JointCoords is a list of floats

Author: rickwierenga

pylabrobot/arms/arm.py

@@ -1,7 +1,9 @@
+from collections.abc import Iterable
 from typing import Optional, Union
 
 from pylabrobot.arms.backend import AccessPattern, ArmBackend
-from pylabrobot.arms.coords import CartesianCoords, JointCoords
+from pylabrobot.arms.precise_flex.coords import CartesianCoords
+from pylabrobot.arms.standard import JointCoords
 from pylabrobot.machines.machine import Machine
 
 
@@ -12,28 +14,27 @@ def __init__(self, backend: ArmBackend):
     super().__init__(backend=backend)
     self.backend: ArmBackend = backend
 
-  async def move_to(self, position: Union[CartesianCoords, JointCoords]):
-    """Move the arm to a specified position in 3D space."""
+  async def move_to(self, position: Union[CartesianCoords, Iterable[float]]):
+    """Move the arm to a specified position in 3D space or joint space."""
+    if isinstance(position, Iterable) and not isinstance(position, list):
+      position = list(position)
     return self.backend.move_to(position)
 
   async def get_joint_position(self) -> JointCoords:
-    """Get the current position of the arm in 3D space."""
+    """Get the current position of the arm in joint space."""
     return await self.backend.get_joint_position()
 
   async def get_cartesian_position(self) -> CartesianCoords:
     """Get the current position of the arm in 3D space."""
     return await self.backend.get_cartesian_position()
 
   async def open_gripper(self):
-    """Open the arm's gripper."""
     return await self.backend.open_gripper()
 
   async def close_gripper(self):
-    """Close the arm's gripper."""
     return await self.backend.close_gripper()
 
   async def is_gripper_closed(self) -> bool:
-    """Check if the gripper is currently closed."""
     return await self.backend.is_gripper_closed()
 
   async def halt(self):
@@ -55,9 +56,10 @@ async def approach(
 
     Args:
       position: Target position (CartesianCoords or JointCoords)
-      access: Access pattern defining how to approach the target.
-              Defaults to VerticalAccess() if not specified.
+      access: Access pattern defining how to approach the target.  Defaults to VerticalAccess() if not specified.
     """
+    if isinstance(position, Iterable) and not isinstance(position, list):
+      position = list(position)
     return await self.backend.approach(position, access)
 
   async def pick_plate(
@@ -67,9 +69,10 @@ async def pick_plate(
 
     Args:
       position: Target position for pickup
-      access: Access pattern defining how to approach and retract.
-              Defaults to VerticalAccess() if not specified.
+      access: Access pattern defining how to approach and retract.  Defaults to VerticalAccess() if not specified.
     """
+    if isinstance(position, Iterable) and not isinstance(position, list):
+      position = list(position)
     return await self.backend.pick_plate(position, access)
 
   async def place_plate(
@@ -79,7 +82,8 @@ async def place_plate(
 
     Args:
       position: Target position for placement
-      access: Access pattern defining how to approach and retract.
-              Defaults to VerticalAccess() if not specified.
+      access: Access pattern defining how to approach and retract.  Defaults to VerticalAccess() if not specified.
     """
+    if isinstance(position, Iterable) and not isinstance(position, list):
+      position = list(position)
     return await self.backend.place_plate(position, access)

pylabrobot/arms/backend.py

@@ -1,8 +1,9 @@
 from abc import ABCMeta, abstractmethod
 from dataclasses import dataclass
-from typing import Optional, Union
+from typing import List, Optional, Union
 
-from pylabrobot.arms.coords import CartesianCoords, JointCoords
+from pylabrobot.arms.precise_flex.coords import CartesianCoords
+from pylabrobot.arms.standard import JointCoords
 from pylabrobot.machines.backend import MachineBackend
 
 

pylabrobot/arms/coords.py pylabrobot/arms/precise_flex/coords.pypylabrobot/arms/coords.py renamed to pylabrobot/arms/precise_flex/coords.py

@@ -10,16 +10,6 @@ class ElbowOrientation(Enum):
   LEFT = "left"
 
