From 58c010e83679d4a408b6f8194adfdd8eb653dc2e Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Fri, 12 Dec 2025 15:35:29 -0800 Subject: [PATCH 01/29] Minor updates --- src/pf400_interface/pf400.py | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index c6650da..5a0b3a8 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -49,7 +49,7 @@ class PF400(KINEMATICS): 0.0, 0.0, ] - + default_lid_height = 7.0 movement_state = 0 robot_connection = None @@ -718,7 +718,7 @@ def remove_lid( self, source: LocationArgument, target: LocationArgument, - lid_height: float = 7.0, + lid_height: Optional[float] = None, source_approach: LocationArgument = None, target_approach: LocationArgument = None, source_plate_rotation: str = "", @@ -727,6 +727,9 @@ def remove_lid( approach_height_offset: Optional[float] = None, ) -> None: """Remove the lid from the plate""" + if not lid_height: + lid_height = self.default_lid_height + source.representation = copy.deepcopy(source.representation) source.representation[0] += lid_height @@ -745,7 +748,7 @@ def replace_lid( self, source: LocationArgument, target: LocationArgument, - lid_height: float = 7.0, + lid_height: Optional[float] = None, source_approach: LocationArgument = None, target_approach: LocationArgument = None, source_plate_rotation: str = "", @@ -754,6 +757,9 @@ def replace_lid( approach_height_offset: Optional[float] = None, ) -> None: """Replace the lid on the plate""" + if lid_height is None: + lid_height = self.default_lid_height + target.representation = copy.deepcopy(target.representation) target.representation[0] += lid_height From 120a715c68201958e450af1d8d5104671498d3dd Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Fri, 12 Dec 2025 15:58:46 -0800 Subject: [PATCH 02/29] Use LocationArgument and Resources for height offset parameters --- src/pf400_rest_node.py | 398 ++++++++++++++++++++++++++++------------- 1 file changed, 273 insertions(+), 125 deletions(-) diff --git a/src/pf400_rest_node.py b/src/pf400_rest_node.py index 30d3487..ae29ad3 100644 --- a/src/pf400_rest_node.py +++ b/src/pf400_rest_node.py @@ -160,6 +160,53 @@ def state_handler(self) -> None: "current_joint_angles": current_location, } + def _parse_location_representation( + self, location: LocationArgument + ) -> tuple[LocationArgument, Optional[LocationArgument], Optional[str]]: + """ + Parse a LocationArgument that may have a dictionary representation. + + Expected dictionary structure: + { + "location": [x, y, z, rx, ry, rz], # 6-digit list + "approach": [x, y, z, rx, ry, rz] or [[...], [...]] # single or multiple approach locations + "plate_rotation": "wide" or "narrow" # optional plate rotation + } + + Returns: + tuple: (location_arg_with_list_repr, approach_location_arg or None, plate_rotation or None) + """ + if not isinstance(location.representation, dict): + return location, None, None + + repr_dict = location.representation + + if "location" not in repr_dict: + raise ValueError( + "LocationArgument representation dictionary must contain 'location' key" + ) + + location_repr = repr_dict["location"] + approach_repr = repr_dict.get("approach", None) + plate_rotation = repr_dict.get("plate_rotation", None) + + parsed_location = LocationArgument( + representation=location_repr, + resource_id=location.resource_id, + location_name=location.location_name, + reservation=location.reservation, + ) + + parsed_approach = None + if approach_repr is not None: + parsed_approach = LocationArgument( + representation=approach_repr, + resource_id=None, + location_name=None, + ) + + return parsed_location, parsed_approach, plate_rotation + @action( name="transfer", description="Transfer a plate from one location to another" ) @@ -167,29 +214,13 @@ def transfer( self, source: Annotated[LocationArgument, "Location to pick a plate from"], target: Annotated[LocationArgument, "Location to place a plate to"], - source_approach: Annotated[ - Optional[LocationArgument], "Location to approach from" - ] = None, - target_approach: Annotated[ - Optional[LocationArgument], "Location to approach from" - ] = None, - source_plate_rotation: Annotated[ - str, "Orientation of the plate at the source, wide or narrow" - ] = "", - target_plate_rotation: Annotated[ - str, "Final orientation of the plate at the target, wide or narrow" - ] = "", rotation_deck: Optional[LocationArgument] = None, - grab_offset: Optional[Annotated[float, "Add grab height offset"]] = None, - source_approach_height_offset: Optional[ - Annotated[float, "Add source approach height offset"] - ] = None, - target_approach_height_offset: Optional[ - Annotated[float, "Add target approach height offset"] - ] = None, ) -> Optional[ActionFailed]: """Transfer a plate from `source` to `target`, optionally using intermediate `approach` positions and target rotations.""" + grab_height_offset = None + approach_height_offset = None + if source.resource_id: source_resource = self.resource_client.get_resource(source.resource_id) if source_resource.quantity == 0: @@ -198,6 +229,16 @@ def transfer( f"Plate does not exist at source location! Resource_id:{source.resource_id}." ] ) + if source_resource.children: + plate_resource = source_resource.children[-1] + if plate_resource.attributes: + grab_height_offset = plate_resource.attributes.get( + "grab_height_offset", None + ) + approach_height_offset = plate_resource.attributes.get( + "approach_height_offset", None + ) + if target.resource_id: target_resource = self.resource_client.get_resource(target.resource_id) if ( @@ -209,18 +250,33 @@ def transfer( f"Target is occupied by another plate! Resource_id:{target.resource_id}." ] ) + try: + parsed_source, source_approach, source_rotation_from_dict = ( + self._parse_location_representation(source) + ) + parsed_target, target_approach, target_rotation_from_dict = ( + self._parse_location_representation(target) + ) + except Exception as e: + return ActionFailed( + errors=[f"Failed to parse location representation: {e}"] + ) transfer_result = self.pf400_interface.transfer( - source=source, - target=target, - source_approach=source_approach if source_approach else None, - target_approach=target_approach if target_approach else None, - source_plate_rotation=source_plate_rotation, - target_plate_rotation=target_plate_rotation, - rotation_deck=rotation_deck if rotation_deck else None, - grab_offset=grab_offset, - source_approach_height_offset=source_approach_height_offset, - target_approach_height_offset=target_approach_height_offset, + source=parsed_source, + target=parsed_target, + source_approach=source_approach, + target_approach=target_approach, + source_plate_rotation=source_rotation_from_dict + if source_rotation_from_dict is not None + else "", + target_plate_rotation=target_rotation_from_dict + if target_rotation_from_dict is not None + else "", + rotation_deck=rotation_deck, + grab_offset=grab_height_offset, + source_approach_height_offset=approach_height_offset, + target_approach_height_offset=approach_height_offset, ) if not transfer_result: return ActionFailed( @@ -233,18 +289,11 @@ def transfer( def pick_plate( self, source: Annotated[LocationArgument, "Location to pick a plate from"], - source_approach: Annotated[ - Optional[LocationArgument], "Location to approach from" - ] = None, - source_plate_rotation: Annotated[ - str, "Orientation of the plate at the source, wide or narrow" - ] = "", - grab_offset: Optional[Annotated[float, "Add grab height offset"]] = None, - approach_height_offset: Optional[ - Annotated[float, "Add approach height offset"] - ] = None, ) -> Optional[ActionFailed]: """Picks a plate from `source`, optionally moving first to `source_approach`.""" + grab_height_offset = None + approach_height_offset = None + if source.resource_id: source_resource = self.resource_client.get_resource(source.resource_id) if source_resource.quantity == 0: @@ -253,35 +302,59 @@ def pick_plate( f"Resource manager: Plate does not exist at source! Resource_id:{source.resource_id}." ] ) + if source_resource.children: + plate_resource = source_resource.children[-1] + if plate_resource.attributes: + grab_height_offset = plate_resource.attributes.get( + "grab_height_offset", None + ) + approach_height_offset = plate_resource.attributes.get( + "approach_height_offset", None + ) + + try: + parsed_source, source_approach, source_rotation_from_dict = ( + self._parse_location_representation(source) + ) + except Exception as e: + return ActionFailed( + errors=[f"Failed to parse location representation: {e}"] + ) + + source_rotation = ( + source_rotation_from_dict if source_rotation_from_dict is not None else "" + ) # set plate width for source - if source_plate_rotation.lower() == "wide": + if source_rotation.lower() == "wide": plate_source_rotation = 90 self.pf400_interface.grip_wide = True - elif source_plate_rotation.lower() == "narrow" or source_plate_rotation == "": + elif source_rotation.lower() == "narrow" or source_rotation == "": plate_source_rotation = 0 self.pf400_interface.grip_wide = False else: return ActionFailed( errors=[ - f"Invalid source plate rotation: {source_plate_rotation}. " + f"Invalid source plate rotation: {source_rotation}. " "Expected 'wide', 'narrow', or ''." ] ) - source.representation = self.pf400_interface.check_incorrect_plate_orientation( - source.representation, plate_source_rotation + parsed_source.representation = ( + self.pf400_interface.check_incorrect_plate_orientation( + parsed_source.representation, plate_source_rotation + ) ) pick_result = self.pf400_interface.pick_plate( - source=source, - source_approach=source_approach if source_approach else None, - grab_offset=grab_offset, + source=parsed_source, + source_approach=source_approach, + grab_offset=grab_height_offset, approach_height_offset=approach_height_offset, ) if not pick_result: return ActionFailed( - errors=[f"Failed to pick plate from location {source}."] + errors=[f"Failed to pick plate from location {parsed_source}."] ) return None @@ -292,16 +365,6 @@ def pick_plate( def place_plate( self, target: Annotated[LocationArgument, "Location to place a plate to"], - target_approach: Annotated[ - Optional[LocationArgument], "Location to approach from" - ] = None, - target_plate_rotation: Annotated[ - str, "Final orientation of the plate at the target, wide or narrow" - ] = "", - grab_offset: Optional[Annotated[float, "Add grab height offset"]] = None, - approach_height_offset: Optional[ - Annotated[float, "Add approach height offset"] - ] = None, ) -> Optional[ActionFailed]: """Place a plate in the `target` location, optionally moving first to `target_approach`.""" @@ -313,17 +376,43 @@ def place_plate( "Resource manager: Target is occupied by another plate! Resource_id:{target.resource_id}." ] ) + if self.gripper_resource.resource_id: + gripper_resource = self.resource_client.get_resource( + self.gripper_resource.resource_id + ) + if gripper_resource.quantity > 0 and gripper_resource.children: + plate_in_gripper = gripper_resource.children[-1] + if plate_in_gripper.attributes: + grab_height_offset = plate_in_gripper.attributes.get( + "grab_height_offset", None + ) + approach_height_offset = plate_in_gripper.attributes.get( + "approach_height_offset", None + ) + + try: + parsed_target, target_approach, target_rotation_from_dict = ( + self._parse_location_representation(target) + ) + except Exception as e: + return ActionFailed( + errors=[f"Failed to parse location representation: {e}"] + ) - if target_plate_rotation.lower() == "wide": + target_rotation = ( + target_rotation_from_dict if target_rotation_from_dict is not None else "" + ) + + if target_rotation.lower() == "wide": plate_target_rotation = 90 self.pf400_interface.grip_wide = True - elif target_plate_rotation.lower() == "narrow" or target_plate_rotation == "": + elif target_rotation.lower() == "narrow" or target_rotation == "": plate_target_rotation = 0 self.pf400_interface.grip_wide = False else: return ActionFailed( errors=[ - f"Invalid target plate rotation: {target_plate_rotation}. " + f"Invalid target plate rotation: {target_rotation}. " "Expected 'wide', 'narrow', or ''." ] ) @@ -333,9 +422,9 @@ def place_plate( ) place_result = self.pf400_interface.place_plate( - target=target, - target_approach=target_approach if target_approach else None, - grab_offset=grab_offset, + target=parsed_target, + target_approach=target_approach, + grab_offset=grab_height_offset, approach_height_offset=approach_height_offset, ) if not place_result: @@ -344,76 +433,113 @@ def place_plate( return None @action(name="remove_lid", description="Remove a lid from a plate") - def remove_lid( + def remove_lid( # noqa: C901 self, source: Annotated[LocationArgument, "Location to pick a plate from"], target: Annotated[LocationArgument, "Location to place a plate to"], - source_approach: Annotated[ - Optional[LocationArgument], "Location to approach from" - ] = None, - target_approach: Annotated[ - Optional[LocationArgument], "Location to approach from" - ] = None, - source_plate_rotation: Annotated[ - str, "Orientation of the plate at the source, wide or narrow" - ] = "", - target_plate_rotation: Annotated[ - str, "Final orientation of the plate at the target, wide or narrow" - ] = "", - lid_height: Annotated[float, "height of the lid, in steps"] = 7.0, - grab_offset: Optional[Annotated[float, "Add grab height offset"]] = None, - approach_height_offset: Optional[ - Annotated[float, "Add approach height offset"] - ] = None, ) -> Optional[ActionFailed]: - """Remove a lid from a plate located at location .""" + """Remove a lid from a plate located at location.""" + + grab_height_offset = None + approach_height_offset = None + resource_lid_height = None + plate_resource = None if source.resource_id: source_resource = self.resource_client.get_resource(source.resource_id) if source_resource.quantity == 0: return ActionFailed( - "Resource manager: Plate does not exist at source! Resource_id:{source.resource_id}." + errors=[ + f"Resource manager: Plate does not exist at source! Resource_id:{source.resource_id}." + ] ) + + if source_resource.children: + plate_resource = source_resource.children[-1] + if plate_resource.attributes: + has_lid = plate_resource.attributes.get("has_lid", None) + + if has_lid is None: + self.logger.log_warning( + "Continuing without resource validation for lids - 'has_lid' attribute not found in resource" + ) + elif has_lid is False: + return ActionFailed( + errors=[ + f"Resource manager: Plate at source does not have a lid! Resource_id:{source.resource_id}." + ] + ) + + grab_height_offset = plate_resource.attributes.get( + "grab_height_offset", None + ) + approach_height_offset = plate_resource.attributes.get( + "approach_height_offset", None + ) + resource_lid_height = plate_resource.attributes.get( + "lid_height", None + ) + if target.resource_id: target_resource = self.resource_client.get_resource(target.resource_id) if target_resource.quantity != 0: return ActionFailed( - "Resource manager: Target is occupied by another plate! Resource_id:{target.resource_id}." + errors=[ + f"Resource manager: Target is occupied by another plate! Resource_id:{target.resource_id}." + ] ) - # Extract id of plate resource at source - plate_resource_id = self.resource_client.get_resource( - source.resource_id - ).child.resource_id - - # Create temporary lid slot from template lid_resource = self.resource_client.create_resource_from_template( template_name="pf400_lid_slot", resource_name="pf400_lid_slot", add_to_database=True, ) - # Create lid asset from template lid = self.resource_client.create_resource_from_template( template_name="plate_lid", - resource_name=f"Lid_from_{plate_resource_id}", + resource_name=f"Lid_from_{plate_resource.resource_id}", add_to_database=True, ) lid_resource = self.resource_client.push(resource=lid_resource, child=lid) - source.resource_id = lid_resource.resource_id + + try: + parsed_source, source_approach, source_rotation_from_dict = ( + self._parse_location_representation(source) + ) + parsed_target, target_approach, target_rotation_from_dict = ( + self._parse_location_representation(target) + ) + except Exception as e: + return ActionFailed( + errors=[f"Failed to parse location representation: {e}"] + ) + + final_source_rotation = ( + source_rotation_from_dict if source_rotation_from_dict is not None else "" + ) + final_target_rotation = ( + target_rotation_from_dict if target_rotation_from_dict is not None else "" + ) + + parsed_source.resource_id = lid_resource.resource_id self.pf400_interface.remove_lid( - source=source, - target=target, - lid_height=lid_height, + source=parsed_source, + target=parsed_target, + lid_height=resource_lid_height, source_approach=source_approach, target_approach=target_approach, - source_plate_rotation=source_plate_rotation, - target_plate_rotation=target_plate_rotation, - grab_offset=grab_offset, + source_plate_rotation=final_source_rotation, + target_plate_rotation=final_target_rotation, + grab_offset=grab_height_offset, approach_height_offset=approach_height_offset, ) + + if plate_resource and plate_resource.attributes: + plate_resource.attributes["has_lid"] = False + self.resource_client.update_resource(plate_resource) + return None @action(name="replace_lid", description="Replace a lid on a plate") @@ -421,25 +547,11 @@ def replace_lid( self, source: Annotated[LocationArgument, "Location to pick a plate from"], target: Annotated[LocationArgument, "Location to place a plate to"], - source_approach: Annotated[ - Optional[LocationArgument], "Location to approach from" - ] = None, - target_approach: Annotated[ - Optional[LocationArgument], "Location to approach from" - ] = None, - source_plate_rotation: Annotated[ - str, "Orientation of the plate at the source, wide or narrow" - ] = "", - target_plate_rotation: Annotated[ - str, "Final orientation of the plate at the target, wide or narrow" - ] = "", - lid_height: Annotated[float, "height of the lid, in steps"] = 7.0, - grab_offset: Optional[Annotated[float, "Add grab height offset"]] = None, - approach_height_offset: Optional[ - Annotated[float, "Add approach height offset"] - ] = None, ) -> Optional[ActionFailed]: """A doc string, but not the actual description of the action.""" + grab_height_offset = None + approach_height_offset = None + resource_lid_height = None if source.resource_id: source_resource = self.resource_client.get_resource(source.resource_id) @@ -447,11 +559,24 @@ def replace_lid( return ActionFailed( "Resource manager: Lid does not exist at source! Resource_id:{source.resource_id}." ) + if source_resource.children: + lid_resource_child = source_resource.children[-1] + if lid_resource_child.attributes: + grab_height_offset = lid_resource_child.attributes.get( + "grab_height_offset", None + ) + approach_height_offset = lid_resource_child.attributes.get( + "approach_height_offset", None + ) + resource_lid_height = lid_resource_child.attributes.get( + "lid_height", None + ) + if target.resource_id: target_resource = self.resource_client.get_resource(target.resource_id) if target_resource.quantity == 0: return ActionFailed( - "Resource manager: No plate on target! Resource_id:{target.resource_id}." + f"Resource manager: No plate on target! Resource_id:{target.resource_id}." ) # Create temporary lid slot from template @@ -460,22 +585,45 @@ def replace_lid( resource_name="pf400_lid_slot", add_to_database=True, ) - target.resource_id = lid_resource.resource_id + + try: + parsed_source, source_approach, source_rotation_from_dict = ( + self._parse_location_representation(source) + ) + parsed_target, target_approach, target_rotation_from_dict = ( + self._parse_location_representation(target) + ) + except Exception as e: + return ActionFailed( + errors=[f"Failed to parse location representation: {e}"] + ) + + parsed_target.resource_id = lid_resource.resource_id self.pf400_interface.replace_lid( - source=source, - target=target, - lid_height=lid_height, + source=parsed_source, + target=parsed_target, + lid_height=resource_lid_height, source_approach=source_approach, target_approach=target_approach, - source_plate_rotation=source_plate_rotation, - target_plate_rotation=target_plate_rotation, - grab_offset=grab_offset, + source_plate_rotation=source_rotation_from_dict + if source_rotation_from_dict is not None + else "", + target_plate_rotation=target_rotation_from_dict + if target_rotation_from_dict is not None + else "", + grab_offset=grab_height_offset, approach_height_offset=approach_height_offset, ) self.resource_client.remove_resource(lid_resource.resource_id) + if target.resource_id and target_resource.children: + plate_resource = target_resource.children[-1] + if plate_resource.attributes: + plate_resource.attributes["has_lid"] = True + self.resource_client.update_resource(plate_resource) + return None def pause(self) -> None: From 04d361cf266b20c18252743dd8f7d9c80247bdf9 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Mon, 15 Dec 2025 15:51:51 -0800 Subject: [PATCH 03/29] Added approach height limit validation --- src/pf400_interface/pf400.py | 88 ++++++++++++++++++++++++++++-------- 1 file changed, 70 insertions(+), 18 deletions(-) diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index 1e09193..4f4733d 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -721,11 +721,14 @@ def remove_lid( lid_height: Optional[float] = None, source_approach: LocationArgument = None, target_approach: LocationArgument = None, - source_plate_rotation: str = "", - target_plate_rotation: str = "", + source_plate_rotation: Optional[str] = None, + target_plate_rotation: Optional[str] = None, grab_offset: Optional[float] = None, - approach_height_offset: Optional[float] = None, - ) -> None: + source_approach_height_offset: Optional[float] = None, + target_approach_height_offset: Optional[float] = None, + source_height_limit: Optional[float] = None, + target_height_limit: Optional[float] = None, + ) -> bool: """Remove the lid from the plate""" if not lid_height: lid_height = self.default_lid_height @@ -733,7 +736,7 @@ def remove_lid( source.representation = copy.deepcopy(source.representation) source.representation[0] += lid_height - self.transfer( + return self.transfer( source=source, target=target, source_approach=source_approach, @@ -741,7 +744,10 @@ def remove_lid( source_plate_rotation=source_plate_rotation, target_plate_rotation=target_plate_rotation, grab_offset=grab_offset, - approach_height_offset=approach_height_offset, + source_approach_height_offset=source_approach_height_offset, + target_approach_height_offset=target_approach_height_offset, + source_height_limit=source_height_limit, + target_height_limit=target_height_limit, ) def replace_lid( @@ -751,11 +757,14 @@ def replace_lid( lid_height: Optional[float] = None, source_approach: LocationArgument = None, target_approach: LocationArgument = None, - source_plate_rotation: str = "", - target_plate_rotation: str = "", + source_plate_rotation: Optional[str] = None, + target_plate_rotation: Optional[str] = None, grab_offset: Optional[float] = None, - approach_height_offset: Optional[float] = None, - ) -> None: + source_approach_height_offset: Optional[float] = None, + target_approach_height_offset: Optional[float] = None, + source_height_limit: Optional[float] = None, + target_height_limit: Optional[float] = None, + ) -> bool: """Replace the lid on the plate""" if lid_height is None: lid_height = self.default_lid_height @@ -763,7 +772,7 @@ def replace_lid( target.representation = copy.deepcopy(target.representation) target.representation[0] += lid_height - self.transfer( + return self.transfer( source=source, target=target, source_approach=source_approach, @@ -771,7 +780,10 @@ def replace_lid( source_plate_rotation=source_plate_rotation, target_plate_rotation=target_plate_rotation, grab_offset=grab_offset, - approach_height_offset=approach_height_offset, + source_approach_height_offset=source_approach_height_offset, + target_approach_height_offset=target_approach_height_offset, + source_height_limit=source_height_limit, + target_height_limit=target_height_limit, ) def rotate_plate_on_deck( @@ -920,6 +932,7 @@ def pick_plate( source_approach: LocationArgument = None, grab_offset: Optional[float] = None, approach_height_offset: Optional[float] = None, + height_limit: Optional[float] = None, grip_width: Optional[int] = None, ) -> bool: """ @@ -930,6 +943,15 @@ def pick_plate( above_position = self._calculate_above_position( source.representation, approach_height_offset, grab_offset ) + if height_limit is not None: + calculated_height = above_position[0] + if calculated_height >= height_limit: + self.logger.log_error( + f"Height limit validation failed: calculated above position " + f"({calculated_height}) exceeds height limit ({height_limit})" + ) + return False + self.open_gripper() if source_approach: @@ -983,6 +1005,7 @@ def place_plate( target_approach: LocationArgument = None, grab_offset: Optional[float] = None, approach_height_offset: Optional[float] = None, + height_limit: Optional[float] = None, open_width: Optional[int] = None, ) -> bool: """ @@ -991,6 +1014,14 @@ def place_plate( above_position = self._calculate_above_position( target.representation, approach_height_offset, grab_offset ) + if height_limit is not None: + calculated_height = above_position[0] + if calculated_height >= height_limit: + self.logger.log_error( + f"Height limit validation failed: calculated above position " + f"({calculated_height}) exceeds height limit ({height_limit})" + ) + return False if target_approach: self._handle_approach_location(target_approach) @@ -1051,6 +1082,8 @@ def transfer( grab_offset: Optional[float] = None, source_approach_height_offset: Optional[float] = None, target_approach_height_offset: Optional[float] = None, + source_height_limit: Optional[float] = None, + target_height_limit: Optional[float] = None, ) -> bool: """ Description: Plate transfer function that performs series of movements to pick and place the plates @@ -1065,6 +1098,8 @@ def transfer( - grab_offset: Add grab height offset - source_approach_height_offset: Add source approach height offset - target_approach_height_offset: Add target approach height offset + - source_height_limit: Maximum height limit for source pick + - target_height_limit: Maximum height limit for target place Note: Plate rotation defines the rotation of the plate on the deck, not the grabbing angle. """ @@ -1073,15 +1108,24 @@ def transfer( # Validate rotation arguments for rotation_arg in [source_plate_rotation, target_plate_rotation]: - if rotation_arg.lower() not in ["wide", "narrow", ""]: + if rotation_arg is not None and rotation_arg.lower() not in [ + "wide", + "narrow", + ]: raise ValueError( f"Invalid plate rotation argument: {rotation_arg}. " - "Expected 'wide', 'narrow', or ''." + "Expected None, 'wide', or 'narrow'." ) # Determine source rotation (0 or 90 degrees) - plate_source_rotation = 90 if source_plate_rotation.lower() == "wide" else 0 - self.grip_wide = source_plate_rotation.lower() == "wide" + plate_source_rotation = ( + 90 + if source_plate_rotation and source_plate_rotation.lower() == "wide" + else 0 + ) + self.grip_wide = ( + source_plate_rotation and source_plate_rotation.lower() == "wide" + ) source.representation = self.check_incorrect_plate_orientation( source.representation, plate_source_rotation @@ -1092,6 +1136,7 @@ def transfer( source_approach=source_approach, grab_offset=grab_offset, approach_height_offset=source_approach_height_offset, + height_limit=source_height_limit, ) if not pick_result: @@ -1101,8 +1146,14 @@ def transfer( return False # Determine target rotation (0 or 90 degrees) - plate_target_rotation = 90 if target_plate_rotation.lower() == "wide" else 0 - self.grip_wide = target_plate_rotation.lower() == "wide" + plate_target_rotation = ( + 90 + if target_plate_rotation and target_plate_rotation.lower() == "wide" + else 0 + ) + self.grip_wide = ( + target_plate_rotation and target_plate_rotation.lower() == "wide" + ) target.representation = self.check_incorrect_plate_orientation( target.representation, plate_target_rotation ) @@ -1119,6 +1170,7 @@ def transfer( target_approach=target_approach, grab_offset=grab_offset, approach_height_offset=target_approach_height_offset, + height_limit=target_height_limit, ) if not place_result: self.logger.error("Transfer failed: plate not released properly.") From f20a6eac92922fe7881b2cface58bbc7c2f840cb Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Mon, 15 Dec 2025 15:54:52 -0800 Subject: [PATCH 04/29] Relocated approach height offset under LocationArgument and added height limits --- src/pf400_rest_node.py | 248 ++++++++++++++++++++++------------------- 1 file changed, 132 insertions(+), 116 deletions(-) diff --git a/src/pf400_rest_node.py b/src/pf400_rest_node.py index ae29ad3..71fb672 100644 --- a/src/pf400_rest_node.py +++ b/src/pf400_rest_node.py @@ -162,22 +162,30 @@ def state_handler(self) -> None: def _parse_location_representation( self, location: LocationArgument - ) -> tuple[LocationArgument, Optional[LocationArgument], Optional[str]]: + ) -> tuple[ + LocationArgument, + Optional[LocationArgument], + Optional[str], + Optional[float], + Optional[float], + ]: """ Parse a LocationArgument that may have a dictionary representation. Expected dictionary structure: { - "location": [x, y, z, rx, ry, rz], # 6-digit list - "approach": [x, y, z, rx, ry, rz] or [[...], [...]] # single or multiple approach locations + "location": 6-digit list, + "approach": single or multiple approach locations, "plate_rotation": "wide" or "narrow" # optional plate rotation + "approach_height_offset": float # optional approach height offset + "height_limit": float # optional height limit for validation } Returns: - tuple: (location_arg_with_list_repr, approach_location_arg or None, plate_rotation or None) + tuple: (location_arg_with_list_repr, approach_location_arg or None, plate_rotation or None, approach_height_offset or None, height_limit or None) """ if not isinstance(location.representation, dict): - return location, None, None + return location, None, None, None, None repr_dict = location.representation @@ -189,6 +197,8 @@ def _parse_location_representation( location_repr = repr_dict["location"] approach_repr = repr_dict.get("approach", None) plate_rotation = repr_dict.get("plate_rotation", None) + approach_height_offset = repr_dict.get("approach_height_offset", None) + height_limit = repr_dict.get("height_limit", None) parsed_location = LocationArgument( representation=location_repr, @@ -205,7 +215,13 @@ def _parse_location_representation( location_name=None, ) - return parsed_location, parsed_approach, plate_rotation + return ( + parsed_location, + parsed_approach, + plate_rotation, + approach_height_offset, + height_limit, + ) @action( name="transfer", description="Transfer a plate from one location to another" @@ -219,7 +235,6 @@ def transfer( """Transfer a plate from `source` to `target`, optionally using intermediate `approach` positions and target rotations.""" grab_height_offset = None - approach_height_offset = None if source.resource_id: source_resource = self.resource_client.get_resource(source.resource_id) @@ -235,9 +250,6 @@ def transfer( grab_height_offset = plate_resource.attributes.get( "grab_height_offset", None ) - approach_height_offset = plate_resource.attributes.get( - "approach_height_offset", None - ) if target.resource_id: target_resource = self.resource_client.get_resource(target.resource_id) @@ -251,12 +263,20 @@ def transfer( ] ) try: - parsed_source, source_approach, source_rotation_from_dict = ( - self._parse_location_representation(source) - ) - parsed_target, target_approach, target_rotation_from_dict = ( - self._parse_location_representation(target) - ) + ( + parsed_source, + source_approach, + source_rotation_from_dict, + source_approach_height_offset, + source_height_limit, + ) = self._parse_location_representation(source) + ( + parsed_target, + target_approach, + target_rotation_from_dict, + target_approach_height_offset, + target_height_limit, + ) = self._parse_location_representation(target) except Exception as e: return ActionFailed( errors=[f"Failed to parse location representation: {e}"] @@ -267,16 +287,14 @@ def transfer( target=parsed_target, source_approach=source_approach, target_approach=target_approach, - source_plate_rotation=source_rotation_from_dict - if source_rotation_from_dict is not None - else "", - target_plate_rotation=target_rotation_from_dict - if target_rotation_from_dict is not None - else "", + source_plate_rotation=source_rotation_from_dict, + target_plate_rotation=target_rotation_from_dict, rotation_deck=rotation_deck, grab_offset=grab_height_offset, - source_approach_height_offset=approach_height_offset, - target_approach_height_offset=approach_height_offset, + source_approach_height_offset=source_approach_height_offset, + target_approach_height_offset=target_approach_height_offset, + source_height_limit=source_height_limit, + target_height_limit=target_height_limit, ) if not transfer_result: return ActionFailed( @@ -292,7 +310,6 @@ def pick_plate( ) -> Optional[ActionFailed]: """Picks a plate from `source`, optionally moving first to `source_approach`.""" grab_height_offset = None - approach_height_offset = None if source.resource_id: source_resource = self.resource_client.get_resource(source.resource_id) @@ -308,37 +325,28 @@ def pick_plate( grab_height_offset = plate_resource.attributes.get( "grab_height_offset", None ) - approach_height_offset = plate_resource.attributes.get( - "approach_height_offset", None - ) try: - parsed_source, source_approach, source_rotation_from_dict = ( - self._parse_location_representation(source) - ) + ( + parsed_source, + source_approach, + source_rotation_from_dict, + source_approach_height_offset, + source_height_limit, + ) = self._parse_location_representation(source) except Exception as e: return ActionFailed( errors=[f"Failed to parse location representation: {e}"] ) - source_rotation = ( - source_rotation_from_dict if source_rotation_from_dict is not None else "" + plate_source_rotation = ( + 90 + if source_rotation_from_dict and source_rotation_from_dict.lower() == "wide" + else 0 + ) + self.grip_wide = ( + source_rotation_from_dict and source_rotation_from_dict.lower() == "wide" ) - - # set plate width for source - if source_rotation.lower() == "wide": - plate_source_rotation = 90 - self.pf400_interface.grip_wide = True - elif source_rotation.lower() == "narrow" or source_rotation == "": - plate_source_rotation = 0 - self.pf400_interface.grip_wide = False - else: - return ActionFailed( - errors=[ - f"Invalid source plate rotation: {source_rotation}. " - "Expected 'wide', 'narrow', or ''." - ] - ) parsed_source.representation = ( self.pf400_interface.check_incorrect_plate_orientation( @@ -350,11 +358,12 @@ def pick_plate( source=parsed_source, source_approach=source_approach, grab_offset=grab_height_offset, - approach_height_offset=approach_height_offset, + approach_height_offset=source_approach_height_offset, + height_limit=source_height_limit, ) if