iSWAP Module

The R0 module allows fine grained control of the iSWAP 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.

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)