From a21a93b07133ef55cf9f53d6c3aa310668879f80 Mon Sep 17 00:00:00 2001 From: MGross21 Date: Sat, 28 Feb 2026 16:54:53 -0800 Subject: [PATCH 1/4] Add zaber code and agent file --- agent.md | 29 +++++ armctl/__init__.py | 2 + armctl/zaber/README.md | 6 ++ armctl/zaber/__init__.py | 1 + armctl/zaber/zaber.py | 224 +++++++++++++++++++++++++++++++++++++++ pyproject.toml | 1 + uv.lock | 223 ++++++++++++++++++++++++++++++++++++++ 7 files changed, 486 insertions(+) create mode 100644 agent.md create mode 100644 armctl/zaber/README.md create mode 100644 armctl/zaber/__init__.py create mode 100644 armctl/zaber/zaber.py diff --git a/agent.md b/agent.md new file mode 100644 index 0000000..d04f6aa --- /dev/null +++ b/agent.md @@ -0,0 +1,29 @@ +# Agent Notes: Adding a New Robot + +This file is intentionally brief. For implementation details, rely on existing project docs and code. + +## Where to start + +- Read [CONTRIBUTING.md](CONTRIBUTING.md) for project conventions, control flow expectations, and unit standards. +- Read [README.md](README.md) for the public API style and usage patterns expected by users. + +## Main code locations to inspect + +- Template starting point: [armctl/_blank/robot.py](armctl/_blank/robot.py) +- Existing robot implementations. +- Shared interfaces/helpers: [armctl/templates](armctl/templates) +- Validation and utility helpers: [armctl/utils](armctl/utils) + +## Practical workflow (high-level) + +1. Use the blank robot template as your structural baseline. +2. Choose the correct communication layer from templates (socket, serial, or PLC). +3. Match method names and behavior to existing robot modules so API usage remains consistent. +4. Keep conversions and checks aligned with project-wide conventions from the contributing guide. +5. Add/update tests in [tests](tests) for any new integration behavior. + +## Dependency preference + +- Prefer official first-party robot dependencies/SDKs when they are available, stable, and compatible with this project. +- If no suitable first-party dependency exists, or if it cannot support required behavior safely/reliably, implement the integration directly with a custom protocol/client as appropriate. +- Keep any dependency choice minimal. \ No newline at end of file diff --git a/armctl/__init__.py b/armctl/__init__.py index f209cae..3285196 100644 --- a/armctl/__init__.py +++ b/armctl/__init__.py @@ -21,6 +21,7 @@ # from .fanuc import Fanuc from .vention import Vention +from .zaber import Zaber __all__ = [ "ElephantRobotics", @@ -33,6 +34,7 @@ "UR16", "Vention", "Jaka", + "Zaber", ] __version__ = "0.3.4" diff --git a/armctl/zaber/README.md b/armctl/zaber/README.md new file mode 100644 index 0000000..c591b8b --- /dev/null +++ b/armctl/zaber/README.md @@ -0,0 +1,6 @@ +# Zaber + +ASCII Protocol Manual: [Here](https://www.zaber.com/protocol-manual) +Python API Reference: [Here](https://software.zaber.com/motion-library/api/py) + +Python Examples: [Here](https://github.com/zabertech/zaber-examples/tree/main/examples) \ No newline at end of file diff --git a/armctl/zaber/__init__.py b/armctl/zaber/__init__.py new file mode 100644 index 0000000..b71d6fd --- /dev/null +++ b/armctl/zaber/__init__.py @@ -0,0 +1 @@ +from .zaber import Zaber \ No newline at end of file diff --git a/armctl/zaber/zaber.py b/armctl/zaber/zaber.py new file mode 100644 index 0000000..02ccb53 --- /dev/null +++ b/armctl/zaber/zaber.py @@ -0,0 +1,224 @@ +from __future__ import annotations + +import time +from zaber_motion import ascii + +from armctl.templates import Commands, Properties +from armctl.utils import CommandCheck as cc +from armctl.templates.logger import logger + + +class Zaber(Commands, Properties): + """ + Zaber motion controller for linear actuators. + + Uses the official zaber-motion library for ASCII protocol communication. + Supports multi-axis linear motion systems via TCP connection. + + Reference: + - ASCII Protocol: https://www.zaber.com/protocol-manual + - Python API: https://software.zaber.com/motion-library/api/py + - Examples: https://github.com/zabertech/zaber-examples + """ + + def __init__( + self, + ip: str, + port: int = 55550, + device_address: int = 1, + num_axes: int = 1, + ): + """ + Initialize Zaber device connection parameters. + + Args: + ip: IP address of Zaber device or network interface + port: TCP port (default: 55550) + device_address: Device address on the bus (default: 1) + num_axes: Number of axes on this device (auto-detected if not set) + """ + self.ip = ip + self.port = port + self.device_address = device_address + self.num_axes = num_axes + + self.connection = None + self.device = None + self.axes = [] + + # Define