M1Pro

This module provides methods to control Dobot's M1Pro robot arm

ATTRIBUTE	DESCRIPTION
`DEFAULT_SPEEDS`	default speeds of the robot TYPE: `dict`

CLASS	DESCRIPTION
`M1Pro`	M1Pro provides methods to control Dobot's M1Pro robot arm

FUNCTION	DESCRIPTION
`within_volume`	check if a point is within the robot's workspace

Documentation last updated: 2025-02-22

M1Pro

M1Pro(
    host: str,
    joint_limits: Sequence[Sequence[float]] | None = None,
    right_handed: bool = True,
    *,
    robot_position: Position = Position(),
    home_waypoints: Sequence[Position] | None = None,
    home_position: Position = Position((300, 0, 240)),
    tool_offset: Position = Position(),
    calibrated_offset: Position = Position(),
    scale: float = 1.0,
    deck: Deck | None = None,
    safe_height: float | None = 240,
    saved_positions: dict | None = None,
    speed_max: float | None = None,
    movement_buffer: int | None = None,
    movement_timeout: int | None = None,
    verbose: bool = False,
    simulation: bool = False,
    **kwargs,
)

Bases: Dobot

M1Pro provides methods to control Dobot's M1Pro robot arm

ATTRIBUTE	DESCRIPTION
`movement_buffer`	buffer time for movement TYPE: `int`
`movement_timeout`	timeout for movement TYPE: `int`
`max_joint_accels`	maximum joint accelerations of the robot TYPE: `ndarray`
`max_joint_speeds`	maximum joint speeds of the robot TYPE: `ndarray`
`home_waypoints`	home waypoints for the robot TYPE: `list[Position]`
`joint_limits`	joint limits for the robot TYPE: `ndarray`
`joint_position`	current joint angles TYPE: `ndarray`
`connection_details`	connection details for the device TYPE: `dict`
`device`	device object that communicates with physical tool TYPE: `Device`
`flags`	flags for the class TYPE: `SimpleNamespace[str, bool]`
`is_busy`	whether the device is busy TYPE: `bool`
`is_connected`	whether the device is connected TYPE: `bool`
`verbose`	verbosity of class TYPE: `bool`
`deck`	Deck object for workspace TYPE: `Deck`
`workspace`	workspace bounding box TYPE: `BoundingVolume`
`safe_height`	safe height in terms of robot coordinate system TYPE: `float`
`saved_positions`	dictionary of saved positions TYPE: `dict`
`current_zone_waypoints`	current zone entry waypoints TYPE: `tuple[str, list[Position]]`
`speed`	travel speed of robot TYPE: `float`
`speed_factor`	fraction of maximum travel speed of robot TYPE: `float`
`speed_max`	maximum speed of robot in mm/min TYPE: `float`
`robot_position`	current position of the robot TYPE: `Position`
`home_position`	home position of the robot in terms of robot coordinate system TYPE: `Position`
`tool_offset`	tool offset from robot to end effector TYPE: `Position`
`calibrated_offset`	calibrated offset from robot to work position TYPE: `Position`
`scale`	factor to scale the basis vectors by TYPE: `float`
`tool_position`	robot position of the tool end effector TYPE: `Position`
`work_position`	work position of the robot TYPE: `Position`
`worktool_position`	work position of the tool end effector TYPE: `Position`
`position`	work position of the tool end effector; alias for worktool_position TYPE: `Position`

METHOD	DESCRIPTION
`setHandedness`	set the handedness of the robot
`isFeasibleJoint`	checks and returns whether the target joint angles are feasible
`jointMoveBy`	move the robot by target joint angles
`jointMoveTo`	move the robot to target joint position
`updateJointPosition`	update the joint position based on relative or absolute movement
`connect`	connect to the device
`disconnect`	disconnect from the device
`resetFlags`	reset all flags to class attribute _default_flags
`shutdown`	shutdown procedure for tool
`enterZone`	enter a zone on the deck
`exitZone`	exit the current zone on the deck
`halt`	halt robot movement
`home`	make the robot go home
`isFeasible`	checks and returns whether the target coordinates is feasible and sets the handedness of the robot if necessary
`loadDeck`	load Deck layout object to mover
`loadDeckFromDict`	load Deck layout object from dictionary
`loadDeckFromFile`	load Deck layout object from file
`move`	move the robot in a specific axis by a specific value
`moveBy`	move the robot by target direction
`moveTo`	move the robot to target position
`moveToSafeHeight`	move the robot to safe height
`moveRobotTo`	move the robot to target position
`moveToolTo`	move the tool end effector to target position
`reset`	reset the robot
`rotate`	rotate the robot in a specific axis by a specific value
`rotateBy`	rotate the robot by target rotation
`rotateTo`	rotate the robot to target orientation
`rotateRobotTo`	rotate the robot to target orientation
`rotateToolTo`	rotate the tool end effector to target orientation
`safeMoveTo`	safe version of moveTo by moving to safe height first
`setSafeHeight`	set safe height for robot
`setSpeedFactor`	set the speed factor of the robot
`setToolOffset`	set the tool offset of the robot
`showWorkspace`	show the workspace of the robot
`updateRobotPosition`	update the robot position
`transformRobotToTool`	transform robot coordinates to tool coordinates
`transformRobotToWork`	transform robot coordinates to work coordinates
`transformToolToRobot`	transform tool coordinates to robot coordinates
`transformWorkToRobot`	transform work coordinates to robot coordinates
`calibrate`	calibrate the internal and external coordinate systems

