Tools and end effectors

Gripper control, sample handling, pipettor commands, and tool exchange, including the local 2FG7 driver and ePick launch configuration.

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Start here

EndEffectorStages.run — Follow a named gripper state into an MTC task and check the empty-group no-op behavior.
ToolExchangeManager.exchange — Follow tool exchange across dock/load motion, tool voltage, robot-model relaunch, and vision TF-buffer reset.
PipettorStages.run — See how a high-level pipettor request is forwarded to the driver action.
OnRobot2FG7DriverNode._execute_gripper_command — Inspect 2FG7 width conversion, hardware polling, and the conditions used to report an action result.

Modules

Module	Responsibility	Entries
Gripper action server	Expose SRDF gripper-state motion through EndEffectorAction.	3
Gripper motion stages	Build SRDF group-state gripper moves using joint interpolation. An empty gripper group is explicitly a successful no-op.	2
Sample pick and place servers	Serve sample pick and place actions with a shared one-goal limit. Perception settings are loaded from the beamline configuration when needed.	5
Sample pick stages	Pick samples using named joint poses or marker-guided approach motion; vision resources are initialized lazily. Result poses represent computed approaches, not raw detections.	4
Sample place stages	Place samples using named joint poses or marker-guided approach motion; vision resources are initialized lazily. Result poses represent computed approaches, not raw detections.	4
Pipettor action server	Expose pipettor driver commands through PipettorAction.	3
Pipettor driver adapter	Forward high-level pipettor commands to the pipettor_operation action; this layer does not build MTC motion tasks.	3
Tool exchange action server	Expose configured dock/load motion through ToolExchangeAction.	3
Tool exchange coordination	Coordinate tool-exchange actions, real-hardware quick-changer voltage release, model relaunch and vision TF invalidation.	4
Tool dock and load stages	Compose load/dock motion from beamline YAML, including reference-dock offset and full-fraction Cartesian insertion/retraction. Voltage and runtime relaunch are handled separately by ToolExchangeManager.	2
Vacuum monitoring state	Track ePick grasp/release state and latch a drop flag. The status subscription is disabled, so normal construction does not receive live vacuum updates.	5
2FG7 ROS driver	Expose the 2FG7 gripper through a ROS action and joint-state publisher, with hardware and mock modes.	10
2FG7 Modbus client	Low-level 2FG7 Modbus RTU client over the UR tool serial bridge. Writes width/force/speed/mode registers at 0x0000 and reads eight status registers at 0x0100. Dataclass GripperStatus holds decoded widths, busy flag, raw status and registers; no auto-connect at construction.	10
Standalone 2FG7 launch	Standalone 2FG7 launch exposes serial_port, slave_id, baudrate and use_mock_hardware and forwards them to the Python driver. Unlike the CMS integrated branch, it uses the driver’s correct mock-parameter name.	1
Standalone ePick launch stub	Minimal standalone ePick controller-manager launch stub. Declares parent/USB/mock arguments but only forwards USB and fake-hardware values; no robot description or controller spawners are provided here.	1