PreciseFlex Arm Driver

_typos.toml

@@ -20,6 +20,11 @@ PN = "PN"
 tro = "tro"
 FO = "FO"
 UE = "UE"
+commutated = "commutated"
+commutating = "commutating"
+DOUT = "DOUT"
+inconsistence = "inconsistence" # ignored to match with preciseflex documentation typo
+mis = "mis" # ignored to match with preciseflex documentation typo
 
 [files]
 extend-exclude = [

pylabrobot/arms/arm.py

@@ -0,0 +1,99 @@
+from typing import Optional, Union
+
+from pylabrobot.arms.backend import AccessPattern, ArmBackend
+from pylabrobot.arms.coords import CartesianCoords, JointCoords
+from pylabrobot.machines.machine import Machine
+
+
+class Arm(Machine):
+  """A robotic arm."""
+
+  def __init__(self, backend: ArmBackend):
+    super().__init__(backend=backend)
+    self.backend: ArmBackend = backend
+
+  async def move_to(self, position: Union[CartesianCoords, JointCoords]):
+    """Move the arm to a specified position in 3D space."""
+    return self.backend.move_to(position)
+
+  async def get_joint_position(self) -> JointCoords:
+    """Get the current position of the arm in 3D space."""
+    return await self.backend.get_joint_position()
+
+  async def get_cartesian_position(self) -> CartesianCoords:
+    """Get the current position of the arm in 3D space."""
+    return await self.backend.get_cartesian_position()
+
+  async def set_speed(self, speed: float):
+    """Set the speed of the arm's movement."""
+    return await self.backend.set_speed(speed)
+
+  async def get_speed(self) -> float:
+    """Get the current speed of the arm's movement."""
+    return await self.backend.get_speed()
+
+  async def open_gripper(self):
+    """Open the arm's gripper."""
+    return await self.backend.open_gripper()
+
+  async def close_gripper(self):
+    """Close the arm's gripper."""
+    return await self.backend.close_gripper()
+
+  async def is_gripper_closed(self) -> bool:
+    """Check if the gripper is currently closed."""
+    return await self.backend.is_gripper_closed()
+
+  async def halt(self):
+    """Stop any ongoing movement of the arm."""
+    return await self.backend.halt()
+
+  async def home(self):
+    """Home the arm to its default position."""
+    return await self.backend.home()
+
+  async def move_to_safe(self):
+    """Move the arm to a predefined safe position."""
+    return await self.backend.move_to_safe()
+
+  async def approach(
+    self,
+    position: Union[CartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None
+  ):
+    """Move the arm to an approach position (offset from target).
+
+    Args:
+      position: Target position (CartesianCoords or JointCoords)
+      access: Access pattern defining how to approach the target.
+              Defaults to VerticalAccess() if not specified.
+    """
+    return await self.backend.approach(position, access)
+
+  async def pick_plate(
+    self,
+    position: Union[CartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None
+  ):
+    """Pick a plate from the specified position.
+
+    Args:
+      position: Target position for pickup
+      access: Access pattern defining how to approach and retract.
+              Defaults to VerticalAccess() if not specified.
+    """
+    return await self.backend.pick_plate(position, access)
+
+  async def place_plate(
+    self,
+    position: Union[CartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None
+  ):
+    """Place a plate at the specified position.
+
+    Args:
+      position: Target position for placement
+      access: Access pattern defining how to approach and retract.
+              Defaults to VerticalAccess() if not specified.
+    """
+    return await self.backend.place_plate(position, access)

