From e99e54eb1473db489cf2f05a55d6f96b88a4e881 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Wed, 4 Feb 2026 13:39:34 -0800
Subject: [PATCH 01/21] Bug fix for rotations with pick plate

---
 .gitignore                   | 1 +
 src/pf400_interface/pf400.py | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index a36e236..e13defb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -161,3 +161,4 @@ cython_debug/
 #.idea/
 
 .vscode
+.DS_Store
diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py
index 3e2e4ec..69437ac 100644
--- a/src/pf400_interface/pf400.py
+++ b/src/pf400_interface/pf400.py
@@ -565,7 +565,7 @@ def check_incorrect_plate_orientation(
         )
         # Checking yaw angle
         if goal_rotation != 0 and cartesian_goal[3] > -10 and cartesian_goal[3] < 10:
-            goal_location = self.set_plate_rotation(goal_location, -goal_rotation)
+            goal_location = self.set_plate_rotation(goal_location, goal_rotation)
 
         return goal_location
 

From a9131edc79201c347c9db6293d7fa8cd26bb3a28 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Wed, 4 Feb 2026 15:37:43 -0600
Subject: [PATCH 02/21] Local changes

---
 pyproject.toml              | 6 +++---
 tests/test_pf400_node.ipynb | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index 1a1aeba..feaa8ce 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -9,10 +9,10 @@ authors = [
     {name = "Tobias Ginsburg", email = "tginsburg@anl.gov"},
 ]
 dependencies = [
-    "madsci-node-module~=0.5.0",
+    "madsci-node-module~=0.6.0",
     "pynput>=1.8.1",
-    "madsci-client~=0.5.0",
-    "madsci-common~=0.5.0",
+    "madsci-client~=0.6.0",
+    "madsci-common~=0.6.0",
 ]
 requires-python = ">=3.9.1,<3.13"
 readme = "README.md"
diff --git a/tests/test_pf400_node.ipynb b/tests/test_pf400_node.ipynb
index 22f83aa..cf87b71 100644
--- a/tests/test_pf400_node.ipynb
+++ b/tests/test_pf400_node.ipynb
@@ -144,7 +144,7 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": ".venv",
+   "display_name": "pf400_module-3.12",
    "language": "python",
    "name": "python3"
   },

From 0aecc127a35300c98b58157152eef725d7e0236a Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Mon, 2 Mar 2026 12:37:13 -0600
Subject: [PATCH 03/21] Initial migration to madsci v0.7 for testing in the RPL

---
 .envrc                      |    9 +
 .gitignore                  |    1 +
 .pre-commit-config.yaml     |    4 +-
 AGENTS.md                   |  106 +++
 CLAUDE.md                   |    1 +
 Dockerfile                  |   14 +-
 README.md                   |   20 +-
 compose.yaml                |    9 +-
 definitions/pf400.info.yaml |  303 --------
 definitions/pf400.node.yaml |    7 -
 devbox.json                 |   24 +
 devbox.lock                 |  374 ++++++++++
 pdm.lock                    | 1296 +++++++++++------------------------
 pyproject.toml              |    8 +-
 settings.yaml               |    3 +
 src/pf400_rest_node.py      |   19 +-
 16 files changed, 954 insertions(+), 1244 deletions(-)
 create mode 100644 .envrc
 create mode 100644 AGENTS.md
 create mode 120000 CLAUDE.md
 delete mode 100644 definitions/pf400.info.yaml
 delete mode 100644 definitions/pf400.node.yaml
 create mode 100644 devbox.json
 create mode 100644 devbox.lock
 create mode 100644 settings.yaml

diff --git a/.envrc b/.envrc
new file mode 100644
index 0000000..eff60eb
--- /dev/null
+++ b/.envrc
@@ -0,0 +1,9 @@
+#!/bin/bash
+
+# Automatically sets up your devbox environment whenever you cd into this
+# directory via our direnv integration:
+
+eval "$(devbox generate direnv --print-envrc)"
+
+# check out https://www.jetify.com/docs/devbox/ide_configuration/direnv/
+# for more details
diff --git a/.gitignore b/.gitignore
index e13defb..98dc9f5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -162,3 +162,4 @@ cython_debug/
 
