Add has_rail parameter to PF400 and PF3400 backends

- Add has_rail: bool = False parameter to __init__ for both backends
- Override move_j() to conditionally include/exclude rail joint in moveJ command
- Override set_joint_angles() to conditionally include/exclude rail in locAngles command
- Fix convert_to_joint_space() to properly map all 6 wherej output values

The moveJ command format differs based on rail configuration:
- WITHOUT rail: moveJ {profile} {base} {shoulder} {elbow} {wrist} {gripper}
- WITH rail: moveJ {profile} {rail} {base} {shoulder} {elbow} {wrist} {gripper}

🤖 Generated with [Claude Code](https://claude.com/claude-code)

Co-Authored-By: Claude <noreply@anthropic.com>

Author: miikee

pylabrobot/arms/precise_flex/pf_3400.py

@@ -7,20 +7,29 @@
 class PreciseFlex3400Backend(PreciseFlexBackend):
   """Backend for the PreciseFlex 3400 robotic arm."""
 
-  def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
+  def __init__(self, host: str, port: int = 10100, timeout=20, has_rail: bool = False) -> None:
     super().__init__(host=host, port=port, timeout=timeout)
+    self._has_rail = has_rail
 
   def convert_to_joint_space(self, position: List[float]) -> PreciseFlexJointCoords:
-    """Convert a tuple of joint angles to a PreciseFlexJointCoords object."""
+    """Convert a list of joint angles to a PreciseFlexJointCoords object.
+
+    Args:
+      position: List of 6 joint angles in order: [rail, base, shoulder, elbow, wrist, gripper]
+                This matches the output format of the wherej command.
+
+    Returns:
+      PreciseFlexJointCoords with all joint values mapped correctly.
+    """
     if len(position) != 6:
-      raise ValueError("Position must be a tuple of 6 joint angles.")
+      raise ValueError("Position must be a list of 6 joint angles.")
     return PreciseFlexJointCoords(
-      rail=0,
-      base=position[0],
-      shoulder=position[1],
-      elbow=position[2],
-      wrist=position[3],
-      gripper=position[4],
+      rail=position[0],
+      base=position[1],
+      shoulder=position[2],
+      elbow=position[3],
+      wrist=position[4],
+      gripper=position[5],
     )
 
   # def convert_to_joints_array(self, position: PreciseFlexJointCoords) -> List[float]:
@@ -33,3 +42,52 @@ def convert_to_joint_space(self, position: List[float]) -> PreciseFlexJointCoord
   #     position.wrist,
   #     position.gripper,
   #   ]  # PF400 has 5 joints, last is fixed
+
+  async def move_j(self, profile_index: int, joint_coords: PreciseFlexJointCoords) -> None:
+    """Move the robot using joint coordinates, handling rail configuration."""
+    if self._has_rail:
+      angles_str = (
+        f"{joint_coords.rail} "
+        f"{joint_coords.base} "
+        f"{joint_coords.shoulder} "
+        f"{joint_coords.elbow} "
+        f"{joint_coords.wrist} "
+        f"{joint_coords.gripper}"
+      )
+    else:
+      # Exclude rail for robots without rail
+      angles_str = (
+        f"{joint_coords.base} "
+        f"{joint_coords.shoulder} "
+        f"{joint_coords.elbow} "
+        f"{joint_coords.wrist} "
+        f"{joint_coords.gripper}"
+      )
+    await self.send_command(f"moveJ {profile_index} {angles_str}")
+
+  async def set_joint_angles(
+    self,
+    location_index: int,
+    joint_position: PreciseFlexJointCoords,
+  ) -> None:
+    """Set joint angles for stored location, handling rail configuration."""
+    if self._has_rail:
+      await self.send_command(
+        f"locAngles {location_index} "
+        f"{joint_position.rail} "
+        f"{joint_position.base} "
+        f"{joint_position.shoulder} "
+        f"{joint_position.elbow} "
+        f"{joint_position.wrist} "
+        f"{joint_position.gripper}"
+      )
+    else:
+      # Exclude rail for robots without rail
+      await self.send_command(
+        f"locAngles {location_index} "
+        f"{joint_position.base} "
+        f"{joint_position.shoulder} "
+        f"{joint_position.elbow} "
+        f"{joint_position.wrist} "
+        f"{joint_position.gripper}"
+      )

