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PreciseFlex Arm Driver #619

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Merged
rickwierenga merged 88 commits into from
Dec 8, 2025
Merged

PreciseFlex Arm Driver #619

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0446c90
Adds driver for PreciseFlex PF400. Adds TCP connection for io.
miikee Jul 23, 2025
04a6801
Adds Arm Machine class
miikee Jul 24, 2025
bdef716
Adds open_gripper and close_gripper methods to ArmBackend. Add ... t…
miikee Jul 24, 2025
cc2efe8
Add open_gripper and close_gripper methods to Arm class
miikee Jul 24, 2025
db70802
Adds untested warning to PreciseFlexBackend
miikee Jul 24, 2025
469b71a
Adds default port for precise flex arm robot 1
miikee Jul 24, 2025
afbbf85
WIP: Large addition of preciseflex backend api and robot_testing_script
miikee Sep 5, 2025
5ba817a
WIP: change from pytest -> unittest
miikee Sep 5, 2025
57683ac
Rename files
miikee Sep 5, 2025
3ea3452
Add __init__ for packages
miikee Sep 5, 2025
2346d0e
WIP changes to Precise Flex test including indention fixes, remove re…
miikee Sep 5, 2025
a4fda8e
Comment out testing setting mode to verbose mode
miikee Sep 5, 2025
c3c47b6
Refactor signal and location configuration methods for clarity and va…
miikee Sep 5, 2025
b24fb11
Add additional movements and gripper methods to PreciseFlex backend; …
miikee Sep 15, 2025
f66f645
Renames precise flex api files
miikee Sep 15, 2025
8b0fe6a
Rename test class for PreciseFlex API and cleanup imports
miikee Sep 15, 2025
7a7a06e
Adds a test file for the PreciseFlex backend
miikee Sep 15, 2025
37c2f2a
Edit zero_torque and set_pallet_index commands; WIP editting pallet c…
miikee Sep 17, 2025
cae5d98
Change to add preservation and restoration to the test setup and tear…
miikee Sep 17, 2025
a38a209
Add comment about cartesian and joint coords
miikee Sep 17, 2025
30c1cfe
Applicable test all working on the PreciseFlex API
miikee Sep 18, 2025
92a841c
Swap to power on robot before attach in test
miikee Sep 18, 2025
d8da11b
Fix in exit() command in api to not parse reply since ther ewon't be …
miikee Sep 18, 2025
a3c883a
update api to use 6 joints instead of 7
miikee Sep 19, 2025
6d4cb49
Edit PreciseFlex API and backend to support Cartesian and Joint coord…
miikee Sep 19, 2025
183ff3a
Correct tests for array value length changes, add restoration for pro…
miikee Sep 19, 2025
e17bcc2
Adds 'hardware' pytest marker to robot integration tests and updates …
miikee Sep 24, 2025
346c017
Refactor Arm class to support Cartesian and Joint coordinates; update…
miikee Sep 24, 2025
8a9414d
Move Cartesian and Joint coordinate models to their own file
miikee Sep 24, 2025
6998d38
Format fixes
miikee Sep 24, 2025
edaa21b
Fix f-string checks and fix bare excepts
miikee Sep 24, 2025
96fa535
Adds a few acceptable typos to the typo file
miikee Sep 24, 2025
c15c5a2
Switches 'match' statement to an 'if' statement
miikee Sep 24, 2025
c4c8c66
Refactor type hints to use Union for position parameters and update O…
miikee Sep 24, 2025
de6f753
Fromatting fix
miikee Sep 24, 2025
3cac650
Refactor type hints to use Optional for parameters in arm and precise…
miikee Sep 24, 2025
224ef7b
Lint formatting
miikee Sep 24, 2025
bc5d437
Add return type hint to send_command method in PreciseFlexBackendApi
miikee Sep 24, 2025
d69bebd
Convert test_values["straight"] to bool to enusre type checking passes
miikee Sep 24, 2025
4e4747d
Merge branch 'main' into dev-precise-flex-pf400
rickwierenga Nov 12, 2025
6fad8f7
small things
rickwierenga Nov 12, 2025
b6b5a10
use existing types in CartesianCoords
rickwierenga Nov 12, 2025
87f36ee
Enhance arm backend with access patterns for approach, pick, and plac…
miikee Nov 13, 2025
1464fdd
Merge branch 'feature/preciseflex-nest-type-discovery' into dev-preci…
miikee Nov 13, 2025
2624bf7
refactor io.TCP
rickwierenga Nov 14, 2025
eaf062f