Properties - for linear systems, ranges are in meters + # Default: single axis with typical range + self.JOINT_RANGES: list[tuple[float, float]] = [ + (0.0, 0.3) for _ in range(num_axes) # 0-300mm typical range + ] + self.MAX_JOINT_VELOCITY: float | None = 10.0 # m/s + self.MAX_JOINT_ACCELERATION: float | None = None + + def connect(self) -> None: + """Establish connection to Zaber device via TCP.""" + try: + logger.info(f"Connecting to Zaber at {self.ip}:{self.port}") + # Open TCP connection using first-party zaber-motion library + self.connection = ascii.Connection.open_tcp(self.ip, self.port) + + # Get the device + self.device = self.connection.get_device(self.device_address) + logger.info(f"Connected to device at address {self.device_address}") + + # Identify and cache available axes + identity = self.device.identify() + self.num_axes = identity.axis_count + logger.info(f"Device has {self.num_axes} axes") + + # Get axis objects for later use + self.axes = [self.device.get_axis(i + 1) for i in range(self.num_axes)] + + except Exception as e: + logger.error(f"Failed to connect to Zaber: {e}") + raise + + def disconnect(self) -> None: + """Close connection to Zaber device.""" + try: + if self.connection: + self.connection.close() + logger.info("Disconnected from Zaber device") + except Exception as e: + logger.warning(f"Error during disconnect: {e}") + + def __enter__(self): + """Context manager entry.""" + self.connect() + return self + + def __exit__(self, exc_type, exc_val, exc_tb): + """Context manager exit.""" + self.disconnect() + return False + + def sleep(self, seconds: float) -> None: + """Sleep for the specified number of seconds.""" + cc.sleep(seconds) + time.sleep(seconds) + + def move_joints(self, pos: list[float]) -> None: + """ + Move axes to specified positions in meters. + + Args: + pos: List of positions in meters (one per axis) + """ + cc.move_joints(pos) + + try: + if len(pos) != len(self.axes): + raise ValueError( + f"Expected {len(self.axes)} positions, got {len(pos)}" + ) + + # Move each axis to target position + for i, axis in enumerate(self.axes): + target = pos[i] + logger.debug(f"Moving axis {i + 1} to {target} m") + axis.move_absolute(target, unit="m") + + # Wait for all axes to complete movement + for axis in self.axes: + axis.wait_until_idle() + + except Exception as e: + logger.error(f"Failed to move joints: {e}") + raise + + def get_joint_positions(self) -> list[float]: + """Get current position of all axes in meters.""" + cc.get_joint_positions() + + try: + positions = [] + for i, axis in enumerate(self.axes): + pos = axis.get_position(unit="m") + positions.append(pos) + logger.debug(f"Axis {i + 1} position: {pos} m") + return positions + + except Exception as e: + logger.error(f"Failed to get joint positions: {e}") + raise + + def move_cartesian(self, pose: list[float]) -> None: + """ + Move to cartesian position. + + For linear systems, this is equivalent to move_joints. + + Args: + pose: List of positions in meters [x, y, z, ...] or applicable axes + """ + cc.move_cartesian(pose) + # For linear systems, cartesian movement is same as joint movement + self.move_joints(pose[: len(self.axes)]) + + def get_cartesian_position(self) -> list[float]: + """ + Get current cartesian position. + + For linear systems, this is equivalent to get_joint_positions. + """ + cc.get_cartesian_position() + return self.get_joint_positions() + + def stop_motion(self) -> None: + """Stop all axes immediately.""" + cc.stop_motion() + + try: + logger.info("Stopping all axes") + for i, axis in enumerate(self.axes): + axis.stop() + + except Exception as e: + logger.error(f"Failed to stop motion: {e}") + raise + + def get_robot_state(self) -> dict: + """Get current device and axis states.""" + cc.get_robot_state() + + try: + state = { + "device_address": self.device_address, + "num_axes": self.num_axes, + "axes": [], + } + + for i, axis in enumerate(self.axes): + axis_state = axis.get_state() + state["axes"].append({ + "axis": i + 1, + "is_moving": axis.is_busy(), + "is_homed": axis.is_homed(), + "state": str(axis_state), + }) + + return state + + except Exception as e: + logger.error(f"Failed to get robot state: {e}") + raise + + def home(self) -> None: + """Home all axes to their home position.""" + try: + logger.info("Homing all axes") + for i, axis in enumerate(self.axes): + axis.home() + logger.debug(f"Homing axis {i + 1}") + + # Wait for all axes to complete homing + for axis in self.axes: + axis.wait_until_idle() + + except Exception as e: + logger.error(f"Failed to home axes: {e}") + raise diff --git a/pyproject.toml b/pyproject.toml index 2ab67f2..1d68b45 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -30,6 +30,7 @@ dependencies = [ "urrtde", "typer>=0.9.0", "pyserial>=3.5", + "zaber-motion>=2.13.1", ] [project.urls] diff --git a/uv.lock b/uv.lock index 39bf9dd..00e5df8 100644 --- a/uv.lock +++ b/uv.lock @@ -21,6 +21,9 @@ dependencies = [ { name = "typer", version = "0.19.