Add arms module with Arm/GripperArm hierarchy, Brooks and iSWAP backends#957

Merged

rickwierenga merged 20 commits intov1b1from

arms-module

Mar 27, 2026

Commits on Mar 27, 2026

Add arms module, Brooks vendor module, and iSWAP backend

rickwierenga
and
claude
committed
Introduce CanGrip mixin and _BaseArmBackend, rename backend classes

rickwierenga
and
claude
committed
updates
rickwierenga
committed
Restore full PF400 error codes to brooks module

rickwierenga
and
claude
committed
Use BackendParams instead of SerializableMixin for arm backend params

rickwierenga
and
claude
committed
Add move_rail and require rail_position for all cartesian moves

rickwierenga
and
claude
committed
fix rail, direction
rickwierenga
committed
HasJoints
rickwierenga
committed
Rename to GripperLocation and get_gripper_location

rickwierenga
and
claude
committed
retry power_on_robot
rickwierenga
committed
Refactor ElbowOrientation to Literal, move get_gripper_location to _BaseArm

rickwierenga
and
claude
committed
Fix arms for v1b1: CapabilityBackend, get_gripper_location stubs, architecture doc

rickwierenga
and
claude
committed
Split PreciseFlexBackend into Driver + ArmBackend

rickwierenga
and
claude
committed
Update arms architecture.md with concrete implementations table

rickwierenga
and
claude
committed
Format test notebooks

rickwierenga
and
claude
committed
Rename Arm to GripperArm, mirror backend hierarchy exactly

rickwierenga
and
claude
committed
Add CanGrip mixin, fix type errors, delete TestJointArm

rickwierenga
and
claude
committed
Add legacy delegations for _approach_j, _pick_plate_j, etc.

rickwierenga
and
claude
committed
Fix import sorting for CI linting

rickwierenga
and
claude
committed
Revert unrelated import sorting changes

rickwierenga
and
claude
committed

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Add arms module with Arm/GripperArm hierarchy, Brooks and iSWAP backends#957

Add arms module with Arm/GripperArm hierarchy, Brooks and iSWAP backends#957
rickwierenga merged 20 commits intov1b1from
arms-module

Commits on Mar 27, 2026

Add arms module, Brooks vendor module, and iSWAP backend

Introduce CanGrip mixin and _BaseArmBackend, rename backend classes

updates

Restore full PF400 error codes to brooks module

Use BackendParams instead of SerializableMixin for arm backend params

Add move_rail and require rail_position for all cartesian moves

fix rail, direction

HasJoints

Rename to GripperLocation and get_gripper_location

retry power_on_robot

Refactor ElbowOrientation to Literal, move get_gripper_location to _BaseArm

Fix arms for v1b1: CapabilityBackend, get_gripper_location stubs, architecture doc

Split PreciseFlexBackend into Driver + ArmBackend

Update arms architecture.md with concrete implementations table

Format test notebooks

Rename Arm to GripperArm, mirror backend hierarchy exactly

Add CanGrip mixin, fix type errors, delete TestJointArm

Add legacy delegations for _approach_j, _pick_plate_j, etc.

Fix import sorting for CI linting

Revert unrelated import sorting changes