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miikeemiikee
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Add additional movements and gripper methods to PreciseFlex backend; refactor speed handling and location management
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+268
-57
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4 files changed

+268
-57
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‎pylabrobot/arms/backend.py‎

Lines changed: 78 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -1,31 +1,25 @@
11
from abc import ABCMeta, abstractmethod
2+
from enum import Enum
23

34
from pylabrobot.machines.backend import MachineBackend
45

6+
class ElbowOrientation(Enum):
7+
LEFT = "left"
8+
RIGHT = "right"
59

610
class ArmBackend(MachineBackend, metaclass=ABCMeta):
711
"""Backend for a robotic arm"""
812

913
@abstractmethod
10-
async def move_to(self, position: tuple[float, float, float]):
11-
"""Move the arm to a specified position in 3D space."""
14+
async def set_speed(self, speed: float):
15+
"""Set the speed percentage of the arm's movement (0-100)."""
1216
...
1317

1418
@abstractmethod
15-
async def get_position(self) -> tuple[float, float, float]:
16-
"""Get the current position of the arm in 3D space."""
19+
async def get_speed(self) -> float:
20+
"""Get the current speed percentage of the arm's movement."""
1721
...
1822

19-
# @abstractmethod
20-
# async def set_speed(self, speed: float):
21-
# """Set the speed of the arm's movement."""
22-
# ...
23-
24-
# @abstractmethod
25-
# async def get_speed(self) -> float:
26-
# """Get the current speed of the arm's movement."""
27-
# ...
28-
2923
@abstractmethod
3024
async def open_gripper(self):
3125
"""Open the arm's gripper."""
@@ -34,4 +28,74 @@ async def open_gripper(self):
3428
@abstractmethod
3529
async def close_gripper(self):
3630
"""Close the arm's gripper."""
31+
...
32+
33+
@abstractmethod
34+
async def is_gripper_closed(self) -> bool:
35+
"""Check if the gripper is currently closed."""
36+
...
37+
38+
@abstractmethod
39+
async def halt(self):
40+
"""Stop any ongoing movement of the arm."""
41+
...
42+
43+
@abstractmethod
44+
async def home(self):
45+
"""Home the arm to its default position."""
46+
...
47+
48+
@abstractmethod
49+
async def move_to_safe(self):
50+
"""Move the arm to a predefined safe position."""
51+
...
52+
53+
@abstractmethod
54+
async def approach_j(self, joint_position: tuple[float, float, float, float, float, float, float], approach_height: float):
55+
"""Move the arm to a position above the specified coordinates by a certain distance."""
56+
...
57+
58+
@abstractmethod
59+
async def pick_plate_j(self, joint_position: tuple[float, float, float, float, float, float, float], approach_height: float):
60+
"""Pick a plate from the specified position."""
61+
...
62+
63+
@abstractmethod
64+
async def place_plate_j(self, joint_position: tuple[float, float, float, float, float, float, float], approach_height: float):
65+
"""Place a plate at the specified position."""
66+
...
67+
68+
@abstractmethod
69+
async def move_to_j(self, joint_position: tuple[float, float, float, float, float, float, float]):
70+
"""Move the arm to a specified position in 3D space."""
71+
...
72+
73+
@abstractmethod
74+
async def get_position_j(self) -> tuple[float, float, float, float, float, float, float]:
75+
"""Get the current position of the arm in 3D space."""
76+
...
77+
78+
@abstractmethod
79+
async def approach_c(self, cartesian_position: tuple[float, float, float, float, float, float], approach_height: float, orientation: ElbowOrientation | None = None):
80+
"""Move the arm to a position above the specified coordinates by a certain distance."""
81+
...
82+
83+
@abstractmethod
84+
async def pick_plate_c(self, cartesian_position: tuple[float, float, float, float, float, float], approach_height: float, orientation: ElbowOrientation | None = None):
85+
"""Pick a plate from the specified position."""
86+
...
87+
88+
@abstractmethod
89+
async def place_plate_c(self, cartesian_position: tuple[float, float, float, float, float, float], approach_height: float, orientation: ElbowOrientation | None = None):
90+
"""Place a plate at the specified position."""
91+
...
92+
93+
@abstractmethod
94+
async def move_to_c(self, cartesian_position: tuple[float, float, float, float, float, float], orientation: ElbowOrientation | None = None):
95+
"""Move the arm to a specified position in 3D space."""
96+
...
97+
98+
@abstractmethod
99+
async def get_position_c(self) -> tuple[float, float, float, float, float, float, ElbowOrientation | None]:
100+
"""Get the current position of the arm in 3D space."""
37101
...

