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add kx2 backend #880

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a34e085
kx2
rickwierenga Feb 7, 2026
18272cc
tutorial update, connection update
BioCam Feb 8, 2026
7cf61d3
Merge branch 'main' into kx2-backend
BioCam Feb 8, 2026
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115 changes: 99 additions & 16 deletions docs/user_guide/01_material-handling/storage/inheco/scila.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,7 @@
"data": {
"text/plain": [
"{'Drawer1': 'Closed',\n",
" 'Drawer2': 'Opened',\n",
" 'Drawer2': 'Closed',\n",
" 'Drawer3': 'Closed',\n",
" 'Drawer4': 'Closed'}"
]
Expand Down Expand Up @@ -220,7 +220,7 @@
{
"data": {
"text/plain": [
"24.28"
"19.06"
]
},
"execution_count": 11,
Expand All @@ -234,17 +234,92 @@
},
{
"cell_type": "code",
"execution_count": 12,
"execution_count": 15,
"id": "a1958744-006b-4302-a2f4-af03c5764a2d",
"metadata": {
"scrolled": true
},
{
"data": {
"text/plain": [
"['DrawerPosition',\n",
" '__abstractmethods__',\n",
" '__annotations__',\n",
" '__class__',\n",
" '__delattr__',\n",
" '__dict__',\n",
" '__dir__',\n",
" '__doc__',\n",
" '__eq__',\n",
" '__format__',\n",
" '__ge__',\n",
" '__getattribute__',\n",
" '__getstate__',\n",
" '__gt__',\n",
" '__hash__',\n",
" '__init__',\n",
" '__init_subclass__',\n",
" '__le__',\n",
" '__lt__',\n",
" '__module__',\n",
" '__ne__',\n",
" '__new__',\n",
" '__reduce__',\n",
" '__reduce_ex__',\n",
" '__repr__',\n",
" '__setattr__',\n",
" '__sizeof__',\n",
" '__slots__',\n",
" '__str__',\n",
" '__subclasshook__',\n",
" '__weakref__',\n",
" '_abc_impl',\n",
" '_instances',\n",
" '_reset_and_initialize',\n",
" '_sila_interface',\n",
" 'close_drawer',\n",
" 'deactivate_temperature_control',\n",
" 'deserialize',\n",
" 'get_all_instances',\n",
" 'get_co2_flow_status',\n",
" 'get_current_temperature',\n",
" 'get_drawer_position',\n",
" 'get_drawer_positions',\n",
" 'get_liquid_level',\n",
" 'get_status',\n",
" 'get_target_temperature',\n",
" 'get_temperature_control_enabled',\n",
" 'get_temperature_information',\n",
" 'get_valve_status',\n",
" 'open_drawer',\n",
" 'serialize',\n",
" 'set_tempeature',\n",
" 'setup',\n",
" 'stop']"
]
},
"execution_count": 15,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"dir(scila)"
]
},
{
"cell_type": "code",
"execution_count": 17,
"id": "cc2f6063",
"metadata": {},
"outputs": [],
"source": [
"await scila.set_temperature(37.0)"
"await scila.set_tempeature(37.0)"
]
},
{
"cell_type": "code",
"execution_count": 13,
"execution_count": 18,
"id": "5f04d0ef",
"metadata": {},
"outputs": [
Expand All @@ -254,7 +329,7 @@
"37.0"
]
},
"execution_count": 13,
"execution_count": 18,
"metadata": {},
"output_type": "execute_result"
}
Expand All @@ -265,17 +340,17 @@
},
{
"cell_type": "code",
"execution_count": 14,
"execution_count": 19,
"id": "02a60f32",
"metadata": {},
"outputs": [
{
"data": {
"text/plain": [
"24.3"
"23.04"
]
},
"execution_count": 14,
"execution_count": 19,
"metadata": {},
"output_type": "execute_result"
}
Expand All @@ -286,7 +361,7 @@
},
{
"cell_type": "code",
"execution_count": 15,
"execution_count": 20,
"id": "470241e1",
"metadata": {},
"outputs": [
Expand All @@ -296,7 +371,7 @@
"True"
]
},
"execution_count": 15,
"execution_count": 20,
"metadata": {},
"output_type": "execute_result"
}
Expand All @@ -307,7 +382,7 @@
},
{
"cell_type": "code",
"execution_count": 16,
"execution_count": 21,
"id": "5881c2ce",
"metadata": {},
"outputs": [],
Expand All @@ -317,7 +392,7 @@
},
{
"cell_type": "code",
"execution_count": 17,
"execution_count": 22,
"id": "ac8ad797",
"metadata": {},
"outputs": [
Expand All @@ -327,19 +402,27 @@
"False"
]
},
"execution_count": 17,
"execution_count": 22,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"await scila.get_temperature_control_enabled()"
]
},
{
"cell_type": "code",
"execution_count": null,
"id": "67b2946d-4d5c-4d13-a74c-59eb5e9c9791",
"metadata": {},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "env",
"display_name": "Python 3 (ipykernel)",
"language": "python",
"name": "python3"
},
Expand All @@ -353,7 +436,7 @@
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.9.24"
"version": "3.12.11"
}
},
"nbformat": 4,
Expand Down
1 change: 1 addition & 0 deletions pylabrobot/arms/__init__.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
from .kx2 import *
from .precise_flex import *
from .scara import *
from .standard import *
23 changes: 16 additions & 7 deletions pylabrobot/arms/backend.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,7 @@
from dataclasses import dataclass
from typing import Optional, Union