pylabrobot/arms/precise_flex/pf_400.py

@@ -7,20 +7,29 @@
 class PreciseFlex400Backend(PreciseFlexBackend):
   """Backend for the PreciseFlex 400 robotic arm."""
 
-  def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
+  def __init__(self, host: str, port: int = 10100, timeout=20, has_rail: bool = False) -> None:
     super().__init__(host=host, port=port, timeout=timeout)
+    self._has_rail = has_rail
 
   def convert_to_joint_space(self, position: List[float]) -> PreciseFlexJointCoords:
-    """Convert a list of joint angles to a PreciseFlexJointCoords object."""
+    """Convert a list of joint angles to a PreciseFlexJointCoords object.
+
+    Args:
+      position: List of 6 joint angles in order: [rail, base, shoulder, elbow, wrist, gripper]
+                This matches the output format of the wherej command.
+
+    Returns:
+      PreciseFlexJointCoords with all joint values mapped correctly.
+    """
     if len(position) != 6:
       raise ValueError("Position must be a list of 6 joint angles.")
     return PreciseFlexJointCoords(
-      rail=0,
-      base=position[0],
-      shoulder=position[1],
-      elbow=position[2],
-      wrist=position[3],
-      gripper=0,
+      rail=position[0],
+      base=position[1],
+      shoulder=position[2],
+      elbow=position[3],
+      wrist=position[4],
+      gripper=position[5],
     )
 
   # def convert_to_joints_array(self, position: PreciseFlexJointCoords) -> List[float]:
@@ -33,3 +42,52 @@ def convert_to_joint_space(self, position: List[float]) -> PreciseFlexJointCoord
   #     position.wrist,
   #     0,
   #   ]  # PF400 has 4 joints, last two are fixed
+
+  async def move_j(self, profile_index: int, joint_coords: PreciseFlexJointCoords) -> None:
+    """Move the robot using joint coordinates, handling rail configuration."""
+    if self._has_rail:
+      angles_str = (
+        f"{joint_coords.rail} "
+        f"{joint_coords.base} "
+        f"{joint_coords.shoulder} "
+        f"{joint_coords.elbow} "
+        f"{joint_coords.wrist} "
+        f"{joint_coords.gripper}"
+      )
+    else:
+      # Exclude rail for robots without rail
+      angles_str = (
+        f"{joint_coords.base} "
+        f"{joint_coords.shoulder} "
+        f"{joint_coords.elbow} "
+        f"{joint_coords.wrist} "
+        f"{joint_coords.gripper}"
+      )
+    await self.send_command(f"moveJ {profile_index} {angles_str}")
+
+  async def set_joint_angles(
+    self,
+    location_index: int,
+    joint_position: PreciseFlexJointCoords,
+  ) -> None:
+    """Set joint angles for stored location, handling rail configuration."""
+    if self._has_rail:
+      await self.send_command(
+        f"locAngles {location_index} "
+        f"{joint_position.rail} "
+        f"{joint_position.base} "
+        f"{joint_position.shoulder} "
+        f"{joint_position.elbow} "
+        f"{joint_position.wrist} "
+        f"{joint_position.gripper}"
+      )
+    else:
+      # Exclude rail for robots without rail
+      await self.send_command(
+        f"locAngles {location_index} "
+        f"{joint_position.base} "
+        f"{joint_position.shoulder} "
+        f"{joint_position.elbow} "
+        f"{joint_position.wrist} "
+        f"{joint_position.gripper}"
+      )