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.7.*'" }, { 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b/armctl/zaber/zaber.py index 02ccb53..825ef8f 100644 --- a/armctl/zaber/zaber.py +++ b/armctl/zaber/zaber.py @@ -1,7 +1,7 @@ from __future__ import annotations import time -from zaber_motion import ascii +from zaber_motion import ascii, Units from armctl.templates import Commands, Properties from armctl.utils import CommandCheck as cc @@ -11,10 +11,10 @@ class Zaber(Commands, Properties): """ Zaber motion controller for linear actuators. - + Uses the official zaber-motion library for ASCII protocol communication. Supports multi-axis linear motion systems via TCP connection. - + Reference: - ASCII Protocol: https://www.zaber.com/protocol-manual - Python API: https://software.zaber.com/motion-library/api/py @@ -30,7 +30,7 @@ def __init__( ): """ Initialize Zaber device connection parameters. - + Args: ip: IP address of Zaber device or network interface port: TCP port (default: 55550) @@ -41,38 +41,43 @@ def __init__( self.port = port self.device_address = device_address self.num_axes = num_axes - + self.connection = None self.device = None self.axes = [] - + # Define Properties - for linear systems, ranges are in meters # Default: single axis with typical range self.JOINT_RANGES: list[tuple[float, float]] = [ - (0.0, 0.3) for _ in range(num_axes) # 0-300mm typical range + (0.0, 0.3) + for _ in range(num_axes) # 0-300mm typical range ] self.MAX_JOINT_VELOCITY: float | None = 10.0 # m/s self.MAX_JOINT_ACCELERATION: float | None = None + self.units = Units.LENGTH_METRES + def connect(self) -> None: """Establish connection to Zaber device via TCP.""" try: logger.info(f"Connecting to Zaber at {self.ip}:{self.port}") # Open TCP connection using first-party zaber-motion library self.connection = ascii.Connection.open_tcp(self.ip, self.port) - + # Get the device self.device = self.connection.get_device(self.device_address) logger.info(f"Connected to device at address {self.device_address}") - + # Identify and cache available axes identity = self.device.identify() self.num_axes = identity.axis_count logger.info(f"Device has {self.num_axes} axes") - + # Get axis objects for later use - self.axes = [self.device.get_axis(i + 1) for i in range(self.num_axes)] - + self.axes = [ + self.device.get_axis(i + 1) for i in range(self.num_axes) + ] + except Exception as e: logger.error(f"Failed to connect to Zaber: {e}") raise @@ -85,12 +90,12 @@ def disconnect(self) -> None: logger.info("Disconnected from Zaber device") except Exception as e: logger.warning(f"Error during disconnect: {e}") - + def __enter__(self): """Context manager entry.""" self.connect() return self - + def __exit__(self, exc_type, exc_val, exc_tb): """Context manager exit.""" self.disconnect() @@ -104,28 +109,28 @@ def sleep(self, seconds: float) -> None: def move_joints(self, pos: list[float]) -> None: """ Move axes to specified positions in meters. - + Args: pos: List of positions in meters (one per axis) """ cc.move_joints(pos) - + try: if len(pos) != len(self.axes): raise ValueError( f"Expected {len(self.axes)} positions, got {len(pos)}" ) - + # Move each axis to target position for i, axis in enumerate(self.axes): target = pos[i] logger.debug(f"Moving axis {i + 1} to {target} m") - axis.move_absolute(target, unit="m") - + axis.move_absolute(target, unit=self.units) + # Wait for all axes to complete movement for axis in self.axes: axis.wait_until_idle() - + except Exception as e: logger.error(f"Failed to move joints: {e}") raise @@ -133,15 +138,15 @@ def move_joints(self, pos: list[float]) -> None: def get_joint_positions(self) -> list[float]: """Get current position of all axes in meters.""" cc.get_joint_positions() - + try: positions = [] for i, axis in enumerate(self.axes): - pos = axis.get_position(unit="m") + pos = axis.get_position(unit=self.units) positions.append(pos) logger.debug(f"Axis {i + 1} position: {pos} m") return positions - + except Exception as e: logger.error(f"Failed to get joint positions: {e}") raise @@ -149,9 +154,9 @@ def get_joint_positions(self) -> list[float]: def move_cartesian(self, pose: list[float]) -> None: """ Move to cartesian position. - + For linear systems, this is equivalent to move_joints. - + Args: pose: List of positions in meters [x, y, z, ...] or applicable axes """ @@ -162,7 +167,7 @@ def move_cartesian(self, pose: list[float]) -> None: def get_cartesian_position(self) -> list[float]: """ Get current cartesian position. - + For linear systems, this is equivalent to get_joint_positions. """ cc.get_cartesian_position() @@ -171,12 +176,12 @@ def get_cartesian_position(self) -> list[float]: def stop_motion(self) -> None: """Stop all axes immediately.""" cc.stop_motion() - + try: logger.info("Stopping all axes") for i, axis in enumerate(self.axes): axis.stop() - + except Exception as e: logger.error(f"Failed to stop motion: {e}") raise @@ -184,25 +189,27 @@ def stop_motion(self) -> None: def get_robot_state(self) -> dict: """Get current device and axis states.""" cc.get_robot_state() - + try: state = { "device_address": self.device_address, "num_axes": self.num_axes, "axes": [], } - + for i, axis in enumerate(self.axes): axis_state = axis.get_state() - state["axes"].append({ - "axis": i + 1, - "is_moving": axis.is_busy(), - "is_homed": axis.is_homed(), - "state": str(axis_state), - }) - + state["axes"].append( + { + "axis": i + 1, + "is_moving": axis.is_busy(), + "is_homed": axis.is_homed(), + "state": str(axis_state), + } + ) + return state - + except Exception as e: 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armctl/_blank/README.md | 5 +++++ 2 files changed, 20 insertions(+), 19 deletions(-) create mode 100644 armctl/_blank/README.md diff --git a/agent.md b/agent.md index d04f6aa..6e6c8e7 100644 --- a/agent.md +++ b/agent.md @@ -1,29 +1,25 @@ # Agent Notes: Adding a New Robot -This file is intentionally brief. For implementation details, rely on existing project docs and code. +This file is intentionally brief. For detailed implementation info, see existing project docs and code. -## Where to start +## Before You Start -- Read [CONTRIBUTING.md](CONTRIBUTING.md) for project conventions, control flow expectations, and unit standards. -- Read [README.md](README.md) for the public API style and usage patterns expected by users. +Read these first for required context: -## Main code locations to inspect +- [CONTRIBUTING.md](CONTRIBUTING.md) — Project conventions, control flow, unit standards +- [README.md](README.md) — Public API style and usage patterns -- Template starting point: [armctl/_blank/robot.py](armctl/_blank/robot.py) -- Existing robot implementations. -- Shared interfaces/helpers: [armctl/templates](armctl/templates) -- Validation and utility helpers: [armctl/utils](armctl/utils) +## Implementation Steps -## Practical workflow (high-level) +1. Use the blank robot template (`armctl/_blank/robot.py`) as your structural baseline +2. Choose communication layer: SocketController, SerialController, or PLCController from the templates directory +3. Ensure all abstract methods and properties from inherited base classes (Commands, Properties, and communication layer) are fully implemented +4. Study existing robot implementations in the `armctl/` directory for API consistency patterns +5. Keep conversions and checks aligned with project-wide conventions from CONTRIBUTING.md +6. Add/update tests for your integration -1. Use the blank robot template as your structural baseline. -2. Choose the correct communication layer from templates (socket, serial, or PLC). -3. Match method names and behavior to existing robot modules so API usage remains consistent. -4. Keep conversions and checks aligned with project-wide conventions from the contributing guide. -5. Add/update tests in [tests](tests) for any new integration behavior. +## Key Decisions -## Dependency preference +**Dependencies:** Prefer official first-party robot SDKs when available and stable. Use custom implementation if no suitable first-party option exists. -- Prefer official first-party robot dependencies/SDKs when they are available, stable, and compatible with this project. -- If no suitable first-party dependency exists, or if it cannot support required behavior safely/reliably, implement the integration directly with a custom protocol/client as appropriate. -- Keep any dependency choice minimal. \ No newline at end of file +**Documentation:** As you discover manufacturer documentation/specs/resources, add links to the robot's folder README or inline code comments. Keep it minimal—only include links directly relevant to implementation and maintenance. \ No newline at end of file diff --git a/armctl/_blank/README.md b/armctl/_blank/README.md new file mode 100644 index 0000000..54b2ed6 --- /dev/null +++ b/armctl/_blank/README.md @@ -0,0 +1,5 @@ +# Blank Robot Template + +Template for new robot implementations. Add discovered resources and documentation links below. + +## Resources