from pylabrobot.arms.precise_flex.coords import PreciseFlexCartesianCoords
from pylabrobot.arms.standard import JointCoords
from pylabrobot.arms.standard import GripperPose, JointCoords
from pylabrobot.machines.backend import MachineBackend


Expand Down Expand Up @@ -78,7 +77,7 @@ async def move_to_safe(self) -> None:
@abstractmethod
async def approach(
self,
position: Union[PreciseFlexCartesianCoords, JointCoords],
position: Union[GripperPose, JointCoords],
access: Optional[AccessPattern] = None,
) -> None:
"""Move the arm to an approach position (offset from target).
Expand All @@ -91,7 +90,7 @@ async def approach(
@abstractmethod
async def pick_up_resource(
self,
position: Union[PreciseFlexCartesianCoords, JointCoords],
position: Union[GripperPose, JointCoords],
plate_width: float,
access: Optional[AccessPattern] = None,
) -> None:
Expand All @@ -105,7 +104,7 @@ async def pick_up_resource(
@abstractmethod
async def drop_resource(
self,
position: Union[PreciseFlexCartesianCoords, JointCoords],
position: Union[GripperPose, JointCoords],
access: Optional[AccessPattern] = None,
) -> None:
"""Place a plate at the specified position.
Expand All @@ -116,13 +115,23 @@ async def drop_resource(
"""

@abstractmethod
async def move_to(self, position: Union[PreciseFlexCartesianCoords, JointCoords]) -> None:
async def move_to(self, position: Union[GripperPose, JointCoords]) -> None:
"""Move the arm to a specified position in 3D space or in joint space."""

# TODO: move_to_cartesian and move_to_joint

@abstractmethod
async def get_joint_position(self) -> JointCoords:
"""Get the current position of the arm in joint space."""

@abstractmethod
async def get_cartesian_position(self) -> PreciseFlexCartesianCoords:
async def get_cartesian_position(self) -> GripperPose:
"""Get the current position of the arm in 3D space."""

async def activate_free_mode(self) -> None:
"""Activates free / "drag to teach mode."""
raise NotImplementedError("Free mode not implemented for this backend.")

async def deactivate_free_mode(self) -> None:
"""Deactivates free mode."""
raise NotImplementedError("Free mode not implemented for this backend.")
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