‎pylabrobot/arms/precise_flex/precise_flex_backend.py‎

Lines changed: 120 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
from pylabrobot.arms.backend import ArmBackend
1+
from pylabrobot.arms.backend import ArmBackend, ElbowOrientation
22
from pylabrobot.arms.precise_flex.precise_flex_backend_api import PreciseFlexBackendApi
33

44

@@ -7,6 +7,10 @@ class PreciseFlexBackend(ArmBackend):
77
def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
88
super().__init__()
99
self.api = PreciseFlexBackendApi(host=host, port=port, timeout=timeout)
10+
self.profile_index: int = 1
11+
self.location_index: int = 1
12+
self.horizontal_compliance: bool = False
13+
self.horizontal_compliance_torque: int = 0
1014

1115
async def setup(self):
1216
"""Initialize the PreciseFlex backend."""
@@ -22,26 +26,132 @@ async def stop(self):
2226
await self.exit()
2327
await self.api.stop()
2428

25-
async def get_position(self):
26-
"""Get the current position of the robot."""
27-
return await self.api.where_c()
29+
async def set_speed(self, speed_percent: float):
30+
"""Set the speed percentage of the arm's movement (0-100)."""
31+
await self.api.set_profile_speed(self.profile_index, speed_percent)
2832

29-
async def attach(self):
30-
"""Attach the robot."""
31-
await self.api.attach(1)
33+
async def get_speed(self) -> float:
34+
"""Get the current speed percentage of the arm's movement."""
35+
return await self.api.get_profile_speed(self.profile_index)
3236

33-
async def detach(self):
34-
"""Detach the robot."""
35-
await self.api.attach(0)
37+
async def open_gripper(self):
38+
"""Open the gripper."""
39+
await self.api.open_gripper()
40+
41+
async def close_gripper(self):
42+
"""Close the gripper."""
43+
await self.api.close_gripper()
44+
45+
async def is_gripper_closed(self) -> bool:
46+
"""Check if the gripper is currently closed."""
47+
ret_int = await self.api.is_fully_closed()
48+
if ret_int == -1:
49+
return True
50+
else:
51+
return False
52+
53+
async def halt(self):
54+
"""Stop any ongoing movement of the arm."""
55+
await self.api.halt()
3656

3757
async def home(self):
3858
"""Homes robot."""
3959
await self.api.home()
4060

61+
async def move_to_safe(self):
62+
"""Move the arm to a predefined safe position."""
63+
await self.api.move_to_safe()
64+
65+
async def approach_j(self, joint_position: tuple[float, float, float, float, float, float, float], approach_height: float):
66+
"""Move the arm to a position above the specified coordinates by a certain distance."""
67+
await self.api.set_location_angles(self.location_index, *list(joint_position))
68+
await self.api.set_location_z_clearance(self.location_index, approach_height)
69+
await self.api.move_appro(self.location_index, self.profile_index)
70+
71+
async def pick_plate_j(self, joint_position: tuple[float, float, float, float, float, float, float], approach_height: float):
72+
"""Pick a plate from the specified position."""
73+
await self.api.set_location_angles(self.location_index, *list(joint_position))
74+
await self.api.set_location_z_clearance(self.location_index, approach_height)
75+
await self.api.pick_plate(self.location_index, self.horizontal_compliance, self.horizontal_compliance_torque)
76+
77+
async def place_plate_j(self, joint_position: tuple[float, float, float, float, float, float, float], approach_height: float):
78+
"""Place a plate at the specified position."""
79+
await self.api.set_location_angles(self.location_index, *list(joint_position))
80+
await self.api.set_location_z_clearance(self.location_index, approach_height)
81+
await self.api.place_plate(self.location_index, self.horizontal_compliance, self.horizontal_compliance_torque)
82+
83+
async def move_to_j(self, joint_position: tuple[float, float, float, float, float, float, float]):
84+
"""Move the arm to a specified position in 3D space."""
85+
await self.api.move_j(self.location_index, *list(joint_position))
86+
87+
async def get_position_j(self) -> tuple[float, float, float, float, float, float, float]:
88+
"""Get the current position of the arm in 3D space."""
89+
return await self.api.where_j()
90+
91+
async def approach_c(self, cartesian_position: tuple[float, float, float, float, float, float], approach_height: float, orientation: ElbowOrientation | None = None):
92+
"""Move the arm to a position above the specified coordinates by a certain distance."""
93+
await self.api.set_location_xyz(self.location_index, *list(cartesian_position))
94+
await self.api.set_location_z_clearance(self.location_index, approach_height)
95+
orientation_int = self._convert_orientation_enum_to_int(orientation)
96+
await self.api.set_location_config(self.location_index, orientation_int)
97+
await self.api.move_appro(self.location_index, self.profile_index)
98+
99+
async def pick_plate_c(self, cartesian_position: tuple[float, float, float, float, float, float], approach_height: float, orientation: ElbowOrientation | None = None):
100+
"""Pick a plate from the specified position."""
101+
await self.api.set_location_xyz(self.location_index, *list(cartesian_position))
102+
await self.api.set_location_z_clearance(self.location_index, approach_height)
103+
orientation_int = self._convert_orientation_enum_to_int(orientation)
104+
await self.api.set_location_config(self.location_index, orientation_int)
105+
await self.api.pick_plate(self.location_index, self.horizontal_compliance, self.horizontal_compliance_torque)
106+
107+
async def place_plate_c(self, cartesian_position: tuple[float, float, float, float, float, float], approach_height: float, orientation: ElbowOrientation | None = None):
108+
"""Place a plate at the specified position."""
109+
await self.api.set_location_xyz(self.location_index, *list(cartesian_position))
110+
await self.api.set_location_z_clearance(self.location_index, approach_height)
111+
orientation_int = self._convert_orientation_enum_to_int(orientation)
112+
await self.api.set_location_config(self.location_index, orientation_int)
113+
await self.api.place_plate(self.location_index, self.horizontal_compliance, self.horizontal_compliance_torque)
114+
115+
async def move_to_c(self, cartesian_position: tuple[float, float, float, float, float, float], orientation: ElbowOrientation | None = None):
116+
"""Move the arm to a specified position in 3D space."""
117+
await self.api.move_c(self.profile_index, *list(cartesian_position), config=self._convert_orientation_enum_to_int(orientation))
118+
119+
async def get_position_c(self) -> tuple[float, float, float, float, float, float, ElbowOrientation | None]:
120+
"""Get the current position of the arm in 3D space."""
121+
position = await self.api.where_c()
122+
return (*position[:6], self._convert_orientation_int_to_enum(position[6]))
123+
124+
125+
def _convert_orientation_int_to_enum(self, orientation_int: int) -> ElbowOrientation | None:
126+
match orientation_int:
127+
case 1:
128+
return ElbowOrientation.LEFT
129+
case 2:
130+
return ElbowOrientation.RIGHT
131+
case _:
132+
return None
133+
134+
def _convert_orientation_enum_to_int(self, orientation: ElbowOrientation | None) -> int:
135+
match orientation:
136+
case ElbowOrientation.LEFT:
137+
return 1
138+
case ElbowOrientation.RIGHT:
139+
return 2
140+
case _:
141+
return 0
142+
41143
async def home_all(self):
42144
"""Homes all robots."""
43145
await self.api.home_all()
44146