not pick_result: return ActionFailed( - errors=[f"Failed to pick plate from location {parsed_source}."] + errors=[f"Failed to pick plate from location {source}."] ) return None @@ -368,12 +377,14 @@ def place_plate( ) -> Optional[ActionFailed]: """Place a plate in the `target` location, optionally moving first to `target_approach`.""" + grab_height_offset = None + if target.resource_id: target_resource = self.resource_client.get_resource(target.resource_id) if target_resource.quantity != 0: return ActionFailed( errors=[ - "Resource manager: Target is occupied by another plate! Resource_id:{target.resource_id}." + f"Resource manager: Target is occupied by another plate! Resource_id:{target.resource_id}." ] ) if self.gripper_resource.resource_id: @@ -386,49 +397,46 @@ def place_plate( grab_height_offset = plate_in_gripper.attributes.get( "grab_height_offset", None ) - approach_height_offset = plate_in_gripper.attributes.get( - "approach_height_offset", None - ) try: - parsed_target, target_approach, target_rotation_from_dict = ( - self._parse_location_representation(target) - ) + ( + parsed_target, + target_approach, + target_rotation_from_dict, + target_approach_height_offset, + target_height_limit, + ) = self._parse_location_representation(target) except Exception as e: return ActionFailed( errors=[f"Failed to parse location representation: {e}"] ) - target_rotation = ( - target_rotation_from_dict if target_rotation_from_dict is not None else "" + plate_target_rotation = ( + 90 + if target_rotation_from_dict and target_rotation_from_dict.lower() == "wide" + else 0 + ) + self.grip_wide = ( + target_rotation_from_dict and target_rotation_from_dict.lower() == "wide" ) - if target_rotation.lower() == "wide": - plate_target_rotation = 90 - self.pf400_interface.grip_wide = True - elif target_rotation.lower() == "narrow" or target_rotation == "": - plate_target_rotation = 0 - self.pf400_interface.grip_wide = False - else: - return ActionFailed( - errors=[ - f"Invalid target plate rotation: {target_rotation}. " - "Expected 'wide', 'narrow', or ''." - ] + parsed_target.representation = ( + self.pf400_interface.check_incorrect_plate_orientation( + parsed_target.representation, plate_target_rotation ) - - target.representation = self.pf400_interface.check_incorrect_plate_orientation( - target.representation, plate_target_rotation ) place_result = self.pf400_interface.place_plate( target=parsed_target, target_approach=target_approach, grab_offset=grab_height_offset, - approach_height_offset=approach_height_offset, + approach_height_offset=target_approach_height_offset, + height_limit=target_height_limit, ) if not place_result: - return ActionFailed("Transfer failed: plate not released properly.") + return ActionFailed( + errors=["Transfer failed: plate not released properly."] + ) return None @@ -441,7 +449,6 @@ def remove_lid( # noqa: C901 """Remove a lid from a plate located at location.""" grab_height_offset = None - approach_height_offset = None resource_lid_height = None plate_resource = None @@ -473,9 +480,6 @@ def remove_lid( # noqa: C901 grab_height_offset = plate_resource.attributes.get( "grab_height_offset", None ) - approach_height_offset = plate_resource.attributes.get( - "approach_height_offset", None - ) resource_lid_height = plate_resource.attributes.get( "lid_height", None ) @@ -504,38 +508,45 @@ def remove_lid( # noqa: C901 lid_resource = self.resource_client.push(resource=lid_resource, child=lid) try: - parsed_source, source_approach, source_rotation_from_dict = ( - self._parse_location_representation(source) - ) - parsed_target, target_approach, target_rotation_from_dict = ( - self._parse_location_representation(target) - ) + ( + parsed_source, + source_approach, + source_rotation_from_dict, + source_approach_height_offset, + source_height_limit, + ) = self._parse_location_representation(source) + ( + parsed_target, + target_approach, + target_rotation_from_dict, + target_approach_height_offset, + target_height_limit, + ) = self._parse_location_representation(target) except Exception as e: return ActionFailed( errors=[f"Failed to parse location representation: {e}"] ) - final_source_rotation = ( - source_rotation_from_dict if source_rotation_from_dict is not None else "" - ) - final_target_rotation = ( - target_rotation_from_dict if target_rotation_from_dict is not None else "" - ) - parsed_source.resource_id = lid_resource.resource_id - self.pf400_interface.remove_lid( + remove_lid_result = self.pf400_interface.remove_lid( source=parsed_source, target=parsed_target, lid_height=resource_lid_height, source_approach=source_approach, target_approach=target_approach, - source_plate_rotation=final_source_rotation, - target_plate_rotation=final_target_rotation, + source_plate_rotation=source_rotation_from_dict, + target_plate_rotation=target_rotation_from_dict, grab_offset=grab_height_offset, - approach_height_offset=approach_height_offset, + source_approach_height_offset=source_approach_height_offset, + target_approach_height_offset=target_approach_height_offset, + source_height_limit=source_height_limit, + target_height_limit=target_height_limit, ) + if not remove_lid_result: + return ActionFailed(errors=["Failed to remove lid."]) + if plate_resource and plate_resource.attributes: plate_resource.attributes["has_lid"] = False self.resource_client.update_resource(plate_resource) @@ -543,14 +554,13 @@ def remove_lid( # noqa: C901 return None @action(name="replace_lid", description="Replace a lid on a plate") - def replace_lid( + def replace_lid( # noqa: C901 self, source: Annotated[LocationArgument, "Location to pick a plate from"], target: Annotated[LocationArgument, "Location to place a plate to"], ) -> Optional[ActionFailed]: """A doc string, but not the actual description of the action.""" grab_height_offset = None - approach_height_offset = None resource_lid_height = None if source.resource_id: @@ -565,9 +575,6 @@ def replace_lid( grab_height_offset = lid_resource_child.attributes.get( "grab_height_offset", None ) - approach_height_offset = lid_resource_child.attributes.get( - "approach_height_offset", None - ) resource_lid_height = lid_resource_child.attributes.get( "lid_height", None ) @@ -587,12 +594,20 @@ def replace_lid( ) try: - parsed_source, source_approach, source_rotation_from_dict = ( - self._parse_location_representation(source) - ) - parsed_target, target_approach, target_rotation_from_dict = ( - self._parse_location_representation(target) - ) + ( + parsed_source, + source_approach, + source_rotation_from_dict, + source_approach_height_offset, + source_height_limit, + ) = self._parse_location_representation(source) + ( + parsed_target, + target_approach, + target_rotation_from_dict, + target_approach_height_offset, + target_height_limit, + ) = self._parse_location_representation(target) except Exception as e: return ActionFailed( errors=[f"Failed to parse location representation: {e}"] @@ -600,21 +615,22 @@ def replace_lid( parsed_target.resource_id = lid_resource.resource_id - self.pf400_interface.replace_lid( + replace_lid_result = self.pf400_interface.replace_lid( source=parsed_source, target=parsed_target, lid_height=resource_lid_height, source_approach=source_approach, target_approach=target_approach, - source_plate_rotation=source_rotation_from_dict - if source_rotation_from_dict is not None - else "", - target_plate_rotation=target_rotation_from_dict - if target_rotation_from_dict is not None - else "", + source_plate_rotation=source_rotation_from_dict, + target_plate_rotation=target_rotation_from_dict, grab_offset=grab_height_offset, - approach_height_offset=approach_height_offset, + source_approach_height_offset=source_approach_height_offset, + target_approach_height_offset=target_approach_height_offset, + source_height_limit=source_height_limit, + target_height_limit=target_height_limit, ) + if not replace_lid_result: + return ActionFailed(errors=["Failed to replace lid."]) self.resource_client.remove_resource(lid_resource.resource_id) From 0ab77b7bfdf6384b3e765c35e160b3f7104bfcc7 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 16 Dec 2025 14:57:26 -0800 Subject: [PATCH 05/29] exclude notebookds from pre commit checks --- .pre-commit-config.yaml | 2 + tests/test_pf400_node.ipynb | 586 ++++++++++++++++++++++++++++++++++-- 2 files changed, 568 insertions(+), 20 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 3e2d661..b7957f6 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -22,5 +22,7 @@ repos: # Run the linter. - id: ruff args: [--fix] + exclude: '\.ipynb$' # Exclude Jupyter Notebooks from linting. # Run the formatter. - id: ruff-format + exclude: '\.ipynb$' # Exclude Jupyter Notebooks from all hooks. diff --git a/tests/test_pf400_node.ipynb b/tests/test_pf400_node.ipynb index 22f83aa..2700e7f 100644 --- a/tests/test_pf400_node.ipynb +++ b/tests/test_pf400_node.ipynb @@ -1,5 +1,13 @@ { "cells": [ + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "# PF400 Node Tests\n", + "## Setup and Basic Tests" + ] + }, { "cell_type": "code", "execution_count": null, @@ -10,7 +18,7 @@ "from madsci.common.types.action_types import ActionRequest\n", "from madsci.common.types.location_types import LocationArgument\n", "\n", - "client = RestNodeClient(url=\"http://localhost:3000\")" + "client = RestNodeClient(url=\"http://localhost:2000\")" ] }, { @@ -31,27 +39,130 @@ "client.get_state()" ] }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Test Data Setup" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test locations\n", + "source_loc = [223.0, -38.068, 335.876, 325.434, 79.923, 995.062]\n", + "target_loc = [156, 66.112, 83.90, 656.404, 119.405, -946.818]\n", + "camera_loc = [90.597, 26.416, 66.422, 714.811, 81.916, 995.074]\n", + "\n", + "# Approach locations (examples)\n", + "source_approach_single = [230.0, -38.0, 350.0, 325.4, 79.9, 995.0]\n", + "source_approach_multiple = [\n", + " [250.0, -38.0, 370.0, 325.4, 79.9, 995.0],\n", + " [230.0, -38.0, 350.0, 325.4, 79.9, 995.0],\n", + "]" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# ============================================\n", + "# Test Setup: Create Resources\n", + "# ============================================\n", + "\n", + "from madsci.client.resource_client import ResourceClient\n", + "from madsci.common.types.resource_types import Asset, Slot\n", + "\n", + "# Initialize resource client\n", + "resource_client = ResourceClient(resource_server_url=\"http://localhost:8003\")\n", + "\n", + "# Create source slot resource\n", + "source_slot = Slot(\n", + " resource_name=\"test_source_slot\",\n", + " resource_class=\"PlateSlot\",\n", + " capacity=1,\n", + " attributes={\n", + " \"description\": \"Test source slot for plate\",\n", + " },\n", + ")\n", + "source_slot = resource_client.add_or_update_resource(source_slot)\n", + "print(f\"Source slot created: {source_slot.resource_id}\")\n", + "\n", + "# Create target slot resource\n", + "target_slot = Slot(\n", + " resource_name=\"test_target_slot\",\n", + " resource_class=\"PlateSlot\",\n", + " capacity=1,\n", + " attributes={\n", + " \"description\": \"Test target slot for plate\",\n", + " },\n", + ")\n", + "target_slot = resource_client.add_or_update_resource(target_slot)\n", + "print(f\"Target slot created: {target_slot.resource_id}\")\n", + "\n", + "# Create plate asset resource with attributes\n", + "plate = Asset(\n", + " resource_name=\"test_plate_with_lid\",\n", + " resource_class=\"Microplate\",\n", + " attributes={\n", + " \"has_lid\": True,\n", + " \"lid_height\": 10.0,\n", + " \"grab_height_offset\": 5.0,\n", + " \"description\": \"96-well microplate with lid\",\n", + " },\n", + ")\n", + "plate = resource_client.add_or_update_resource(plate)\n", + "print(f\"Plate created with attributes: {plate.resource_id}\")\n", + "\n", + "# Push plate to source slot\n", + "source_slot = resource_client.push(resource=source_slot.resource_id, child=plate)\n", + "print(f\"Plate pushed to source slot. Source quantity: {source_slot.quantity}\")\n", + "\n", + "# Store resource IDs for tests\n", + "source_resource_id = source_slot.resource_id\n", + "target_resource_id = target_slot.resource_id\n", + "\n", + "print(\"\\n=== Resource Setup Complete ===\")\n", + "print(f\"Source Resource ID: {source_resource_id}\")\n", + "print(f\"Target Resource ID: {target_resource_id}\")\n", + "print(f\"Plate Resource ID: {plate.resource_id}\")\n", + "print(f\"Plate Attributes: {plate.attributes}\")" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Basic Tests " + ] + }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [ + "# Test 1: Basic transfer with old style (plain list locations)\n", "request = ActionRequest(\n", " action_name=\"transfer\",\n", " args={\n", " \"source\": LocationArgument(\n", - " location=[223.0, -38.068, 335.876, 325.434, 79.923, 995.062],\n", - " resource_id=\"01JQRWY6SQRZBS8ZXRGZZRMF94\",\n", + " representation=source_loc,\n", + " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " \"target\": LocationArgument(\n", - " location=[156, 66.112, 83.90, 656.404, 119.405, -946.818],\n", - " resource_id=\"01JQRWY6TGY3G0TYY6ZDT5ZWR5\",\n", + " representation=target_loc,\n", + " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", - " \"source_plate_rotation\": \"narrow\",\n", - " \"target_plate_rotation\": \"wide\",\n", " },\n", - ")" + ")\n", + "print(\"Test 1: Basic transfer\")\n", + "client.send_action(action_request=request)" ] }, { @@ -60,15 +171,44 @@ "metadata": {}, "outputs": [], "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## New Feature Tests - Dictionary Representation with Rotation" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 2: Transfer with rotation using dictionary representation\n", "request = ActionRequest(\n", - " action_name=\"place_plate\",\n", + " action_name=\"transfer\",\n", " args={\n", + " \"source\": LocationArgument(\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"plate_rotation\": \"narrow\",\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", " \"target\": LocationArgument(\n", - " location=[156, 66.112, 83.90, 656.404, 119.405, -946.818],\n", - " resource_id=\"01JQRWY6TGY3G0TYY6ZDT5ZWR5\",\n", + " representation={\n", + " \"location\": target_loc,\n", + " \"plate_rotation\": \"wide\",\n", + " },\n", + " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " },\n", - ")" + ")\n", + "print(\"Test 2: Transfer with rotation (narrow -> wide)\")\n", + "client.send_action(action_request=request)" ] }, { @@ -77,7 +217,7 @@ "metadata": {}, "outputs": [], "source": [ - "camera_loc = [90.597, 26.416, 66.422, 714.811, 81.916, 995.074]" + "client.get_action_result(request.action_id)" ] }, { @@ -86,18 +226,123 @@ "metadata": {}, "outputs": [], "source": [ + "# Test 3: Transfer with None rotation (should default to narrow)\n", "request = ActionRequest(\n", - " action_name=\"replace_lid\",\n", + " action_name=\"transfer\",\n", + " args={\n", + " \"source\": LocationArgument(\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"plate_rotation\": None, # Will be treated as narrow\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " \"target\": LocationArgument(\n", + " representation={\n", + " \"location\": target_loc,\n", + " # No plate_rotation key - will be None\n", + " },\n", + " resource_id=target_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " },\n", + ")\n", + "print(\"Test 3: Transfer with None rotation (defaults to narrow)\")\n", + "client.send_action(action_request=request)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## New Feature Tests - Single Approach Location" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 4: Transfer with single approach location\n", + "request = ActionRequest(\n", + " action_name=\"transfer\",\n", " args={\n", + " \"source\": LocationArgument(\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"approach\": source_approach_single,\n", + " \"plate_rotation\": \"narrow\",\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", " \"target\": LocationArgument(\n", - " location=[223.0, -38.068, 335.876, 325.434, 79.923, 995.062],\n", - " resource_id=\"01JQRWY6SQRZBS8ZXRGZZRMF94\",\n", + " representation={\n", + " \"location\": target_loc,\n", + " \"plate_rotation\": \"wide\",\n", + " },\n", + " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", + " },\n", + ")\n", + "print(\"Test 4: Transfer with single approach location\")\n", + "client.send_action(action_request=request)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## New Feature Tests - Multiple Approach Locations" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 5: Transfer with multiple approach locations\n", + "request = ActionRequest(\n", + " action_name=\"transfer\",\n", + " args={\n", " \"source\": LocationArgument(\n", - " location=camera_loc, resource_id=\"01JQRWY6T7JQ2QY41Q7QJF0GET\"\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"approach\": source_approach_multiple, # List of lists\n", + " \"plate_rotation\": \"narrow\",\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " \"target\": LocationArgument(\n", + " representation={\n", + " \"location\": target_loc,\n", + " \"approach\": source_approach_multiple, # Can have different approach for target\n", + " \"plate_rotation\": \"wide\",\n", + " },\n", + " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " },\n", - ")" + ")\n", + "print(\"Test 5: Transfer with multiple approach locations\")\n", + "client.send_action(action_request=request)" ] }, { @@ -106,6 +351,45 @@ "metadata": {}, "outputs": [], "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## New Feature Tests - Approach Height Offset" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 6: Transfer with approach height offset\n", + "request = ActionRequest(\n", + " action_name=\"transfer\",\n", + " args={\n", + " \"source\": LocationArgument(\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"approach_height_offset\": 5.0, # Add 5mm to default approach height\n", + " \"plate_rotation\": \"narrow\",\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " \"target\": LocationArgument(\n", + " representation={\n", + " \"location\": target_loc,\n", + " \"approach_height_offset\": 10.0, # Different offset for target\n", + " \"plate_rotation\": \"wide\",\n", + " },\n", + " resource_id=target_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " },\n", + ")\n", + "print(\"Test 6: Transfer with approach height offset\")\n", "client.send_action(action_request=request)" ] }, @@ -114,7 +398,267 @@ "execution_count": null, "metadata": {}, "outputs": [], - "source": [] + "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## New Feature Tests - Height Limit Validation" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 7: Pick plate with height limit (should pass)\n", + "request = ActionRequest(\n", + " action_name=\"pick_plate\",\n", + " args={\n", + " \"source\": LocationArgument(\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"height_limit\": 400.0, # High enough limit - should pass\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " },\n", + ")\n", + "print(\"Test 7: Pick plate with valid height limit\")\n", + "client.send_action(action_request=request)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 8: Pick plate with height limit (should fail)\n", + "request = ActionRequest(\n", + " action_name=\"pick_plate\",\n", + " args={\n", + " \"source\": LocationArgument(\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"height_limit\": 100.0, # Too low - should fail validation\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " },\n", + ")\n", + "print(\"Test 8: Pick plate with invalid height limit (should fail)\")\n", + "client.send_action(action_request=request)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# This should show ActionFailed with height limit validation error\n", + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## New Feature Tests - Combined Features" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 9: Transfer with all features combined\n", + "request = ActionRequest(\n", + " action_name=\"transfer\",\n", + " args={\n", + " \"source\": LocationArgument(\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"approach\": source_approach_multiple,\n", + " \"plate_rotation\": \"narrow\",\n", + " \"approach_height_offset\": 5.0,\n", + " \"height_limit\": 400.0,\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " \"target\": LocationArgument(\n", + " representation={\n", + " \"location\": target_loc,\n", + " \"approach\": source_approach_multiple,\n", + " \"plate_rotation\": \"wide\",\n", + " \"approach_height_offset\": 10.0,\n", + " \"height_limit\": 400.0,\n", + " },\n", + " resource_id=target_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " },\n", + ")\n", + "print(\"Test 9: Transfer with all features combined\")\n", + "client.send_action(action_request=request)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Lid Operation Tests" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 10: Remove lid with new features\n", + "request = ActionRequest(\n", + " action_name=\"remove_lid\",\n", + " args={\n", + " \"source\": LocationArgument(\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"approach_height_offset\": 5.0,\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " \"target\": LocationArgument(\n", + " representation={\n", + " \"location\": camera_loc,\n", + " \"approach_height_offset\": 3.0,\n", + " },\n", + " resource_id=target_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " },\n", + ")\n", + "print(\"Test 10: Remove lid with approach height offset\")\n", + "client.send_action(action_request=request)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 11: Replace lid with new features\n", + "request = ActionRequest(\n", + " action_name=\"replace_lid\",\n", + " args={\n", + " \"source\": LocationArgument(\n", + " representation={\n", + " \"location\": camera_loc,\n", + " \"approach_height_offset\": 3.0,\n", + " },\n", + " resource_id=target_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " \"target\": LocationArgument(\n", + " representation={\n", + " \"location\": source_loc,\n", + " \"approach_height_offset\": 5.0,\n", + " },\n", + " resource_id=source_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " },\n", + ")\n", + "print(\"Test 11: Replace lid with approach height offset\")\n", + "client.send_action(action_request=request)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Place Plate Tests" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# Test 12: Place plate with all features\n", + "request = ActionRequest(\n", + " action_name=\"place_plate\",\n", + " args={\n", + " \"target\": LocationArgument(\n", + " representation={\n", + " \"location\": target_loc,\n", + " \"approach\": source_approach_single,\n", + " \"plate_rotation\": \"wide\",\n", + " \"approach_height_offset\": 8.0,\n", + " \"height_limit\": 400.0,\n", + " },\n", + " resource_id=target_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", + " },\n", + ")\n", + "print(\"Test 12: Place plate with all features\")\n", + "client.send_action(action_request=request)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "client.get_action_result(request.action_id)" + ] + }, + { + "cell_type": "markdown", + "metadata": {}, + "source": [ + "## Utility Commands" + ] }, { "cell_type": "code", @@ -122,6 +666,7 @@ "metadata": {}, "outputs": [], "source": [ + "# Check last action result\n", "client.get_action_result(request.action_id)" ] }, @@ -131,6 +676,7 @@ "metadata": {}, "outputs": [], "source": [ + "# Reset node\n", "client.send_admin_command(\"reset\")" ] }, @@ -158,7 +704,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.12.3" + "version": "3.12.9" } }, "nbformat": 4, From 1e0b8b1a13bf0c9d106475998ce9ff73098f8240 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 16 Dec 2025 14:58:05 -0800 Subject: [PATCH 06/29] Ignore Apple system files --- .gitignore | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.gitignore b/.gitignore index a36e236..90a44cb 100644 --- a/.gitignore +++ b/.gitignore @@ -161,3 +161,9 @@ cython_debug/ #.idea/ .vscode + +### macOS ### +# General +.DS_Store +.AppleDouble +.LSOverride From 539ad3342288f7b65d40edca49207640b5c1efb5 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 16 Dec 2025 14:59:00 -0800 Subject: [PATCH 07/29] Added new tests for updated action locations --- tests/test_pf400_node.ipynb | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/test_pf400_node.ipynb b/tests/test_pf400_node.ipynb index 2700e7f..ffaffa4 100644 --- a/tests/test_pf400_node.ipynb +++ b/tests/test_pf400_node.ipynb @@ -62,7 +62,7 @@ "source_approach_multiple = [\n", " [250.0, -38.0, 370.0, 325.4, 79.9, 995.0],\n", " [230.0, -38.0, 350.0, 325.4, 79.9, 995.0],\n", - "]" + "] " ] }, { From d48fbcafe5ed6e5142e614d0e483fa04671b9bde Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Thu, 18 Dec 2025 16:13:51 -0600 Subject: [PATCH 08/29] Testing in RPL --- pdm.lock | 111 +++++++++++-- pyproject.toml | 6 +- src/pf400_interface/pf400.py | 21 ++- src/pf400_rest_node.py | 297 +++++++++++++++++++---------------- tests/test_pf400_node.ipynb | 188 +++++++++++++--------- 5 files changed, 399 insertions(+), 224 deletions(-) diff --git a/pdm.lock b/pdm.lock index b8071e7..4cb8e8c 100644 --- a/pdm.lock +++ b/pdm.lock @@ -5,7 +5,7 @@ groups = ["default", "dev"] strategy = ["inherit_metadata"] lock_version = "4.5.0" -content_hash = "sha256:86150d5573b91103df487cf5fd51723bc45344317025162d81e0f2c3923f363a" +content_hash = "sha256:eace9e3d52020de94d8d9dd91f8f29a99b0ec91d85fa52b5fc73f38c7ac072e3" [[metadata.targets]] requires_python = ">=3.9.1,<3.13" @@ -548,6 +548,21 @@ files = [ {file = "h11-0.16.0.tar.gz", hash = "sha256:4e35b956cf45792e4caa5885e69fba00bdbc6ffafbfa020300e549b208ee5ff1"}, ] +[[package]] +name = "httpcore" +version = "1.0.9" +requires_python = ">=3.8" +summary = "A minimal low-level HTTP client." +groups = ["default"] +dependencies = [ + "certifi", + "h11>=0.16", +] +files = [ + {file = "httpcore-1.0.9-py3-none-any.whl", hash = "sha256:2d400746a40668fc9dec9810239072b40b4484b640a8c38fd654a024c7a1bf55"}, + {file = "httpcore-1.0.9.tar.gz", hash = "sha256:6e34463af53fd2ab5d807f399a9b45ea31c3dfa2276f15a2c3f00afff6e176e8"}, +] + [[package]] name = "httptools" version = "0.6.4" @@ -593,6 +608,23 @@ files = [ {file = "httptools-0.6.4.tar.gz", hash = "sha256:4e93eee4add6493b59a5c514da98c939b244fce4a0d8879cd3f466562f4b7d5c"}, ] +[[package]] +name = "httpx" +version = "0.28.1" +requires_python = ">=3.8" +summary = "The next generation HTTP client." +groups = ["default"] +dependencies = [ + "anyio", + "certifi", + "httpcore==1.*", + "idna", +] +files = [ + {file = "httpx-0.28.1-py3-none-any.whl", hash = "sha256:d909fcccc110f8c7faf814ca82a9a4d816bc5a6dbfea25d6591d6985b8ba59ad"}, + {file = "httpx-0.28.1.tar.gz", hash = "sha256:75e98c5f16b0f35b567856f597f06ff2270a374470a5c2392242528e3e3e42fc"}, +] + [[package]] 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b/pyproject.toml @@ -9,10 +9,10 @@ authors = [ {name = "Tobias Ginsburg", email = "tginsburg@anl.gov"}, ] dependencies = [ - "madsci-node-module~=0.5.0", + "madsci.node_module~=0.6.0", + "madsci.client~=0.6.0", + "madsci.common~=0.6.0", "pynput>=1.8.1", - "madsci-client~=0.5.0", - "madsci-common~=0.5.0", ] requires-python = ">=3.9.1,<3.13" readme = "README.md" diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index 4f4733d..facfa0a 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -40,6 +40,7 @@ class PF400(KINEMATICS): safe_left_boundary = -350.0 safe_right_boundary = 350.0 + gripper_clearance_height = 110.0 default_approach_height = 15.0 default_approach_vector: typing.ClassVar[list] = [ default_approach_height, @@ -909,10 +910,12 @@ def _calculate_above_position( """ Calculate the position above a target with optional height offset. """ - above_offset = copy.deepcopy(self.default_approach_vector) + above_offset = ( + [self.default_approach_height, 0, 0, 0, 0, 0] + if approach_height_offset is None + else [approach_height_offset, 0, 0, 0, 0, 0] + ) - if approach_height_offset: - above_offset[0] += approach_height_offset if grab_height_offset: above_offset[0] += grab_height_offset @@ -944,7 +947,11 @@ def pick_plate( source.representation, approach_height_offset, grab_offset ) if height_limit is not None: - calculated_height = above_position[0] + calculated_height = ( + above_position[0] + + self.gripper_clearance_height + - source.representation[0] + ) if calculated_height >= height_limit: self.logger.log_error( f"Height limit validation failed: calculated above position " @@ -1015,7 +1022,11 @@ def place_plate( target.representation, approach_height_offset, grab_offset ) if height_limit is not None: - calculated_height = above_position[0] + calculated_height = ( + above_position[0] + + self.gripper_clearance_height + - target.representation[0] + ) if calculated_height >= height_limit: self.logger.log_error( f"Height limit validation failed: calculated above position " diff --git a/src/pf400_rest_node.py b/src/pf400_rest_node.py index 71fb672..bed47b7 100644 --- a/src/pf400_rest_node.py +++ b/src/pf400_rest_node.py @@ -235,33 +235,37 @@ def transfer( """Transfer a plate from `source` to `target`, optionally using intermediate `approach` positions and target rotations.""" grab_height_offset = None - - if source.resource_id: - source_resource = self.resource_client.get_resource(source.resource_id) - if source_resource.quantity == 0: - return ActionFailed( - errors=[ - f"Plate does not exist at source location! Resource_id:{source.resource_id}." - ] - ) - if source_resource.children: - plate_resource = source_resource.children[-1] - if plate_resource.attributes: - grab_height_offset = plate_resource.attributes.get( - "grab_height_offset", None + try: + if source.resource_id: + source_resource = self.resource_client.get_resource(source.resource_id) + if source_resource.quantity == 0: + return ActionFailed( + errors=[ + f"Plate does not exist at source location! Resource_id:{source.resource_id}." + ] ) + if source_resource.children: + plate_resource = source_resource.children[-1] + if plate_resource.attributes: + grab_height_offset = plate_resource.attributes.get( + "grab_height_offset", None + ) - if target.resource_id: - target_resource = self.resource_client.get_resource(target.resource_id) - if ( - target_resource.quantity != 0 - and target_resource.resource_id != source_resource.resource_id - ): - return ActionFailed( - errors=[ - f"Target is occupied by another plate! Resource_id:{target.resource_id}." - ] - ) + if target.resource_id: + target_resource = self.resource_client.get_resource(target.resource_id) + if ( + target_resource.quantity != 0 + and target_resource.resource_id != source_resource.resource_id + ): + return ActionFailed( + errors=[ + f"Target is occupied by another plate! Resource_id:{target.resource_id}." + ] + ) + except Exception as e: + return ActionFailed( + errors=[f"Resource manager error during transfer validation: {e}"] + ) try: ( parsed_source, @@ -277,6 +281,16 @@ def transfer( target_approach_height_offset, target_height_limit, ) = self._parse_location_representation(target) + if rotation_deck is not None: + ( + parsed_rotation, + _, + _, + _, + _, + ) = self._parse_location_representation(rotation_deck) + else: + parsed_rotation = None except Exception as e: return ActionFailed( errors=[f"Failed to parse location representation: {e}"] @@ -289,7 +303,7 @@ def transfer( target_approach=target_approach, source_plate_rotation=source_rotation_from_dict, target_plate_rotation=target_rotation_from_dict, - rotation_deck=rotation_deck, + rotation_deck=parsed_rotation, grab_offset=grab_height_offset, source_approach_height_offset=source_approach_height_offset, target_approach_height_offset=target_approach_height_offset, @@ -310,21 +324,25 @@ def pick_plate( ) -> Optional[ActionFailed]: """Picks a plate from `source`, optionally moving first to `source_approach`.""" grab_height_offset = None - - if source.resource_id: - source_resource = self.resource_client.get_resource(source.resource_id) - if source_resource.quantity == 0: - return ActionFailed( - errors=[ - f"Resource manager: Plate does not exist at source! Resource_id:{source.resource_id}." - ] - ) - if source_resource.children: - plate_resource = source_resource.children[-1] - if plate_resource.attributes: - grab_height_offset = plate_resource.attributes.get( - "grab_height_offset", None + try: + if source.resource_id: + source_resource = self.resource_client.get_resource(source.resource_id) + if source_resource.quantity == 0: + return ActionFailed( + errors=[ + f"Resource manager: Plate does not exist at source! Resource_id:{source.resource_id}." + ] ) + if source_resource.children: + plate_resource = source_resource.children[-1] + if plate_resource.attributes: + grab_height_offset = plate_resource.attributes.get( + "grab_height_offset", None + ) + except Exception as e: + return ActionFailed( + errors=[f"Resource manager error during pick validation: {e}"] + ) try: ( @@ -344,9 +362,10 @@ def pick_plate( if source_rotation_from_dict and source_rotation_from_dict.lower() == "wide" else 0 ) - self.grip_wide = ( + self.pf400_interface.grip_wide = ( source_rotation_from_dict and source_rotation_from_dict.lower() == "wide" ) + print(f"{plate_source_rotation=}") parsed_source.representation = ( self.pf400_interface.check_incorrect_plate_orientation( @@ -378,25 +397,29 @@ def place_plate( """Place a plate in the `target` location, optionally moving first to `target_approach`.""" grab_height_offset = None - - if target.resource_id: - target_resource = self.resource_client.get_resource(target.resource_id) - if target_resource.quantity != 0: - return ActionFailed( - errors=[ - f"Resource manager: Target is occupied by another plate! Resource_id:{target.resource_id}." - ] + try: + if target.resource_id: + target_resource = self.resource_client.get_resource(target.resource_id) + if target_resource.quantity != 0: + return ActionFailed( + errors=[ + f"Resource manager: Target is occupied by another plate! Resource_id:{target.resource_id}." + ] + ) + if self.gripper_resource.resource_id: + gripper_resource = self.resource_client.get_resource( + self.gripper_resource.resource_id ) - if self.gripper_resource.resource_id: - gripper_resource = self.resource_client.get_resource( - self.gripper_resource.resource_id + if gripper_resource.quantity > 0 and gripper_resource.children: + plate_in_gripper = gripper_resource.children[-1] + if plate_in_gripper.attributes: + grab_height_offset = plate_in_gripper.attributes.get( + "grab_height_offset", None + ) + except Exception as e: + return ActionFailed( + errors=[f"Resource manager error during pick validation: {e}"] ) - if gripper_resource.quantity > 0 and gripper_resource.children: - plate_in_gripper = gripper_resource.children[-1] - if plate_in_gripper.attributes: - grab_height_offset = plate_in_gripper.attributes.get( - "grab_height_offset", None - ) try: ( @@ -416,9 +439,10 @@ def place_plate( if target_rotation_from_dict and target_rotation_from_dict.lower() == "wide" else 0 ) - self.grip_wide = ( + self.pf400_interface.grip_wide = ( target_rotation_from_dict and target_rotation_from_dict.lower() == "wide" ) + print(f"{plate_target_rotation=}") parsed_target.representation = ( self.pf400_interface.check_incorrect_plate_orientation( @@ -451,61 +475,66 @@ def remove_lid( # noqa: C901 grab_height_offset = None resource_lid_height = None plate_resource = None + try: + if source.resource_id: + source_resource = self.resource_client.get_resource(source.resource_id) + if source_resource.quantity == 0: + return ActionFailed( + errors=[ + f"Resource manager: Plate does not exist at source! Resource_id:{source.resource_id}." + ] + ) - if source.resource_id: - source_resource = self.resource_client.get_resource(source.resource_id) - if source_resource.quantity == 0: - return ActionFailed( - errors=[ - f"Resource manager: Plate does not exist at source! Resource_id:{source.resource_id}." - ] - ) - - if source_resource.children: - plate_resource = source_resource.children[-1] - if plate_resource.attributes: - has_lid = plate_resource.attributes.get("has_lid", None) - - if has_lid is None: - self.logger.log_warning( - "Continuing without resource validation for lids - 'has_lid' attribute not found in resource" + if source_resource.children: + plate_resource = source_resource.children[-1] + if plate_resource.attributes: + has_lid = plate_resource.attributes.get("has_lid", None) + + if has_lid is None: + self.logger.log_warning( + "Continuing without resource validation for lids - 'has_lid' attribute not found in resource" + ) + elif has_lid is False: + return ActionFailed( + errors=[ + f"Resource manager: Plate at source does not have a lid! Resource_id:{source.resource_id}." + ] + ) + + grab_height_offset = plate_resource.attributes.get( + "grab_height_offset", None ) - elif has_lid is False: - return ActionFailed( - errors=[ - f"Resource manager: Plate at source does not have a lid! Resource_id:{source.resource_id}." - ] + resource_lid_height = plate_resource.attributes.get( + "lid_height", None ) - grab_height_offset = plate_resource.attributes.get( - "grab_height_offset", None - ) - resource_lid_height = plate_resource.attributes.get( - "lid_height", None + if target.resource_id: + target_resource = self.resource_client.get_resource(target.resource_id) + if target_resource.quantity != 0: + return ActionFailed( + errors=[ + f"Resource manager: Target is occupied by another plate! Resource_id:{target.resource_id}." + ] ) - if target.resource_id: - target_resource = self.resource_client.get_resource(target.resource_id) - if target_resource.quantity != 0: - return ActionFailed( - errors=[ - f"Resource manager: Target is occupied by another plate! Resource_id:{target.resource_id}." - ] - ) + lid_resource = self.resource_client.create_resource_from_template( + template_name="pf400_lid_slot", + resource_name="pf400_lid_slot", + add_to_database=True, + ) - lid_resource = self.resource_client.create_resource_from_template( - template_name="pf400_lid_slot", - resource_name="pf400_lid_slot", - add_to_database=True, - ) + lid = self.resource_client.create_resource_from_template( + template_name="plate_lid", + resource_name=f"Lid_from_{plate_resource.resource_id}", + add_to_database=True, + ) - lid = self.resource_client.create_resource_from_template( - template_name="plate_lid", - resource_name=f"Lid_from_{plate_resource.resource_id}", - add_to_database=True, - ) + lid_resource = self.resource_client.push(resource=lid_resource, child=lid) - lid_resource = self.resource_client.push(resource=lid_resource, child=lid) + except Exception as e: + return ActionFailed( + errors=[f"Resource manager error during remove lid validation: {e}"] + ) try: ( @@ -562,36 +591,40 @@ def replace_lid( # noqa: C901 """A doc string, but not the actual description of the action.""" grab_height_offset = None resource_lid_height = None - - if source.resource_id: - source_resource = self.resource_client.get_resource(source.resource_id) - if source_resource.quantity == 0: - return ActionFailed( - "Resource manager: Lid does not exist at source! Resource_id:{source.resource_id}." - ) - if source_resource.children: - lid_resource_child = source_resource.children[-1] - if lid_resource_child.attributes: - grab_height_offset = lid_resource_child.attributes.get( - "grab_height_offset", None - ) - resource_lid_height = lid_resource_child.attributes.get( - "lid_height", None + try: + if source.resource_id: + source_resource = self.resource_client.get_resource(source.resource_id) + if source_resource.quantity == 0: + return ActionFailed( + "Resource manager: Lid does not exist at source! Resource_id:{source.resource_id}." ) + if source_resource.children: + lid_resource_child = source_resource.children[-1] + if lid_resource_child.attributes: + grab_height_offset = lid_resource_child.attributes.get( + "grab_height_offset", None + ) + resource_lid_height = lid_resource_child.attributes.get( + "lid_height", None + ) - if target.resource_id: - target_resource = self.resource_client.get_resource(target.resource_id) - if target_resource.quantity == 0: - return ActionFailed( - f"Resource manager: No plate on target! Resource_id:{target.resource_id}." - ) + if target.resource_id: + target_resource = self.resource_client.get_resource(target.resource_id) + if target_resource.quantity == 0: + return ActionFailed( + f"Resource manager: No plate on target! Resource_id:{target.resource_id}." + ) - # Create temporary lid slot from template - lid_resource = self.resource_client.create_resource_from_template( - template_name="pf400_lid_slot", - resource_name="pf400_lid_slot", - add_to_database=True, - ) + # Create temporary lid slot from template + lid_resource = self.resource_client.create_resource_from_template( + template_name="pf400_lid_slot", + resource_name="pf400_lid_slot", + add_to_database=True, + ) + except Exception as e: + return ActionFailed( + errors=[f"Resource manager error during replace lid validation: {e}"] + ) try: ( diff --git a/tests/test_pf400_node.ipynb b/tests/test_pf400_node.ipynb index ffaffa4..79c5c73 100644 --- a/tests/test_pf400_node.ipynb +++ b/tests/test_pf400_node.ipynb @@ -18,7 +18,7 @@ "from madsci.common.types.action_types import ActionRequest\n", "from madsci.common.types.location_types import LocationArgument\n", "\n", - "client = RestNodeClient(url=\"http://localhost:2000\")" + "client = RestNodeClient(url=\"http://parker.cels.anl.gov:2002\")" ] }, { @@ -53,16 +53,18 @@ "outputs": [], "source": [ "# Test locations\n", - "source_loc = [223.0, -38.068, 335.876, 325.434, 79.923, 995.062]\n", - "target_loc = [156, 66.112, 83.90, 656.404, 119.405, -946.818]\n", - "camera_loc = [90.597, 26.416, 66.422, 714.811, 81.916, 995.074]\n", + "source_loc = [102.162,26.226,67.451,712.056,71.524,995.235] #camera position\n", + "target_loc = [164,58.489,86.752,661.513,122.221,-994.035]\n", + "rotation_loc = [63,-27.659,113.485,631.997,72.163,994.458]\n", + "rotation_loc_resource_id = \"01K7T1HRQQMXSB37SA5RGYFKMC\"\n", + "# camera_loc = [90.597, 26.416, 66.422, 714.811, 81.916, 995.074]\n", "\n", "# Approach locations (examples)\n", - "source_approach_single = [230.0, -38.0, 350.0, 325.4, 79.9, 995.0]\n", + "source_approach_single = [166.87,0.648,98.948,706.188,70.855,995.16] # camera approach\n", "source_approach_multiple = [\n", - " [250.0, -38.0, 370.0, 325.4, 79.9, 995.0],\n", - " [230.0, -38.0, 350.0, 325.4, 79.9, 995.0],\n", - "] " + " [193.278,-4.397,72.689,735.146,70.85,995.233],\n", + " source_approach_single,\n", + "]" ] }, { @@ -79,59 +81,70 @@ "from madsci.common.types.resource_types import Asset, Slot\n", "\n", "# Initialize resource client\n", - "resource_client = ResourceClient(resource_server_url=\"http://localhost:8003\")\n", + "resource_client = ResourceClient(resource_server_url=\"http://parker.cels.anl.gov:8004\")\n", "\n", "# Create source slot resource\n", - "source_slot = Slot(\n", - " resource_name=\"test_source_slot\",\n", - " resource_class=\"PlateSlot\",\n", - " capacity=1,\n", - " attributes={\n", - " \"description\": \"Test source slot for plate\",\n", - " },\n", - ")\n", - "source_slot = resource_client.add_or_update_resource(source_slot)\n", - "print(f\"Source slot created: {source_slot.resource_id}\")\n", + "# source_slot = Slot(\n", + "# resource_name=\"test_source_slot\",\n", + "# resource_class=\"PlateSlot\",\n", + "# capacity=1,\n", + "# attributes={\n", + "# \"description\": \"Test source slot for plate\",\n", + "# },\n", + "# )\n", + "# source_slot = resource_client.add_or_update_resource(source_slot)\n", + "# print(f\"Source slot created: {source_slot.resource_id}\")\n", "\n", "# Create target slot resource\n", - "target_slot = Slot(\n", - " resource_name=\"test_target_slot\",\n", - " resource_class=\"PlateSlot\",\n", - " capacity=1,\n", - " attributes={\n", - " \"description\": \"Test target slot for plate\",\n", - " },\n", - ")\n", - "target_slot = resource_client.add_or_update_resource(target_slot)\n", - "print(f\"Target slot created: {target_slot.resource_id}\")\n", + "# target_slot = Slot(\n", + "# resource_name=\"test_target_slot\",\n", + "# resource_class=\"PlateSlot\",\n", + "# capacity=1,\n", + "# attributes={\n", + "# \"description\": \"Test target slot for plate\",\n", + "# },\n", + "# )\n", + "# target_slot = resource_client.add_or_update_resource(target_slot)\n", + "# print(f\"Target slot created: {target_slot.resource_id}\")\n", "\n", "# Create plate asset resource with attributes\n", - "plate = Asset(\n", - " resource_name=\"test_plate_with_lid\",\n", - " resource_class=\"Microplate\",\n", - " attributes={\n", + "plate = resource_client.get_resource(\"01K7T1QAXCMSAJ3MAK2GAS24ZK\")\n", + "plate.attributes = {\n", " \"has_lid\": True,\n", - " \"lid_height\": 10.0,\n", - " \"grab_height_offset\": 5.0,\n", + " \"lid_height\": 2.0,\n", + " \"grab_height_offset\": 0.0,\n", " \"description\": \"96-well microplate with lid\",\n", - " },\n", - ")\n", + " }\n", + "# plate = Asset(\n", + "# resource_id=\"01K7T1QAXCMSAJ3MAK2GAS24ZK\",\n", + "# resource_name=\"sample_plate\",\n", + "# resource_class=\"Microplate\",\n", + "# attributes={\n", + "# \"has_lid\": True,\n", + "# \"lid_height\": 7.0,\n", + "# \"grab_height_offset\": 20.0,\n", + "# \"description\": \"96-well microplate with lid\",\n", + "# },\n", + "# )\n", "plate = resource_client.add_or_update_resource(plate)\n", "print(f\"Plate created with attributes: {plate.resource_id}\")\n", "\n", "# Push plate to source slot\n", - "source_slot = resource_client.push(resource=source_slot.resource_id, child=plate)\n", - "print(f\"Plate pushed to source slot. Source quantity: {source_slot.quantity}\")\n", + "# source_slot = resource_client.push(resource=source_slot.resource_id, child=plate)\n", + "# print(f\"Plate pushed to source slot. Source quantity: {source_slot.quantity}\")\n", "\n", "# Store resource IDs for tests\n", - "source_resource_id = source_slot.resource_id\n", - "target_resource_id = target_slot.resource_id\n", + "# source_resource_id = source_slot.resource_id\n", + "# target_resource_id = target_slot.resource_id\n", + "source_resource_id = \"01K7SZNCFGV604BD5C4ZFZQQW9\"\n", + "target_resource_id = \"01K7SZND789S1VN5VX77NKNMRX\"\n", "\n", - "print(\"\\n=== Resource Setup Complete ===\")\n", - "print(f\"Source Resource ID: {source_resource_id}\")\n", - "print(f\"Target Resource ID: {target_resource_id}\")\n", - "print(f\"Plate Resource ID: {plate.resource_id}\")\n", - "print(f\"Plate Attributes: {plate.attributes}\")" + "\n", + "# print(\"\\n=== Resource Setup Complete ===\")\n", + "# print(f\"Source Resource ID: {source_resource_id}\")\n", + "# print(f\"Target Resource ID: {target_resource_id}\")\n", + "# print(f\"Plate Resource ID: {plate.resource_id}\")\n", + "# print(f\"Plate Attributes: {plate.attributes}\")" ] }, { @@ -156,13 +169,13 @@ " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " \"target\": LocationArgument(\n", - " representation=target_loc,\n", - " resource_id=target_resource_id,\n", + " representation=source_loc,\n", + " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " },\n", ")\n", "print(\"Test 1: Basic transfer\")\n", - "client.send_action(action_request=request)" + "response = client.send_action(action_request=request)" ] }, { @@ -171,7 +184,7 @@ "metadata": {}, "outputs": [], "source": [ - "client.get_action_result(request.action_id)" + "client.get_action_result(response.action_id)" ] }, { @@ -205,10 +218,16 @@ " },\n", " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", + " \"rotation_deck\": LocationArgument(\n", + " representation={\n", + " \"location\": rotation_loc,\n", + " },\n", + " resource_id=rotation_loc_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", " },\n", ")\n", "print(\"Test 2: Transfer with rotation (narrow -> wide)\")\n", - "client.send_action(action_request=request)" + "response = client.send_action(action_request=request)" ] }, { @@ -291,6 +310,12 @@ " },\n", " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", + " \"rotation_deck\": LocationArgument(\n", + " representation={\n", + " \"location\": rotation_loc,\n", + " },\n", + " resource_id=rotation_loc_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", " },\n", ")\n", "print(\"Test 4: Transfer with single approach location\")\n", @@ -334,11 +359,17 @@ " \"target\": LocationArgument(\n", " representation={\n", " \"location\": target_loc,\n", - " \"approach\": source_approach_multiple, # Can have different approach for target\n", + " # \"approach\": source_approach_multiple, # Can have different approach for target\n", " \"plate_rotation\": \"wide\",\n", " },\n", " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", + " \"rotation_deck\": LocationArgument(\n", + " representation={\n", + " \"location\": rotation_loc,\n", + " },\n", + " resource_id=rotation_loc_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", " },\n", ")\n", "print(\"Test 5: Transfer with multiple approach locations\")\n", @@ -374,18 +405,18 @@ " \"source\": LocationArgument(\n", " representation={\n", " \"location\": source_loc,\n", - " \"approach_height_offset\": 5.0, # Add 5mm to default approach height\n", + " \"approach_height_offset\": 50.0, # Add 5mm to default approach height\n", " \"plate_rotation\": \"narrow\",\n", " },\n", " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " \"target\": LocationArgument(\n", " representation={\n", - " \"location\": target_loc,\n", + " \"location\": source_loc,\n", " \"approach_height_offset\": 10.0, # Different offset for target\n", - " \"plate_rotation\": \"wide\",\n", + " \"plate_rotation\": \"narrow\",\n", " },\n", - " resource_id=target_resource_id,\n", + " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " },\n", ")\n", @@ -422,7 +453,7 @@ " \"source\": LocationArgument(\n", " representation={\n", " \"location\": source_loc,\n", - " \"height_limit\": 400.0, # High enough limit - should pass\n", + " \"height_limit\": 60.0, # High enough limit - should pass\n", " },\n", " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", @@ -454,7 +485,8 @@ " \"source\": LocationArgument(\n", " representation={\n", " \"location\": source_loc,\n", - " \"height_limit\": 100.0, # Too low - should fail validation\n", + " # \"approach_height_offset\": 10.0,\n", + " \"height_limit\": 60.0, # Too low - should fail validation\n", " },\n", " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", @@ -464,6 +496,13 @@ "client.send_action(action_request=request)" ] }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, { "cell_type": "code", "execution_count": null, @@ -496,21 +535,26 @@ " \"location\": source_loc,\n", " \"approach\": source_approach_multiple,\n", " \"plate_rotation\": \"narrow\",\n", - " \"approach_height_offset\": 5.0,\n", - " \"height_limit\": 400.0,\n", + " \"approach_height_offset\": 15.0,\n", + " \"height_limit\": 200.0,\n", " },\n", " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " \"target\": LocationArgument(\n", " representation={\n", " \"location\": target_loc,\n", - " \"approach\": source_approach_multiple,\n", " \"plate_rotation\": \"wide\",\n", - " \"approach_height_offset\": 10.0,\n", - " \"height_limit\": 400.0,\n", + " \"approach_height_offset\": 50.0,\n", + " \"height_limit\": 300.0,\n", " },\n", " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", + " \"rotation_deck\": LocationArgument(\n", + " representation={\n", + " \"location\": rotation_loc,\n", + " },\n", + " resource_id=rotation_loc_resource_id,\n", + " ).model_dump(mode=\"json\"),\n", " },\n", ")\n", "print(\"Test 9: Transfer with all features combined\")\n", @@ -546,16 +590,15 @@ " \"source\": LocationArgument(\n", " representation={\n", " \"location\": source_loc,\n", - " \"approach_height_offset\": 5.0,\n", + " \"approach_height_offset\": 15.0,\n", " },\n", " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " \"target\": LocationArgument(\n", " representation={\n", - " \"location\": camera_loc,\n", - " \"approach_height_offset\": 3.0,\n", + " \"location\": rotation_loc,\n", " },\n", - " resource_id=target_resource_id,\n", + " resource_id=rotation_loc_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " },\n", ")\n", @@ -584,15 +627,14 @@ " args={\n", " \"source\": LocationArgument(\n", " representation={\n", - " \"location\": camera_loc,\n", - " \"approach_height_offset\": 3.0,\n", + " \"location\": rotation_loc,\n", " },\n", - " resource_id=target_resource_id,\n", + " resource_id=rotation_loc_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " \"target\": LocationArgument(\n", " representation={\n", " \"location\": source_loc,\n", - " \"approach_height_offset\": 5.0,\n", + " \"approach_height_offset\": 15.0,\n", " },\n", " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", @@ -690,7 +732,7 @@ ], "metadata": { "kernelspec": { - "display_name": ".venv", + "display_name": "pf400_module-3.12", "language": "python", "name": "python3" }, @@ -704,7 +746,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.12.9" + "version": "3.12.3" } }, "nbformat": 4, From 430a841d2df5310ff0575f4444faf6f43d7f65a2 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Fri, 19 Dec 2025 11:16:37 -0800 Subject: [PATCH 09/29] Handle press depth params --- src/pf400_interface/pf400.py | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index 4f4733d..b45b385 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -728,6 +728,8 @@ def remove_lid( target_approach_height_offset: Optional[float] = None, source_height_limit: Optional[float] = None, target_height_limit: Optional[float] = None, + source_press_depth: Optional[float] = None, + target_press_depth: Optional[float] = None, ) -> bool: """Remove the lid from the plate""" if not lid_height: @@ -748,6 +750,8 @@ def remove_lid( target_approach_height_offset=target_approach_height_offset, source_height_limit=source_height_limit, target_height_limit=target_height_limit, + source_press_depth=source_press_depth, + target_press_depth=target_press_depth, ) def replace_lid( @@ -764,6 +768,8 @@ def replace_lid( target_approach_height_offset: Optional[float] = None, source_height_limit: Optional[float] = None, target_height_limit: Optional[float] = None, + source_press_depth: Optional[float] = None, + target_press_depth: Optional[float] = None, ) -> bool: """Replace the lid on the plate""" if lid_height is None: @@ -784,6 +790,8 @@ def replace_lid( target_approach_height_offset=target_approach_height_offset, source_height_limit=source_height_limit, target_height_limit=target_height_limit, + source_press_depth=source_press_depth, + target_press_depth=target_press_depth, ) def rotate_plate_on_deck( @@ -934,12 +942,17 @@ def pick_plate( approach_height_offset: Optional[float] = None, height_limit: Optional[float] = None, grip_width: Optional[int] = None, + press_depth: Optional[float] = None, ) -> bool: """ Pick a plate from the source location, optionally using an approach location. Returns True if the plate was successfully grabbed, False otherwise. """ + if press_depth is not None: + source.representation = copy.deepcopy(source.representation) + source.representation[0] -= press_depth + above_position = self._calculate_above_position( source.representation, approach_height_offset, grab_offset ) @@ -1007,10 +1020,15 @@ def place_plate( approach_height_offset: Optional[float] = None, height_limit: Optional[float] = None, open_width: Optional[int] = None, + press_depth: Optional[float] = None, ) -> bool: """ Place a plate in the target location """ + if press_depth is not None: + target.representation = copy.deepcopy(target.representation) + target.representation[0] -= press_depth + above_position = self._calculate_above_position( target.representation, approach_height_offset, grab_offset ) @@ -1084,6 +1102,8 @@ def transfer( target_approach_height_offset: Optional[float] = None, source_height_limit: Optional[float] = None, target_height_limit: Optional[float] = None, + source_press_depth: Optional[float] = None, + target_press_depth: Optional[float] = None, ) -> bool: """ Description: Plate transfer function that performs series of movements to pick and place the plates @@ -1100,6 +1120,10 @@ def transfer( - target_approach_height_offset: Add target approach height offset - source_height_limit: Maximum height limit for source pick - target_height_limit: Maximum height limit for target place + - source_press_depth: Depth to press down when picking from source + - target_press_depth: Depth to press down when placing to target + Returns: + True if transfer was successful, False otherwise. Note: Plate rotation defines the rotation of the plate on the deck, not the grabbing angle. """ @@ -1137,6 +1161,7 @@ def transfer( grab_offset=grab_offset, approach_height_offset=source_approach_height_offset, height_limit=source_height_limit, + press_depth=source_press_depth, ) if not pick_result: @@ -1171,6 +1196,7 @@ def transfer( grab_offset=grab_offset, approach_height_offset=target_approach_height_offset, height_limit=target_height_limit, + press_depth=target_press_depth, ) if not place_result: self.logger.error("Transfer failed: plate not released properly.") From 7275d4946faedce93bc9e911e5226e6bd357f52a Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Fri, 19 Dec 2025 11:16:55 -0800 Subject: [PATCH 10/29] Parse press depth from LocationArgumnets --- src/pf400_rest_node.py | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/src/pf400_rest_node.py b/src/pf400_rest_node.py index 71fb672..985ad08 100644 --- a/src/pf400_rest_node.py +++ b/src/pf400_rest_node.py @@ -199,6 +199,7 @@ def _parse_location_representation( plate_rotation = repr_dict.get("plate_rotation", None) approach_height_offset = repr_dict.get("approach_height_offset", None) height_limit = repr_dict.get("height_limit", None) + press_depth = repr_dict.get("press_depth", None) parsed_location = LocationArgument( representation=location_repr, @@ -221,6 +222,7 @@ def _parse_location_representation( plate_rotation, approach_height_offset, height_limit, + press_depth, ) @action( @@ -269,6 +271,7 @@ def transfer( source_rotation_from_dict, source_approach_height_offset, source_height_limit, + source_press_depth, ) = self._parse_location_representation(source) ( parsed_target, @@ -276,6 +279,7 @@ def transfer( target_rotation_from_dict, target_approach_height_offset, target_height_limit, + target_press_depth, ) = self._parse_location_representation(target) except Exception as e: return ActionFailed( @@ -295,6 +299,8 @@ def transfer( target_approach_height_offset=target_approach_height_offset, source_height_limit=source_height_limit, target_height_limit=target_height_limit, + source_press_depth=source_press_depth, + target_press_depth=target_press_depth, ) if not transfer_result: return ActionFailed( @@ -333,6 +339,7 @@ def pick_plate( source_rotation_from_dict, source_approach_height_offset, source_height_limit, + press_depth, ) = self._parse_location_representation(source) except Exception as e: return ActionFailed( @@ -360,6 +367,7 @@ def pick_plate( grab_offset=grab_height_offset, approach_height_offset=source_approach_height_offset, height_limit=source_height_limit, + press_depth=press_depth, ) if not pick_result: return ActionFailed( @@ -405,6 +413,7 @@ def place_plate( target_rotation_from_dict, target_approach_height_offset, target_height_limit, + press_depth, ) = self._parse_location_representation(target) except Exception as e: return ActionFailed( @@ -432,6 +441,7 @@ def place_plate( grab_offset=grab_height_offset, approach_height_offset=target_approach_height_offset, height_limit=target_height_limit, + press_depth=press_depth, ) if not place_result: return ActionFailed( @@ -514,6 +524,7 @@ def remove_lid( # noqa: C901 source_rotation_from_dict, source_approach_height_offset, source_height_limit, + source_press_depth, ) = self._parse_location_representation(source) ( parsed_target, @@ -521,6 +532,7 @@ def remove_lid( # noqa: C901 target_rotation_from_dict, target_approach_height_offset, target_height_limit, + target_press_depth, ) = self._parse_location_representation(target) except Exception as e: return ActionFailed( @@ -542,6 +554,8 @@ def remove_lid( # noqa: C901 target_approach_height_offset=target_approach_height_offset, source_height_limit=source_height_limit, target_height_limit=target_height_limit, + source_press_depth=source_press_depth, + target_press_depth=target_press_depth, ) if not remove_lid_result: @@ -600,6 +614,7 @@ def replace_lid( # noqa: C901 source_rotation_from_dict, source_approach_height_offset, source_height_limit, + source_press_depth, ) = self._parse_location_representation(source) ( parsed_target, @@ -607,6 +622,7 @@ def replace_lid( # noqa: C901 target_rotation_from_dict, target_approach_height_offset, target_height_limit, + target_press_depth, ) = self._parse_location_representation(target) except Exception as e: return ActionFailed( @@ -628,6 +644,8 @@ def replace_lid( # noqa: C901 target_approach_height_offset=target_approach_height_offset, source_height_limit=source_height_limit, target_height_limit=target_height_limit, + source_press_depth=source_press_depth, + target_press_depth=target_press_depth, ) if not replace_lid_result: return ActionFailed(errors=["Failed to replace lid."]) From 6ae98a2ee572e6290c7a3ec5d090b49713f35d31 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Fri, 19 Dec 2025 12:26:09 -0800 Subject: [PATCH 11/29] Validate rotation deck location before starting a transfer --- src/pf400_interface/pf400.py | 21 ++++++++++++++------- 1 file changed, 14 insertions(+), 7 deletions(-) diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index 6b73e3f..aeeaeaa 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -1162,6 +1162,20 @@ def transfer( source_plate_rotation and source_plate_rotation.lower() == "wide" ) + # Determine target rotation (0 or 90 degrees) + plate_target_rotation = ( + 90 + if target_plate_rotation and target_plate_rotation.lower() == "wide" + else 0 + ) + + rotation_needed = plate_target_rotation - plate_source_rotation + if rotation_needed != 0 and rotation_deck is None: + self.logger.log_error( + f"Rotation required ({rotation_needed} degrees) but rotation_deck was not provided." + ) + return False + source.representation = self.check_incorrect_plate_orientation( source.representation, plate_source_rotation ) @@ -1181,12 +1195,6 @@ def transfer( self.logger.error("Transfer failed: no plate detected after picking.") return False - # Determine target rotation (0 or 90 degrees) - plate_target_rotation = ( - 90 - if target_plate_rotation and target_plate_rotation.lower() == "wide" - else 0 - ) self.grip_wide = ( target_plate_rotation and target_plate_rotation.lower() == "wide" ) @@ -1195,7 +1203,6 @@ def transfer( ) # Rotate plate if needed - rotation_needed = plate_target_rotation - plate_source_rotation if rotation_needed != 0: self.rotate_plate_on_deck( rotation_degree=rotation_needed, rotation_deck=rotation_deck From a2ec2a0fa1902c76d947c4a1a2365bd3f366cb6e Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Fri, 19 Dec 2025 12:53:52 -0800 Subject: [PATCH 12/29] Updated motion profiles with approach return movements --- src/pf400_interface/pf400.py | 25 +++++++++++++++++-------- 1 file changed, 17 insertions(+), 8 deletions(-) diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index aeeaeaa..354c3c3 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -884,7 +884,9 @@ def _handle_approach_location(self, approach: LocationArgument) -> None: profile=self.fast_motion_profile, ) - def _handle_approach_return(self, approach: LocationArgument) -> None: + def _handle_approach_return( + self, approach: LocationArgument, default_motion: Optional[str] = None + ) -> None: """ Handle returning from an approach location, whether single or multiple. Uses straight motion profile for the first approach location (closest to target), @@ -892,11 +894,14 @@ def _handle_approach_return(self, approach: LocationArgument) -> None: """ if isinstance(approach.representation[0], list): for index, location in enumerate(reversed(approach.representation)): - motion_profile = ( - self.straight_motion_profile - if index == 0 - else self.fast_motion_profile - ) + if index == 0: + motion_profile = self.straight_motion_profile + else: + motion_profile = ( + default_motion + if default_motion is not None + else self.fast_motion_profile + ) self.move_joint( target_joint_angles=location, profile=motion_profile, @@ -1013,7 +1018,9 @@ def pick_plate( ) if source_approach: - self._handle_approach_return(source_approach) + self._handle_approach_return( + approach=source_approach, default_motion=self.slow_motion_profile + ) else: self.move_all_joints_neutral(source.representation) @@ -1093,7 +1100,9 @@ def place_plate( ) if target_approach: - self._handle_approach_return(target_approach) + self._handle_approach_return( + approach=target_approach, default_motion=self.fast_motion_profile + ) else: self.move_all_joints_neutral(target.representation) From 38e8db32703bb61e7d2ab814835bb5516737dc41 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Fri, 19 Dec 2025 17:47:00 -0600 Subject: [PATCH 13/29] Test press_depth in RPL --- src/pf400_rest_node.py | 3 ++- tests/test_pf400_node.ipynb | 5 +++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/src/pf400_rest_node.py b/src/pf400_rest_node.py index 9265598..6cf1ea9 100644 --- a/src/pf400_rest_node.py +++ b/src/pf400_rest_node.py @@ -185,7 +185,7 @@ def _parse_location_representation( tuple: (location_arg_with_list_repr, approach_location_arg or None, plate_rotation or None, approach_height_offset or None, height_limit or None) """ if not isinstance(location.representation, dict): - return location, None, None, None, None + return location, None, None, None, None, None repr_dict = location.representation @@ -292,6 +292,7 @@ def transfer( # noqa: C901, _, _, _, + _, ) = self._parse_location_representation(rotation_deck) else: parsed_rotation = None diff --git a/tests/test_pf400_node.ipynb b/tests/test_pf400_node.ipynb index 79c5c73..d9a766b 100644 --- a/tests/test_pf400_node.ipynb +++ b/tests/test_pf400_node.ipynb @@ -169,8 +169,8 @@ " resource_id=source_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " \"target\": LocationArgument(\n", - " representation=source_loc,\n", - " resource_id=source_resource_id,\n", + " representation=target_loc,\n", + " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", " },\n", ")\n", @@ -215,6 +215,7 @@ " representation={\n", " \"location\": target_loc,\n", " \"plate_rotation\": \"wide\",\n", + " \"press_depth\": 5.0,\n", " },\n", " resource_id=target_resource_id,\n", " ).model_dump(mode=\"json\"),\n", From 3a1bfdb501af0c36c842cb6c6c73723797750fd9 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 12 May 2026 17:07:17 -0700 Subject: [PATCH 14/29] Removed old kinematics --- src/pf400_interface/pf400_kinematics.py | 180 ------------------------ 1 file changed, 180 deletions(-) delete mode 100644 src/pf400_interface/pf400_kinematics.py diff --git a/src/pf400_interface/pf400_kinematics.py b/src/pf400_interface/pf400_kinematics.py deleted file mode 100644 index 457918d..0000000 --- a/src/pf400_interface/pf400_kinematics.py +++ /dev/null @@ -1,180 +0,0 @@ -"""Handles the kinematics of the PF400 robot arm""" - -import math - - -class KINEMATICS: - """Class for calculating the forward and inverse kinematics of the PF400 robot arm.""" - - """ - Joint coordinates, list of length 6 for PF400 with horizontal rail, - rail positions units are mm, angles in degrees increasing CCW looking down (-z): - 0 vertical rail position in mm, +z up, range [ 0, 1500 ] mm (for the 1.5m v_rail) - 1 angle of shoulder joint (v_rail to upper_arm), 0 deg perp v_rail, range: [-93, 93] deg - 2 angle of elbow joint (upper_arm to forearm), 0 deg under upper_arm, range: [-168, 168] deg - 3 angle of wrist joint (forearm to end_effector), 0 deg extends forearm, range: [-960, 960] deg - 4 the separation between plate-handling gripper fingers, range: [ ???, ??? ] mm - 5 horizontal rail position in mm, +x perp v_rail, range: [-1000,1000] (for the 2m h_rail) - - Cartesian coordinates, list of length 6: - 0 X increasing away from the face of the v_rail, parallel to the h_rail - 1 Y increasing to the left when facing in the +x direction - 2 Z increasing up along the v_rail - 3 yaw angle of gripper fingers to +x axis - 4 pitch fixed at 90 deg - 5 roll fixed at 180 deg - """ - - def __init__(self) -> None: - """Constructor for the KINEMATICS class.""" - # Robot arm segment lengths (in millimeters) - self.shoulder_length = ( - 302 # mm (perhaps rename to upper_arm, as shoulder is a joint) - ) - self.elbow_length = 289 # mm (perhaps rename to forearm, as elbo is a joint) - self.end_effector_length = ( - 162 # mm (???does this length terminate at the Tool Center Point?) - ) - - def forward_kinematics( - self, joint_states: list[float] - ) -> tuple[list[float], float, float]: - """ - Description: Calculates the forward kinematics for a given array of joint_states. - Parameters: - - joint_states : 6 joint states of the target location - Return: - - cartesian_coordinates: Returns the calculated cartesian coordinates of the given joint states (in millimeters) - - phi: Phi angle in degrees to be used for inverse kinematics - - joint_state[5]: The rail length. Needs to be subtracted from x axis if calculated coordinates will be fed into inverse kinematics - """ - - if joint_states[2] > 180: - adjusted_angle_j3 = ( - joint_states[2] - 360 - ) # Fixing the quadrant on the third joint. Joint 3 range is 10 to 350 instead of -180 to 180 - else: - adjusted_angle_j3 = joint_states[2] - - # Convert angles to radians - shoulder_angle = math.radians(joint_states[1]) # Joint 2 - elbow_angle = math.radians(joint_states[2]) # Joint 3 - gripper_angle = math.radians(joint_states[3]) # Joint 4 - - x = ( - self.shoulder_length * math.cos(shoulder_angle) - + self.elbow_length * math.cos(shoulder_angle + elbow_angle) - + self.end_effector_length - * math.cos(shoulder_angle + elbow_angle + gripper_angle) - ) - y = ( - self.shoulder_length * math.sin(shoulder_angle) - + self.elbow_length * math.sin(shoulder_angle + elbow_angle) - + self.end_effector_length - * math.sin(shoulder_angle + elbow_angle + gripper_angle) - ) - z = joint_states[0] - - phi = ( - math.degrees(shoulder_angle) - + adjusted_angle_j3 - + math.degrees(gripper_angle) - ) - - if phi > 0 and phi < 540: - yaw = phi % 360 - elif phi > 540 and phi < 720: - yaw = phi % 360 - 360 - elif phi > 720 and phi < 900: - yaw = phi % 720 - elif phi > 900 and phi < 1080: - yaw = phi % 720 - 720 - - cartesian_coordinates = self.get_cartesian_coordinates() - - cartesian_coordinates[0] = round(x, 3) + joint_states[5] - cartesian_coordinates[1] = round(y, 3) - cartesian_coordinates[2] = round(z, 3) - cartesian_coordinates[3] = round(yaw, 3) - - return cartesian_coordinates, round(phi, 3), joint_states[5] - - def inverse_kinematics( - self, - cartesian_coordinates: list, - phi: float, - rail: float = 0.0, - get_gripper_length: float = 123.0, - ) -> list[float]: - """ - Description: Calculates the inverse kinematics for a given array of cartesian coordinates. - Parameters: - - cartesian_coordinates: X/Y/Z Yaw/Pitch/Roll cartesian coordinates. - X axis has to be subtracted from the rail length before feeding into this function! - - Phi: Phi angle. Phi = Joint_2_angle + Joint_3_angle + Joint_4_angle - - Rail: Rail length (optional). If provided it will be subtracted from X axis. - Return: - - Joint angles: Calculated 6 new joint angles. - """ - - joint1 = cartesian_coordinates[2] - xe = cartesian_coordinates[0] - rail - ye = cartesian_coordinates[1] - - if phi < 360: - phi = cartesian_coordinates[3] - elif phi > 360 and phi < 540: - phi = cartesian_coordinates[3] + 360 - elif (phi > 540 and phi < 720) or (phi > 720 and phi < 900): - phi = cartesian_coordinates[3] + 720 - elif phi > 900 and phi < 1080: - phi = cartesian_coordinates[3] + 1440 - - phi_e = math.radians(phi) - - x_second_joint = xe - self.end_effector_length * math.cos(phi_e) - y_second_joint = ye - self.end_effector_length * math.sin(phi_e) - - radius = math.sqrt(x_second_joint**2 + y_second_joint**2) - gamma = math.acos( - ( - radius * radius - + self.shoulder_length * self.shoulder_length - - self.elbow_length * self.elbow_length - ) - / (2 * radius * self.shoulder_length) - ) - - theta2 = math.pi - math.acos( - ( - self.shoulder_length * self.shoulder_length - + self.elbow_length * self.elbow_length - - radius * radius - ) - / (2 * self.shoulder_length * self.elbow_length) - ) - theta1 = math.atan2(y_second_joint, x_second_joint) - gamma - theta3 = phi_e - theta1 - theta2 - - if cartesian_coordinates[1] > 0 or ( - cartesian_coordinates[1] < 0 - and math.degrees(theta1) < 0 - and abs(math.degrees(theta1)) < abs(math.degrees(theta1 + 2 * gamma)) - ): - # Robot is in the First Quadrant on the coordinate plane (x:+ , y:+) - joint2 = math.degrees(theta1) - joint3 = math.degrees( - theta2 - ) # Adding 360 degrees to Joint 3 to fix the pose. - joint4 = math.degrees(theta3) - - elif cartesian_coordinates[1] < 0: - # Robot is in the Forth Quadrant on the coordinate plane (x:+ , y:-) - # Use the joint angles for Forth Quadrant - joint2 = math.degrees(theta1 + 2 * gamma) - joint3 = ( - math.degrees(theta2 * -1) + 360 - ) # Adding 360 degrees to Joint 3 to fix the pose. - joint4 = math.degrees(theta3 + 2 * (theta2 - gamma)) - - return [joint1, joint2, joint3, joint4, get_gripper_length, rail] From deb066dbf0ad026c1371e345defffd0dfa739ccf Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 12 May 2026 17:08:20 -0700 Subject: [PATCH 15/29] Using new internal Kinematics --- src/pf400_interface/pf400.py | 568 ++++++++++++++--------------------- 1 file changed, 232 insertions(+), 336 deletions(-) diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index 23befa5..5e5e75c 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -"""Driver code for the PF400 robot arm.""" +"""Interface code for the PF400 robot arm.""" import copy import telnetlib @@ -20,11 +20,10 @@ Pf400ConnectionError, Pf400ResponseError, ) -from pf400_interface.pf400_kinematics import KINEMATICS -class PF400(KINEMATICS): - """Main Driver Class for the PF400 Robot Arm.""" +class PF400: + """Main Interface Class for the PF400 Robot Arm.""" slow_motion_profile = 1 fast_motion_profile = 2 @@ -79,9 +78,7 @@ def __init__( - Programs are sent to the 10x00 port (first robot port: 10100). - A program sent to robot will be executed immediately unless there is a prior operation running on the robot. - If a second motion command is sent while the referenced robot is moving, the second command is blocked and will not reply until the first motion is complete. - """ - super().