Update to MADSci v0.8#29
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Lifts the module from v0.6 to v0.8 for the RAPID 446 grimm rebuild.
- pyproject.toml: pin madsci-{node-module,client,common}~=0.8.0;
bump requires-python to >=3.10,<3.13.
- src/pf400_rest_node.py: rename self.node_definition.{node_id,node_name}
-> self.node_info.* at 4 sites in startup_handler() (3x created_by=
for gripper / lid_slot / plate_lid templates, 1x f"{...node_name}.gripper"
resource name).
- Dockerfile rewritten on the v0.8 pattern:
- Pin base to ghcr.io/ad-sdl/madsci:v0.8.0.
- `uv pip install --python ${MADSCI_VENV}/bin/python -e ./pf400_module`
so the editable install lands in the venv the runtime actually uses.
- Fix broken CMD: scripts/pf400_rest_node.py -> src/pf400_rest_node.py
(scripts/ never existed).
- No dialout groups -- pf400 is network-only.
Verified end-to-end on grimm with pf400_piper:
/status -> ready: true
/state -> pf400_status_code: READY, live joint angles
[861.943, -1.451, 172.64, 175.601, 126.43, -644.028]
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Resolve conflicts to keep MADSci v0.8 compatibility while pulling in main's refactored action API: - Adopt main's _parse_location_representation flow and the new source/target_height_limit + source/target_press_depth params for transfer/pick_plate/place_plate/remove_lid/replace_lid - Add move_to_location and move_neutral actions from main - Replace get_current_ownership_info().node_id with self.node_info.node_id for MADSci v0.8 - Keep madsci-* deps pinned to ~=0.8.0 - Use main's chown + python -m invocation in Dockerfile - Regenerate pdm.lock against the merged pyproject.toml The v0.8 lid helpers (LidResult/LidSlotResult) are dropped in favor of main's simpler has_lid attribute approach.
LidResult and LidSlotResult were only used by the v0.8 branch's lid-handling code, which was superseded by main's has_lid-attribute approach during the merge.
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Summary
Lifts the module from v0.6 to v0.8 for the RAPID 446 grimm rebuild.
pyproject.toml: pinmadsci-{node-module,client,common}~=0.8.0; bumprequires-pythonto>=3.10,<3.13.src/pf400_rest_node.py: renameself.node_definition.{node_id,node_name}→self.node_info.*at 4 sites instartup_handler()(3×created_by=for gripper / lid_slot / plate_lid templates, 1×f"{...node_name}.gripper"resource name).Dockerfilerewritten on the v0.8 pattern:ghcr.io/ad-sdl/madsci:v0.8.0.uv pip install --python ${MADSCI_VENV}/bin/python -e ./pf400_moduleso the editable install lands in the venv the runtime uses.scripts/pf400_rest_node.py→src/pf400_rest_node.py(scripts/never existed).dialoutgroups — pf400 is network-only (TCP to the robot's IP), no USB/serial.Branched off the existing
rapid_446_devbranch, so the diff againstmainincludes that branch's MADSci 0.6 transition + rate-limit / replace_lid fixes from earlier in the cycle.Test plan
Verified end-to-end on grimm with
pf400_piper:curl /status→ready: truecurl /state→pf400_status_code: READYwith live joint angles[861.943, -1.451, 172.64, 175.601, 126.43, -644.028]01K9ZGTECF75R64V6EDXBNVTTTpreserved via.madsci/registry.json