 
-@dataclass
-class JointCoords:
-  rail: float
-  base: float
-  shoulder: float
-  elbow: float
-  wrist: float
-  gripper: float
-
-
 @dataclass
 class CartesianCoords:
   location: Coordinate

pylabrobot/arms/precise_flex/joints.py

@@ -0,0 +1,24 @@
+from dataclasses import dataclass
+
+
+@dataclass
+class PreciseFlexJointCoords:
+  rail: float
+  base: float
+  shoulder: float
+  elbow: float
+  wrist: float
+  gripper: float
+
+  def __iter__(self):
+    # for conversion to a list
+    return iter(
+      [
+        self.rail,
+        self.base,
+        self.shoulder,
+        self.elbow,
+        self.wrist,
+        self.gripper,
+      ]
+    )

pylabrobot/arms/precise_flex/pf_3400.py

@@ -1,34 +1,30 @@
-from typing import Optional
+from typing import List
 
-from pylabrobot.arms.coords import CartesianCoords, ElbowOrientation, JointCoords
+from pylabrobot.arms.precise_flex.joints import PreciseFlexJointCoords
 from pylabrobot.arms.precise_flex.precise_flex_backend import PreciseFlexBackend
-from pylabrobot.resources import Coordinate, Rotation
 
 
-class PreciseFlex400Backend(PreciseFlexBackend):
-  """Backend for the PreciseFlex 400 robotic arm."""
+class PreciseFlex3400Backend(PreciseFlexBackend):
+  """Backend for the PreciseFlex 3400 robotic arm."""
 
   def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
     super().__init__(host=host, port=port, timeout=timeout)
 
-  def convert_to_joint_space(
-    self, position: tuple[float, float, float, float, float, float]
-  ) -> JointCoords:
-    """Convert a tuple of joint angles to a JointCoords object."""
+  def convert_to_joint_space(self, position: List[float]) -> PreciseFlexJointCoords:
+    """Convert a tuple of joint angles to a PreciseFlexJointCoords object."""
     if len(position) != 6:
       raise ValueError("Position must be a tuple of 6 joint angles.")
-    return JointCoords(0, position[0], position[1], position[2], position[3], position[4])
+    return PreciseFlexJointCoords(
+      0, position[0], position[1], position[2], position[3], position[4]
+    )
 
-  def convert_to_joints_array(
-    self, position: JointCoords
-  ) -> tuple[float, float, float, float, float, float]:
+  def convert_to_joints_array(self, position: PreciseFlexJointCoords) -> List[float]:
     """Convert a JointSpace object to a list of joint angles."""
-    joints = (
+    return [
       position.base,
       position.shoulder,
       position.elbow,
       position.wrist,
       position.gripper,
       0,
-    )  # PF400 has 5 joints, last is fixed
-    return joints
+    ]  # PF400 has 5 joints, last is fixed

pylabrobot/arms/precise_flex/pf_400.py

@@ -1,8 +1,7 @@
-from typing import Optional
+from typing import List
 
-from pylabrobot.arms.coords import CartesianCoords, ElbowOrientation, JointCoords
+from pylabrobot.arms.precise_flex.joints import PreciseFlexJointCoords
 from pylabrobot.arms.precise_flex.precise_flex_backend import PreciseFlexBackend
-from pylabrobot.resources import Coordinate, Rotation
 
 
 class PreciseFlex400Backend(PreciseFlexBackend):
@@ -11,24 +10,19 @@ class PreciseFlex400Backend(PreciseFlexBackend):
   def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
     super().__init__(host=host, port=port, timeout=timeout)
 
-  def convert_to_joint_space(
-    self, position: tuple[float, float, float, float, float, float]
-  ) -> JointCoords:
-    """Convert a tuple of joint angles to a JointCoords object."""
+  def convert_to_joint_space(self, position: List[float]) -> PreciseFlexJointCoords:
+    """Convert a list of joint angles to a PreciseFlexJointCoords object."""
     if len(position) != 6:
-      raise ValueError("Position must be a tuple of 6 joint angles.")
-    return JointCoords(0, position[0], position[1], position[2], position[3], 0)
+      raise ValueError("Position must be a list of 6 joint angles.")
+    return PreciseFlexJointCoords(0, position[0], position[1], position[2], position[3], 0)
 
-  def convert_to_joints_array(
-    self, position: JointCoords
-  ) -> tuple[float, float, float, float, float, float]:
-    """Convert a JointSpace object to a list of joint angles."""
-    joints = (
+  def convert_to_joints_array(self, position: PreciseFlexJointCoords) -> List[float]:
+    """Convert a PreciseFlexJointCoords object to a list of joint angles."""
+    return [
       position.base,
       position.shoulder,
       position.elbow,
       position.wrist,
       0,
       0,
-    )  # PF400 has 4 joints, last two are fixed
-    return joints
+    ]  # PF400 has 4 joints, last two are fixed