__init__() # PF400 kinematics self.logger = logger or EventClient() self.host = host self.port = port @@ -92,12 +89,9 @@ def __init__( self.gripper_resource_id = gripper_resource_id self.command_lock = Lock() self.status_lock = Lock() - # Initialize robot self.connect() - self.configure_robot() - # Plate variables + self._configure_robot() - # Initialize neutral_joints as an instance attribute self.neutral_joints = [ 400.0, 1.400, @@ -109,14 +103,9 @@ def __init__( self.set_gripper_open() self.set_gripper_close() - self.logger.warn( - "HARD CODED ROTATION LOCATION IS DEPRECATED, USE rotation_deck WITH TRANSFER METHOD INSTEAD" - ) def connect(self) -> None: - """ - Description: Create a streaming socket to send string commands to the robot using telnetlib3. - """ + """Create a streaming socket to send string commands to the robot using telnetlib.""" try: self.robot_connection = telnetlib.Telnet(self.host, self.port, 5) # noqa: S312 self.status_connection = telnetlib.Telnet(self.host, self.status_port, 5) # noqa: S312 @@ -125,11 +114,11 @@ def connect(self) -> None: err_message=f"Failed to connect using telnetlib: {e}" ) from e - def configure_robot(self) -> None: + def _configure_robot(self) -> None: """Configures the robot by setting the mode and selecting the robot ID.""" - self.send_robot_command(f"mode {self.mode}") + self.send_command(f"mode {self.mode}") self.send_status_command(f"mode {self.mode}") - self.send_robot_command(f"selectRobot {self.robot_id}") + self.send_command(f"selectRobot {self.robot_id}") self.send_status_command(f"selectRobot {self.robot_id}") def disconnect(self) -> None: @@ -141,7 +130,7 @@ def disconnect(self) -> None: self.status_connection.close() self.status_connection = None - def send_robot_command(self, command: str) -> str: + def send_command(self, command: str) -> str: """ Sends a command to the robot and return the response. @@ -156,8 +145,7 @@ def send_robot_command(self, command: str) -> str: Returns: str: The response received from the robot. - - Raises: + Raises: Pf400ConnectionError: If no connection to the robot can be established. Pf400CommandError: If an AttributeError occurs during command execution. """ @@ -172,10 +160,10 @@ def send_robot_command(self, command: str) -> str: .rstrip("\r\n") ) if response != "" and response in ERROR_CODES: - self.handle_error_output(response) + self._handle_error_output(response) if response in OUTPUT_CODES: self.logger.log_debug(response) - self.await_movement_completion() + self._await_movement_completion() return response except AttributeError as e: raise Pf400CommandError(err_message="Attribute Error") from e @@ -184,10 +172,6 @@ def send_status_command(self, command: str) -> str: """ Sends a status command to the PF400 device and returns the response. - This method ensures thread-safe access using a lock, establishes a connection if needed, - writes the command to the status writer, and reads the response. It handles error and output - codes appropriately, logging or raising exceptions as necessary. - Args: command (str): The command string to send to the PF400 device. @@ -209,98 +193,70 @@ def send_status_command(self, command: str) -> str: .rstrip("\r\n") ) if response != "" and response in ERROR_CODES: - self.handle_error_output(response) + self._handle_error_output(response) if response in OUTPUT_CODES: self.logger.log_debug(response) return response except AttributeError as e: raise Pf400CommandError(err_message="Attribute Error") from e - def handle_error_output(self, output: str) -> None: - """ - Description: Handles the error message output - """ + def _parse_response(self, response: str) -> list[float]: + """Parse a TCS response string into a list of floats, stripping the leading status code.""" + parts = response.split(" ") + return [float(x) for x in parts[1:]] + + def _handle_error_output(self, output: str) -> None: + """Handles the error message output.""" response = Pf400ResponseError.from_error_code(output) self.logger.log_error(response) raise response def enable_power(self) -> str: - """ - Description: Enables the power on the robot - """ - return self.send_robot_command("hp 1 -1") + """Enables the power on the robot.""" + return self.send_command("hp 1 -1") def disable_power(self) -> str: - """ - Description: Disables the power on the robot - """ - return self.send_robot_command("hp 0") + """Disables the power on the robot.""" + return self.send_command("hp 0") - def split_response(self, response: str) -> list[str]: - """ - Description: Splits the response string into a list of strings. - Parameters: - - response: The response string to be split. - Returns: A list of strings. - """ + def _split_response(self, response: str) -> list[str]: + """Splits the response string into a list of strings.""" return response.split(" ") if response else [] def check_powered(self) -> bool: - """ - Description: Checks whether the robot power is on or off. - Returns: bool indicating whether the robot is powered on. - """ - self.power_state = self.split_response(self.send_status_command("hp"))[1] + """Checks whether the robot power is on or off.""" + self.power_state = self._split_response(self.send_status_command("hp"))[1] return self.power_state == "1" def check_attached(self) -> bool: - """ - Description: Checks whether the robot is attached or not. - Returns: bool indicating whether the robot is attached. - """ - self.attach_state = self.split_response(self.send_robot_command("attach"))[1] + """Checks whether the robot is attached or not.""" + self.attach_state = self._split_response(self.send_command("attach"))[1] return self.attach_state == "1" def check_homed(self) -> bool: - """ - Description: Checks whether the robot is homed or not. - Returns: bool indicating whether the robot is homed. - """ - self.home_state = self.split_response(self.send_status_command("pd 2800"))[1] + """Checks whether the robot is homed or not.""" + self.home_state = self._split_response(self.send_status_command("pd 2800"))[1] return self.home_state == "1" def check_system_state(self) -> str: - """ - Description: Checks the global system state code - Returns: The system state code as a string. - """ - self.system_state = self.send_robot_command("sysState") + """Checks the global system state code.""" + self.system_state = self.send_command("sysState") return self.system_state def attach_robot(self) -> str: - """ - Description: Attach to the robot to enable motion commands. - """ - return self.send_robot_command("attach 1") + """Attach to the robot to enable motion commands.""" + return self.send_command("attach 1") def detach_robot(self) -> str: - """ - Description: Detach from the robot to disable motion commands. - """ - return self.send_robot_command("attach 0") + """Detach from the robot to disable motion commands.""" + return self.send_command("attach 0") def home_robot(self) -> str: - """ - Description: Homes robot joints. Homing takes around 15 seconds. - """ - - return self.send_robot_command("home") + """Homes robot joints. Homing takes around 15 seconds.""" + return self.send_command("home") def initialize_robot(self) -> None: - """ - Description: Initializes the robot by calling enable_power, attach_robot, home_robot, set_profile functions and checks the robot state to find out if the initialization was successful - """ - + """Initializes the robot by calling enable_power, attach_robot, home_robot, set_profile functions.""" self.check_state() retry_count = 0 while self.power_state != "1" and retry_count < 5: @@ -327,70 +283,55 @@ def initialize_robot(self) -> None: self.get_robot_movement_state() def get_robot_movement_state(self) -> int: - """Checks the movement state of the robot - States: 0 = Power off - 1 = Stopped - 2 = Acceleration - 3 = Deceleration + """Checks the movement state of the robot. + + States: 0 = Power off, 1 = Stopped, 2 = Acceleration, 3 = Deceleration """ movement_state = self.send_status_command("state") self.movement_state = int(float(movement_state.split(" ")[1])) return self.movement_state - def await_movement_completion(self) -> None: - """Waits until the robot has finished moving""" + def _await_movement_completion(self) -> None: + """Waits until the robot has finished moving.""" while True: if self.get_robot_movement_state() <= 1: return time.sleep(0.1) def check_state(self) -> int: - """ - Description: Checks the various state values of the robot and returns False if any of the states are not initialized correctly. - """ - + """Checks the various state values of the robot.""" try: is_powered = self.check_powered() is_attached = self.check_attached() is_homed = self.check_homed() system_state = self.check_system_state() - system_state_ok = self.split_response(system_state)[1] == "21" + system_state_ok = self._split_response(system_state)[1] == "21" return is_powered and is_attached and is_homed and system_state_ok except Exception as e: self.logger.log_info(f"Exception during state check: {e}") return False def get_joint_states(self) -> list[float]: - """ - Description: Locates the robot and returns the joint locations for all 6 joints. - """ - states = self.send_robot_command("wherej") + """Locates the robot and returns the joint locations for all 6 joints.""" + states = self.send_command("wherej") joints = states.split(" ") joints = joints[1:] return [float(x) for x in joints] def get_cartesian_coordinates(self) -> list[float]: - """ - Description: This function finds the current cartesian coordinates and angles of the robot. - Return: A float array with x/y/z yaw/pitch/roll - """ - coordinates = self.send_robot_command("whereC") + """Returns the current Cartesian coordinates of the robot as [X, Y, Z, yaw, pitch, roll].""" + coordinates = self.send_command("whereC") coordinates_list = coordinates.split(" ") coordinates_list = coordinates_list[1:-1] return [float(x) for x in coordinates_list] - def get_gripper_position(self) -> float: + def get_gripper_state(self) -> float: """Returns the current position of the gripper.""" joint_angles = self.get_joint_states() return joint_angles[4] def set_profile(self, profile_dict: Optional[dict] = None) -> str: - """ - Description: Sets and saves the motion profiles (defined in robot data) to the robot. - If user defines a custom profile, this profile will saved onto motion profile 4 on the robot - Parameters: - - profile_dict: Custom motion profile - """ + """Sets and saves the motion profiles to the robot.""" if profile_dict is None: profile1 = "Profile 1" for value in MOTION_PROFILES[0].values(): @@ -401,16 +342,14 @@ def set_profile(self, profile_dict: Optional[dict] = None) -> str: profile3 = "Profile 3" for value in MOTION_PROFILES[2].values(): profile3 += " " + str(value) - - self.send_robot_command(profile1) - self.send_robot_command(profile2) - out_msg = self.send_robot_command(profile3) - + self.send_command(profile1) + self.send_command(profile2) + out_msg = self.send_command(profile3) elif len(profile_dict) == 8: profile4 = "Profile 4" for value in profile_dict.values(): profile4 += " " + str(value) - out_msg = self.send_robot_command(profile4) + out_msg = self.send_command(profile4) else: raise Exception( f"Motion profile takes 8 arguments, {len(profile_dict)} where given" @@ -429,33 +368,21 @@ def gripper_close(self) -> int: def set_gripper_open(self, gripper_length: Optional[int] = None) -> None: """Configure the definition of gripper open.""" - self.send_robot_command(f"GripOpenPos {gripper_length or self.gripper_open}") + self.send_command(f"GripOpenPos {gripper_length or self.gripper_open}") def set_gripper_close(self, gripper_length: Optional[int] = None) -> None: """Configure the definition of gripper close.""" - self.send_robot_command(f"GripClosePos {gripper_length or self.gripper_close}") + self.send_command(f"GripClosePos {gripper_length or self.gripper_close}") def grab_plate( self, width: Optional[int] = None, speed: int = 100, force: int = 10 ) -> bool: - """ - Description: - Grabs the plate by applying additional force - Parameters: - - width: Plate width, in mm. Should be accurate to within about 1 mm. - - speed: Percent speed to open fingers. 1 to 100. - - Force: Maximum gripper squeeze force, in Nt. - A positive value indicates the fingers must close to grasp. - A negative value indicates the fingers must open to grasp. - Returns: - True if the plate was successfully grabbed, False otherwise. - """ + """Grabs the plate by applying additional force.""" if width is None: width = self.gripper_close - grab_plate_status = self.send_robot_command( + grab_plate_status = self.send_command( f"GraspPlate {width} {speed} {force}" ).split(" ") - if grab_plate_status[1] == "0": return False if grab_plate_status[1] == "-1": @@ -468,23 +395,12 @@ def grab_plate( ) def release_plate(self, width: Optional[int] = None, speed: int = 100) -> bool: - """ - Description: - Release the plate - Parameters: - - width: Open width, in mm. Larger than the widest corners of the plates. - If None, uses the default gripper_open value based on grip_wide setting. - - speed: Percent speed to open fingers. 1 to 100. - Returns: - True if the gripper successfully opened to the target width, False otherwise. - """ + """Release the plate.""" if width is None: width = self.gripper_open - - release_plate_status = self.send_robot_command( - f"ReleasePlate {width} {speed}" - ).split(" ") - + release_plate_status = self.send_command(f"ReleasePlate {width} {speed}").split( + " " + ) if release_plate_status[0] != "0": self.logger.log_error( f"Unexpected response from ReleasePlate: {release_plate_status[0]}" @@ -492,80 +408,145 @@ def release_plate(self, width: Optional[int] = None, speed: int = 100) -> bool: raise Pf400ResponseError( f"Unexpected response from ReleasePlate command: {release_plate_status[0]}." ) - - # Verify gripper opened to target width - current_gripper_position = self.get_gripper_position() - + current_gripper_position = self.get_gripper_state() if abs(current_gripper_position - width) <= 5: return True - self.logger.log_error( f"Gripper failed to open to target width. Expected: {width}, Got: {current_gripper_position}" ) return False def open_gripper(self, gripper_length: Optional[int] = None) -> float: - """Opens the gripper""" + """Opens the gripper.""" self.set_gripper_open(gripper_length=gripper_length) - self.send_robot_command("gripper 1") - return self.get_gripper_position() + self.send_command("gripper 1") + return self.get_gripper_state() def close_gripper(self, gripper_length: Optional[int] = None) -> float: - """Closes the gripper""" + """Closes the gripper.""" self.set_gripper_close(gripper_length=gripper_length) - self.send_robot_command("gripper 2") - return self.get_gripper_position() + self.send_command("gripper 2") + return self.get_gripper_state() + + # ------------------------------------------------------------------------- + # Kinematics -- implemented via custom TCS server commands (Custom.gpl) + # ------------------------------------------------------------------------- + + def joint_to_cart(self, joint_states: list[float]) -> list[float]: + """Forward kinematics (FK): convert joint angles to Cartesian coordinates. + + Calls the JointToCart custom TCS command which uses the robot's internal + KineSol method. The rail offset is handled automatically inside the command. + + Args: + joint_states: 6 joint values [j1, j2, j3, j4, j5, rail] + + Returns: + Cartesian coordinates as [X, Y, Z, yaw, pitch, roll] + """ + j1, j2, j3, j4, j5, rail = joint_states + response = self.send_command(f"JointToCart {j1} {j2} {j3} {j4} {j5} {rail}") + return self._parse_response(response) - def set_plate_rotation( - self, joint_states: list[float], rotation_degree: float = 0 + def cart_to_joint( + self, cartesian_coordinates: list[float], rail: float ) -> list[float]: + """Inverse kinematics (IK): convert Cartesian coordinates to joint angles. + + Calls the CartToJoint custom TCS command which uses the robot's internal + KineSol method. The rail position must be passed explicitly so the command + can subtract it from X before running IK, then return it as j6. + + Args: + cartesian_coordinates: [X, Y, Z, yaw, pitch, roll] in world coordinates + rail: Rail position in mm (j6 from wherej) + + Returns: + Joint angles as [j1, j2, j3, j4, j5, rail] """ - Description: - Parameters: - - joint_states: - - rotation_degree: - Note: If the rotation requires changing the "Quadrant" on the coordinate plane, - inverse kinematics calculation will be calculated wrong! + x, y, z, yaw, pitch, roll = cartesian_coordinates + response = self.send_command( + f"CartToJoint {x} {y} {z} {yaw} {pitch} {roll} {rail}" + ) + return self._parse_response(response) + + def rotate_yaw(self, joint_states: list[float], rotation_deg: float) -> list[float]: + """Rotate the end effector yaw at a given joint location. + + Calls the RotateLoc custom TCS command which internally runs FK, applies + the yaw rotation, then runs IK to return the new joint angles. Use this + to switch between narrow and wide microplate orientations without saving + duplicate locations. + + Args: + joint_states: 6 joint values [j1, j2, j3, j4, j5, rail] + rotation_deg: Yaw rotation to apply in degrees, typically 90 or -90 + + Returns: + New joint angles as [j1, j2, j3, j4, j5, rail] """ - cartesian_coordinates, phi_angle, rail_pos = self.forward_kinematics( - joint_states + j1, j2, j3, j4, j5, rail = joint_states + response = self.send_command( + f"RotateLoc {j1} {j2} {j3} {j4} {j5} {rail} {rotation_deg}" ) - # Fixing the orientation offset here - if rotation_degree == -90: # Yaw 90 to 0 degrees: - cartesian_coordinates[1] += 4 - cartesian_coordinates[0] += 29 - elif rotation_degree == 90: - cartesian_coordinates[1] -= 4 - cartesian_coordinates[0] -= 29 - - if cartesian_coordinates[1] < 0: - # Location is on the right side of the robot - cartesian_coordinates[3] += rotation_degree - elif cartesian_coordinates[1] > 0 and joint_states[1]: - cartesian_coordinates[3] -= rotation_degree - - return self.inverse_kinematics(cartesian_coordinates, phi_angle, rail_pos) + return self._parse_response(response) + + def move_with_rotation( + self, + joint_states: list[float], + rotation_deg: float, + profile: int = 2, + ) -> str: + """Move the end effector to a location with a yaw rotation applied. + + Computes the rotated Cartesian location using FK and the given rotation, + then moves to it using MoveC (straight line Cartesian motion). This avoids + IK ambiguity by letting the robot's internal motion controller handle the + joint configuration along the straight line path. + + Args: + joint_states: 6 joint values [j1, j2, j3, j4, j5, rail] + rotation_deg: Yaw rotation to apply in degrees, typically 90 or -90 + profile: Motion profile index, defaults to fast profile (2) + + Returns: + Robot response string + """ + cart = self.joint_to_cart(joint_states) + cart[3] += rotation_deg + # Normalize yaw to -180 to 180 + if cart[3] > 180: + cart[3] -= 360 + elif cart[3] < -180: + cart[3] += 360 + return self.move_cartesian(cart, profile=profile) + + # ------------------------------------------------------------------------- + # Motion + # ------------------------------------------------------------------------- def check_incorrect_plate_orientation( - self, goal_location: list[float], goal_rotation: list[float] + self, goal_location: list[float], goal_rotation: float ) -> list[float]: + """Fix plate rotation on the goal location if recorded with incorrect orientation. + + Args: + goal_location: 6 joint values for the goal location + goal_rotation: Expected rotation angle in degrees (0 or 90) + + Returns: + Corrected joint angles if orientation was wrong, otherwise unchanged. """ - Description: Fixes plate rotation on the goal location if it was recorded with an incorrect orientation. - Parameters: - - goal_location - - goal_rotation - Return: - goal_location: - - New goal location if the incorrect orientation was found. - - Same goal location if there orientation was correct. - """ - # This will fix plate rotation on the goal location if it was recorded with an incorrect orientation - cartesian_goal, _phi_source, _rail_source = self.forward_kinematics( - goal_location - ) - # Checking yaw angle - if goal_rotation != 0 and cartesian_goal[3] > -10 and cartesian_goal[3] < 10: - goal_location = self.set_plate_rotation(goal_location, goal_rotation) + if goal_rotation == 0: + return goal_location + + cart = self.joint_to_cart(goal_location) + yaw = cart[3] + + # If yaw is close to 0 but rotation is expected, the location was saved + # with the wrong orientation and needs to be corrected + if -10 < yaw < 10: + return self.rotate_yaw(goal_location, goal_rotation) return goal_location @@ -576,39 +557,31 @@ def move_joint( gripper_close: bool = False, gripper_open: bool = False, ) -> str: - """ - Description: Creates the movement commands with the given robot_location, profile, gripper closed and gripper open info - Parameters: - - target: Which location the PF400 will move. - - profile: Motion profile ID. - - gripper_close: If set to TRUE, gripper is closed. If set to FALSE, gripper position will remain same as the previous location. - - gripper_open: If set to TRUE, gripper is opened. If set to FALSE, gripper position will remain same as the previous location. - Return: Returns the created movement command in string format - """ + """Move the robot to a joint angle location. - # Checking unpermitted gripper command - # add check gripper here and remove gripper open/close from state + Args: + target_joint_angles: Target joint angles [j1, j2, j3, j4, j5, rail] + profile: Motion profile ID + gripper_close: If True, gripper is closed before moving + gripper_open: If True, gripper is opened before moving + """ if gripper_close and gripper_open: raise Exception("Gripper cannot be open and closed at the same time!") - - # Setting the gripper location to open or close. If there is no gripper position passed in, target_joint_angles will be used. if gripper_close: target_joint_angles[4] = self.gripper_close elif gripper_open: target_joint_angles[4] = self.gripper_open else: - target_joint_angles[4] = self.get_gripper_position() - + target_joint_angles[4] = self.get_gripper_state() move_command = ( "movej" + " " + str(profile) + " " + " ".join(map(str, target_joint_angles)) ) - - return self.send_robot_command(move_command) + return self.send_command(move_command) def move_cartesian( self, target_cartesian_coordinates: list[float], profile: int = 2 ) -> str: - """Move the arm to a target location in cartesian coordinates.""" + """Move the arm to a target location in Cartesian coordinates.""" move_command = ( "MoveC" + " " @@ -616,29 +589,16 @@ def move_cartesian( + " " + " ".join(map(str, target_cartesian_coordinates)) ) - - return self.send_robot_command(move_command) + return self.send_command(move_command) def move_in_one_axis( self, profile: int = 1, axis_x: int = 0, axis_y: int = 0, axis_z: int = 0 ) -> str: - """ - Description: Moves the end effector on single axis with a goal movement in millimeters. - Parameters: - - axis_x : Goal movement on x axis in mm - - axis_y : Goal movement on y axis in mm - - axis_z : Goal movement on z axis in mm - Returns: A string response from the robot indicating the result of the move command. - """ - - # Find the cartesian coordinates of the target joint states + """Move the end effector on a single axis by a given distance in mm.""" cartesian_coordinates = self.get_cartesian_coordinates() - - # Move end effector on the single axis cartesian_coordinates[0] += axis_x cartesian_coordinates[1] += axis_y cartesian_coordinates[2] += axis_z - move_command = ( "MoveC" + " " @@ -646,15 +606,11 @@ def move_in_one_axis( + " " + " ".join(map(str, cartesian_coordinates)) ) - return self.send_robot_command(move_command) + return self.send_command(move_command) def move_gripper_safe_zone(self) -> None: - """ - Description: Check if end effector is outside the safe boundaries. If it is, move it on the y axis first to prevent collisions with the module frames. - """ - + """Check if end effector is outside safe boundaries and move it in if needed.""" current_cartesian_coordinates = self.get_cartesian_coordinates() - if current_cartesian_coordinates[1] <= self.safe_left_boundary: y_distance = self.safe_left_boundary - current_cartesian_coordinates[1] self.move_in_one_axis(profile=self.slow_motion_profile, axis_y=y_distance) @@ -663,55 +619,40 @@ def move_gripper_safe_zone(self) -> None: self.move_in_one_axis(profile=self.slow_motion_profile, axis_y=y_distance) def move_gripper_neutral(self) -> None: - """ - Description: Move end effector to neutral position - """ - + """Move end effector to neutral position.""" self.move_gripper_safe_zone() gripper_neutral = self.get_joint_states() gripper_neutral[3] = self.neutral_joints[3] - self.move_joint(gripper_neutral, self.slow_motion_profile) def move_arm_neutral(self) -> None: - """ - Description: Move arm to neutral position - """ + """Move arm to neutral position.""" arm_neutral = self.neutral_joints current_location = self.get_joint_states() arm_neutral[0] = current_location[0] arm_neutral[5] = current_location[5] - self.move_joint(arm_neutral, self.slow_motion_profile) def move_rails_neutral( self, v_rail: Optional[float] = None, h_rail: Optional[float] = None ) -> None: - """Setting the target location's linear rail position for pf400_neutral""" - + """Move rails to neutral position.""" current_location = self.get_joint_states() - if not v_rail: - v_rail = current_location[0] # Keep the vertical rail same + v_rail = current_location[0] if not h_rail: - h_rail = current_location[5] # Keep the horizontal rail same - + h_rail = current_location[5] self.neutral_joints[5] = h_rail self.move_joint(self.neutral_joints, self.fast_motion_profile) self.neutral_joints[0] = v_rail + self.default_approach_height self.move_joint(self.neutral_joints, self.slow_motion_profile) def move_all_joints_neutral(self, target: Optional[list[float]] = None) -> None: - """ - Description: Move all joints to neutral position - """ + """Move all joints to neutral position.""" if target is None: target = self.get_joint_states() - # First move end effector to it's nuetral position self.move_gripper_neutral() - # Setting an arm neutral position without moving the horizontal & vertical rails self.move_arm_neutral() - # Setting the target location's linear rail position for pf400_neutral self.move_rails_neutral(target[0], target[5]) def remove_lid( @@ -726,10 +667,9 @@ def remove_lid( grab_offset: Optional[float] = None, approach_height_offset: Optional[float] = None, ) -> None: - """Remove the lid from the plate""" + """Remove the lid from the plate.""" source.representation = copy.deepcopy(source.representation) source.representation[0] += lid_height - self.transfer( source=source, target=target, @@ -753,10 +693,9 @@ def replace_lid( grab_offset: Optional[float] = None, approach_height_offset: Optional[float] = None, ) -> None: - """Replace the lid on the plate""" + """Replace the lid on the plate.""" target.representation = copy.deepcopy(target.representation) target.representation[0] += lid_height - self.transfer( source=source, target=target, @@ -771,17 +710,13 @@ def replace_lid( def rotate_plate_on_deck( self, rotation_degree: int, rotation_deck: Optional[LocationArgument] = None ) -> None: - """ - Description: Uses the rotation deck to rotate the plate between two transfers - Parameters: - rotation_degree: Rotation degree. - """ + """Use the rotation deck to rotate the plate between two transfers.""" if not rotation_deck: raise ValueError("Rotation deck location must be provided.") target = rotation_deck.representation - # Fixing the offset on the z axis if rotation_degree == -90: - target = self.set_plate_rotation(target, -rotation_degree) + target = self.rotate_yaw(target, -rotation_degree) above_position = list(map(add, target, self.default_approach_vector)) @@ -807,8 +742,7 @@ def rotate_plate_on_deck( ) self.open_gripper(self.gripper_open_wide) - # Rotating gripper to grab the plate from other rotation - target = self.set_plate_rotation(target, rotation_degree) + target = self.rotate_yaw(target, rotation_degree) above_position = list(map(add, target, self.default_approach_vector)) self.move_joint( target_joint_angles=above_position, profile=self.slow_motion_profile @@ -838,11 +772,8 @@ def rotate_plate_on_deck( self.move_all_joints_neutral(target) def _handle_approach_location(self, approach: LocationArgument) -> None: - """ - Handle moving to an approach location, whether single or multiple. - """ + """Handle moving to an approach location, whether single or multiple.""" if isinstance(approach.representation[0], list): - # Multiple approach locations provided self.move_all_joints_neutral(approach.representation[0]) for location in approach.representation: self.move_joint( @@ -850,7 +781,6 @@ def _handle_approach_location(self, approach: LocationArgument) -> None: profile=self.fast_motion_profile, ) else: - # Single approach location provided self.move_all_joints_neutral(approach.representation) self.move_joint( target_joint_angles=approach.representation, @@ -858,11 +788,7 @@ def _handle_approach_location(self, approach: LocationArgument) -> None: ) def _handle_approach_return(self, approach: LocationArgument) -> None: - """ - Handle returning from an approach location, whether single or multiple. - Uses straight motion profile for the first approach location (closest to target), - and fast motion profile for remaining approach locations. - """ + """Handle returning from an approach location, whether single or multiple.""" if isinstance(approach.representation[0], list): for index, location in enumerate(reversed(approach.representation)): motion_profile = ( @@ -888,22 +814,16 @@ def _calculate_above_position( approach_height_offset: Optional[float] = None, grab_height_offset: Optional[float] = None, ) -> list: - """ - Calculate the position above a target with optional height offset. - """ + """Calculate the position above a target with optional height offset.""" above_offset = copy.deepcopy(self.default_approach_vector) - if