pylabrobot/arms/backend.py

@@ -0,0 +1,156 @@
+from abc import ABCMeta, abstractmethod
+from dataclasses import dataclass
+from typing import Optional, Union
+
+from pylabrobot.arms.coords import CartesianCoords, JointCoords
+from pylabrobot.machines.backend import MachineBackend
+
+
+@dataclass
+class VerticalAccess:
+  """Access location from above (most common pattern for stacks and tube racks).
+
+  This access pattern is used when approaching a location from above, such as
+  picking from a plate stack or tube rack on the deck.
+
+  Args:
+    approach_height_mm: Height above the target position to move to before
+                        descending to grip (default: 100mm)
+    clearance_mm: Vertical distance to retract after gripping before lateral
+                  movement (default: 100mm)
+    gripper_offset_mm: Additional vertical offset added when holding a plate,
+                      accounts for gripper thickness (default: 10mm)
+  """
+  approach_height_mm: float = 100
+  clearance_mm: float = 100
+  gripper_offset_mm: float = 10
+
+
+@dataclass
+class HorizontalAccess:
+  """Access location from the side (for hotel-style plate carriers).
+
+  This access pattern is used when approaching a location horizontally, such as
+  accessing plates in a hotel-style storage system.
+
+  Args:
+    approach_distance_mm: Horizontal distance in front of the target to stop
+                         before moving in to grip (default: 50mm)
+    clearance_mm: Horizontal distance to retract after gripping before lifting
+                  (default: 50mm)
+    lift_height_mm: Vertical distance to lift the plate after horizontal retract,
+                   before lateral movement (default: 100mm)
+    gripper_offset_mm: Additional vertical offset added when holding a plate,
+                      accounts for gripper thickness (default: 10mm)
+  """
+  approach_distance_mm: float = 50
+  clearance_mm: float = 50
+  lift_height_mm: float = 100
+  gripper_offset_mm: float = 10
+
+
+AccessPattern = Union[VerticalAccess, HorizontalAccess]
+
+
+class ArmBackend(MachineBackend, metaclass=ABCMeta):
+  """Backend for a robotic arm"""
+
+  @abstractmethod
+  async def set_speed(self, speed: float):
+    """Set the speed percentage of the arm's movement (0-100)."""
+    ...
+
+  @abstractmethod
+  async def get_speed(self) -> float:
+    """Get the current speed percentage of the arm's movement."""
+    ...
+
+  @abstractmethod
+  async def open_gripper(self):
+    """Open the arm's gripper."""
+    ...
+
+  @abstractmethod
+  async def close_gripper(self):
+    """Close the arm's gripper."""
+    ...
+
+  @abstractmethod
+  async def is_gripper_closed(self) -> bool:
+    """Check if the gripper is currently closed."""
+    ...
+
+  @abstractmethod
+  async def halt(self):
+    """Stop any ongoing movement of the arm."""
+    ...
+
+  @abstractmethod
+  async def home(self):
+    """Home the arm to its default position."""
+    ...
+
+  @abstractmethod
+  async def move_to_safe(self):
+    """Move the arm to a predefined safe position."""
+    ...
+
+  @abstractmethod
+  async def approach(
+    self,
+    position: Union[CartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None
+  ):
+    """Move the arm to an approach position (offset from target).
+
+    Args:
+      position: Target position (CartesianCoords or JointCoords)
+      access: Access pattern defining how to approach the target.
+              Defaults to VerticalAccess() if not specified.
+    """
+    ...
+
+  @abstractmethod
+  async def pick_plate(
+    self,
+    position: Union[CartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None
+  ):
+    """Pick a plate from the specified position.
+
+    Args:
+      position: Target position for pickup
+      access: Access pattern defining how to approach and retract.
+              Defaults to VerticalAccess() if not specified.
+    """
+    ...
+
+  @abstractmethod
+  async def place_plate(
+    self,
+    position: Union[CartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None
+  ):
+    """Place a plate at the specified position.
+
+    Args:
+      position: Target position for placement
+      access: Access pattern defining how to approach and retract.
+              Defaults to VerticalAccess() if not specified.
+    """
+    ...
+
+  @abstractmethod
+  async def move_to(self, position: Union[CartesianCoords, JointCoords]):
+    """Move the arm to a specified position in 3D space."""
+    ...
+
+  @abstractmethod
+  async def get_joint_position(self) -> JointCoords:
+    """Get the current position of the arm in 3D space."""
+    ...
+
+  @abstractmethod
+  async def get_cartesian_position(self) -> CartesianCoords:
+    """Get the current position of the arm in 3D space."""
+    ...

pylabrobot/arms/coords.py

@@ -0,0 +1,27 @@
+from dataclasses import dataclass
+from enum import Enum
+from typing import Optional
+
+from pylabrobot.resources import Coordinate, Rotation
+
+
+class ElbowOrientation(Enum):
+  RIGHT = "right"
+  LEFT = "left"
+
+
+@dataclass
+class JointCoords:
+  rail: float
+  base: float
+  shoulder: float
+  elbow: float
+  wrist: float
+  gripper: float
+
+
+@dataclass
+class CartesianCoords:
+  location: Coordinate
+  rotation: Rotation
+  orientation: Optional[ElbowOrientation] = None