Jointed

This module provides the base class for jointed robot arms.

CLASS	DESCRIPTION
`RobotArm`	RobotArm provides methods to control a robot arm

Documentation last updated: 2025-02-22

RobotArm

RobotArm(
    *args,
    home_waypoints: Sequence[Position] | None = None,
    joint_limits: Sequence[Sequence[float]] | None = None,
    **kwargs,
)

Bases: Mover

RobotArm provides methods to control a robot arm

ATTRIBUTE	DESCRIPTION
`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
`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
`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 RobotArm class

PARAMETER	DESCRIPTION
`home_waypoints`	home waypoints for the robot. Defaults to list(). TYPE: `Sequence[Position]` DEFAULT: `None`
`joint_limits`	joint limits for the robot. Defaults to None. TYPE: `Sequence[Sequence[float]]` DEFAULT: `None`

joint_position `property` `writable`

joint_position: ndarray

Current joint angles

home

home(axis: str | None = None) -> bool

Make the robot go home

PARAMETER	DESCRIPTION
`axis`	axis to home. Defaults to None. TYPE: `str` DEFAULT: `None`

RETURNS	DESCRIPTION
`bool`	whether the robot successfully homed TYPE: `bool`

isFeasibleJoint

isFeasibleJoint(
    joint_position: Sequence[float] | ndarray,
) -> bool

Checks and returns whether the target joint angles are feasible

PARAMETER	DESCRIPTION
`joint_position`	target joint angles TYPE: `Sequence[float] \| ndarray`

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

jointMoveBy

jointMoveBy(
    by: Sequence[float] | ndarray,
    speed_factor: float | None = None,
    *,
    jog: bool = False,
    rapid: bool = False,
    robot: bool = True,
) -> ndarray

Move the robot by target joint angles

PARAMETER	DESCRIPTION
`by`	target joint angles to move by TYPE: `Sequence[float] \| ndarray`
`speed_factor`	fraction of maximum speed to travel at. Defaults to None. TYPE: `float` DEFAULT: `None`
`jog`	whether to jog the robot. Defaults to False. TYPE: `bool` DEFAULT: `False`
`rapid`	whether to move rapidly. Defaults to False. TYPE: `bool` DEFAULT: `False`
`robot`	whether to move the robot. Defaults to True. TYPE: `bool` DEFAULT: `True`

RETURNS	DESCRIPTION
`ndarray`	np.ndarray: new robot joint position

jointMoveTo

jointMoveTo(
    to: Sequence[float] | ndarray,
    speed_factor: float | None = None,
    *,
    jog: bool = False,
    rapid: bool = False,
    robot: bool = True,
) -> Position

Move the robot to target joint position

PARAMETER	DESCRIPTION
`to`	target joint positions TYPE: `Sequence[float] \| ndarray`
`speed_factor`	fraction of maximum speed to travel at. Defaults to None. TYPE: `float` DEFAULT: `None`
`jog`	whether to jog the robot. Defaults to False. TYPE: `bool` DEFAULT: `False`
`rapid`	whether to move rapidly. Defaults to False. TYPE: `bool` DEFAULT: `False`
`robot`	whether to move the robot. Defaults to True. TYPE: `bool` DEFAULT: `True`

RETURNS	DESCRIPTION
`Position`	np.ndarray: new robot joint position

rotateBy

rotateBy(
    by: Sequence[float] | Rotation | ndarray,
    speed_factor: float | None = None,
    *,
    jog: bool = False,
    robot: bool = True,
) -> Rotation

Rotate the robot by target rotation

PARAMETER	DESCRIPTION
`by`	target rotation TYPE: `Sequence[float] \| Rotation \| ndarray`
`speed_factor`	fraction of maximum speed to rotate at. Defaults to None. TYPE: `float` DEFAULT: `None`
`jog`	whether to jog the robot. Defaults to False. TYPE: `bool` DEFAULT: `False`
`robot`	whether to rotate the robot. Defaults to False. TYPE: `bool` DEFAULT: `True`

RETURNS	DESCRIPTION
`Rotation`	new tool/robot orientation TYPE: `Rotation`

rotateTo

rotateTo(
    to: Sequence[float] | Rotation | ndarray,
    speed_factor: float | None = None,
    *,
    jog: bool = False,
    robot: bool = False,
) -> Rotation

Rotate the robot to target orientation

PARAMETER	DESCRIPTION
`to`	target orientation TYPE: `Sequence[float] \| Rotation \| ndarray`
`speed_factor`	fraction of maximum speed to rotate at. Defaults to None. TYPE: `float` DEFAULT: `None`
`jog`	whether to jog the robot. Defaults to False. TYPE: `bool` DEFAULT: `False`
`robot`	whether to rotate the robot. Defaults to False. TYPE: `bool` DEFAULT: `False`

RETURNS	DESCRIPTION
`Rotation`	new tool/robot orientation TYPE: `Rotation`

updateJointPosition

updateJointPosition(
    by: Sequence[float] | Rotation | ndarray | None = None,
    to: Sequence[float] | Rotation | ndarray | None = None,
)

Update the joint position based on relative or absolute movement

PARAMETER	DESCRIPTION
`by`	relative movement. Defaults to None. TYPE: `Sequence[float] \| Rotation \| ndarray \| None` DEFAULT: `None`
`to`	absolute movement. Defaults to None. TYPE: `Sequence[float] \| Rotation \| ndarray \| None` DEFAULT: `None`