Add arms module with Arm/GripperArm hierarchy, Brooks and iSWAP backends#957
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rickwierenga merged 20 commits intov1b1from Mar 27, 2026
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Add arms module with Arm/GripperArm hierarchy, Brooks and iSWAP backends#957rickwierenga merged 20 commits intov1b1from
rickwierenga merged 20 commits intov1b1from
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Make PreciseFlexBackend comply with JointArmBackend interface: - Inherit from JointArmBackend instead of DeviceBackend - Implement all interface methods (pick_up/drop/move for both joint and cartesian) - Move PF-specific params (access, speed, finger_speed, grasp_force) into backend_params dataclasses - Remove pick_up_resource/drop_resource/move_to (inlined into interface methods) - Make set_speed/get_speed private - Remove resource_width from drop methods across all backends - Park delegates to move_to_safe Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Split _BaseArmBackend (halt, park) from gripper-specific methods - Add CanGrip mixin for open_gripper/close_gripper/is_gripper_closed - Rename ArmBackend → GripperArmBackend - Rename OrientableArmBackend → OrientableGripperArmBackend - Rename JointArmBackend → JointGripperArmBackend - Rename ArticulatedArmBackend → ArticulatedGripperArmBackend - resource_width only appears on backends that CanGrip - Move _resolve_direction to orientable_arm.py Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
The inline error codes dict was accidentally trimmed to ~20 entries. Import the complete 1809-line error_codes.py instead. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Rail station management (_get_rail_position, _set_rail_position, _move_rail) is private. Public API: move_rail(position) and rail_position field on PickUpParams, DropParams, MoveToLocationParams. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
ArmPosition → GripperLocation, PreciseFlexCartesianCoords → PreciseFlexGripperLocation, get_cartesian_position → get_gripper_location. Legacy API unchanged. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
…aseArm - ElbowOrientation is now Literal["right", "left"] instead of Enum - Rename conversion helpers to _convert_orientation_str_to_int (non-optional) and _convert_orientation_int_to_str - Move get_gripper_location from GripperArmBackend to _BaseArmBackend so all arm backends expose it; add delegation in _BaseArm - Remove redundant get_gripper_location override from JointArm — it was just delegating to self.backend, which _BaseArm already does identically - Legacy adapter updated to convert between enum .value and string literals Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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…hitecture doc - _BaseArmBackend extends CapabilityBackend (not DeviceBackend) - _BaseArm extends Capability (not Device) - Added get_gripper_location stubs to iSWAP and CoreGripper - Removed unused Device import from arm.py - Added architecture.md Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
PreciseFlexDriver: Socket I/O, send_command, device lifecycle (setup/stop, power, attach/detach, home) PreciseFlexArmBackend: protocol translation for all arm operations (pick/drop/move, gripper, joints, freedrive, motion profiles) PreciseFlex400: Device with OrientableArm capability Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Frontend now mirrors backend: _BaseArm → _BaseArmBackend (halt, park, get_gripper_location) GripperArm → GripperArmBackend (+ open/close_gripper, pick_up/drop/move) OrientableArm → OrientableGripperArmBackend (+ direction) Gripper methods moved from _BaseArm to GripperArm. OrientableArm extends GripperArm. Fixes mypy attr-defined errors. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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Summary
pylabrobot/arms/module withArm,OrientableArm,JointArmdevice classes andGripperArmBackend,_BaseArmBackend,CanFreedrivebackend hierarchypylabrobot/brooks/vendor module withPreciseFlexBackendimplementingJointGripperArmBackendpylabrobot/hamilton/liquid_handlers/star/core.py(CoreGripper) andiswap.py(iSWAP) backendsPreciseFlexBackenddelegates to new Brooks moduleSTAR_backendgrip/iSWAP operations delegate to new backendsCanGripmixin separates gripper-specific methods from base arm operationsbackend_paramspattern for vendor-specific parametersCherry-picked from
capability-architecturebranch (commitsc4a1dc69c,b91036bb0).Test plan
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