_sensing])	Deprecated: use gripper.move_to_jaw_position.
move_gripper_joint_position(position[, ...])	Deprecated: use gripper.move_to_jaw_position_firmware_units.
move_rail(*args, **kwargs)	Deprecated: use rail.move_rail.
move_through_cartesian_poses(*args, **kwargs)	Deprecated: use arm.move_through_cartesian_poses.
move_to_joint_position(*args, **kwargs)	Deprecated: use arm.move_to_joint_state.
move_to_location(*args, **kwargs)	Deprecated: use arm.move_to_location.
nop()	No operation command.
park(*args, **kwargs)	Deprecated: use arm.park.
pick_up_at_joint_position(*args, **kwargs)	Deprecated: use arm.pick_up_at_joint_state.
pick_up_at_location(*args, **kwargs)	Deprecated: use arm.pick_up_at_location.
power_off_robot()	Power off the robot.
power_on_robot()	A simulated arm has power.
recover_axes_within_limits(*args, **kwargs)	Deprecated: use arm.recover_axes_within_limits.
recover_from_fault()	Recover after a collision / fault that stopped the arm and dropped power, leaving it usable.
release_brake(*args, **kwargs)	Deprecated: use arm.release_brake.
request_axis_count()	Number of servoed axes.
request_axis_mask()	Capability/option bit field (rail, dual gripper, ...).
request_base(*args, **kwargs)	Deprecated: use arm.request_base.
request_controller_model()
request_controller_serial()
request_extra_axis_count()	Number of non-servoed (extra) axes.
request_gpl_version()	Controller firmware/runtime version (distinct from request_version, the TCS app).
request_gripper_pose(*args, **kwargs)	Deprecated: use arm.request_gripper_pose.
request_hardware_version()
request_joint_limits(*args, **kwargs)	Deprecated: use arm.request_joint_limits.
request_joint_position(*args, **kwargs)	Deprecated: use arm.request_joint_state.
request_kinematic_parameters(*args, **kwargs)	Deprecated: use arm.request_kinematic_parameters.
request_link_lengths(*args, **kwargs)	Deprecated: use arm.request_link_lengths.
request_manufacturer()
request_max_acceleration_percent(*args, **kwargs)	Deprecated: use arm.request_max_acceleration_percent.
request_max_deceleration_percent(*args, **kwargs)	Deprecated: use arm.request_max_deceleration_percent.
request_max_speed_percent(*args, **kwargs)	Deprecated: use arm.request_max_speed_percent.
request_mode()	Get the current response mode.
request_monitor_speed(*args, **kwargs)	Deprecated: use arm.request_monitor_speed.
request_motion_profile_values(*args, **kwargs)	Deprecated: use arm.request_motion_profile_values.
request_parameter(data_id[, unit_number, ...])	Get the value of a numeric parameter database item.
request_payload(*args, **kwargs)	Deprecated: use arm.request_payload.
request_power_state()	Get the current robot power state.
request_profile_acceleration(*args, **kwargs)	Deprecated: use arm.request_profile_acceleration.
request_profile_acceleration_ramp(*args, ...)	Deprecated: use arm.request_profile_acceleration_ramp.
request_profile_deceleration(*args, **kwargs)	Deprecated: use arm.request_profile_deceleration.
request_profile_deceleration_ramp(*args, ...)	Deprecated: use arm.request_profile_deceleration_ramp.
request_profile_in_range(*args, **kwargs)	Deprecated: use arm.request_profile_in_range.
request_profile_speed(*args, **kwargs)	Deprecated: use arm.request_profile_speed.
request_profile_speed2(*args, **kwargs)	Deprecated: use arm.request_profile_speed2.
request_profile_straight(*args, **kwargs)	Deprecated: use arm.request_profile_straight.
request_reference_acceleration(*args, **kwargs)	Deprecated: use arm.request_reference_acceleration.
request_reference_cartesian_acceleration(...)	Deprecated: use arm.request_reference_cartesian_acceleration.
request_reference_cartesian_speed(*args, ...)	Deprecated: use arm.request_reference_cartesian_speed.
request_reference_speed(*args, **kwargs)	Deprecated: use arm.request_reference_speed.
request_robot_name()
request_robot_type()	Built-in kinematic model id (PF400 = 12).
request_selected_robot()	Get the number of the currently selected robot.
request_signal(signal_number)	Get the value of the specified digital input or output signal.
request_state(*args, **kwargs)	Deprecated: use arm.request_state.
request_system_state()	Controller power/system-state word (the sysState command, == DataID 234).
request_tool_length(*args, **kwargs)	Deprecated: use arm.request_tool_length.
request_tool_transformation_values(*args, ...)	Deprecated: use arm.request_tool_transformation_values.
request_version()	Get the current version of TCS and any installed plug-ins.
reset(robot_number)	Reset the threads associated with the specified robot.
save_configuration(path[, indent])	Write what this device reported to a file, to be declared from later.
select_robot(robot_number)	Change the robot associated with this communications link.
send_command(command, **kwargs)	Send a command and return the accepted <code> <data> payload.
set_axis_parameter(data_id, axis, value[, ...])	Change one joint's element of a per-axis parameter array (pc); the rest are untouched.
set_base(*args, **kwargs)	Deprecated: use arm.set_base.
set_brake(*args, **kwargs)	Deprecated: use arm.reengage_brake.
set_monitor_speed(*args, **kwargs)	Deprecated: use arm.set_monitor_speed.
set_motion_profile_values(*args, **kwargs)	Deprecated: use arm.set_motion_profile_values.
set_parameter(data_id, value[, unit_number, ...])	Change a value in the controller's parameter database.
set_payload(*args, **kwargs)	Deprecated: use arm.set_payload.
set_power(enable[, timeout])	Enable or disable robot high power.
set_profile_acceleration(*args, **kwargs)	Deprecated: use arm.set_profile_acceleration.
set_profile_acceleration_ramp(*args, **kwargs)	Deprecated: use arm.set_profile_acceleration_ramp.
set_profile_deceleration(*args, **kwargs)	Deprecated: use arm.set_profile_deceleration.
set_profile_deceleration_ramp(*args, **kwargs)	Deprecated: use arm.set_profile_deceleration_ramp.
set_profile_in_range(*args, **kwargs)	Deprecated: use arm.set_profile_in_range.
set_profile_speed(*args, **kwargs)	Deprecated: use arm.set_profile_speed.
set_profile_speed2(*args, **kwargs)	Deprecated: use arm.set_profile_speed2.
set_profile_straight(*args, **kwargs)	Deprecated: use arm.set_profile_straight.
set_response_mode(mode)	Set the response mode.
set_signal(signal_number, value)	Set the specified digital input or output signal.
setup([skip_home])	Bring the arm fully up: connect, initialize, then home unless skipped.
start_freedrive_mode(*args, **kwargs)	Deprecated: use arm.start_freedrive_mode.
stop()	Hand the arm back and close the link (disconnect).
stop_freedrive_mode(*args, **kwargs)	Deprecated: use arm.stop_freedrive_mode.
zero_torque(enable[, axis_mask])	Deprecated: use arm.start_zero_torque or arm.stop_zero_torque.

Parameters:

• declared_configuration_json (str)

• base_plate (Resource | None)