 .vscode
 .DS_Store
+.madsci/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 3e2d661..4724a70 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -12,12 +12,12 @@ repos:
       - id: end-of-file-fixer
       - id: trailing-whitespace
   - repo: https://github.com/kynan/nbstripout
-    rev: 0.8.1
+    rev: 0.9.1
     hooks:
       - id: nbstripout
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.14.5
+    rev: v0.15.4
     hooks:
       # Run the linter.
       - id: ruff
diff --git a/AGENTS.md b/AGENTS.md
new file mode 100644
index 0000000..dc6bd7c
--- /dev/null
+++ b/AGENTS.md
@@ -0,0 +1,106 @@
+# AGENTS.md/CLAUDE.md
+
+This file provides guidance to AI Agents. Note that CLAUDE.md and AGENTS.md are symlinked together.
+
+## Overview
+
+MADSci node module for the Brooks Automation PreciseFlex 400 (PF400) robot arm. Exposes a FastAPI REST server that translates MADSci actions into telnet commands sent to the physical robot.
+
+## Installation and Running
+
+```bash
+# Install (use pip, not PDM)
+pip install .
+
+# Configure (see Configuration section below), then run
+python -m pf400_rest_node
+
+# Run via Docker
+docker compose up
+```
+
+Configuration is loaded automatically via MADSci's walk-up settings discovery. The Docker `compose.yaml` sets `PF400_IP` via environment variable.
+
+## Linting
+
+```bash
+# Lint
+ruff check src/
+
+# Format
+ruff format src/
+
+# Fix auto-fixable issues
+ruff check --fix src/
+```
+
+No pytest test suite — tests are Jupyter notebooks in `tests/` (`test_pf400_interface.ipynb`, `test_pf400_node.ipynb`) and require a live robot connection.
+
+## Code Architecture
+
+Three layers, each building on the previous:
+
+### 1. `src/pf400_rest_node.py` — MADSci REST Node
+`PF400Node(RestNode)` implements the MADSci node interface:
+- `startup_handler`: initializes MADSci resource templates (gripper slot, lid slot, plate lid asset) and instantiates `PF400`
+- `state_handler`: polls `movement_state` (0=power off, 1=ready, >1=busy)
+- Actions decorated with `@action`: `transfer`, `pick_plate`, `place_plate`, `remove_lid`, `replace_lid`
+- Config via `PF400NodeConfig(RestNodeConfig)` — adds `pf400_ip`, `pf400_port` (10100), `pf400_status_port` (10000)
+
+### 2. `src/pf400_interface/pf400.py` — Robot Driver
+`PF400(KINEMATICS)` communicates with the robot via **two telnet connections**:
+- Command connection: port 10100 — sends GPL (robot programming language) commands
+- Status connection: port 10000 — reads robot state
+
+Key driver concepts:
+- Locations are represented as 6-element joint-angle arrays: `[z_mm, shoulder_deg, elbow_deg, wrist_deg, gripper_mm, rail_mm]`
+- Motion profiles (from `pf400_constants.py`): profile 1 (slow), profile 2 (fast, 120 speed), profile 3 (straight-line)
+- `grip_wide=True` → gripper opens to 130mm / closes to 127mm; `False` → 90mm / 85mm
+- Plate rotation: `""` or `"narrow"` → 0° wrist offset; `"wide"` → 90° wrist offset
+- `default_approach_height = 15.0` steps above/below the target position for approach moves
+
+Key methods:
+- `transfer(source, target, ...)` — full pick+place with optional approach waypoints and plate rotation
+- `pick_plate(source, ...)` / `place_plate(target, ...)` — individual pick/place
+- `remove_lid(source, target, lid_height=7.0, ...)` / `replace_lid(...)` — lid handling
+- `check_incorrect_plate_orientation(representation, rotation)` — corrects joint angles when orientation mismatches
+
+### 3. `src/pf400_interface/pf400_kinematics.py` — Kinematics
+`KINEMATICS` base class with forward/inverse kinematics:
+- Arm segments: shoulder=302mm, elbow=289mm, end-effector=162mm
+- Joint coordinate order: `[z, shoulder, elbow, wrist, gripper, rail]`
+- Cartesian coordinate order: `[X, Y, Z, yaw, pitch=90, roll=180]`
+- Rail (joint[5]) is the horizontal position and must be subtracted from X before calling `inverse_kinematics`
+
+### Supporting files
+- `pf400_constants.py` — `ERROR_CODES`, `MOTION_PROFILES`, `OUTPUT_CODES` dicts
+- `pf400_errors.py` — `Pf400ConnectionError`, `Pf400CommandError`, `Pf400ResponseError`
+- `src/keyboard_control.py` — interactive keyboard teleoperation utility (arrow keys = XY, W/S = Z, N = neutral)
+
+## Configuration
+
+Configuration uses MADSci's Pydantic Settings system. Settings are loaded via walk-up file discovery (searching from CWD up to the `.madsci/` sentinel directory), with this priority order: CLI args → environment variables → `node.settings.yaml` → `settings.yaml`.
+
+Example `node.settings.yaml`:
+
+```yaml
+node_name: pf400
+node_url: http://0.0.0.0:2000
+pf400_ip: 192.168.1.100
+pf400_port: 10100
+pf400_status_port: 10000
+```
+
+All settings can also be set via environment variables (e.g. `PF400_IP`, `NODE_URL`).
+
+The node's stable identity (ID) is persisted in the `.madsci/registry.json` file found by the same walk-up discovery. The node registers itself under its `node_name` on first startup and reuses the same ULID on subsequent restarts.
+
+`definitions/pf400.info.yaml` is auto-generated from the node's declared actions and capabilities — do not edit it manually.
+
+| Parameter | Default | Description |
+|---|---|---|
+| `pf400_ip` | None (required) | Robot IP address |
+| `pf400_port` | 10100 | Command telnet port |
+| `pf400_status_port` | 10000 | Status telnet port |
+| `node_url` | `http://127.0.0.1:2000/` | REST API base URL |
+| `status_update_interval` | 2.0s | State polling interval |
diff --git a/CLAUDE.md b/CLAUDE.md
new file mode 120000
index 0000000..47dc3e3
--- /dev/null
+++ b/CLAUDE.md
@@ -0,0 +1 @@
+AGENTS.md
\ No newline at end of file
diff --git a/Dockerfile b/Dockerfile
index be3a32b..c9d46e6 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -8,15 +8,17 @@ LABEL org.opencontainers.image.licenses=MIT
 # Module specific logic goes below here #
 #########################################
 