Initialize M1Pro class

PARAMETER	DESCRIPTION
`host`	IP address of Dobot TYPE: `str`
`joint_limits`	joint limits of the robot. Defaults to None. TYPE: `Sequence[Sequence[float]] \| None` DEFAULT: `None`
`right_handed`	whether the robot is in right-handed mode (i.e elbow bends to the right). Defaults to True. TYPE: `bool` DEFAULT: `True`
`robot_position`	current position of the robot. Defaults to Position(). TYPE: `Position` DEFAULT: `Position()`
`home_waypoints`	home waypoints for the robot. Defaults to list(). TYPE: `Sequence[Position]` DEFAULT: `None`
`home_position`	home position of the robot in terms of robot coordinate system. Defaults to Position((300,0,240)). TYPE: `Position` DEFAULT: `Position((300, 0, 240))`
`tool_offset`	tool offset from robot to end effector. Defaults to Position(). TYPE: `Position` DEFAULT: `Position()`
`calibrated_offset`	calibrated offset from robot to work position. Defaults to Position(). TYPE: `Position` DEFAULT: `Position()`
`scale`	factor to scale the basis vectors by. Defaults to 1.0. TYPE: `float` DEFAULT: `1.0`
`deck`	Deck object for workspace. Defaults to None. TYPE: `Deck \| None` DEFAULT: `None`
`safe_height`	safe height in terms of robot coordinate system. Defaults to 240. TYPE: `float \| None` DEFAULT: `240`
`saved_positions`	dictionary of saved positions. Defaults to dict(). TYPE: `dict` DEFAULT: `None`
`speed_max`	maximum speed of robot in mm/min. Defaults to None. TYPE: `float \| None` DEFAULT: `None`
`movement_buffer`	buffer time for movement. Defaults to None. TYPE: `int \| None` DEFAULT: `None`
`movement_timeout`	timeout for movement. Defaults to None. TYPE: `int \| None` DEFAULT: `None`
`verbose`	whether to output logs. Defaults to False. TYPE: `bool` DEFAULT: `False`
`simulation`	whether to simulate the robot. Defaults to False. TYPE: `bool` DEFAULT: `False`

isFeasible

isFeasible(
    coordinates: Sequence[float] | ndarray,
    external: bool = True,
    tool_offset: bool = True,
) -> bool

Checks and returns whether the target coordinates is feasible. Also sets the handedness of the robot if necessary.

PARAMETER	DESCRIPTION
`coordinates`	target coordinates TYPE: `Sequence[float] \| ndarray`
`external`	whether the target coordinates are in external coordinates. Defaults to True. TYPE: `bool` DEFAULT: `True`
`tool_offset`	whether to consider the tool offset. Defaults to True. TYPE: `bool` DEFAULT: `True`

RETURNS	DESCRIPTION
`bool`	whether the target coordinates are feasible TYPE: `bool`

setHandedness

setHandedness(
    right_handed: bool, stretch: bool = False
) -> bool

Set the handedness of the robot

PARAMETER	DESCRIPTION
`right_handed`	whether to select right-handedness TYPE: `bool`
`stretch`	whether to stretch the arm. Defaults to False. TYPE: `bool` DEFAULT: `False`

RETURNS	DESCRIPTION
`bool`	whether movement is successful TYPE: `bool`

stretchArm

stretchArm() -> bool

Extend the arm to full reach

RETURNS	DESCRIPTION
`bool`	whether movement is successful TYPE: `bool`

within_volume

within_volume(point: Sequence[float]) -> bool

Check whether a point is within the robot's workspace

PARAMETER	DESCRIPTION
`point`	3D coordinates of the point TYPE: `Sequence[float]`

RETURNS	DESCRIPTION
`bool`	whether the point is within the robot's workspace TYPE: `bool`