added move action and increased tolerance for move failed exception

Author: caseystone

src/sciclops_driver.py

@@ -392,10 +392,10 @@ def move(self, R: float, Z: float, P: float, Y: float):
         position = self.get_current_position()
         if not all(
             [
-                abs(position[0] - Z) < 1.0,
-                abs(position[1] - R) < 1.0,
-                abs(position[2] - Y) < 1.0,
-                abs(position[3] - P) < 1.0,
+                abs(position[0] - Z) < 5.0,
+                abs(position[1] - R) < 5.0,
+                abs(position[2] - Y) < 5.0,
+                abs(position[3] - P) < 5.0,
             ]
         ):
             raise Exception(
@@ -487,12 +487,12 @@ def pick_plate_direct(
             self.gripper_close()
             self.jog("Z", -1000)
 
-            # Once top of plates is touched, jog up 10, open gripper, then move down to grab plate at the correct height.
-            self.jog("Z", 50)
+            # Once top of plates is touched, jog up 100, open gripper, then move down to grab plate at the correct height.
+            self.jog("Z", 100)
             self.gripper_open()
 
             # Jog down to grip location
-            self.jog("Z", -(50 + z_jog_down_from_plate_top))
+            self.jog("Z", -(100 + z_jog_down_from_plate_top))
 
         # If the location is a Nest....
         elif source.location_type == "nest":

src/sciclops_rest_node.py

@@ -401,6 +401,19 @@ def transfer(
         )
         return place_result
 
+    @action()
+    def move(
+        self,
+        location: LocationArgument,
+    ) -> None:
+        """Moves the SciClops to a specified location."""
+
+        location.representation["name"] = location.location_name
+        location = SciClopsLocation.model_validate(location.representation)
+
+        self.sciclops.move_loc(location)
+        return None
+
     @action()
     def remove_lid(
         self,
@@ -488,7 +501,6 @@ def remove_lid(
                     )
 
                 # Is the target location clear?
-
                 target_resource_id = self.location_client.get_location_by_name(
                     target.name
                 ).resource_id
@@ -601,10 +613,6 @@ def replace_lid(
                         -1
                     ]  # accounts for the source being a stack as well as a nest
 
-                    # TESTING
-                    print("CHILD -1 RESOURCE!")
-                    print(f"{child_resource=}")
-
                     if "lid" in child_resource.attributes:
                         if child_resource.attributes["lid"] is True:
                             lid_resource = source_resource.children[

testing/test_sciclops.ipynb

@@ -7,15 +7,61 @@
    "outputs": [],
    "source": [
     "# from sciclops_interface_OLD import SCICLOPS\n",
-    "from resource_helpers.sciclops_resource_defs import locations, plate_definitions\n",
+    "from resource_helpers.resource_types import SciClopsLocation\n",
+    "from resource_helpers.sciclops_resource_defs import plate_definitions\n",
     "from sciclops_driver import SCICLOPS\n",
     "\n",
+    "locations = {\n",
+    "    \"Safe\": SciClopsLocation(\n",
+    "        name=\"Safe\",\n",
+    "        joint_angles={\"Z\": 23.5188, \"R\": 109.2741, \"Y\": 32.7484, \"P\": 98.2955},\n",
+    "        location_type=\"nest\",\n",
+    "        safe_approach_height=0,\n",
+    "    ),\n",
+    "    \"Stack1\": SciClopsLocation(\n",
+    "        name=\"Stack1\",\n",
+    "        joint_angles={\"Z\": -397.1688, \"R\": 137.1106, \"Y\": 173.0127, \"P\": 9.6875},\n",
+    "        location_type=\"stack\",\n",
+    "        safe_approach_height=0,\n",
+    "    ),\n",
+    "    \"Stack2\": SciClopsLocation(\n",
+    "        name=\"Stack2\",\n",
+    "        joint_angles={\"Z\": -397.2875, \"R\": 154.9712, \"Y\": 172.5352, \"P\": 9.6875},\n",
+    "        location_type=\"stack\",\n",
+    "        safe_approach_height=0,\n",
+    "    ),\n",
+    "    \"LidNest1\": SciClopsLocation(\n",
+    "        name=\"LidNest1\",\n",
+    "        joint_angles={\"Z\": -386.8563, \"R\": 173.1300, \"Y\": 26.1751, \"P\": 10.3409},\n",
+    "        location_type=\"nest\",\n",
+    "        safe_approach_height=0,\n",
+    "    ),\n",
+    "    \"Home\": SciClopsLocation(\n",
+    "        name=\"Home\",\n",
+    "        joint_angles={\"Z\": -1.0188, \"R\": 0.0, \"Y\": 0.0, \"P\": -0.0284},\n",
+    "        location_type=\"stack\",\n",
+    "        safe_approach_height=0,\n",
+    "    ),\n",
+    "    \"Exchange\": SciClopsLocation(\n",
+    "        name=\"Exchange\",\n",
+    "        joint_angles={\n",
+    "            \"Z\": -414.6188,\n",
+    "            \"R\": 298.0041,\n",
+    "            \"Y\": 195.3245,\n",
+    "            \"P\": 17.6136,\n",
+    "        },\n",
+    "        location_type=\"nest\",\n",
+    "        safe_approach_height=0,\n",
+    "    ),\n",
+    "}\n",
+    "\n",
     "# locations\n",
     "home_location = locations[\"Home\"]\n",
     "safe_location = locations[\"Safe\"]\n",
     "stack1_location = locations[\"Stack1\"]\n",
     "stack2_location = locations[\"Stack2\"]\n",
     "lid_nest_1_location = locations[\"LidNest1\"]\n",
+    "exchange_location = locations[\"Exchange\"]\n",
     "\n",
     "# plate types\n",
     "flat_plate = plate_definitions[\"flat_bottom_96well\"]\n",
@@ -64,7 +110,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "s.move_above_loc(lid_nest_1_location)"
+    "s.move_above_loc(exchange_location)"
    ]
   },
   {
@@ -100,7 +146,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "s.jog(\"Y\", -200)"
+    "s.jog(\"Z\", 200)"
    ]
   },
   {
@@ -109,14 +155,17 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "s.pick_plate_direct(\n",
-    "    source=lid_nest_1_location,\n",
-    "    plate_type=flat_plate,\n",
-    "    has_lid=True,\n",
-    ")\n",
+    "# s.pick_plate_direct(\n",
+    "#     source=stack1_location,\n",
+    "#     plate_type=flat_plate,\n",
+    "#     has_lid=True,\n",
+    "#     is_lid=False,\n",
+    "# )\n",
     "\n",
     "s.place_plate_direct(\n",
-    "    target=stack1_location,\n",
+    "    is_lid=False,\n",
+    "    replacing_lid=False,\n",
+    "    target=exchange_location,\n",
     "    plate_type=flat_plate,\n",
     ")"
    ]
@@ -127,7 +176,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "s.limp(True)"
+    "s.limp(False)"
    ]
   },
   {