scara

Author: rickwierenga

pylabrobot/arms/arm.py

@@ -2,7 +2,7 @@
 from dataclasses import dataclass
 from typing import List, Optional, Union
 
-from pylabrobot.arms.precise_flex.coords import CartesianCoords
+from pylabrobot.arms.precise_flex.coords import PreciseFlexCartesianCoords
 from pylabrobot.arms.standard import JointCoords
 from pylabrobot.machines.backend import MachineBackend
 
@@ -55,7 +55,7 @@ class HorizontalAccess:
 AccessPattern = Union[VerticalAccess, HorizontalAccess]
 
 
-class ArmBackend(MachineBackend, metaclass=ABCMeta):
+class SCARABackend(MachineBackend, metaclass=ABCMeta):
   """Backend for a robotic arm"""
 
   @abstractmethod
@@ -90,7 +90,9 @@ async def move_to_safe(self):
 
   @abstractmethod
   async def approach(
-    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
+    self,
+    position: Union[PreciseFlexCartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None,
   ):
     """Move the arm to an approach position (offset from target).
 
@@ -103,7 +105,9 @@ async def approach(
 
   @abstractmethod
   async def pick_plate(
-    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
+    self,
+    position: Union[PreciseFlexCartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None,
   ):
     """Pick a plate from the specified position.
 
@@ -116,7 +120,9 @@ async def pick_plate(
 
   @abstractmethod
   async def place_plate(
-    self, position: Union[CartesianCoords, JointCoords], access: Optional[AccessPattern] = None
+    self,
+    position: Union[PreciseFlexCartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None,
   ):
     """Place a plate at the specified position.
 
@@ -128,7 +134,7 @@ async def place_plate(
     ...
 
   @abstractmethod
-  async def move_to(self, position: Union[CartesianCoords, JointCoords]):
+  async def move_to(self, position: Union[PreciseFlexCartesianCoords, JointCoords]):
     """Move the arm to a specified position in 3D space."""
     ...
 
@@ -138,6 +144,6 @@ async def get_joint_position(self) -> JointCoords:
     ...
 
   @abstractmethod
-  async def get_cartesian_position(self) -> CartesianCoords:
+  async def get_cartesian_position(self) -> PreciseFlexCartesianCoords:
     """Get the current position of the arm in 3D space."""
     ...

pylabrobot/arms/backend.py

@@ -2,7 +2,7 @@
 from enum import Enum
 from typing import Optional
 
-from pylabrobot.resources import Coordinate, Rotation
+from pylabrobot.arms.standard import CartesianCoords
 
 
 class ElbowOrientation(Enum):
@@ -11,7 +11,5 @@ class ElbowOrientation(Enum):
 
 
 @dataclass
-class CartesianCoords:
-  location: Coordinate
-  rotation: Rotation
+class PreciseFlexCartesianCoords(CartesianCoords):
   orientation: Optional[ElbowOrientation] = None

pylabrobot/arms/precise_flex/coords.py

@@ -15,16 +15,21 @@ def convert_to_joint_space(self, position: List[float]) -> PreciseFlexJointCoord
     if len(position) != 6:
       raise ValueError("Position must be a tuple of 6 joint angles.")
     return PreciseFlexJointCoords(
-      0, position[0], position[1], position[2], position[3], position[4]
+      rail=0,
+      base=position[0],
+      shoulder=position[1],
+      elbow=position[2],
+      wrist=position[3],
+      gripper=position[4],
     )
 
-  def convert_to_joints_array(self, position: PreciseFlexJointCoords) -> List[float]:
-    """Convert a JointSpace object to a list of joint angles."""
-    return [
-      position.base,
-      position.shoulder,
-      position.elbow,
-      position.wrist,
-      position.gripper,
-      0,
-    ]  # PF400 has 5 joints, last is fixed
+  # def convert_to_joints_array(self, position: PreciseFlexJointCoords) -> List[float]:
+  #   """Convert a JointSpace object to a list of joint angles."""
+  #   return [
+  #     0,
+  #     position.base,
+  #     position.shoulder,
+  #     position.elbow,
+  #     position.wrist,
+  #     position.gripper,
+  #   ]  # PF400 has 5 joints, last is fixed

pylabrobot/arms/precise_flex/pf_3400.py

@@ -14,15 +14,22 @@ def convert_to_joint_space(self, position: List[float]) -> PreciseFlexJointCoord
     """Convert a list of joint angles to a PreciseFlexJointCoords object."""
     if len(position) != 6:
       raise ValueError("Position must be a list of 6 joint angles.")
-    return PreciseFlexJointCoords(0, position[0], position[1], position[2], position[3], 0)
+    return PreciseFlexJointCoords(
+      rail=0,
+      base=position[0],
+      shoulder=position[1],
+      elbow=position[2],
+      wrist=position[3],
+      gripper=0,
+    )
 
-  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
+  # def convert_to_joints_array(self, position: PreciseFlexJointCoords) -> List[float]:
+  #   """Convert a PreciseFlexJointCoords object to a list of joint angles."""
+  #   return [
+  #     0,
+  #     position.base,
+  #     position.shoulder,
+  #     position.elbow,
+  #     position.wrist,
+  #     0,
+  #   ]  # PF400 has 4 joints, last two are fixed