iSWAP Module#

The R0 module allows fine grained control of the iSWAP gripper.

Common tasks#

  • Parking

You can park the iSWAP using park_iswap().

await lh.backend.park_iswap()

  • Opening gripper:

You can open the iSWAP gripper using iswap_open_gripper(). Warning: this will release any object that is gripped. Used for error recovery.

await lh.backend.iswap_open_gripper()

Rotations#

You can rotate the iSWAP to 12 predifined positions using iswap_rotate().

the positions and their corresponding integer specifications are shown visually here.

alt text

For example to extend the iSWAP fully to the left, the position parameter to iswap_rotate would be 12

You can control the wrist (T-drive) and rotation drive (W-drive) individually using rotate_iswap_wrist() and rotate_iswap_rotation_drive() respectively. Make sure you have enough space (you can use move_iswap_y_relative())

rotation_drive = random.choice([STAR.RotationDriveOrientation.LEFT, STAR.RotationDriveOrientation.RIGHT, STAR.RotationDriveOrientation.FRONT])
wrist_drive = random.choice([STAR.WristOrientation.LEFT, STAR.WristOrientation.RIGHT, STAR.WristOrientation.STRAIGHT, STAR.WristOrientation.REVERSE])
await lh.backend.rotate_iswap_rotation_drive(rotation_drive)
await lh.backend.rotate_iswap_wrist(wrist_drive)

Slow movement#

You can make the iswap move more slowly during sensitive operations using slow_iswap(). This is useful when you want to avoid splashing or other disturbances.

async with lh.backend.slow_iswap():
  await lh.move_plate(plate, plt_car[1])