forgot

Author: rickwierenga

pylabrobot/arms/backend.py

@@ -1,6 +1,6 @@
 from abc import ABCMeta, abstractmethod
 from dataclasses import dataclass
-from typing import List, Optional, Union
+from typing import Optional, Union
 
 from pylabrobot.arms.precise_flex.coords import PreciseFlexCartesianCoords
 from pylabrobot.arms.standard import JointCoords

pylabrobot/arms/precise_flex/precise_flex_backend.py

@@ -5,7 +5,6 @@
 from pylabrobot.arms.backend import (
   AccessPattern,
   HorizontalAccess,
-  JointCoords,
   SCARABackend,
   VerticalAccess,
 )

pylabrobot/arms/scara.py

@@ -0,0 +1,95 @@
+from collections.abc import Iterable
+from typing import Optional, Union
+
+from pylabrobot.arms.backend import AccessPattern, SCARABackend
+from pylabrobot.arms.precise_flex.coords import PreciseFlexCartesianCoords
+from pylabrobot.arms.standard import JointCoords
+from pylabrobot.machines.machine import Machine
+
+
+class SCARA(Machine):
+  """A robotic arm."""
+
+  def __init__(self, backend: SCARABackend):
+    super().__init__(backend=backend)
+    self.backend: SCARABackend = backend
+
+  async def move_to(self, position: Union[PreciseFlexCartesianCoords, 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 await self.backend.move_to(position)
+
+  async def get_joint_position(self) -> JointCoords:
+    """Get the current position of the arm in joint space."""
+    return await self.backend.get_joint_position()
+
+  async def get_cartesian_position(self) -> PreciseFlexCartesianCoords:
+    """Get the current position of the arm in 3D space."""
+    return await self.backend.get_cartesian_position()
+
+  async def open_gripper(self):
+    return await self.backend.open_gripper()
+
+  async def close_gripper(self):
+    return await self.backend.close_gripper()
+
+  async def is_gripper_closed(self) -> bool:
+    return await self.backend.is_gripper_closed()
+
+  async def halt(self):
+    """Stop any ongoing movement of the arm."""
+    return await self.backend.halt()
+
+  async def home(self):
+    """Home the arm to its default position."""
+    return await self.backend.home()
+
+  async def move_to_safe(self):
+    """Move the arm to a predefined safe position."""
+    return await self.backend.move_to_safe()
+
+  async def approach(
+    self,
+    position: Union[PreciseFlexCartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None,
+  ):
+    """Move the arm to an approach position (offset from target).
+
+    Args:
+      position: Target position (CartesianCoords or JointCoords)
+      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(
+    self,
+    position: Union[PreciseFlexCartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None,
+  ):
+    """Pick a plate from the specified position.
+
+    Args:
+      position: Target position for pickup
+      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(
+    self,
+    position: Union[PreciseFlexCartesianCoords, JointCoords],
+    access: Optional[AccessPattern] = None,
+  ):
+    """Place a plate at the specified position.
+
+    Args:
+      position: Target position for placement
+      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)