approach_height_offset: above_offset[0] += approach_height_offset if grab_height_offset: above_offset[0] += grab_height_offset - return list(map(add, position, above_offset)) def _apply_grab_offset(self, position: list, grab_offset: float) -> list: - """ - Apply grab offset to a position. - """ + """Apply grab offset to a position.""" position = copy.deepcopy(position) position[0] += grab_offset return position @@ -916,11 +836,7 @@ def pick_plate( approach_height_offset: Optional[float] = None, grip_width: Optional[int] = None, ) -> bool: - """ - Pick a plate from the source location, optionally using an approach location. - - Returns True if the plate was successfully grabbed, False otherwise. - """ + """Pick a plate from the source location.""" above_position = self._calculate_above_position( source.representation, approach_height_offset, grab_offset ) @@ -979,9 +895,7 @@ def place_plate( approach_height_offset: Optional[float] = None, open_width: Optional[int] = None, ) -> bool: - """ - Place a plate in the target location - """ + """Place a plate in the target location.""" above_position = self._calculate_above_position( target.representation, approach_height_offset, grab_offset ) @@ -1040,19 +954,11 @@ def move_to_location( grab_offset: Optional[float] = None, approach_height_offset: Optional[float] = None, ) -> None: - """ - Move to a target location for testing/calibration purposes. - - Follows the same approach and descend sequence as pick_plate, but keeps the - gripper open (unless holding a plate) and does not grip/release or change - resource state. Stays at the target position so the user can inspect and - adjust calibration. Use move_all_joints_neutral() to retract afterward. - """ + """Move to a target location for testing/calibration purposes.""" above_position = self._calculate_above_position( target.representation, approach_height_offset, grab_offset ) - # Check if the gripper is currently holding a plate holding_plate = ( self.resource_client and len( @@ -1061,7 +967,6 @@ def move_to_location( > 0 ) - # Only open gripper if not holding a plate (prevent dropping labware) if not holding_plate: self.open_gripper() @@ -1088,12 +993,7 @@ def move_to_location( ) def move_neutral(self, height_offset: Optional[float] = None) -> None: - """ - Retract upward and move to neutral position. - - Retracts the arm upward by height_offset (defaults to default_approach_height) - before moving to neutral, mirroring the retract step in pick_plate/place_plate. - """ + """Retract upward and move to neutral position.""" retract_height = ( height_offset if height_offset is not None else self.default_approach_height ) @@ -1116,26 +1016,25 @@ def transfer( source_approach_height_offset: Optional[float] = None, target_approach_height_offset: Optional[float] = None, ) -> bool: - """ - Description: Plate transfer function that performs series of movements to pick and place the plates - Parameters: - - source: Source location - - target: Target location - - source_approach: Approach location for source - - target_approach: Approach location for target - - source_plate_rotation: narrow or wide - - target_plate_rotation: narrow or wide - - rotation_deck: Location for plate rotation deck - - grab_offset: Add grab height offset - - source_approach_height_offset: Add source approach height offset - - target_approach_height_offset: Add target approach height offset - - Note: Plate rotation defines the rotation of the plate on the deck, not the grabbing angle. + """Plate transfer function that performs series of movements to pick and place the plates. + + Args: + source: Source location + target: Target location + source_approach: Approach location for source + target_approach: Approach location for target + source_plate_rotation: 'narrow', 'wide', or '' + target_plate_rotation: 'narrow', 'wide', or '' + rotation_deck: Location for plate rotation deck + grab_offset: Add grab height offset + source_approach_height_offset: Add source approach height offset + target_approach_height_offset: Add target approach height offset + + Note: Plate rotation defines the rotation of the plate on the deck, not the grabbing angle. """ source = copy.deepcopy(source) target = copy.deepcopy(target) - # Validate rotation arguments for rotation_arg in [source_plate_rotation, target_plate_rotation]: if rotation_arg.lower() not in ["wide", "narrow", ""]: raise ValueError( @@ -1143,7 +1042,6 @@ def transfer( "Expected 'wide', 'narrow', or ''." ) - # Determine source rotation (0 or 90 degrees) plate_source_rotation = 90 if source_plate_rotation.lower() == "wide" else 0 self.grip_wide = source_plate_rotation.lower() == "wide" @@ -1164,14 +1062,12 @@ def transfer( self.logger.error("Transfer failed: no plate detected after picking.") return False - # Determine target rotation (0 or 90 degrees) plate_target_rotation = 90 if target_plate_rotation.lower() == "wide" else 0 self.grip_wide = target_plate_rotation.lower() == "wide" target.representation = self.check_incorrect_plate_orientation( target.representation, plate_target_rotation ) - # Rotate plate if needed rotation_needed = plate_target_rotation - plate_source_rotation if rotation_needed != 0: self.rotate_plate_on_deck( From 65053add554b06f5b1014761bb3dda837134a6a0 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 12 May 2026 17:09:30 -0700 Subject: [PATCH 16/29] Custom TCS server methods --- scripts/custom_tcs_server/Custom.gpl | 314 +++++++++++++++++++++++++++ 1 file changed, 314 insertions(+) create mode 100644 scripts/custom_tcs_server/Custom.gpl diff --git a/scripts/custom_tcs_server/Custom.gpl b/scripts/custom_tcs_server/Custom.gpl new file mode 100644 index 0000000..cec7aee --- /dev/null +++ b/scripts/custom_tcs_server/Custom.gpl @@ -0,0 +1,314 @@ +#Region "Module CustomCommands" +' Copyright (c) 2012 by Precise Automation Inc. All rights reserved. +' ======================================================================= +' Permission is granted to customers of Precise Automation to use this +' software for any purpose, including commercial applications, and to +' alter it and redistribute it freely, so long as this notice is included +' with any modified or unmodified version of this software. +' +' This software is provided "as is," without warranty of any kind, express or +' implied. In no event shall Precise Automation be held liable for any +' direct, indirect, incidental, special or consequential damages arising +' out of the use of or inability to use this software. +' ======================================================================= + +Module CustomCommands + +' Custom commands for RPL Argonne National Laboratory +' +' Commands implemented: +' +' JointToCart +' Forward kinematics (FK): converts joint angles to a Cartesian location. +' Rail offset is added to X so the result matches wherec world coordinates. +' Returns: X Y Z yaw pitch roll +' +' CartToJoint +' Inverse kinematics (IK): converts a Cartesian location to joint angles. +' Robot configuration is read from the robot automatically. +' Rail is passed explicitly and subtracted from X before IK. +' Returns: j1 j2 j3 j4 j5 rail +' +' RotateLoc +' Rotates the end effector by rotation_deg around the Z axis (yaw) at the +' given joint location. Internally runs FK, applies the rotation, then runs +' IK to compute the new joint angles. Useful for switching between narrow +' and wide microplate orientations without saving duplicate locations. +' Returns: j1 j2 j3 j4 j5 rail + + Private Const Version As String = "RPL Custom Module 2.0" + Public Custom_global_value As Integer + Public Custom_robot_array(N_ROB) As Integer + +#End Region +#Region "Init" +' Init -- Module Initialization + + Public Sub Init() + Custom_global_value = 123 + Command.AddPlugin(Version, "CustomCommands") + End Sub + +#End Region +#Region "Hook_InitCommand" +' Hook_InitCommand -- Initialization routine called when a command object is created + + Public Sub Hook_InitCommand(ByVal Cmd As Command, ByRef Reply As String) + + If Cmd.Rob.RobNum = 0 Then + GoTo _exit ' No robot + End If + + Custom_robot_array(Cmd.Rob.RobNum) = Cmd.Rob.RobNum + 1000 + + _exit: + Return + End Sub + +#End Region +#Region "Cmd_JointToCart" +' Cmd_JointToCart -- Convert joint angles to Cartesian location (Forward Kinematics, FK) +' +' SYNOPSIS: +' JointToCart +' +' INPUTS: +' j1 Tower Z joint angle in degrees +' j2..j5 Remaining arm joint angles in degrees +' rail Rail position in mm (j6) +' +' OUTPUTS: +' Reply: "0 X Y Z yaw pitch roll" on success +' "-error_code, message" on failure +' +' NOTE: X includes the rail offset so the result matches wherec world coordinates. +' +' EXAMPLE: +' wherej -> 0 176.539 1.4 177.05 537.273 70.803 -967.609 +' Send: JointToCart 176.539 1.4 177.05 537.273 70.803 -967.609 +' Receive: 0 -811.497 24.550 176.539 -4.277 90.000 180.000 + + Public Sub Cmd_JointToCart(ByVal Cmd As Command, ByRef Reply As String) + + Dim joint_loc As New Location + Dim cart_loc As New Location + Dim rail_pos As Double + + If Cmd.Nparm <> 6 Then + Reply = "-1, JointToCart requires 6 parameters: j1 j2 j3 j4 j5 rail" + Return + End If + + Cmd.StringtoDouble(0) + + ' Build joint angle location from the 5 arm joints + joint_loc.Angles( _ + Cmd.cData(1), _ + Cmd.cData(2), _ + Cmd.cData(3), _ + Cmd.cData(4), _ + Cmd.cData(5) _ + ) + + rail_pos = Cmd.cData(6) + + ' Select robot so KineSol can use its kinematic model + Robot.Selected = Cmd.Rob.RobNum + + ' Forward kinematics: convert joint angles to Cartesian + ' mode=1 ignores conversion errors (joint out of range, etc.) + cart_loc = joint_loc.KineSol(1) + + ' Add rail offset to X to match wherec world coordinates + cart_loc.X = cart_loc.X + rail_pos + + Reply = "0 " & _ + Format(cart_loc.X, "0.000") & " " & _ + Format(cart_loc.Y, "0.000") & " " & _ + Format(cart_loc.Z, "0.000") & " " & _ + Format(cart_loc.Yaw, "0.000") & " " & _ + Format(cart_loc.Pitch, "0.000") & " " & _ + Format(cart_loc.Roll, "0.000") + + End Sub + +#End Region +#Region "Cmd_CartToJoint" +' Cmd_CartToJoint -- Convert Cartesian location to joint angles (Inverse Kinematics, IK) +' +' SYNOPSIS: +' CartToJoint +' +' INPUTS: +' X Y Z Cartesian position in mm (world coordinates, including rail offset) +' yaw pitch roll Orientation in degrees +' rail Rail position in mm (j6 from wherej), used to remove rail offset from X +' +' NOTE: Robot configuration is read automatically from Robot.Where.Config. +' Rail is subtracted from X before IK so the kinematic model works in arm-local space. +' Rail is returned unchanged as the last value in the output. +' +' OUTPUTS: +' Reply: "0 j1 j2 j3 j4 j5 rail" on success +' "-error_code, message" on failure +' +' EXAMPLE: +' wherec -> 0 434.606 365.118 357.127 -4.839 90 180 1 +' wherej -> 0 357.127 13.669 84.86 616.632 70.785 40.839 +' Send: CartToJoint 434.606 365.118 357.127 -4.839 90 180 40.839 +' Receive: 0 357.127 13.669 84.860 616.632 70.785 40.839 + + Public Sub Cmd_CartToJoint(ByVal Cmd As Command, ByRef Reply As String) + + Dim cart_loc As New Location + Dim joint_loc As New Location + Dim rail_pos As Double + + If Cmd.Nparm <> 7 Then + Reply = "-1, CartToJoint requires 7 parameters: X Y Z yaw pitch roll rail" + Return + End If + + Cmd.StringtoDouble(0) + + rail_pos = Cmd.cData(7) + + ' Build Cartesian location by setting each property individually + ' Subtract rail offset from X so KineSol works in arm-local coordinates + cart_loc.X = Cmd.cData(1) - rail_pos + cart_loc.Y = Cmd.cData(2) + cart_loc.Z = Cmd.cData(3) + cart_loc.Yaw = Cmd.cData(4) + cart_loc.Pitch = Cmd.cData(5) + cart_loc.Roll = Cmd.cData(6) + + ' Read config from the robot's current position + cart_loc.Config = Robot.Where.Config + + ' Select robot so KineSol can use its kinematic model + Robot.Selected = Cmd.Rob.RobNum + + ' Build a 5-axis joint hint from the robot's current position + ' This is passed to KineSol so the solver stays close to the current + ' configuration and avoids jumping to equivalent but distant solutions + ' for multi-turn axes like j4. Rail axis is excluded as KineSol only + ' works on the 5 arm axes. + Dim hint_loc As New Location + hint_loc.Angles( _ + Robot.WhereAngles.Angle(1), _ + Robot.WhereAngles.Angle(2), _ + Robot.WhereAngles.Angle(3), _ + Robot.WhereAngles.Angle(4), _ + Robot.WhereAngles.Angle(5) _ + ) + + ' Inverse kinematics: convert Cartesian to joint angles + ' Pass hint so solver stays close to current configuration + joint_loc = cart_loc.KineSol(1, hint_loc) + + Reply = "0 " & _ + Format(joint_loc.Angle(1), "0.000") & " " & _ + Format(joint_loc.Angle(2), "0.000") & " " & _ + Format(joint_loc.Angle(3), "0.000") & " " & _ + Format(joint_loc.Angle(4), "0.000") & " " & _ + Format(joint_loc.Angle(5), "0.000") & " " & _ + Format(rail_pos, "0.000") + + End Sub + +#End Region +#Region "Cmd_RotateLoc" +' Cmd_RotateLoc -- Rotate end effector at a joint location by a given angle (FK + IK) +' +' Internally this command runs forward kinematics (FK) to convert the joint angles +' to Cartesian space, applies the rotation to the yaw axis, then runs inverse +' kinematics (IK) to return the new joint angles. This allows switching between +' narrow and wide microplate orientations without saving duplicate locations. +' +' SYNOPSIS: +' RotateLoc +' +' INPUTS: +' j1 Tower Z joint angle in degrees +' j2..j5 Remaining arm joint angles in degrees +' rail Rail position in mm (j6) +' rotation_deg Yaw rotation to apply in degrees (e.g. 90 or -90) +' +' OUTPUTS: +' Reply: "0 j1 j2 j3 j4 j5 rail" on success +' "-error_code, message" on failure +' +' EXAMPLE: +' wherej -> 0 176.539 1.4 177.05 537.273 70.803 -967.609 +' Send: RotateLoc 176.539 1.4 177.05 537.273 70.803 -967.609 90 +' Receive: 0 176.539 1.400 177.050 447.273 70.803 -967.609 + + Public Sub Cmd_RotateLoc(ByVal Cmd As Command, ByRef Reply As String) + + Dim joint_loc As New Location + Dim cart_loc As New Location + Dim result_loc As New Location + Dim rail_pos As Double + Dim rot_deg As Double + Dim new_yaw As Double + + If Cmd.Nparm <> 7 Then + Reply = "-1, RotateLoc requires 7 parameters: j1 j2 j3 j4 j5 rail rotation_deg" + Return + End If + + Cmd.StringtoDouble(0) + + ' Build joint angle location from the 5 arm joints + joint_loc.Angles( _ + Cmd.cData(1), _ + Cmd.cData(2), _ + Cmd.cData(3), _ + Cmd.cData(4), _ + Cmd.cData(5) _ + ) + + rail_pos = Cmd.cData(6) + rot_deg = Cmd.cData(7) + + ' Select robot so KineSol can use its kinematic model + Robot.Selected = Cmd.Rob.RobNum + + ' Step 1: Forward kinematics, convert joint angles to Cartesian + cart_loc = joint_loc.KineSol(1) + + ' Add rail offset to X to work in world coordinates + cart_loc.X = cart_loc.X + rail_pos + + ' Step 2: Apply yaw rotation and normalize to -180 to 180 range + new_yaw = cart_loc.Yaw + rot_deg + If new_yaw > 180.0 Then + new_yaw = new_yaw - 360.0 + End If + If new_yaw < -180.0 Then + new_yaw = new_yaw + 360.0 + End If + cart_loc.Yaw = new_yaw + + ' Step 3: Inverse kinematics, convert rotated Cartesian back to joint angles + ' Subtract rail offset from X so KineSol works in arm-local coordinates + ' Pass input joint angles as hint so solver stays close to original configuration + ' This prevents j4 (and other multi-turn axes) from jumping to an equivalent + ' but physically distant solution + cart_loc.X = cart_loc.X - rail_pos + cart_loc.Config = Robot.Where.Config + result_loc = cart_loc.KineSol(1, joint_loc) + + Reply = "0 " & _ + Format(result_loc.Angle(1), "0.000") & " " & _ + Format(result_loc.Angle(2), "0.000") & " " & _ + Format(result_loc.Angle(3), "0.000") & " " & _ + Format(result_loc.Angle(4), "0.000") & " " & _ + Format(result_loc.Angle(5), "0.000") & " " & _ + Format(rail_pos, "0.000") + + End Sub + +#End Region + +End Module From 01dfed3123544ae77e9067c71ef149d758502ad0 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 12 May 2026 17:12:20 -0700 Subject: [PATCH 17/29] TCS instructions --- scripts/custom_tcs_server/TCS_Instructions.md | 96 +++++++++++++++++++ 1 file changed, 96 insertions(+) create mode 100644 scripts/custom_tcs_server/TCS_Instructions.md diff --git a/scripts/custom_tcs_server/TCS_Instructions.md b/scripts/custom_tcs_server/TCS_Instructions.md new file mode 100644 index 0000000..269b6e4 --- /dev/null +++ b/scripts/custom_tcs_server/TCS_Instructions.md @@ -0,0 +1,96 @@ +# Deploying Custom.gpl to the PF400 TCS Server + +This document describes how to update the PF400 robot's TCS server with a new version of `Custom.gpl`. +`Custom.gpl` adds three custom kinematic commands to the TCS server: `JointToCart`, `CartToJoint`, and `RotateLoc`. + +## Prerequisites + +- Network access to `rplpf400.cels.anl.gov` +- `lftp` installed on your machine (`sudo apt install lftp`) +- The robot's TCS server running on port 10100 + +## Steps + +### 1. Back up the existing file (first time only) + +```bash +lftp ftp://rplpf400.cels.anl.gov +cd /flash/projects/Tcp_cmd_server_pa +get Custom.gpl -o Custom.gpl.bak +quit +``` + +### 2. Upload the new Custom.gpl + +From the repo root: + +```bash +lftp ftp://rplpf400.cels.anl.gov +set ftp:passive-mode off +cd /flash/projects/Tcp_cmd_server_pa +put path/to/Custom.gpl +quit +``` + +### 3. Reload the project on the robot + +- Open the robot web interface at `http://rplpf400.cels.anl.gov` +- Navigate to **Setup > Load/Compile Project** +- Select `Tcp_cmd_server_pa` and click **Load** +- Wait for the confirmation that the project compiled and started successfully + +### 4. Verify the deployment + +Connect via telnet and check that the new module version appears: + +```bash +telnet rplpf400.cels.anl.gov 10100 +``` + +Then send: + +``` +version +``` + +Expected output should include `RPL Custom Module 2.0`. If you see an older version number the project did not reload correctly — repeat step 3. + +### 5. Test the commands + +With the robot powered and attached, run a quick sanity check: + +``` +wherej +``` + +Take the 6 joint values from the response (strip the leading `0`) and run: + +``` +JointToCart +``` + +Compare the output against `wherec` — X, Y, Z, yaw, pitch, roll should match within rounding (~0.01mm). + +## Rolling Back + +If the new `Custom.gpl` causes issues, restore the backup and reload: + +```bash +lftp ftp://rplpf400.cels.anl.gov +set ftp:passive-mode off +cd /flash/projects/Tcp_cmd_server_pa +put Custom.gpl.bak Custom.gpl +quit +``` + +Then reload the project following step 3 above. + +## Custom Commands Reference + +| Command | Arguments | Returns | Description | +|---|---|---|---| +| `JointToCart` | `j1 j2 j3 j4 j5 rail` | `X Y Z yaw pitch roll` | Forward kinematics (FK) | +| `CartToJoint` | `X Y Z yaw pitch roll rail` | `j1 j2 j3 j4 j5 rail` | Inverse kinematics (IK) | +| `RotateLoc` | `j1 j2 j3 j4 j5 rail rotation_deg` | `j1 j2 j3 j4 j5 rail` | Rotate end effector yaw and return new joint angles | + +All responses are prefixed with `0` on success (standard TCS status code) or a negative error code on failure. From 528a9063a6a8ce6ba98b2aed77eacebd547d0f0a Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 19 May 2026 12:49:23 -0700 Subject: [PATCH 18/29] Added new implementations to you Force Compliance & Height Detect --- src/pf400_interface/pf400.py | 67 ++++++++++++++++++++++++++++++++++++ 1 file changed, 67 insertions(+) diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index 5e5e75c..776fb02 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -521,6 +521,73 @@ def move_with_rotation( cart[3] += 360 return self.move_cartesian(cart, profile=profile) + # ------------------------------------------------------------------------- + # Force Compliance -- implemented via custom TCS server commands (Custom.gpl) + # Requires XY Compliance license on the controller. + # ------------------------------------------------------------------------- + + def enable_compliance(self, bias_torque_pct: int = 0) -> str: + """Enable horizontal force compliance on the robot joints. + + Allows the horizontal arm axes to float and comply to reaction forces + while other axes continue to be driven normally. Use before descending + into a pick or place location where the plate may be slightly misaligned + or stuck. Always call disable_compliance() after the operation. + + Args: + bias_torque_pct: Bias torque as a percentage of last used position control + torque (0-100). 0 = fully free (maximum compliance), 100 = full + holding torque (no compliance). Typical values: 0-20 for most + pick/place operations. + + Returns: + Robot response string + """ + return self.send_robot_command(f"EnableCompliance {bias_torque_pct}") + + def disable_compliance(self) -> str: + """Disable horizontal force compliance and return to normal position control. + + Always call this after enable_compliance() once the pick or place + operation is complete. + + Returns: + Robot response string + """ + return self.send_robot_command("DisableCompliance") + + # ------------------------------------------------------------------------- + # Height Detection -- implemented via TCS PARobot Auto Center module + # Requires Z Height Detection license on the controller. + # ------------------------------------------------------------------------- + + def height_detect( + self, + search_limit_mm: float = -500, + max_force_n: float = -15, + thorough: bool = True, + ) -> float: + """Detect the height of a surface below the gripper using motor force sensing. + + The gripper must be positioned at least 10-20mm above the surface before + calling. The robot will descend until it detects contact or reaches the + search limit. + + Args: + search_limit_mm: Maximum downward search distance in mm, must be negative + max_force_n: Maximum contact force in Newtons before stopping, must be negative + thorough: If True uses thorough mode (0.3mm accuracy, ~4s slower), + else quick mode (0.5mm accuracy, faster) + + Returns: + Detected Z height in mm (world coordinates) + """ + mode = 2 if thorough else 1 + response = self.send_robot_command( + f"HeightDetect {mode} {search_limit_mm} {max_force_n}" + ) + return float(response.split(" ")[1]) + # ------------------------------------------------------------------------- # Motion # ------------------------------------------------------------------------- From 856c37474e8a74945750533398339262ebff5657 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 19 May 2026 12:50:24 -0700 Subject: [PATCH 19/29] Updated TCS Custom.gpl to add Force Compliance --- scripts/custom_tcs_server/Custom.gpl | 99 +++++++++++++++++++++++++++- 1 file changed, 98 insertions(+), 1 deletion(-) diff --git a/scripts/custom_tcs_server/Custom.gpl b/scripts/custom_tcs_server/Custom.gpl index cec7aee..ddbdb6d 100644 --- a/scripts/custom_tcs_server/Custom.gpl +++ b/scripts/custom_tcs_server/Custom.gpl @@ -35,8 +35,23 @@ Module CustomCommands ' IK to compute the new joint angles. Useful for switching between narrow ' and wide microplate orientations without saving duplicate locations. ' Returns: j1 j2 j3 j4 j5 rail +' +' EnableCompliance +' Enables horizontal force compliance on the robot joints (XY plane). +' The arm will float/comply to horizontal reaction forces during motion. +' reduced_pct (0-100) sets a bias torque as a percentage of the last used +' position control torque to prevent axes from drifting or twitching. +' 0 = fully free (no bias torque), 100 = full holding torque (no compliance). +' Typical values: 0-20 for most pick/place operations. +' Always call DisableCompliance after the operation is complete. +' Returns: 0 on success, error code and message on failure +' +' DisableCompliance +' Disables horizontal force compliance and returns joints to normal +' position control mode. +' Returns: 0 on success, error code and message on failure - Private Const Version As String = "RPL Custom Module 2.0" + Private Const Version As String = "RPL Custom Module 2.1" Public Custom_global_value As Integer Public Custom_robot_array(N_ROB) As Integer @@ -309,6 +324,88 @@ Module CustomCommands End Sub +#Region "Cmd_EnableCompliance" +' Cmd_EnableCompliance -- Enable horizontal force compliance on robot joints +' +' Enables AC_HorizCompliance2 mode which allows the horizontal arm axes to +' float and comply to reaction forces while other axes continue to be driven +' normally. Use this before descending into a pick or place location where +' the plate may be slightly misaligned or stuck. +' +' The reduced_pct parameter sets a bias torque as a percentage of the last +' used position control torque to prevent axes from drifting or twitching +' when compliance is first enabled: +' 0 = fully free, no bias torque (maximum compliance) +' 100 = full holding torque (effectively no compliance) +' 10-20 is recommended for most pick/place operations +' +' Requires the XY Compliance license to be installed on the controller. +' +' SYNOPSIS: +' EnableCompliance +' +' INPUTS: +' reduced_pct Bias torque percentage 0-100 +' +' OUTPUTS: +' Reply: "0" on success +' "-error_code, message" on failure + + Public Sub Cmd_EnableCompliance(ByVal Cmd As Command, ByRef Reply As String) + + Dim exc1 As Exception + Dim reduced_pct As Double + + If Cmd.Nparm <> 1 Then + Reply = "-1, EnableCompliance requires 1 parameter: reduced_pct (0-100)" + Return + End If + + Cmd.StringtoDouble(0) + reduced_pct = Cmd.cData(1) + + If reduced_pct < 0 Or reduced_pct > 100 Then + Reply = "-1, EnableCompliance: reduced_pct must be between 0 and 100" + Return + End If + + exc1 = AC_HorizCompliance2(Cmd.Rob.RobNum, True, reduced_pct) + If exc1.ErrorCode < 0 Then + Reply = CStr(exc1.ErrorCode) & ", " & AC_ErrorMessage(exc1) + Else + Reply = "0" + End If + + End Sub + +#End Region +#Region "Cmd_DisableCompliance" +' Cmd_DisableCompliance -- Disable horizontal force compliance on robot joints +' +' Disables AC_HorizCompliance2 mode and returns the horizontal arm axes to +' normal position control mode. Always call this after EnableCompliance +' once the pick or place operation is complete. +' +' SYNOPSIS: +' DisableCompliance +' +' OUTPUTS: +' Reply: "0" on success +' "-error_code, message" on failure + + Public Sub Cmd_DisableCompliance(ByVal Cmd As Command, ByRef Reply As String) + + Dim exc1 As Exception + + exc1 = AC_HorizCompliance2(Cmd.Rob.RobNum, False, 0) + If exc1.ErrorCode < 0 Then + Reply = CStr(exc1.ErrorCode) & ", " & AC_ErrorMessage(exc1) + Else + Reply = "0" + End If + + End Sub + #End Region End Module From f77f7f276d5fdabccf066712be0da236cf840ff9 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 19 May 2026 12:52:38 -0700 Subject: [PATCH 20/29] Updated docs --- scripts/custom_tcs_server/TCS_Instructions.md | 74 ++++++++++++++++--- 1 file changed, 65 insertions(+), 9 deletions(-) diff --git a/scripts/custom_tcs_server/TCS_Instructions.md b/scripts/custom_tcs_server/TCS_Instructions.md index 269b6e4..78524dd 100644 --- a/scripts/custom_tcs_server/TCS_Instructions.md +++ b/scripts/custom_tcs_server/TCS_Instructions.md @@ -1,12 +1,12 @@ # Deploying Custom.gpl to the PF400 TCS Server This document describes how to update the PF400 robot's TCS server with a new version of `Custom.gpl`. -`Custom.gpl` adds three custom kinematic commands to the TCS server: `JointToCart`, `CartToJoint`, and `RotateLoc`. +`Custom.gpl` adds custom commands to the TCS server for kinematics, force compliance, and height detection. ## Prerequisites - Network access to `rplpf400.cels.anl.gov` -- `lftp` installed on your machine (`sudo apt install lftp`) +- `lftp` or FileZilla installed on your machine - The robot's TCS server running on port 10100 ## Steps @@ -22,7 +22,7 @@ quit ### 2. Upload the new Custom.gpl -From the repo root: +**Via lftp:** ```bash lftp ftp://rplpf400.cels.anl.gov @@ -32,6 +32,12 @@ put path/to/Custom.gpl quit ``` +**Via FileZilla:** + +- Host: `rplpf400.cels.anl.gov`, Port: `21`, leave username and password blank +- Navigate to `/flash/projects/Tcp_cmd_server_pa` in the right panel +- Drag `Custom.gpl` from your local machine into that folder + ### 3. Reload the project on the robot - Open the robot web interface at `http://rplpf400.cels.anl.gov` @@ -53,11 +59,13 @@ Then send: version ``` -Expected output should include `RPL Custom Module 2.0`. If you see an older version number the project did not reload correctly — repeat step 3. +Expected output should include `RPL Custom Module 2.1`. If you see an older version number the project did not reload correctly — repeat step 3. ### 5. Test the commands -With the robot powered and attached, run a quick sanity check: +With the robot powered and attached, run a quick sanity check for each command group. + +**Kinematics:** ``` wherej @@ -71,6 +79,25 @@ JointToCart Compare the output against `wherec` — X, Y, Z, yaw, pitch, roll should match within rounding (~0.01mm). +**Force Compliance** (requires XY Compliance license): + +``` +EnableCompliance 0 +DisableCompliance +``` + +Both should return `0`. When compliance is enabled the horizontal arm axes should feel loose when pushed by hand. + +**Height Detection** (requires Z Height Detection license): + +Position the gripper at least 20mm above a surface, then: + +``` +HeightDetect 2 -400 -15 +``` + +Should return `0 ` rather than a license error. + ## Rolling Back If the new `Custom.gpl` causes issues, restore the backup and reload: @@ -87,10 +114,39 @@ Then reload the project following step 3 above. ## Custom Commands Reference +All responses are prefixed with `0` on success (standard TCS status code) or a negative error code and message on failure. + +### Kinematics + +| Command | Arguments | Returns | Description | +|---|---|---|---| +| `JointToCart` | `j1 j2 j3 j4 j5 rail` | `X Y Z yaw pitch roll` | Forward kinematics (FK): convert joint angles to Cartesian coordinates. Rail offset is added to X to match world coordinates. | +| `CartToJoint` | `X Y Z yaw pitch roll rail` | `j1 j2 j3 j4 j5 rail` | Inverse kinematics (IK): convert Cartesian coordinates to joint angles. Rail is subtracted from X before IK and returned unchanged. | +| `RotateLoc` | `j1 j2 j3 j4 j5 rail rotation_deg` | `j1 j2 j3 j4 j5 rail` | Rotate end effector yaw by rotation_deg degrees. Internally runs FK, applies rotation, then IK. Use to switch between narrow and wide plate orientations. | + +### Force Compliance + +Requires XY Compliance license installed on the controller. + | Command | Arguments | Returns | Description | |---|---|---|---| -| `JointToCart` | `j1 j2 j3 j4 j5 rail` | `X Y Z yaw pitch roll` | Forward kinematics (FK) | -| `CartToJoint` | `X Y Z yaw pitch roll rail` | `j1 j2 j3 j4 j5 rail` | Inverse kinematics (IK) | -| `RotateLoc` | `j1 j2 j3 j4 j5 rail rotation_deg` | `j1 j2 j3 j4 j5 rail` | Rotate end effector yaw and return new joint angles | +| `EnableCompliance` | `bias_torque_pct` | `0` | Enable horizontal force compliance. `bias_torque_pct` (0-100) sets a bias torque percentage to prevent axis drift. 0 = fully free, typical values 0-20. | +| `DisableCompliance` | none | `0` | Disable horizontal force compliance and return to normal position control. Always call after EnableCompliance. | + +### Height Detection + +Requires Z Height Detection license installed on the controller. Position the gripper at least 20mm above the surface before calling. + +| Command | Arguments | Returns | Description | +|---|---|---|---| +| `HeightDetect` | `mode search_limit_mm max_force_n` | `detected_Z_mm` | Detect surface height. mode: 1=quick (0.5mm), 2=thorough (0.3mm). search_limit_mm: max downward travel (negative). max_force_n: contact force limit (negative). | + +## License Requirements + +| Feature | Required License | +|---|---| +| Kinematics (JointToCart, CartToJoint, RotateLoc) | GPL license (already installed) | +| Force Compliance (EnableCompliance, DisableCompliance) | XY Compliance | +| Height Detection (HeightDetect) | Z Height Detection | -All responses are prefixed with `0` on success (standard TCS status code) or a negative error code on failure. +To check installed licenses, navigate to **Utilities > Controller Options** in the robot web interface. From 2dd75e7e3bd9ce0f70e91e135404f14cd00b8d22 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 19 May 2026 14:55:32 -0500 Subject: [PATCH 21/29] Interface tests --- tests/test_pf400_interface.ipynb | 664 ++++++++++++++++++++++++++++++- 1 file changed, 655 insertions(+), 9 deletions(-) diff --git a/tests/test_pf400_interface.ipynb b/tests/test_pf400_interface.ipynb index 918f4ab..0cd4611 100644 --- a/tests/test_pf400_interface.ipynb +++ b/tests/test_pf400_interface.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": null, + "execution_count": 124, "id": "0", "metadata": {}, "outputs": [], @@ -12,11 +12,30 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 125, "id": "1", "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[2m2026-05-18T22:10:39.280362Z\u001b[0m [\u001b[32m\u001b[1minfo \u001b[0m] \u001b[1mEventClient initialized \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n" + ] + }, + { + "data": { + "text/plain": [ + "1" + ] + }, + "execution_count": 125, + "metadata": {}, + "output_type": "execute_result" + } + ], "source": [ + "\n", "pf400 = PF400(host=\"rplpf400.cels.anl.gov\")\n", "pf400.initialize_robot()\n", "pf400.get_robot_movement_state()" @@ -24,7 +43,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 23, "id": "2", "metadata": {}, "outputs": [], @@ -41,10 +60,105 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 115, "id": "3", "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[2m2026-05-18T22:09:12.860598Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*Soft envelope error* Robot 1: 1\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n" + ] + }, + { + "data": { + "text/html": [ + "
╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮\n",
+       "│ in <module>:2                                                                                                   │\n",
+       "│                                                                                                                 │\n",
+       "│   1 pf400.open_gripper(pf400.gripper_open_wide)                                                                 │\n",
+       "│ ❱ 2 pf400.close_gripper(pf400.gripper_close_narrow)                                                             │\n",
+       "│   3                                                                                                             │\n",
+       "│                                                                                                                 │\n",
+       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:428 in close_gripper                     │\n",
+       "│                                                                                                                 │\n",
+       "│    425 │   def close_gripper(self, gripper_length: Optional[int] = None) -> float:                              │\n",
+       "│    426 │   │   \"\"\"Closes the gripper.\"\"\"                                                                        │\n",