Fix ElbowOrientation swap bug between Pf400 and PF3400
miikee Nov 18, 2025
9648728
ot2 docs
rickwierenga Nov 12, 2025
aefeb32
make offsets a real parameter of lh.return_tips
rickwierenga Nov 12, 2025
8db816f
add CellTreat_24_wellplate_3300ul_Fb (#749)
rickwierenga Nov 14, 2025
5f1473e
`hamilton_tube_carrier_32_a00_insert_eppendorf_1_5mL` (#750)
rickwierenga Nov 15, 2025
e0333a0
star: error if direction is not default with core gripper (#751)
rickwierenga Nov 16, 2025
0a7ed35
hamilton_mfx_carrier_L5_base in docs
rickwierenga Nov 18, 2025
0caf881
STARBackend.iswap_{open,close}_gripper mm units, correct docs
rickwierenga Nov 18, 2025
8665116
allow dispensing96 without aspiration96 when volume tracking disabled…
rickwierenga Nov 18, 2025
63944cf
type
rickwierenga Nov 18, 2025
ef7a8f8
smh
rickwierenga Nov 18, 2025
22cbe0d
Expose `park_autoload_after` in `unload_carrier` (#754)
BioCam Nov 18, 2025
bdf674b
`io.Socket` refactor (#753)
rickwierenga Nov 18, 2025
1cb4ab2
remove TCP, use existing io.socket
rickwierenga Nov 19, 2025
24ad76b
Merge branch 'main' into dev-precise-flex-pf400
rickwierenga Nov 19, 2025
8620a2c
merge API stuff into backend
rickwierenga Nov 19, 2025
d4d7f9c
move coordinate convertor into backend
rickwierenga Nov 19, 2025
8abf182
JointCoords is a list of floats
rickwierenga Nov 27, 2025
c57a324
scara
rickwierenga Nov 28, 2025
4175d76
Add has_rail parameter to PF400 and PF3400 backends
miikee Dec 1, 2025
326dabc
Fix move_to(list) to directly create PreciseFlexJointCoords
miikee Dec 2, 2025
a332ab5
Fix PreciseFlex orientation mapping and wrist constraints
miikee Dec 3, 2025
2ac4bd7
Merge branch 'feature/scara-backend-fixes' into dev-precise-flex-pf400
miikee Dec 3, 2025
bea84ec
remove where and get_location commands
rickwierenga Dec 5, 2025
291ae00
unify joint with/without rails
rickwierenga Dec 5, 2025
278136f
Merge branch 'main' into dev-precise-flex-pf400
rickwierenga Dec 5, 2025
7bf67c4
add backend tests
rickwierenga Dec 5, 2025
f77f301
forgot
rickwierenga Dec 5, 2025
dbb024a
fix
rickwierenga Dec 5, 2025
62ba6c0
support backend kwargs
rickwierenga Dec 6, 2025
e6c6593
make some private, grip parameters for pick_plate, width is required
rickwierenga Dec 6, 2025
d9e9868
small tutorial
rickwierenga Dec 6, 2025
0ad317e
Merge branch 'main' into dev-precise-flex-pf400
rickwierenga Dec 6, 2025
dede243
smol
rickwierenga Dec 7, 2025
7298a6f
call it experimental
rickwierenga Dec 8, 2025
3fad8dd
add scara tests
rickwierenga Dec 8, 2025
6f09cf5
t
rickwierenga Dec 8, 2025
7f78ab3
Update pylabrobot/arms/precise_flex/pf_400.py
rickwierenga Dec 8, 2025
4fc506a
Update docs/user_guide/01_material-handling/arms/c_scara/precise-flex…
rickwierenga Dec 8, 2025
e230973
Update pylabrobot/arms/scara.py
rickwierenga Dec 8, 2025
f2277be
Update pylabrobot/arms/precise_flex/pf_3400.py
rickwierenga Dec 8, 2025
377987a
fix
rickwierenga Dec 8, 2025
9a2e7ff
Merge branch 'main' into dev-precise-flex-pf400
rickwierenga Dec 8, 2025
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5 changes: 5 additions & 0 deletions _typos.toml
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Expand Up @@ -20,6 +20,11 @@ PN = "PN"
tro = "tro"
FO = "FO"
UE = "UE"
commutated = "commutated"
commutating = "commutating"
DOUT = "DOUT"
inconsistence = "inconsistence"
mis = "mis"
RHE = "RHE"
"ASEND" = "ASEND"

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2 changes: 1 addition & 1 deletion docs/user_guide/01_material-handling/arms/c_scara/_scara.rst
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Expand Up @@ -9,4 +9,4 @@ Selective Compliance Assembly Robot Arm (SCARA).
:maxdepth: 1
:hidden:

precise-flex-pf400/_precise-flex-pf400
precise-flex-pf400/hello-world
4 changes: 0 additions & 4 deletions ...de/01_material-handling/arms/c_scara/precise-flex-pf400/_precise-flex-pf400.rst
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