Expose STARBackend.iswap_gripper_request_width()#1013
Merged
BioCam merged 3 commits intoPyLabRobot:mainfrom Apr 27, 2026
Merged
Expose STARBackend.iswap_gripper_request_width()#1013BioCam merged 3 commits intoPyLabRobot:mainfrom
STARBackend.iswap_gripper_request_width()#1013BioCam merged 3 commits intoPyLabRobot:mainfrom
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Pull request overview
This PR exposes an iSWAP gripper query on the Hamilton STAR backend, enabling callers to read the current gripper jaw opening width (in mm) from the raw drive encoder.
Changes:
- Added iSWAP gripper drive conversion helpers (increments ↔ mm).
- Added
STARBackend.iswap_gripper_request_width()to query the gripper encoder viaR0RGand return the width in mm.
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A "Tame the iSWAP" PR