+       "│    427 │   │   self.set_gripper_close(gripper_length=gripper_length)                                            │\n",
+       "│ ❱  428 │   │   self.send_command(\"gripper 2\")                                                                   │\n",
+       "│    429 │   │   return self.get_gripper_state()                                                                  │\n",
+       "│    430 │                                                                                                        │\n",
+       "│    431 │   # -------------------------------------------------------------------------                          │\n",
+       "│                                                                                                                 │\n",
+       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:163 in send_command                      │\n",
+       "│                                                                                                                 │\n",
+       "│    160 │   │   │   │   │   .rstrip(\"\\r\\n\")                                                                      │\n",
+       "│    161 │   │   │   │   )                                                                                        │\n",
+       "│    162 │   │   │   │   if response != \"\" and response in ERROR_CODES:                                           │\n",
+       "│ ❱  163 │   │   │   │   │   self._handle_error_output(response)                                                  │\n",
+       "│    164 │   │   │   │   if response in OUTPUT_CODES:                                                             │\n",
+       "│    165 │   │   │   │   │   self.logger.log_debug(response)                                                      │\n",
+       "│    166 │   │   │   │   self._await_movement_completion()                                                        │\n",
+       "│                                                                                                                 │\n",
+       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:212 in _handle_error_output              │\n",
+       "│                                                                                                                 │\n",
+       "│    209 │   │   \"\"\"Handles the error message output.\"\"\"                                                          │\n",
+       "│    210 │   │   response = Pf400ResponseError.from_error_code(output)                                            │\n",
+       "│    211 │   │   self.logger.log_error(response)                                                                  │\n",
+       "│ ❱  212 │   │   raise response                                                                                   │\n",
+       "│    213 │                                                                                                        │\n",
+       "│    214 │   def enable_power(self) -> str:                                                                       │\n",
+       "│    215 │   │   \"\"\"Enables the power on the robot.\"\"\"                                                            │\n",
+       "╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\n",
+       "Pf400ResponseError: *Soft envelope error* Robot 1: 1\n",
+       "
\n" + ], + "text/plain": [ + "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n", + "\u001b[31m│\u001b[0m in :2 \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m1 \u001b[0mpf400.open_gripper(pf400.gripper_open_wide) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m2 \u001b[1;4mpf400.close_gripper(pf400.gripper_close_narrow)\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m3 \u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:428 in close_gripper \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 425 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mclose_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 426 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Closes the gripper.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 427 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.set_gripper_close(gripper_length=gripper_length) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 428 \u001b[2m│ │ \u001b[0m\u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4;33mgripper 2\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4m)\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 429 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[94mreturn\u001b[0m \u001b[96mself\u001b[0m.get_gripper_state() \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 430 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 431 \u001b[0m\u001b[2m│ \u001b[0m\u001b[2m# -------------------------------------------------------------------------\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 160 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 161 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 162 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 164 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 165 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 166 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion() \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 209 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 210 \u001b[0m\u001b[2m│ │ \u001b[0mresponse = Pf400ResponseError.from_error_code(output) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 211 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│ │ \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 213 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 214 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 215 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n", + "\u001b[1;91mPf400ResponseError: \u001b[0m*Soft envelope error* Robot \u001b[1;36m1\u001b[0m: \u001b[1;36m1\u001b[0m\n" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], "source": [ "pf400.open_gripper(pf400.gripper_open_wide)\n", "pf400.close_gripper(pf400.gripper_close_narrow)" @@ -64,17 +178,549 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 32, + "id": "58b72672", + "metadata": {}, + "outputs": [], + "source": [ + "camera_loc = LocationArgument(\n", + " location_name=\"source\", location = [106.932,23.387,69.67,714.368,75.058,994.962]\n", + ")\n", + "rotation_deck = LocationArgument(\n", + " location_name=\"rotation_deck\", location = [62.287,-27.703,113.691,631.713,75.088,994.854]\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 33, "id": "5", "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "True" + ] + }, + "execution_count": 33, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"narrow\", target_plate_rotation=\"wide\")\n", + "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")" + ] + }, + { + "cell_type": "code", + "execution_count": 187, + "id": "3c7c7602", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "True" + ] + }, + "execution_count": 187, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.pick_plate(source=rotation_deck\n", + " )\n" + ] + }, + { + "cell_type": "code", + "execution_count": 188, + "id": "4027bb28", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "True" + ] + }, + "execution_count": 188, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.place_plate(target=camera_loc)" + ] + }, + { + "cell_type": "code", + "execution_count": 36, + "id": "c813d4ea", + "metadata": {}, "outputs": [], "source": [ - "pf400.transfer(source=location, target=location)" + "pf400.rotate_plate_on_deck(rotation_degree=90, rotation_deck=rotation_deck)" + ] + }, + { + "cell_type": "code", + "execution_count": 43, + "id": "34c11807", + "metadata": {}, + "outputs": [], + "source": [ + "rotation_deck_above = LocationArgument(\n", + " location_name=\"rotation_deck_above\", location = [75.287,-27.703,113.691,631.713,70.088,994.854]\n", + ")\n" + ] + }, + { + "cell_type": "code", + "execution_count": 44, + "id": "13443d57", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'0 1428.252 164.005 75.293 -2.318 90 180 1'" + ] + }, + "execution_count": 44, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.move_joint(target_joint_angles=rotation_deck_above.representation)\n", + "pf400.send_command(\"wherec\")" ] }, { "cell_type": "code", "execution_count": null, + "id": "984573cd", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'0 1428.194 164.106 75.292 -92.296 90 -180 1'" + ] + }, + "execution_count": 45, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "new_loc =pf400.rotate_yaw(joint_states=rotation_deck_above.representation, rotation_deg=90.0)\n", + "pf400.move_joint(new_loc)\n", + "pf400.send_command(\"wherec\")" + ] + }, + { + "cell_type": "code", + "execution_count": 154, + "id": "46f01a50", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[1430.657, 149.952, 75.287, -2.299, 90.0, 180.0]\n" + ] + }, + { + "data": { + "text/plain": [ + "'0'" + ] + }, + "execution_count": 154, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "cart = pf400.joint_to_cart(rotation_deck_above.representation)\n", + "print(cart)\n", + "pf400.move_with_rotation(rotation_deck_above.representation, 90.0)" + ] + }, + { + "cell_type": "code", + "execution_count": 153, + "id": "9d2def7b", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'0'" + ] + }, + "execution_count": 153, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.send_command(\"tool 0 -8 148 0 0 0\")" + ] + }, + { + "cell_type": "code", + "execution_count": 339, + "id": "1f830ba8", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "129.918" + ] + }, + "execution_count": 339, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.open_gripper(pf400.gripper_open_wide)\n" + ] + }, + { + "cell_type": "code", + "execution_count": 347, + "id": "ef000acf", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "71.231" + ] + }, + "execution_count": 347, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.close_gripper(70.0)" + ] + }, + { + "cell_type": "code", + "execution_count": 30, + "id": "e9f99e32", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'0 0 -8 145 0 0 0'" + ] + }, + "execution_count": 30, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.send_command(\"tool\")" + ] + }, + { + "cell_type": "code", + "execution_count": 318, + "id": "3689e6af", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'0 0 0 0 0'" + ] + }, + "execution_count": 318, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.send_command(\"base\")" + ] + }, + { + "cell_type": "code", + "execution_count": 201, + "id": "956d4e2b", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "[1152.917, 11.806, 130.013, -4.392, 90.0, 180.0]" + ] + }, + "execution_count": 201, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.get_cartesian_coordinates()" + ] + }, + { + "cell_type": "code", + "execution_count": 173, + "id": "24511083", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'0'" + ] + }, + "execution_count": 173, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.move_cartesian([1427.667, 150.069, 175.292 - 100, -90 + -2.299, 90.0, 180.0])" + ] + }, + { + "cell_type": "code", + "execution_count": 199, + "id": "0da2cfa9", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[2m2026-05-15T15:02:19.789546Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*Joint out-of-range* Set robot joints within their range\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n", + "\u001b[2m2026-05-15T15:02:19.789546Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*Joint out-of-range* Set robot joints within their range\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n" + ] + }, + { + "data": { + "text/html": [ + "
╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮\n",
+       "│ in <module>:1                                                                                                   │\n",
+       "│                                                                                                                 │\n",
+       "│ ❱ 1 pf400.move_cartesian([1000, 0, 100, 0.0, 90.0, 180.0])                                                      │\n",
+       "│   2                                                                                                             │\n",
+       "│                                                                                                                 │\n",
+       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:592 in move_cartesian                    │\n",
+       "│                                                                                                                 │\n",
+       "│    589 │   │   │   + \" \"                                                                                        │\n",
+       "│    590 │   │   │   + \" \".join(map(str, target_cartesian_coordinates))                                           │\n",
+       "│    591 │   │   )                                                                                                │\n",
+       "│ ❱  592 │   │   return self.send_command(move_command)                                                           │\n",
+       "│    593 │                                                                                                        │\n",
+       "│    594 │   def move_in_one_axis(                                                                                │\n",
+       "│    595 │   │   self, profile: int = 1, axis_x: int = 0, axis_y: int = 0, axis_z: int = 0                        │\n",
+       "│                                                                                                                 │\n",
+       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:163 in send_command                      │\n",
+       "│                                                                                                                 │\n",
+       "│    160 │   │   │   │   │   .rstrip(\"\\r\\n\")                                                                      │\n",
+       "│    161 │   │   │   │   )                                                                                        │\n",
+       "│    162 │   │   │   │   if response != \"\" and response in ERROR_CODES:                                           │\n",
+       "│ ❱  163 │   │   │   │   │   self._handle_error_output(response)                                                  │\n",
+       "│    164 │   │   │   │   if response in OUTPUT_CODES:                                                             │\n",
+       "│    165 │   │   │   │   │   self.logger.log_debug(response)                                                      │\n",
+       "│    166 │   │   │   │   self._await_movement_completion()                                                        │\n",
+       "│                                                                                                                 │\n",
+       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:212 in _handle_error_output              │\n",
+       "│                                                                                                                 │\n",
+       "│    209 │   │   \"\"\"Handles the error message output.\"\"\"                                                          │\n",
+       "│    210 │   │   response = Pf400ResponseError.from_error_code(output)                                            │\n",
+       "│    211 │   │   self.logger.log_error(response)                                                                  │\n",
+       "│ ❱  212 │   │   raise response                                                                                   │\n",
+       "│    213 │                                                                                                        │\n",
+       "│    214 │   def enable_power(self) -> str:                                                                       │\n",
+       "│    215 │   │   \"\"\"Enables the power on the robot.\"\"\"                                                            │\n",
+       "╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\n",
+       "Pf400ResponseError: *Joint out-of-range* Set robot joints within their range\n",
+       "
\n" + ], + "text/plain": [ + "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n", + "\u001b[31m│\u001b[0m in :1 \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m1 \u001b[1;4mpf400.move_cartesian([\u001b[0m\u001b[1;4;94m1000\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m100\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m0.0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m90.0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m180.0\u001b[0m\u001b[1;4m])\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m2 \u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m 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"\u001b[31m│\u001b[0m \u001b[2m 594 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mmove_in_one_axis\u001b[0m( \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 595 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m, profile: \u001b[96mint\u001b[0m = \u001b[94m1\u001b[0m, axis_x: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m, axis_y: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m, axis_z: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 160 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 161 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 162 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 164 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 165 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 166 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion() \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 209 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 210 \u001b[0m\u001b[2m│ │ \u001b[0mresponse = Pf400ResponseError.from_error_code(output) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 211 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│ │ \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 213 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 214 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 215 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n", + "\u001b[1;91mPf400ResponseError: \u001b[0m*Joint out-of-range* Set robot joints within their range\n" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "pf400.move_cartesian([1000, 0, 100, 0.0, 90.0, 180.0])" + ] + }, + { + "cell_type": "code", + "execution_count": 200, + "id": "19b9a6ef", + "metadata": {}, + "outputs": [], + "source": [ + "pf400.move_neutral()" + ] + }, + { + "cell_type": "code", + "execution_count": 282, + "id": "f32966f7", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[2m2026-05-15T20:01:35.076594Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*No robot attached* \u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n", + "\u001b[2m2026-05-15T20:01:35.076594Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*No robot attached* \u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n" + ] + }, + { + "data": { + "text/html": [ + "
╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮\n",
+       "│ in <module>:1                                                                                                   │\n",
+       "│                                                                                                                 │\n",
+       "│ ❱ 1 pf400.open_gripper()                                                                                        │\n",
+       "│   2                                                                                                             │\n",
+       "│                                                                                                                 │\n",
+       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:422 in open_gripper                      │\n",
+       "│                                                                                                                 │\n",
+       "│    419 │   def open_gripper(self, gripper_length: Optional[int] = None) -> float:                               │\n",
+       "│    420 │   │   \"\"\"Opens the gripper.\"\"\"                                                                         │\n",
+       "│    421 │   │   self.set_gripper_open(gripper_length=gripper_length)                                             │\n",
+       "│ ❱  422 │   │   self.send_command(\"gripper 1\")                                                                   │\n",
+       "│    423 │   │   return self.get_gripper_state()                                                                  │\n",
+       "│    424 │                                                                                                        │\n",
+       "│    425 │   def close_gripper(self, gripper_length: Optional[int] = None) -> float:                              │\n",
+       "│                                                                                                                 │\n",
+       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:163 in send_command                      │\n",
+       "│                                                                                                                 │\n",
+       "│    160 │   │   │   │   │   .rstrip(\"\\r\\n\")                                                                      │\n",
+       "│    161 │   │   │   │   )                                                                                        │\n",
+       "│    162 │   │   │   │   if response != \"\" and response in ERROR_CODES:                                           │\n",
+       "│ ❱  163 │   │   │   │   │   self._handle_error_output(response)                                                  │\n",
+       "│    164 │   │   │   │   if response in OUTPUT_CODES:                                                             │\n",
+       "│    165 │   │   │   │   │   self.logger.log_debug(response)                                                      │\n",
+       "│    166 │   │   │   │   self._await_movement_completion()                                                        │\n",
+       "│                                                                                                                 │\n",
+       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:212 in _handle_error_output              │\n",
+       "│                                                                                                                 │\n",
+       "│    209 │   │   \"\"\"Handles the error message output.\"\"\"                                                          │\n",
+       "│    210 │   │   response = Pf400ResponseError.from_error_code(output)                                            │\n",
+       "│    211 │   │   self.logger.log_error(response)                                                                  │\n",
+       "│ ❱  212 │   │   raise response                                                                                   │\n",
+       "│    213 │                                                                                                        │\n",
+       "│    214 │   def enable_power(self) -> str:                                                                       │\n",
+       "│    215 │   │   \"\"\"Enables the power on the robot.\"\"\"                                                            │\n",
+       "╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\n",
+       "Pf400ResponseError: *No robot attached*\n",
+       "
\n" + ], + "text/plain": [ + "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n", + "\u001b[31m│\u001b[0m in :1 \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m1 \u001b[1;4mpf400.open_gripper()\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m2 \u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:422 in open_gripper \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 419 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mopen_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 420 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Opens the gripper.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 421 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.set_gripper_open(gripper_length=gripper_length) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 422 \u001b[2m│ │ \u001b[0m\u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4;33mgripper 1\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4m)\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 423 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[94mreturn\u001b[0m \u001b[96mself\u001b[0m.get_gripper_state() \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 424 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 425 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mclose_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 160 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 161 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 162 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 164 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 165 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 166 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion() \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 209 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 210 \u001b[0m\u001b[2m│ │ \u001b[0mresponse = Pf400ResponseError.from_error_code(output) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 211 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response) \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│ │ \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 213 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 214 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m: \u001b[31m│\u001b[0m\n", + "\u001b[31m│\u001b[0m \u001b[2m 215 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", + "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n", + "\u001b[1;91mPf400ResponseError: \u001b[0m*No robot attached*\n" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "pf400.open_gripper()" + ] + }, + { + "cell_type": "code", + "execution_count": 123, "id": "6", "metadata": {}, "outputs": [], @@ -99,7 +745,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.12.3" + "version": "3.12.12" } }, "nbformat": 4, From 77676fa0f47d2dce5438051070b73ca01b2aeed7 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 19 May 2026 17:01:59 -0500 Subject: [PATCH 22/29] Using hardcoded compliance values --- src/pf400_interface/pf400.py | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index 776fb02..7ff3972 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -39,6 +39,7 @@ class PF400: safe_left_boundary = -350.0 safe_right_boundary = 350.0 + default_bias_torque_pct: int = 50 default_approach_height = 15.0 default_approach_vector: typing.ClassVar[list] = [ default_approach_height, @@ -526,7 +527,7 @@ def move_with_rotation( # Requires XY Compliance license on the controller. # ------------------------------------------------------------------------- - def enable_compliance(self, bias_torque_pct: int = 0) -> str: + def enable_compliance(self) -> str: """Enable horizontal force compliance on the robot joints. Allows the horizontal arm axes to float and comply to reaction forces @@ -543,7 +544,7 @@ def enable_compliance(self, bias_torque_pct: int = 0) -> str: Returns: Robot response string """ - return self.send_robot_command(f"EnableCompliance {bias_torque_pct}") + return self.send_command(f"EnableCompliance {self.default_bias_torque_pct}") def disable_compliance(self) -> str: """Disable horizontal force compliance and return to normal position control. @@ -554,7 +555,7 @@ def disable_compliance(self) -> str: Returns: Robot response string """ - return self.send_robot_command("DisableCompliance") + return self.send_command("DisableCompliance") # ------------------------------------------------------------------------- # Height Detection -- implemented via TCS PARobot Auto Center module @@ -583,7 +584,7 @@ def height_detect( Detected Z height in mm (world coordinates) """ mode = 2 if thorough else 1 - response = self.send_robot_command( + response = self.send_command( f"HeightDetect {mode} {search_limit_mm} {max_force_n}" ) return float(response.split(" ")[1]) @@ -789,6 +790,7 @@ def rotate_plate_on_deck( self.move_all_joints_neutral(target) self.move_joint(above_position, self.slow_motion_profile) + self.enable_compliance() self.move_joint(target, self.slow_motion_profile) self.release_plate() @@ -807,6 +809,7 @@ def rotate_plate_on_deck( self.move_in_one_axis( profile=self.slow_motion_profile, axis_z=self.default_approach_height ) + self.disable_compliance() self.open_gripper(self.gripper_open_wide) target = self.rotate_yaw(target, rotation_degree) @@ -814,6 +817,7 @@ def rotate_plate_on_deck( self.move_joint( target_joint_angles=above_position, profile=self.slow_motion_profile ) + self.enable_compliance() self.move_joint( target_joint_angles=target, profile=self.slow_motion_profile, @@ -836,6 +840,7 @@ def rotate_plate_on_deck( self.move_in_one_axis( profile=self.slow_motion_profile, axis_z=self.default_approach_height ) + self.disable_compliance() self.move_all_joints_neutral(target) def _handle_approach_location(self, approach: LocationArgument) -> None: @@ -925,6 +930,7 @@ def pick_plate( if grab_offset else source.representation ) + self.enable_compliance() self.move_joint( target_joint_angles=target_position, profile=approach_motion_profile, @@ -946,6 +952,7 @@ def pick_plate( if approach_height_offset else self.default_approach_height, ) + self.disable_compliance() if source_approach: self._handle_approach_return(source_approach) @@ -981,6 +988,7 @@ def place_plate( if grab_offset else target.representation ) + self.enable_compliance() self.move_joint(target_position, approach_motion_profile) release_succeeded = self.release_plate(width=open_width) @@ -1006,7 +1014,7 @@ def place_plate( if approach_height_offset else self.default_approach_height, ) - + self.disable_compliance() if target_approach: self._handle_approach_return(target_approach) else: From 18511390e3be011020ed6558601c1422d716eae4 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Tue, 19 May 2026 17:02:14 -0500 Subject: [PATCH 23/29] More tests --- tests/set_tcp.ipynb | 161 ++++++++++ tests/test_pf400_interface.ipynb | 500 +++++-------------------------- 2 files changed, 232 insertions(+), 429 deletions(-) create mode 100644 tests/set_tcp.ipynb diff --git a/tests/set_tcp.ipynb b/tests/set_tcp.ipynb new file mode 100644 index 0000000..9bcbc0c --- /dev/null +++ b/tests/set_tcp.ipynb @@ -0,0 +1,161 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "id": "34aeaee3", + "metadata": {}, + "outputs": [], + "source": [ + "from pf400_interface.pf400 import PF400" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "8391c5af", + "metadata": {}, + "outputs": [], + "source": [ + "from operator import add\n", + "from madsci.common.types.location_types import LocationArgument" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "ea7fbda8", + "metadata": {}, + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "\u001b[2m2026-05-19T21:00:41.341979Z\u001b[0m [\u001b[32m\u001b[1minfo \u001b[0m] \u001b[1mEventClient initialized \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n" + ] + }, + { + "data": { + "text/plain": [ + "1" + ] + }, + "execution_count": 2, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "\n", + "pf400 = PF400(host=\"rplpf400.cels.anl.gov\")\n", + "pf400.initialize_robot()\n", + "pf400.get_robot_movement_state()" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "id": "23d44ef8", + "metadata": {}, + "outputs": [], + "source": [ + "rotation_deck = LocationArgument(\n", + " location_name=\"rotation_deck\", location = [68.287,-27.703,113.691,631.713,75.088,994.854]\n", + ")" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "f5f043cb", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'0 0 -8 148 0 0 0'" + ] + }, + "execution_count": 5, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.send_command(\"tool\")" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "id": "681e2ea1", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "[1431.177, 150.432, 68.287, -2.299, 90.0, 180.0]\n" + ] + }, + { + "data": { + "text/plain": [ + "'0'" + ] + }, + "execution_count": 11, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "cart = pf400.joint_to_cart(rotation_deck.representation)\n", + "print(cart)\n", + "pf400.move_with_rotation(rotation_deck.representation, -90.0)" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "id": "8bd11120", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'0'" + ] + }, + "execution_count": 9, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "pf400.send_command(\"tool 0 -8.5 148.5 0 0 0\")" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": ".venv", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.12.12" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/tests/test_pf400_interface.ipynb b/tests/test_pf400_interface.ipynb index 0cd4611..02a978e 100644 --- a/tests/test_pf400_interface.ipynb +++ b/tests/test_pf400_interface.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 124, + "execution_count": 1, "id": "0", "metadata": {}, "outputs": [], @@ -12,7 +12,7 @@ }, { "cell_type": "code", - "execution_count": 125, + "execution_count": 2, "id": "1", "metadata": {}, "outputs": [ @@ -20,7 +20,7 @@ "name": "stderr", "output_type": "stream", "text": [ - "\u001b[2m2026-05-18T22:10:39.280362Z\u001b[0m [\u001b[32m\u001b[1minfo \u001b[0m] \u001b[1mEventClient initialized \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n" + "\u001b[2m2026-05-19T20:55:54.094275Z\u001b[0m [\u001b[32m\u001b[1minfo \u001b[0m] \u001b[1mEventClient initialized \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n" ] }, { @@ -29,7 +29,7 @@ "1" ] }, - "execution_count": 125, + "execution_count": 2, "metadata": {}, "output_type": "execute_result" } @@ -43,7 +43,7 @@ }, { "cell_type": "code", - "execution_count": 23, + "execution_count": 3, "id": "2", "metadata": {}, "outputs": [], @@ -60,105 +60,10 @@ }, { "cell_type": "code", - "execution_count": 115, + "execution_count": null, "id": "3", "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[2m2026-05-18T22:09:12.860598Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*Soft envelope error* Robot 1: 1\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n" - ] - }, - { - "data": { - "text/html": [ - "
╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮\n",
-       "│ in <module>:2                                                                                                   │\n",
-       "│                                                                                                                 │\n",
