austin.actions

Functions:

ActionsGroup

class austin.actions.ActionsGroup(*args: Any, **kwargs: Any)

Bases: PVGroup

PVs for RPC actions that the robot can perform.

homej(i: float = 0.0, j: float = 0.0, k: float = 0.0, l: float = 0.0, m: float = 0.0, n: float = 0.0) → int

Instruct the robot to return to a home position given in joint positions.

homel(x: float = 0.0, y: float = 0.0, z: float = 0.0, rx: float = 0.0, ry: float = 0.0, rz: float = 0.0) → int

Instruct the robot to return to a home position given in Cartesian coordinates.

pickl(x: float = 0.0, y: float = 0.0, z: float = 0.0, rx: float = 0.0, ry: float = 0.0, rz: float = 0.0) → int

Instruct the robot to pick up the sample given in Cartesian coordinates.

placej(i: float = 0.0, j: float = 0.0, k: float = 0.0, l: float = 0.0, m: float = 0.0, n: float = 0.0) → int

Instruct the robot to place its sample at the location given in joint positions.

placel(x: float = 0.0, y: float = 0.0, z: float = 0.0, rx: float = 0.0, ry: float = 0.0, rz: float = 0.0) → int

Instruct the robot to place its sample at the location given in Cartesian coordinates.

async run_action(position)

Run an action for a given position along with needed motion parameters.

Assumes the action has a call signature like:

.. code:: python

def placel(

place_goal, acc, vel, gripper_pos_opn, gripper_pos_cls, gripper_vel, gripper_frc,

)