Add arms module with Arm/GripperArm hierarchy, Brooks and iSWAP backends#957
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rickwierenga wants to merge 2 commits intov1b1from
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Add arms module with Arm/GripperArm hierarchy, Brooks and iSWAP backends#957rickwierenga wants to merge 2 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>
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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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