-       "│   1 pf400.open_gripper(pf400.gripper_open_wide)                                                                 │\n",
-       "│ ❱ 2 pf400.close_gripper(pf400.gripper_close_narrow)                                                             │\n",
-       "│   3                                                                                                             │\n",
-       "│                                                                                                                 │\n",
-       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:428 in close_gripper                     │\n",
-       "│                                                                                                                 │\n",
-       "│    425 │   def close_gripper(self, gripper_length: Optional[int] = None) -> float:                              │\n",
-       "│    426 │   │   \"\"\"Closes the gripper.\"\"\"                                                                        │\n",
-       "│    427 │   │   self.set_gripper_close(gripper_length=gripper_length)                                            │\n",
-       "│ ❱  428 │   │   self.send_command(\"gripper 2\")                                                                   │\n",
-       "│    429 │   │   return self.get_gripper_state()                                                                  │\n",
-       "│    430 │                                                                                                        │\n",
-       "│    431 │   # -------------------------------------------------------------------------                          │\n",
-       "│                                                                                                                 │\n",
-       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:163 in send_command                      │\n",
-       "│                                                                                                                 │\n",
-       "│    160 │   │   │   │   │   .rstrip(\"\\r\\n\")                                                                      │\n",
-       "│    161 │   │   │   │   )                                                                                        │\n",
-       "│    162 │   │   │   │   if response != \"\" and response in ERROR_CODES:                                           │\n",
-       "│ ❱  163 │   │   │   │   │   self._handle_error_output(response)                                                  │\n",
-       "│    164 │   │   │   │   if response in OUTPUT_CODES:                                                             │\n",
-       "│    165 │   │   │   │   │   self.logger.log_debug(response)                                                      │\n",
-       "│    166 │   │   │   │   self._await_movement_completion()                                                        │\n",
-       "│                                                                                                                 │\n",
-       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:212 in _handle_error_output              │\n",
-       "│                                                                                                                 │\n",
-       "│    209 │   │   \"\"\"Handles the error message output.\"\"\"                                                          │\n",
-       "│    210 │   │   response = Pf400ResponseError.from_error_code(output)                                            │\n",
-       "│    211 │   │   self.logger.log_error(response)                                                                  │\n",
-       "│ ❱  212 │   │   raise response                                                                                   │\n",
-       "│    213 │                                                                                                        │\n",
-       "│    214 │   def enable_power(self) -> str:                                                                       │\n",
-       "│    215 │   │   \"\"\"Enables the power on the robot.\"\"\"                                                            │\n",
-       "╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\n",
-       "Pf400ResponseError: *Soft envelope error* Robot 1: 1\n",
-       "
\n" - ], - "text/plain": [ - "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n", - "\u001b[31m│\u001b[0m in :2 \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m1 \u001b[0mpf400.open_gripper(pf400.gripper_open_wide) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m2 \u001b[1;4mpf400.close_gripper(pf400.gripper_close_narrow)\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m3 \u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:428 in close_gripper \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 425 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mclose_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 426 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Closes the gripper.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 427 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.set_gripper_close(gripper_length=gripper_length) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 428 \u001b[2m│ │ \u001b[0m\u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4;33mgripper 2\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4m)\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 429 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[94mreturn\u001b[0m \u001b[96mself\u001b[0m.get_gripper_state() \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 430 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 431 \u001b[0m\u001b[2m│ \u001b[0m\u001b[2m# -------------------------------------------------------------------------\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 160 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 161 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 162 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 164 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 165 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 166 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion() \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 209 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 210 \u001b[0m\u001b[2m│ │ \u001b[0mresponse = Pf400ResponseError.from_error_code(output) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 211 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│ │ \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 213 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 214 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 215 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n", - "\u001b[1;91mPf400ResponseError: \u001b[0m*Soft envelope error* Robot \u001b[1;36m1\u001b[0m: \u001b[1;36m1\u001b[0m\n" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "pf400.open_gripper(pf400.gripper_open_wide)\n", "pf400.close_gripper(pf400.gripper_close_narrow)" @@ -178,7 +83,7 @@ }, { "cell_type": "code", - "execution_count": 32, + "execution_count": 4, "id": "58b72672", "metadata": {}, "outputs": [], @@ -193,30 +98,29 @@ }, { "cell_type": "code", - "execution_count": 33, - "id": "5", + "execution_count": 5, + "id": "966d1340", "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "True" + "'0'" ] }, - "execution_count": 33, + "execution_count": 5, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"narrow\", target_plate_rotation=\"wide\")\n", - "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")" + "pf400.enable_compliance()" ] }, { "cell_type": "code", - "execution_count": 187, - "id": "3c7c7602", + "execution_count": 6, + "id": "5", "metadata": {}, "outputs": [ { @@ -225,40 +129,61 @@ "True" ] }, - "execution_count": 187, + "execution_count": 6, "metadata": {}, "output_type": "execute_result" } ], "source": [ - "pf400.pick_plate(source=rotation_deck\n", - " )\n" + "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"narrow\", target_plate_rotation=\"wide\")\n", + "#pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")" ] }, { "cell_type": "code", - "execution_count": 188, - "id": "4027bb28", + "execution_count": 6, + "id": "eb627d8c", "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "True" + "'0'" ] }, - "execution_count": 188, + "execution_count": 6, "metadata": {}, "output_type": "execute_result" } ], + "source": [ + "pf400.disable_compliance()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "3c7c7602", + "metadata": {}, + "outputs": [], + "source": [ + "pf400.pick_plate(source=rotation_deck\n", + " )\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "4027bb28", + "metadata": {}, + "outputs": [], "source": [ "pf400.place_plate(target=camera_loc)" ] }, { "cell_type": "code", - "execution_count": 36, + "execution_count": null, "id": "c813d4ea", "metadata": {}, "outputs": [], @@ -268,7 +193,7 @@ }, { "cell_type": "code", - "execution_count": 43, + "execution_count": null, "id": "34c11807", "metadata": {}, "outputs": [], @@ -280,21 +205,10 @@ }, { "cell_type": "code", - "execution_count": 44, + "execution_count": null, "id": "13443d57", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0 1428.252 164.005 75.293 -2.318 90 180 1'" - ] - }, - "execution_count": 44, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.move_joint(target_joint_angles=rotation_deck_above.representation)\n", "pf400.send_command(\"wherec\")" @@ -305,18 +219,7 @@ "execution_count": null, "id": "984573cd", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0 1428.194 164.106 75.292 -92.296 90 -180 1'" - ] - }, - "execution_count": 45, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "new_loc =pf400.rotate_yaw(joint_states=rotation_deck_above.representation, rotation_deg=90.0)\n", "pf400.move_joint(new_loc)\n", @@ -325,28 +228,10 @@ }, { "cell_type": "code", - "execution_count": 154, + "execution_count": null, "id": "46f01a50", "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "[1430.657, 149.952, 75.287, -2.299, 90.0, 180.0]\n" - ] - }, - { - "data": { - "text/plain": [ - "'0'" - ] - }, - "execution_count": 154, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "cart = pf400.joint_to_cart(rotation_deck_above.representation)\n", "print(cart)\n", @@ -355,7 +240,7 @@ }, { "cell_type": "code", - "execution_count": 153, + "execution_count": 7, "id": "9d2def7b", "metadata": {}, "outputs": [ @@ -365,7 +250,7 @@ "'0'" ] }, - "execution_count": 153, + "execution_count": 7, "metadata": {}, "output_type": "execute_result" } @@ -376,59 +261,37 @@ }, { "cell_type": "code", - "execution_count": 339, + "execution_count": null, "id": "1f830ba8", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "129.918" - ] - }, - "execution_count": 339, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.open_gripper(pf400.gripper_open_wide)\n" ] }, { "cell_type": "code", - "execution_count": 347, + "execution_count": null, "id": "ef000acf", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "71.231" - ] - }, - "execution_count": 347, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.close_gripper(70.0)" ] }, { "cell_type": "code", - "execution_count": 30, + "execution_count": 6, "id": "e9f99e32", "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "'0 0 -8 145 0 0 0'" + "'0 0 0 162 0 0 0'" ] }, - "execution_count": 30, + "execution_count": 6, "metadata": {}, "output_type": "execute_result" } @@ -439,174 +302,47 @@ }, { "cell_type": "code", - "execution_count": 318, + "execution_count": null, "id": "3689e6af", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0 0 0 0 0'" - ] - }, - "execution_count": 318, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.send_command(\"base\")" ] }, { "cell_type": "code", - "execution_count": 201, + "execution_count": null, "id": "956d4e2b", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "[1152.917, 11.806, 130.013, -4.392, 90.0, 180.0]" - ] - }, - "execution_count": 201, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.get_cartesian_coordinates()" ] }, { "cell_type": "code", - "execution_count": 173, + "execution_count": null, "id": "24511083", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0'" - ] - }, - "execution_count": 173, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.move_cartesian([1427.667, 150.069, 175.292 - 100, -90 + -2.299, 90.0, 180.0])" ] }, { "cell_type": "code", - "execution_count": 199, + "execution_count": null, "id": "0da2cfa9", "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[2m2026-05-15T15:02:19.789546Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*Joint out-of-range* Set robot joints within their range\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n", - "\u001b[2m2026-05-15T15:02:19.789546Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*Joint out-of-range* Set robot joints within their range\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n" - ] - }, - { - "data": { - "text/html": [ - "
╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮\n",
-       "│ in <module>:1                                                                                                   │\n",
-       "│                                                                                                                 │\n",
-       "│ ❱ 1 pf400.move_cartesian([1000, 0, 100, 0.0, 90.0, 180.0])                                                      │\n",
-       "│   2                                                                                                             │\n",
-       "│                                                                                                                 │\n",
-       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:592 in move_cartesian                    │\n",
-       "│                                                                                                                 │\n",
-       "│    589 │   │   │   + \" \"                                                                                        │\n",
-       "│    590 │   │   │   + \" \".join(map(str, target_cartesian_coordinates))                                           │\n",
-       "│    591 │   │   )                                                                                                │\n",
-       "│ ❱  592 │   │   return self.send_command(move_command)                                                           │\n",
-       "│    593 │                                                                                                        │\n",
-       "│    594 │   def move_in_one_axis(                                                                                │\n",
-       "│    595 │   │   self, profile: int = 1, axis_x: int = 0, axis_y: int = 0, axis_z: int = 0                        │\n",
-       "│                                                                                                                 │\n",
-       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:163 in send_command                      │\n",
-       "│                                                                                                                 │\n",
-       "│    160 │   │   │   │   │   .rstrip(\"\\r\\n\")                                                                      │\n",
-       "│    161 │   │   │   │   )                                                                                        │\n",
-       "│    162 │   │   │   │   if response != \"\" and response in ERROR_CODES:                                           │\n",
-       "│ ❱  163 │   │   │   │   │   self._handle_error_output(response)                                                  │\n",
-       "│    164 │   │   │   │   if response in OUTPUT_CODES:                                                             │\n",
-       "│    165 │   │   │   │   │   self.logger.log_debug(response)                                                      │\n",
-       "│    166 │   │   │   │   self._await_movement_completion()                                                        │\n",
-       "│                                                                                                                 │\n",
-       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:212 in _handle_error_output              │\n",
-       "│                                                                                                                 │\n",
-       "│    209 │   │   \"\"\"Handles the error message output.\"\"\"                                                          │\n",
-       "│    210 │   │   response = Pf400ResponseError.from_error_code(output)                                            │\n",
-       "│    211 │   │   self.logger.log_error(response)                                                                  │\n",
-       "│ ❱  212 │   │   raise response                                                                                   │\n",
-       "│    213 │                                                                                                        │\n",
-       "│    214 │   def enable_power(self) -> str:                                                                       │\n",
-       "│    215 │   │   \"\"\"Enables the power on the robot.\"\"\"                                                            │\n",
-       "╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\n",
-       "Pf400ResponseError: *Joint out-of-range* Set robot joints within their range\n",
-       "
\n" - ], - "text/plain": [ - "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n", - "\u001b[31m│\u001b[0m in :1 \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m1 \u001b[1;4mpf400.move_cartesian([\u001b[0m\u001b[1;4;94m1000\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m100\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m0.0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m90.0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m180.0\u001b[0m\u001b[1;4m])\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m2 \u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:592 in move_cartesian \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 589 \u001b[0m\u001b[2m│ │ │ \u001b[0m+ \u001b[33m\"\u001b[0m\u001b[33m \u001b[0m\u001b[33m\"\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 590 \u001b[0m\u001b[2m│ │ │ \u001b[0m+ \u001b[33m\"\u001b[0m\u001b[33m \u001b[0m\u001b[33m\"\u001b[0m.join(\u001b[96mmap\u001b[0m(\u001b[96mstr\u001b[0m, target_cartesian_coordinates)) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 591 \u001b[0m\u001b[2m│ │ \u001b[0m) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 592 \u001b[2m│ │ \u001b[0m\u001b[94mreturn\u001b[0m \u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(move_command)\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 593 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 594 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mmove_in_one_axis\u001b[0m( \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 595 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m, profile: \u001b[96mint\u001b[0m = \u001b[94m1\u001b[0m, axis_x: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m, axis_y: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m, axis_z: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 160 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 161 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 162 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 164 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 165 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 166 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion() \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 209 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 210 \u001b[0m\u001b[2m│ │ \u001b[0mresponse = Pf400ResponseError.from_error_code(output) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 211 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│ │ \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 213 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 214 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 215 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n", - "\u001b[1;91mPf400ResponseError: \u001b[0m*Joint out-of-range* Set robot joints within their range\n" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "pf400.move_cartesian([1000, 0, 100, 0.0, 90.0, 180.0])" ] }, { "cell_type": "code", - "execution_count": 200, + "execution_count": null, "id": "19b9a6ef", "metadata": {}, "outputs": [], @@ -616,111 +352,17 @@ }, { "cell_type": "code", - "execution_count": 282, + "execution_count": null, "id": "f32966f7", "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[2m2026-05-15T20:01:35.076594Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*No robot attached* \u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n", - "\u001b[2m2026-05-15T20:01:35.076594Z\u001b[0m [\u001b[31m\u001b[1merror \u001b[0m] \u001b[1m*No robot attached* \u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n" - ] - }, - { - "data": { - "text/html": [ - "
╭─────────────────────────────────────── Traceback (most recent call last) ───────────────────────────────────────╮\n",
-       "│ in <module>:1                                                                                                   │\n",
-       "│                                                                                                                 │\n",
-       "│ ❱ 1 pf400.open_gripper()                                                                                        │\n",
-       "│   2                                                                                                             │\n",
-       "│                                                                                                                 │\n",
-       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:422 in open_gripper                      │\n",
-       "│                                                                                                                 │\n",
-       "│    419 │   def open_gripper(self, gripper_length: Optional[int] = None) -> float:                               │\n",
-       "│    420 │   │   \"\"\"Opens the gripper.\"\"\"                                                                         │\n",
-       "│    421 │   │   self.set_gripper_open(gripper_length=gripper_length)                                             │\n",
-       "│ ❱  422 │   │   self.send_command(\"gripper 1\")                                                                   │\n",
-       "│    423 │   │   return self.get_gripper_state()                                                                  │\n",
-       "│    424 │                                                                                                        │\n",
-       "│    425 │   def close_gripper(self, gripper_length: Optional[int] = None) -> float:                              │\n",
-       "│                                                                                                                 │\n",
-       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:163 in send_command                      │\n",
-       "│                                                                                                                 │\n",
-       "│    160 │   │   │   │   │   .rstrip(\"\\r\\n\")                                                                      │\n",
-       "│    161 │   │   │   │   )                                                                                        │\n",
-       "│    162 │   │   │   │   if response != \"\" and response in ERROR_CODES:                                           │\n",
-       "│ ❱  163 │   │   │   │   │   self._handle_error_output(response)                                                  │\n",
-       "│    164 │   │   │   │   if response in OUTPUT_CODES:                                                             │\n",
-       "│    165 │   │   │   │   │   self.logger.log_debug(response)                                                      │\n",
-       "│    166 │   │   │   │   self._await_movement_completion()                                                        │\n",
-       "│                                                                                                                 │\n",
-       "│ /home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/pf400.py:212 in _handle_error_output              │\n",
-       "│                                                                                                                 │\n",
-       "│    209 │   │   \"\"\"Handles the error message output.\"\"\"                                                          │\n",
-       "│    210 │   │   response = Pf400ResponseError.from_error_code(output)                                            │\n",
-       "│    211 │   │   self.logger.log_error(response)                                                                  │\n",
-       "│ ❱  212 │   │   raise response                                                                                   │\n",
-       "│    213 │                                                                                                        │\n",
-       "│    214 │   def enable_power(self) -> str:                                                                       │\n",
-       "│    215 │   │   \"\"\"Enables the power on the robot.\"\"\"                                                            │\n",
-       "╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\n",
-       "Pf400ResponseError: *No robot attached*\n",
-       "
\n" - ], - "text/plain": [ - "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n", - "\u001b[31m│\u001b[0m in :1 \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m1 \u001b[1;4mpf400.open_gripper()\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m2 \u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:422 in open_gripper \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 419 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mopen_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 420 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Opens the gripper.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 421 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.set_gripper_open(gripper_length=gripper_length) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 422 \u001b[2m│ │ \u001b[0m\u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4;33mgripper 1\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4m)\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 423 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[94mreturn\u001b[0m \u001b[96mself\u001b[0m.get_gripper_state() \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 424 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 425 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mclose_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 160 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 161 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 162 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 164 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 165 \u001b[0m\u001b[2m│ │ │ │ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 166 \u001b[0m\u001b[2m│ │ │ │ \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion() \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 209 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 210 \u001b[0m\u001b[2m│ │ \u001b[0mresponse = Pf400ResponseError.from_error_code(output) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 211 \u001b[0m\u001b[2m│ │ \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response) \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│ │ \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 213 \u001b[0m\u001b[2m│ \u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 214 \u001b[0m\u001b[2m│ \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m: \u001b[31m│\u001b[0m\n", - "\u001b[31m│\u001b[0m \u001b[2m 215 \u001b[0m\u001b[2;90m│ │ \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m \u001b[31m│\u001b[0m\n", - "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n", - "\u001b[1;91mPf400ResponseError: \u001b[0m*No robot attached*\n" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], + "outputs": [], "source": [ "pf400.open_gripper()" ] }, { "cell_type": "code", - "execution_count": 123, + "execution_count": 16, "id": "6", "metadata": {}, "outputs": [], From 5850f5d31bf6e259e93fc092f7657af7fb7af6c3 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Wed, 27 May 2026 15:41:13 -0500 Subject: [PATCH 24/29] Use horizontal compliance with pick & place --- src/pf400_interface/pf400.py | 30 ++++++++++++++++++++---------- 1 file changed, 20 insertions(+), 10 deletions(-) diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py index 7ff3972..1dc985b 100644 --- a/src/pf400_interface/pf400.py +++ b/src/pf400_interface/pf400.py @@ -95,9 +95,9 @@ def __init__( self.neutral_joints = [ 400.0, - 1.400, - 177.101, - 537.107, + 1.650, + 177.662, + -179.494, self.gripper_close_narrow, 0.0, ] @@ -784,12 +784,15 @@ def rotate_plate_on_deck( target = rotation_deck.representation if rotation_degree == -90: - target = self.rotate_yaw(target, -rotation_degree) + target = self.rotate_yaw(target, rotation_degree) above_position = list(map(add, target, self.default_approach_vector)) self.move_all_joints_neutral(target) self.move_joint(above_position, self.slow_motion_profile) + target_position_above_compliance = copy.deepcopy(target) + target_position_above_compliance[0] += 1.0 + self.move_joint(target_position_above_compliance, self.slow_motion_profile) self.enable_compliance() self.move_joint(target, self.slow_motion_profile) self.release_plate() @@ -906,7 +909,7 @@ def pick_plate( source_approach: LocationArgument = None, grab_offset: Optional[float] = None, approach_height_offset: Optional[float] = None, - grip_width: Optional[int] = None, + grip_width: Optional[int] = 122, ) -> bool: """Pick a plate from the source location.""" above_position = self._calculate_above_position( @@ -920,7 +923,6 @@ def pick_plate( else: self.move_all_joints_neutral(source.representation) approach_motion_profile = self.fast_motion_profile - self.move_joint( target_joint_angles=above_position, profile=approach_motion_profile ) @@ -930,12 +932,12 @@ def pick_plate( if grab_offset else source.representation ) - self.enable_compliance() self.move_joint( target_joint_angles=target_position, profile=approach_motion_profile, gripper_open=True, ) + self.enable_compliance() grab_succeeded = self.grab_plate(width=grip_width, speed=100, force=10) if self.resource_client and grab_succeeded and source.resource_id: @@ -988,6 +990,9 @@ def place_plate( if grab_offset else target.representation ) + target_position_above_compliance = copy.deepcopy(target_position) + target_position_above_compliance[0] += 2.0 + self.move_joint(target_position_above_compliance) self.enable_compliance() self.move_joint(target_position, approach_motion_profile) release_succeeded = self.release_plate(width=open_width) @@ -1120,9 +1125,10 @@ def transfer( plate_source_rotation = 90 if source_plate_rotation.lower() == "wide" else 0 self.grip_wide = source_plate_rotation.lower() == "wide" - source.representation = self.check_incorrect_plate_orientation( - source.representation, plate_source_rotation - ) + """ + Depricating this implementation + source.representation = self.check_incorrect_plate_orientation(source.representation, plate_source_rotation) + """ pick_result = self.pick_plate( source=source, @@ -1139,9 +1145,13 @@ def transfer( plate_target_rotation = 90 if target_plate_rotation.lower() == "wide" else 0 self.grip_wide = target_plate_rotation.lower() == "wide" + + """ + Depricating this implementation target.representation = self.check_incorrect_plate_orientation( target.representation, plate_target_rotation ) + """ rotation_needed = plate_target_rotation - plate_source_rotation if rotation_needed != 0: From 929eeeee1872f93936279983fa5d88cd244ccebd Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Wed, 27 May 2026 15:41:45 -0500 Subject: [PATCH 25/29] Notebooks to work on the TCP settings --- tests/set_tcp.ipynb | 131 +++++++++++++++++++++++++++++++------------- 1 file changed, 94 insertions(+), 37 deletions(-) diff --git a/tests/set_tcp.ipynb b/tests/set_tcp.ipynb index 9bcbc0c..d3c6626 100644 --- a/tests/set_tcp.ipynb +++ b/tests/set_tcp.