147+
async def attach(self):
148+
"""Attach the robot."""
149+
await self.api.attach(1)
150+
151+
async def detach(self):
152+
"""Detach the robot."""
153+
await self.api.attach(0)
154+
45155
async def power_on_robot(self):
46156
"""Power on the robot."""
47157
await self.api.set_power(True, self.api.timeout)
@@ -54,10 +164,6 @@ async def set_pc_mode(self):
54164
"""Set the controller to PC mode."""
55165
await self.api.set_mode(0)
56166

57-
async def set_verbose_mode(self):
58-
"""Set the controller to verbose mode."""
59-
await self.api.set_mode(1)
60-
61167
async def select_robot(self, robot_id: int) -> None:
62168
"""Select the specified robot."""
63169
await self.api.select_robot(robot_id)
@@ -66,28 +172,6 @@ async def version(self) -> str:
66172
"""Get the robot's version."""
67173
return await self.api.get_version()
68174

69-
async def open_gripper(self):
70-
"""Open the gripper."""
71-
await self.api.open_gripper()
72-
73-
async def close_gripper(self):
74-
"""Close the gripper."""
75-
await self.api.close_gripper()
76-
77175
async def exit(self):
78176
"""Exit the PreciseFlex backend."""
79177
await self.api.exit()
80-
81-
82-
if __name__ == "__main__":
83-
84-
async def main():
85-
arm = PreciseFlexBackend("192.168.0.1")
86-
await arm.setup()
87-
position = await arm.get_position()
88-
print(position)
89-
await arm.open_gripper()
90-
vals = await arm.get_motion_profile_values(1)
91-
print(vals)
92-
93-
asyncio.run(main())

‎pylabrobot/arms/precise_flex/precise_flex_backend_api.py‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -998,7 +998,7 @@ async def set_motion_profile_values(self,
998998
if not (-1 <= in_range <= 100):
999999
raise ValueError("InRange must be between -1 and 100.")
10001000

1001-
straight_int = 1 if straight else 0
1001+
straight_int = -1 if straight else 0
10021002
await self.send_command(f"Profile {profile} {speed} {speed2} {acceleration} {deceleration} {acceleration_ramp} {deceleration_ramp} {in_range} {straight_int}")
10031003

10041004
async def get_motion_profile_values(self, profile: int) -> tuple[int, float, float, float, float, float, float, float, bool]:
@@ -1034,7 +1034,7 @@ async def get_motion_profile_values(self, profile: int) -> tuple[int, float, flo
10341034
float(parts[5]),
10351035
float(parts[6]),
10361036
float(parts[7]),
1037-
parts[8] == "True"
1037+
False if parts[8] == 0 else True
10381038
)
10391039

10401040
#region MOTION COMMANDS

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