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": 4, "id": "34aeaee3", "metadata": {}, "outputs": [], @@ -12,7 +12,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": 5, "id": "8391c5af", "metadata": {}, "outputs": [], @@ -23,24 +23,17 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": 6, "id": "ea7fbda8", "metadata": {}, "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[2m2026-05-19T21:00:41.341979Z\u001b[0m [\u001b[32m\u001b[1minfo \u001b[0m] \u001b[1mEventClient initialized \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n" - ] - }, { "data": { "text/plain": [ "1" ] }, - "execution_count": 2, + "execution_count": 6, "metadata": {}, "output_type": "execute_result" } @@ -54,29 +47,57 @@ }, { "cell_type": "code", - "execution_count": 7, + "execution_count": null, + "id": "fae59b5f", + "metadata": {}, + "outputs": [], + "source": [ + "pf400.open_gripper(130)" + ] + }, + { + "cell_type": "code", + "execution_count": null, "id": "23d44ef8", "metadata": {}, "outputs": [], "source": [ "rotation_deck = LocationArgument(\n", - " location_name=\"rotation_deck\", location = [68.287,-27.703,113.691,631.713,75.088,994.854]\n", + " location_name=\"rotation_deck\", location = [63.063,-28.717,113.020,-82.561,71.348,988.948]\n", + ")\n", + "camera_deck = LocationArgument(\n", + " location_name=\"camera_deck\", location = [105.024,22.029,69.970,-0.551,73.780,991.020]\n", + "\n", ")" ] }, { "cell_type": "code", - "execution_count": 5, + "execution_count": null, + "id": "190df468", + "metadata": {}, + "outputs": [], + "source": [ + "camera = pf400.rotate_yaw(camera_deck.representation, -90)\n", + "camera_wide = LocationArgument(location_name=\"camera_wide\", location = [104.961, 59.382, 36.824, -94.872, 122.180, 990.609]\n", + "\n", + ")\n", + "print(camera_wide)" + ] + }, + { + "cell_type": "code", + "execution_count": 10, "id": "f5f043cb", "metadata": {}, "outputs": [ { "data": { "text/plain": [ - "'0 0 -8 148 0 0 0'" + "'0 0 1 146.5 0 0 0'" ] }, - "execution_count": 5, + "execution_count": 10, "metadata": {}, "output_type": "execute_result" } @@ -87,34 +108,59 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": null, + "id": "7beac015", + "metadata": {}, + "outputs": [], + "source": [ + "pf400.move_joint(camera_deck.representation)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "a3590046", + "metadata": {}, + "outputs": [], + "source": [ + "\n", + "pf400.transfer(source=camera_wide, target=camera_deck, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, "id": "681e2ea1", "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "[1431.177, 150.432, 68.287, -2.299, 90.0, 180.0]\n" - ] - }, - { - "data": { - "text/plain": [ - "'0'" - ] - }, - "execution_count": 11, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "cart = pf400.joint_to_cart(rotation_deck.representation)\n", "print(cart)\n", "pf400.move_with_rotation(rotation_deck.representation, -90.0)" ] }, + { + "cell_type": "code", + "execution_count": null, + "id": "79ad16ea", + "metadata": {}, + "outputs": [], + "source": [ + "rot = pf400.rotate_yaw(rotation_deck.representation,90)\n", + "rotation_deck_wide = LocationArgument(location_name=\"rotation_deck_wide\", location = rot)\n", + "\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "fdfef70d", + "metadata": {}, + "outputs": [], + "source": [ + "pf400.transfer(rotation_deck_wide,rotation_deck_wide,source_plate_rotation=\"wide\",target_plate_rotation=\"wide\")" + ] + }, { "cell_type": "code", "execution_count": 9, @@ -133,7 +179,18 @@ } ], "source": [ - "pf400.send_command(\"tool 0 -8.5 148.5 0 0 0\")" + "pf400.send_command(\"tool 0 1 146.5 0 0 0\")\n", + "pf400.send_command(\"StoreFile\")" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "id": "a3f2dcba", + "metadata": {}, + "outputs": [], + "source": [ + "pf400.disconnect()" ] } ], From 7c1cae3231427fca9722d153fedf277b52efb4db Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Wed, 27 May 2026 15:41:57 -0500 Subject: [PATCH 26/29] Interface tests --- tests/set_tcp.ipynb | 114 ++++++++----------- tests/test_pf400_interface.ipynb | 182 ++++++++++--------------------- 2 files changed, 104 insertions(+), 192 deletions(-) diff --git a/tests/set_tcp.ipynb b/tests/set_tcp.ipynb index d3c6626..29c1820 100644 --- a/tests/set_tcp.ipynb +++ b/tests/set_tcp.ipynb @@ -2,8 +2,8 @@ "cells": [ { "cell_type": "code", - "execution_count": 4, - "id": "34aeaee3", + "execution_count": null, + "id": "0", "metadata": {}, "outputs": [], "source": [ @@ -12,34 +12,21 @@ }, { "cell_type": "code", - "execution_count": 5, - "id": "8391c5af", + "execution_count": null, + "id": "1", "metadata": {}, "outputs": [], "source": [ - "from operator import add\n", "from madsci.common.types.location_types import LocationArgument" ] }, { "cell_type": "code", - "execution_count": 6, - "id": "ea7fbda8", + "execution_count": null, + "id": "2", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "1" - ] - }, - "execution_count": 6, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ - "\n", "pf400 = PF400(host=\"rplpf400.cels.anl.gov\")\n", "pf400.initialize_robot()\n", "pf400.get_robot_movement_state()" @@ -48,7 +35,7 @@ { "cell_type": "code", "execution_count": null, - "id": "fae59b5f", + "id": "3", "metadata": {}, "outputs": [], "source": [ @@ -58,50 +45,41 @@ { "cell_type": "code", "execution_count": null, - "id": "23d44ef8", + "id": "4", "metadata": {}, "outputs": [], "source": [ "rotation_deck = LocationArgument(\n", - " location_name=\"rotation_deck\", location = [63.063,-28.717,113.020,-82.561,71.348,988.948]\n", + " location_name=\"rotation_deck\",\n", + " location=[63.063, -28.717, 113.020, -82.561, 71.348, 988.948],\n", ")\n", "camera_deck = LocationArgument(\n", - " location_name=\"camera_deck\", location = [105.024,22.029,69.970,-0.551,73.780,991.020]\n", - "\n", + " location_name=\"camera_deck\",\n", + " location=[105.024, 22.029, 69.970, -0.551, 73.780, 991.020],\n", ")" ] }, { "cell_type": "code", "execution_count": null, - "id": "190df468", + "id": "5", "metadata": {}, "outputs": [], "source": [ "camera = pf400.rotate_yaw(camera_deck.representation, -90)\n", - "camera_wide = LocationArgument(location_name=\"camera_wide\", location = [104.961, 59.382, 36.824, -94.872, 122.180, 990.609]\n", - "\n", + "camera_wide = LocationArgument(\n", + " location_name=\"camera_wide\",\n", + " location=[104.961, 59.382, 36.824, -94.872, 122.180, 990.609],\n", ")\n", "print(camera_wide)" ] }, { "cell_type": "code", - "execution_count": 10, - "id": "f5f043cb", + "execution_count": null, + "id": "6", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0 0 1 146.5 0 0 0'" - ] - }, - "execution_count": 10, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.send_command(\"tool\")" ] @@ -109,7 +87,7 @@ { "cell_type": "code", "execution_count": null, - "id": "7beac015", + "id": "7", "metadata": {}, "outputs": [], "source": [ @@ -119,18 +97,23 @@ { "cell_type": "code", "execution_count": null, - "id": "a3590046", + "id": "8", "metadata": {}, "outputs": [], "source": [ - "\n", - "pf400.transfer(source=camera_wide, target=camera_deck, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")\n" + "pf400.transfer(\n", + " source=camera_wide,\n", + " target=camera_deck,\n", + " rotation_deck=rotation_deck,\n", + " source_plate_rotation=\"wide\",\n", + " target_plate_rotation=\"narrow\",\n", + ")" ] }, { "cell_type": "code", "execution_count": null, - "id": "681e2ea1", + "id": "9", "metadata": {}, "outputs": [], "source": [ @@ -142,42 +125,35 @@ { "cell_type": "code", "execution_count": null, - "id": "79ad16ea", + "id": "10", "metadata": {}, "outputs": [], "source": [ - "rot = pf400.rotate_yaw(rotation_deck.representation,90)\n", - "rotation_deck_wide = LocationArgument(location_name=\"rotation_deck_wide\", location = rot)\n", - "\n" + "rot = pf400.rotate_yaw(rotation_deck.representation, 90)\n", + "rotation_deck_wide = LocationArgument(location_name=\"rotation_deck_wide\", location=rot)" ] }, { "cell_type": "code", "execution_count": null, - "id": "fdfef70d", + "id": "11", "metadata": {}, "outputs": [], "source": [ - "pf400.transfer(rotation_deck_wide,rotation_deck_wide,source_plate_rotation=\"wide\",target_plate_rotation=\"wide\")" + "pf400.transfer(\n", + " rotation_deck_wide,\n", + " rotation_deck_wide,\n", + " source_plate_rotation=\"wide\",\n", + " target_plate_rotation=\"wide\",\n", + ")" ] }, { "cell_type": "code", - "execution_count": 9, - "id": "8bd11120", + "execution_count": null, + "id": "12", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0'" - ] - }, - "execution_count": 9, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.send_command(\"tool 0 1 146.5 0 0 0\")\n", "pf400.send_command(\"StoreFile\")" @@ -185,8 +161,8 @@ }, { "cell_type": "code", - "execution_count": 11, - "id": "a3f2dcba", + "execution_count": null, + "id": "13", "metadata": {}, "outputs": [], "source": [ diff --git a/tests/test_pf400_interface.ipynb b/tests/test_pf400_interface.ipynb index 02a978e..7968890 100644 --- a/tests/test_pf400_interface.ipynb +++ b/tests/test_pf400_interface.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, + "execution_count": null, "id": "0", "metadata": {}, "outputs": [], @@ -12,30 +12,11 @@ }, { "cell_type": "code", - "execution_count": 2, + "execution_count": null, "id": "1", "metadata": {}, - "outputs": [ - { - "name": "stderr", - "output_type": "stream", - "text": [ - "\u001b[2m2026-05-19T20:55:54.094275Z\u001b[0m [\u001b[32m\u001b[1minfo \u001b[0m] \u001b[1mEventClient initialized \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n" - ] - }, - { - "data": { - "text/plain": [ - "1" - ] - }, - "execution_count": 2, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ - "\n", "pf400 = PF400(host=\"rplpf400.cels.anl.gov\")\n", "pf400.initialize_robot()\n", "pf400.get_robot_movement_state()" @@ -43,7 +24,7 @@ }, { "cell_type": "code", - "execution_count": 3, + "execution_count": null, "id": "2", "metadata": {}, "outputs": [], @@ -83,79 +64,54 @@ }, { "cell_type": "code", - "execution_count": 4, - "id": "58b72672", + "execution_count": null, + "id": "5", "metadata": {}, "outputs": [], "source": [ "camera_loc = LocationArgument(\n", - " location_name=\"source\", location = [106.932,23.387,69.67,714.368,75.058,994.962]\n", + " location_name=\"source\", location=[106.932, 23.387, 69.67, 714.368, 75.058, 994.962]\n", ")\n", "rotation_deck = LocationArgument(\n", - " location_name=\"rotation_deck\", location = [62.287,-27.703,113.691,631.713,75.088,994.854]\n", + " location_name=\"rotation_deck\",\n", + " location=[62.287, -27.703, 113.691, 631.713, 75.088, 994.854],\n", ")" ] }, { "cell_type": "code", - "execution_count": 5, - "id": "966d1340", + "execution_count": null, + "id": "6", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0'" - ] - }, - "execution_count": 5, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ - "pf400.enable_compliance()" + "pf400.enablee()" ] }, { "cell_type": "code", - "execution_count": 6, - "id": "5", + "execution_count": null, + "id": "7", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "True" - ] - }, - "execution_count": 6, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ - "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"narrow\", target_plate_rotation=\"wide\")\n", - "#pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")" + "pf400.disable_compliance()\n", + "pf400.transfer(\n", + " source=camera_loc,\n", + " target=camera_loc,\n", + " rotation_deck=rotation_deck,\n", + " source_plate_rotation=\"narrow\",\n", + " target_plate_rotation=\"wide\",\n", + ")\n", + "# pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")" ] }, { "cell_type": "code", - "execution_count": 6, - "id": "eb627d8c", + "execution_count": null, + "id": "8", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0'" - ] - }, - "execution_count": 6, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.disable_compliance()" ] @@ -163,18 +119,17 @@ { "cell_type": "code", "execution_count": null, - "id": "3c7c7602", + "id": "9", "metadata": {}, "outputs": [], "source": [ - "pf400.pick_plate(source=rotation_deck\n", - " )\n" + "pf400.pick_plate(source=rotation_deck)" ] }, { "cell_type": "code", "execution_count": null, - "id": "4027bb28", + "id": "10", "metadata": {}, "outputs": [], "source": [ @@ -184,7 +139,7 @@ { "cell_type": "code", "execution_count": null, - "id": "c813d4ea", + "id": "11", "metadata": {}, "outputs": [], "source": [ @@ -194,19 +149,20 @@ { "cell_type": "code", "execution_count": null, - "id": "34c11807", + "id": "12", "metadata": {}, "outputs": [], "source": [ "rotation_deck_above = LocationArgument(\n", - " location_name=\"rotation_deck_above\", location = [75.287,-27.703,113.691,631.713,70.088,994.854]\n", - ")\n" + " location_name=\"rotation_deck_above\",\n", + " location=[75.287, -27.703, 113.691, 631.713, 70.088, 994.854],\n", + ")" ] }, { "cell_type": "code", "execution_count": null, - "id": "13443d57", + "id": "13", "metadata": {}, "outputs": [], "source": [ @@ -217,11 +173,13 @@ { "cell_type": "code", "execution_count": null, - "id": "984573cd", + "id": "14", "metadata": {}, "outputs": [], "source": [ - "new_loc =pf400.rotate_yaw(joint_states=rotation_deck_above.representation, rotation_deg=90.0)\n", + "new_loc = pf400.rotate_yaw(\n", + " joint_states=rotation_deck_above.representation, rotation_deg=90.0\n", + ")\n", "pf400.move_joint(new_loc)\n", "pf400.send_command(\"wherec\")" ] @@ -229,7 +187,7 @@ { "cell_type": "code", "execution_count": null, - "id": "46f01a50", + "id": "15", "metadata": {}, "outputs": [], "source": [ @@ -240,21 +198,10 @@ }, { "cell_type": "code", - "execution_count": 7, - "id": "9d2def7b", + "execution_count": null, + "id": "16", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0'" - ] - }, - "execution_count": 7, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.send_command(\"tool 0 -8 148 0 0 0\")" ] @@ -262,17 +209,17 @@ { "cell_type": "code", "execution_count": null, - "id": "1f830ba8", + "id": "17", "metadata": {}, "outputs": [], "source": [ - "pf400.open_gripper(pf400.gripper_open_wide)\n" + "pf400.open_gripper(pf400.gripper_open_wide)" ] }, { "cell_type": "code", "execution_count": null, - "id": "ef000acf", + "id": "18", "metadata": {}, "outputs": [], "source": [ @@ -281,21 +228,10 @@ }, { "cell_type": "code", - "execution_count": 6, - "id": "e9f99e32", + "execution_count": null, + "id": "19", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'0 0 0 162 0 0 0'" - ] - }, - "execution_count": 6, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "pf400.send_command(\"tool\")" ] @@ -303,7 +239,7 @@ { "cell_type": "code", "execution_count": null, - "id": "3689e6af", + "id": "20", "metadata": {}, "outputs": [], "source": [ @@ -313,7 +249,7 @@ { "cell_type": "code", "execution_count": null, - "id": "956d4e2b", + "id": "21", "metadata": {}, "outputs": [], "source": [ @@ -323,7 +259,7 @@ { "cell_type": "code", "execution_count": null, - "id": "24511083", + "id": "22", "metadata": {}, "outputs": [], "source": [ @@ -333,7 +269,7 @@ { "cell_type": "code", "execution_count": null, - "id": "0da2cfa9", + "id": "23", "metadata": {}, "outputs": [], "source": [ @@ -343,7 +279,7 @@ { "cell_type": "code", "execution_count": null, - "id": "19b9a6ef", + "id": "24", "metadata": {}, "outputs": [], "source": [ @@ -353,7 +289,7 @@ { "cell_type": "code", "execution_count": null, - "id": "f32966f7", + "id": "25", "metadata": {}, "outputs": [], "source": [ @@ -362,8 +298,8 @@ }, { "cell_type": "code", - "execution_count": 16, - "id": "6", + "execution_count": null, + "id": "26", "metadata": {}, "outputs": [], "source": [ From 36f9f72252afac5d39e7571b3132ccda6ac1ae33 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Thu, 28 May 2026 10:52:50 -0700 Subject: [PATCH 27/29] Fixed pre-commits --- .env.example | 8 +- docs/Configuration.md | 38 ++++---- pdm.lock | 190 ++++++++---------------------------- tests/test_pf400_node.ipynb | 27 +++-- 4 files changed, 81 insertions(+), 182 deletions(-) diff --git a/.env.example b/.env.example index 3a41e68..391d34a 100644 --- a/.env.example +++ b/.env.example @@ -1,12 +1,10 @@ ### PF400NodeConfig +# NODE_DEFINITION="default.node.yaml" +# NODE_NODE_INFO_PATH=null +# NODE_UPDATE_NODE_FILES=true # NODE_STATUS_UPDATE_INTERVAL=2.0 # NODE_STATE_UPDATE_INTERVAL=2.0 -# NODE_NODE_NAME=null -# NODE_NODE_ID=null -# NODE_NODE_TYPE=null -# NODE_MODULE_NAME=null -# NODE_MODULE_VERSION=null # NODE_URL="http://127.0.0.1:2000/" # NODE_UVICORN_KWARGS={"limit_concurrency":10} # NODE_ENABLE_RATE_LIMITING=true diff --git a/docs/Configuration.md b/docs/Configuration.md index 7655cca..8b056f6 100644 --- a/docs/Configuration.md +++ b/docs/Configuration.md @@ -8,23 +8,21 @@ Configuration for the pf400 node module. **Environment Prefix**: `NODE_` -| Name | Type | Default | Description | Example | -|------------------------------------|--------------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------| -| `NODE_STATUS_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its status. | `2.0` | -| `NODE_STATE_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its state. | `2.0` | -| `NODE_NODE_NAME` | `string` \| `NoneType` | `null` | Name for this node. If not set, defaults to the class name. | `null` | -| `NODE_NODE_ID` | `string` \| `NoneType` | `null` | Unique ID for this node. If not set, a new ULID is generated. | `null` | -| `NODE_NODE_TYPE` | `NodeType` \| `NoneType` | `null` | The type of thing this node provides an interface for. | `null` | -| `NODE_MODULE_NAME` | `string` \| `NoneType` | `null` | Name of the node module implementation. | `null` | -| `NODE_MODULE_VERSION` | `string` \| `NoneType` | `null` | Version of the node module implementation. | `null` | -| `NODE_URL` \| `NODE_URL` | `AnyUrl` | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API. | `"http://127.0.0.1:2000/"` | -| `NODE_UVICORN_KWARGS` | `object` | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks. | `{"limit_concurrency":10}` | -| `NODE_ENABLE_RATE_LIMITING` | `boolean` | `true` | Enable rate limiting middleware for the REST API. | `true` | -| `NODE_RATE_LIMIT_REQUESTS` | `integer` | `100` | Maximum number of requests allowed per long time window (only used if enable_rate_limiting is True). | `100` | -| `NODE_RATE_LIMIT_WINDOW` | `integer` | `60` | Long time window in seconds for rate limiting (only used if enable_rate_limiting is True). | `60` | -| `NODE_RATE_LIMIT_SHORT_REQUESTS` | `integer` \| `NoneType` | `50` | Maximum number of requests allowed per short time window for burst protection (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `50` | -| `NODE_RATE_LIMIT_SHORT_WINDOW` | `integer` \| `NoneType` | `1` | Short time window for burst protection in seconds (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `1` | -| `NODE_RATE_LIMIT_CLEANUP_INTERVAL` | `integer` | `300` | Interval in seconds between cleanup operations to prevent memory leaks (only used if enable_rate_limiting is True). | `300` | -| `NODE_PF400_IP` | `string` \| `NoneType` | `null` | | `null` | -| `NODE_PF400_PORT` | `integer` | `10100` | | `10100` | -| `NODE_PF400_STATUS_PORT` | `integer` | `10000` | | `10000` | +| Name | Type | Default | Description | Example | +|----------------------------------------|----------------------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------| +| `NODE_DEFINITION` \| `NODE_DEFINITION` | `string` \| `Path` \| `NoneType` | `"default.node.yaml"` | Path to the node definition file to use. If set, the node will load the definition from this file on startup. Otherwise, a default configuration will be created. | `"default.node.yaml"` | +| `NODE_NODE_INFO_PATH` | `string` \| `Path` \| `NoneType` | `null` | Path to export the generated node info file. If not set, will use the node name and the node_definition's path. | `null` | +| `NODE_UPDATE_NODE_FILES` | `boolean` | `true` | Whether to update the node definition and info files on startup. If set to False, the node will not update the files even if they are out of date. | `true` | +| `NODE_STATUS_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its status. | `2.0` | +| `NODE_STATE_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its state. | `2.0` | +| `NODE_URL` \| `NODE_URL` | `AnyUrl` | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API. | `"http://127.0.0.1:2000/"` | +| `NODE_UVICORN_KWARGS` | `object` | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks. | `{"limit_concurrency":10}` | +| `NODE_ENABLE_RATE_LIMITING` | `boolean` | `true` | Enable rate limiting middleware for the REST API. | `true` | +| `NODE_RATE_LIMIT_REQUESTS` | `integer` | `100` | Maximum number of requests allowed per long time window (only used if enable_rate_limiting is True). | `100` | +| `NODE_RATE_LIMIT_WINDOW` | `integer` | `60` | Long time window in seconds for rate limiting (only used if enable_rate_limiting is True). | `60` | +| `NODE_RATE_LIMIT_SHORT_REQUESTS` | `integer` \| `NoneType` | `50` | Maximum number of requests allowed per short time window for burst protection (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `50` | +| `NODE_RATE_LIMIT_SHORT_WINDOW` | `integer` \| `NoneType` | `1` | Short time window for burst protection in seconds (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `1` | +| `NODE_RATE_LIMIT_CLEANUP_INTERVAL` | `integer` | `300` | Interval in seconds between cleanup operations to prevent memory leaks (only used if enable_rate_limiting is True). | `300` | +| `NODE_PF400_IP` | `string` \| `NoneType` | `null` | | `null` | +| `NODE_PF400_PORT` | `integer` | `10100` | | `10100` | +| `NODE_PF400_STATUS_PORT` | `integer` | `10000` | | `10000` | diff --git a/pdm.lock b/pdm.lock index e4601b7..f8577dd 100644 --- a/pdm.lock +++ b/pdm.lock @@ -5,7 +5,7 @@ groups = ["default", "dev"] strategy = [] lock_version = "4.5.0" -content_hash = "sha256:eace9e3d52020de94d8d9dd91f8f29a99b0ec91d85fa52b5fc73f38c7ac072e3" +content_hash = "sha256:27982f65982f80f0c56310d580de55bd6ffd42f27c42e41004e1e38a4cb0ce7f" [[metadata.targets]] requires_python = ">=3.10,<3.13" @@ -429,7 +429,6 @@ name = "httpcore" version = "1.0.9" requires_python = ">=3.8" summary = "A minimal low-level HTTP client." -groups = ["default"] dependencies = [ "certifi", "h11>=0.16", @@ -468,27 +467,11 @@ files = [ {file = "httptools-0.7.1.tar.gz", hash = "sha256:abd72556974f8e7c74a259655924a717a2365b236c882c3f6f8a45fe94703ac9"}, ] -[[package]] -name = "httpx" -version = "0.28.1" -summary = "" -dependencies = [ - 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"source_loc = [102.162,26.226,67.451,712.056,71.524,995.235] #camera position\n", - "target_loc = [164,58.489,86.752,661.513,122.221,-994.035]\n", - "rotation_loc = [63,-27.659,113.485,631.997,72.163,994.458]\n", + "source_loc = [102.162, 26.226, 67.451, 712.056, 71.524, 995.235] # camera position\n", + "target_loc = [164, 58.489, 86.752, 661.513, 122.221, -994.035]\n", + "rotation_loc = [63, -27.659, 113.485, 631.997, 72.163, 994.458]\n", "rotation_loc_resource_id = \"01K7T1HRQQMXSB37SA5RGYFKMC\"\n", "# camera_loc = [90.597, 26.416, 66.422, 714.811, 81.916, 995.074]\n", "\n", "# Approach locations (examples)\n", - "source_approach_single = [166.87,0.648,98.948,706.188,70.855,995.16] # camera approach\n", + "source_approach_single = [\n", + " 166.87,\n", + " 0.648,\n", + " 98.948,\n", + " 706.188,\n", + " 70.855,\n", + " 995.16,\n", + "] # camera approach\n", "source_approach_multiple = [\n", - " [193.278,-4.397,72.689,735.146,70.85,995.233],\n", + " [193.278, -4.397, 72.689, 735.146, 70.85, 995.233],\n", " source_approach_single,\n", "]" ] @@ -110,11 +117,11 @@ "# Create plate asset resource with attributes\n", "plate = resource_client.get_resource(\"01K7T1QAXCMSAJ3MAK2GAS24ZK\")\n", "plate.attributes = {\n", - " \"has_lid\": True,\n", - " \"lid_height\": 2.0,\n", - " \"grab_height_offset\": 0.0,\n", - " \"description\": \"96-well microplate with lid\",\n", - " }\n", + " \"has_lid\": True,\n", + " \"lid_height\": 2.0,\n", + " \"grab_height_offset\": 0.0,\n", + " \"description\": \"96-well microplate with lid\",\n", + "}\n", "# plate = Asset(\n", "# resource_id=\"01K7T1QAXCMSAJ3MAK2GAS24ZK\",\n", "# resource_name=\"sample_plate\",\n", From c0b439a3510cda3decc366c007a445b7cc569b91 Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Thu, 28 May 2026 17:09:12 -0700 Subject: [PATCH 28/29] Update generated config docs for new madsci NodeConfig fields --- .env.example | 11 ++++++++--- docs/Configuration.md | 41 +++++++++++++++++++++++------------------ 2 files changed, 31 insertions(+), 21 deletions(-) diff --git a/.env.example b/.env.example index 391d34a..e1d402c 100644 --- a/.env.example +++ b/.env.example @@ -1,10 +1,15 @@ ### PF400NodeConfig -# NODE_DEFINITION="default.node.yaml" -# NODE_NODE_INFO_PATH=null -# NODE_UPDATE_NODE_FILES=true # NODE_STATUS_UPDATE_INTERVAL=2.0 # NODE_STATE_UPDATE_INTERVAL=2.0 +# NODE_NAME=null +# NODE_ID=null +# NODE_TYPE=null +# NODE_MODULE_NAME=null +# NODE_MODULE_VERSION=null +# NODE_ENABLE_REGISTRY_RESOLUTION=true +# NODE_LAB_URL=null +# NODE_REGISTRY_LOCK_TIMEOUT=60.0 # NODE_URL="http://127.0.0.1:2000/" # NODE_UVICORN_KWARGS={"limit_concurrency":10} # NODE_ENABLE_RATE_LIMITING=true diff --git a/docs/Configuration.md b/docs/Configuration.md index 8b056f6..25deec4 100644 --- a/docs/Configuration.md +++ b/docs/Configuration.md @@ -8,21 +8,26 @@ Configuration for the pf400 node module. **Environment Prefix**: `NODE_` -| Name | Type | Default | Description | Example | -|----------------------------------------|----------------------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------| -| `NODE_DEFINITION` \| `NODE_DEFINITION` | `string` \| `Path` \| `NoneType` | `"default.node.yaml"` | Path to the node definition file to use. If set, the node will load the definition from this file on startup. Otherwise, a default configuration will be created. | `"default.node.yaml"` | -| `NODE_NODE_INFO_PATH` | `string` \| `Path` \| `NoneType` | `null` | Path to export the generated node info file. If not set, will use the node name and the node_definition's path. | `null` | -| `NODE_UPDATE_NODE_FILES` | `boolean` | `true` | Whether to update the node definition and info files on startup. If set to False, the node will not update the files even if they are out of date. | `true` | -| `NODE_STATUS_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its status. | `2.0` | -| `NODE_STATE_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its state. | `2.0` | -| `NODE_URL` \| `NODE_URL` | `AnyUrl` | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API. | `"http://127.0.0.1:2000/"` | -| `NODE_UVICORN_KWARGS` | `object` | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks. | `{"limit_concurrency":10}` | -| `NODE_ENABLE_RATE_LIMITING` | `boolean` | `true` | Enable rate limiting middleware for the REST API. | `true` | -| `NODE_RATE_LIMIT_REQUESTS` | `integer` | `100` | Maximum number of requests allowed per long time window (only used if enable_rate_limiting is True). | `100` | -| `NODE_RATE_LIMIT_WINDOW` | `integer` | `60` | Long time window in seconds for rate limiting (only used if enable_rate_limiting is True). | `60` | -| `NODE_RATE_LIMIT_SHORT_REQUESTS` | `integer` \| `NoneType` | `50` | Maximum number of requests allowed per short time window for burst protection (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `50` | -| `NODE_RATE_LIMIT_SHORT_WINDOW` | `integer` \| `NoneType` | `1` | Short time window for burst protection in seconds (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `1` | -| `NODE_RATE_LIMIT_CLEANUP_INTERVAL` | `integer` | `300` | Interval in seconds between cleanup operations to prevent memory leaks (only used if enable_rate_limiting is True). | `300` | -| `NODE_PF400_IP` | `string` \| `NoneType` | `null` | | `null` | -| `NODE_PF400_PORT` | `integer` | `10100` | | `10100` | -| `NODE_PF400_STATUS_PORT` | `integer` | `10000` | | `10000` | +| Name | Type | Default | Description | Example | +|------------------------------------|----------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------| +| `NODE_STATUS_UPDATE_INTERVAL` | `number` \| `null` | `2.0` | The interval in seconds at which the node should update its status. | `2.0` | +| `NODE_STATE_UPDATE_INTERVAL` | `number` \| `null` | `2.0` | The interval in seconds at which the node should update its state. | `2.0` | +| `NODE_NAME` | `string` \| `null` | `null` | Name for this node. If not set, defaults to the class name. | `null` | +| `NODE_ID` | `string` \| `null` | `null` | Unique ID for this node. If not set, a new ULID is generated. | `null` | +| `NODE_TYPE` | `NodeType` \| `null` | `null` | The type of thing this node provides an interface for. | `null` | +| `NODE_MODULE_NAME` | `string` \| `null` | `null` | Name of the node module implementation. | `null` | +| `NODE_MODULE_VERSION` | `string` \| `null` | `null` | Version of the node module implementation. | `null` | +| `NODE_ENABLE_REGISTRY_RESOLUTION` | `boolean` | `true` | When true, resolve node_id from the ID Registry at startup for stable identity across restarts. | `true` | +| `NODE_LAB_URL` | `AnyUrl` \| `null` | `null` | Lab Manager URL for distributed registry coordination. | `null` | +| `NODE_REGISTRY_LOCK_TIMEOUT` | `number` | `60.0` | Seconds to retry registry lock acquisition on contention at startup. Should be at least 2x the lock TTL (30s) to survive ungraceful container restarts. | `60.0` | +| `NODE_URL` | `AnyUrl` | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API. | `"http://127.0.0.1:2000/"` | +| `NODE_UVICORN_KWARGS` | `object` | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks. | `{"limit_concurrency":10}` | +| `NODE_ENABLE_RATE_LIMITING` | `boolean` | `true` | Enable rate limiting middleware for the REST API. | `true` | +| `NODE_RATE_LIMIT_REQUESTS` | `integer` | `100` | Maximum number of requests allowed per long time window (only used if enable_rate_limiting is True). | `100` | +| `NODE_RATE_LIMIT_WINDOW` | `integer` | `60` | Long time window in seconds for rate limiting (only used if enable_rate_limiting is True). | `60` | +| `NODE_RATE_LIMIT_SHORT_REQUESTS` | `integer` \| `null` | `50` | Maximum number of requests allowed per short time window for burst protection (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `50` | +| `NODE_RATE_LIMIT_SHORT_WINDOW` | `integer` \| `null` | `1` | Short time window for burst protection in seconds (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `1` | +| `NODE_RATE_LIMIT_CLEANUP_INTERVAL` | `integer` | `300` | Interval in seconds between cleanup operations to prevent memory leaks (only used if enable_rate_limiting is True). | `300` | +| `NODE_PF400_IP` | `string` \| `null` | `null` | | `null` | +| `NODE_PF400_PORT` | `integer` | `10100` | | `10100` | +| `NODE_PF400_STATUS_PORT` | `integer` | `10000` | | `10000` | From 3b5854fbbc40a215076fab88c2d0c6da493bfa2d Mon Sep 17 00:00:00 2001 From: Dozgulbas Date: Thu, 28 May 2026 17:13:33 -0700 Subject: [PATCH 29/29] Revert config docs to madsci 0.7 generated output --- docs/Configuration.md | 46 +++++++++++++++++++++---------------------- 1 file changed, 23 insertions(+), 23 deletions(-) diff --git a/docs/Configuration.md b/docs/Configuration.md index 25deec4..0ae8b32 100644 --- a/docs/Configuration.md +++ b/docs/Configuration.md @@ -8,26 +8,26 @@ Configuration for the pf400 node module. **Environment Prefix**: `NODE_` -| Name | Type | Default | Description | Example | -|------------------------------------|----------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------| -| `NODE_STATUS_UPDATE_INTERVAL` | `number` \| `null` | `2.0` | The interval in seconds at which the node should update its status. | `2.0` | -| `NODE_STATE_UPDATE_INTERVAL` | `number` \| `null` | `2.0` | The interval in seconds at which the node should update its state. | `2.0` | -| `NODE_NAME` | `string` \| `null` | `null` | Name for this node. If not set, defaults to the class name. | `null` | -| `NODE_ID` | `string` \| `null` | `null` | Unique ID for this node. If not set, a new ULID is generated. | `null` | -| `NODE_TYPE` | `NodeType` \| `null` | `null` | The type of thing this node provides an interface for. | `null` | -| `NODE_MODULE_NAME` | `string` \| `null` | `null` | Name of the node module implementation. | `null` | -| `NODE_MODULE_VERSION` | `string` \| `null` | `null` | Version of the node module implementation. | `null` | -| `NODE_ENABLE_REGISTRY_RESOLUTION` | `boolean` | `true` | When true, resolve node_id from the ID Registry at startup for stable identity across restarts. | `true` | -| `NODE_LAB_URL` | `AnyUrl` \| `null` | `null` | Lab Manager URL for distributed registry coordination. | `null` | -| `NODE_REGISTRY_LOCK_TIMEOUT` | `number` | `60.0` | Seconds to retry registry lock acquisition on contention at startup. Should be at least 2x the lock TTL (30s) to survive ungraceful container restarts. | `60.0` | -| `NODE_URL` | `AnyUrl` | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API. | `"http://127.0.0.1:2000/"` | -| `NODE_UVICORN_KWARGS` | `object` | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks. | `{"limit_concurrency":10}` | -| `NODE_ENABLE_RATE_LIMITING` | `boolean` | `true` | Enable rate limiting middleware for the REST API. | `true` | -| `NODE_RATE_LIMIT_REQUESTS` | `integer` | `100` | Maximum number of requests allowed per long time window (only used if enable_rate_limiting is True). | `100` | -| `NODE_RATE_LIMIT_WINDOW` | `integer` | `60` | Long time window in seconds for rate limiting (only used if enable_rate_limiting is True). | `60` | -| `NODE_RATE_LIMIT_SHORT_REQUESTS` | `integer` \| `null` | `50` | Maximum number of requests allowed per short time window for burst protection (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `50` | -| `NODE_RATE_LIMIT_SHORT_WINDOW` | `integer` \| `null` | `1` | Short time window for burst protection in seconds (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `1` | -| `NODE_RATE_LIMIT_CLEANUP_INTERVAL` | `integer` | `300` | Interval in seconds between cleanup operations to prevent memory leaks (only used if enable_rate_limiting is True). | `300` | -| `NODE_PF400_IP` | `string` \| `null` | `null` | | `null` | -| `NODE_PF400_PORT` | `integer` | `10100` | | `10100` | -| `NODE_PF400_STATUS_PORT` | `integer` | `10000` | | `10000` | +| Name | Type | Default | Description | Example | +|------------------------------------|--------------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------| +| `NODE_STATUS_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its status. | `2.0` | +| `NODE_STATE_UPDATE_INTERVAL` | `number` \| `NoneType` | `2.0` | The interval in seconds at which the node should update its state. | `2.0` | +| `NODE_NAME` \| `NODE_NAME` | `string` \| `NoneType` | `null` | Name for this node. If not set, defaults to the class name. | `null` | +| `NODE_ID` \| `NODE_ID` | `string` \| `NoneType` | `null` | Unique ID for this node. If not set, a new ULID is generated. | `null` | +| `NODE_TYPE` \| `NODE_TYPE` | `NodeType` \| `NoneType` | `null` | The type of thing this node provides an interface for. | `null` | +| `NODE_MODULE_NAME` | `string` \| `NoneType` | `null` | Name of the node module implementation. | `null` | +| `NODE_MODULE_VERSION` | `string` \| `NoneType` | `null` | Version of the node module implementation. | `null` | +| `NODE_ENABLE_REGISTRY_RESOLUTION` | `boolean` | `true` | When true, resolve node_id from the ID Registry at startup for stable identity across restarts. | `true` | +| `NODE_LAB_URL` | `AnyUrl` \| `NoneType` | `null` | Lab Manager URL for distributed registry coordination. | `null` | +| `NODE_REGISTRY_LOCK_TIMEOUT` | `number` | `60.0` | Seconds to retry registry lock acquisition on contention at startup. Should be at least 2x the lock TTL (30s) to survive ungraceful container restarts. | `60.0` | +| `NODE_URL` \| `NODE_URL` | `AnyUrl` | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API. | `"http://127.0.0.1:2000/"` | +| `NODE_UVICORN_KWARGS` | `object` | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks. | `{"limit_concurrency":10}` | +| `NODE_ENABLE_RATE_LIMITING` | `boolean` | `true` | Enable rate limiting middleware for the REST API. | `true` | +| `NODE_RATE_LIMIT_REQUESTS` | `integer` | `100` | Maximum number of requests allowed per long time window (only used if enable_rate_limiting is True). | `100` | +| `NODE_RATE_LIMIT_WINDOW` | `integer` | `60` | Long time window in seconds for rate limiting (only used if enable_rate_limiting is True). | `60` | +| `NODE_RATE_LIMIT_SHORT_REQUESTS` | `integer` \| `NoneType` | `50` | Maximum number of requests allowed per short time window for burst protection (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `50` | +| `NODE_RATE_LIMIT_SHORT_WINDOW` | `integer` \| `NoneType` | `1` | Short time window for burst protection in seconds (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `1` | +| `NODE_RATE_LIMIT_CLEANUP_INTERVAL` | `integer` | `300` | Interval in seconds between cleanup operations to prevent memory leaks (only used if enable_rate_limiting is True). | `300` | +| `NODE_PF400_IP` | `string` \| `NoneType` | `null` | | `null` | +| `NODE_PF400_PORT` | `integer` | `10100` | | `10100` | +| `NODE_PF400_STATUS_PORT` | `integer` | `10000` | | `10000` |