-RUN mkdir -p pf400_module
+ARG USER_ID=9999
+ARG GROUP_ID=9999
 
-COPY ./src pf400_module/src
-COPY ./README.md pf400_module/README.md
-COPY ./pyproject.toml pf400_module/pyproject.toml
+COPY ./src /home/madsci/pf400_module/src
+COPY ./README.md /home/madsci/pf400_module/README.md
+COPY ./pyproject.toml /home/madsci/pf400_module/pyproject.toml
 
 RUN --mount=type=cache,target=/root/.cache \
-    pip install -e ./pf400_module
+    uv pip install --python ${MADSCI_VENV}/bin/python -e /home/madsci/pf400_module && \
+    chown -R ${USER_ID}:${GROUP_ID} /home/madsci/pf400_module
 
-CMD ["python", "pf400_module/scripts/pf400_rest_node.py"]
+CMD ["python", "-m", "pf400_rest_node", "--node_definition", "definitions/pf400.node.yaml"]
 
 #########################################
diff --git a/README.md b/README.md
index 44325dd..b5abe6d 100644
--- a/README.md
+++ b/README.md
@@ -2,8 +2,6 @@
 
 Implementation of a MADSci Node Module for integrating a Brooks Automation PreciseFlex 400 (PF400).
 
-See `definitions/pf400.node.yaml` for an example node definition file, and `definitions/pf400.node.info.yaml` for a description of the capabilities of the node.
-
 ## Installation and Usage
 
 ### Python
@@ -17,11 +15,23 @@ source .venv/bin/activate
 # .venv\Scripts\activate
 # Install the module and dependencies in the venv
 pip install .
-# Start the node
-python -m pf400_rest_node --host=<HOSTNAME> --port <PORT> --pf400_ip <IP> --pf400_port <PORT>
+# Create a settings file (see Configuration below), then start the node
+python -m pf400_rest_node
+```
+
+### Configuration
+
+Settings are loaded automatically via MADSci's walk-up file discovery. Create a `node.settings.yaml` in your working directory (or any parent up to the `.madsci/` sentinel):
+
+```yaml
+node_name: pf400
+node_url: http://0.0.0.0:2000
+pf400_ip: 192.168.1.100
+pf400_port: 10100
+pf400_status_port: 10000
 ```
 
-You can use `0.0.0.0` as the hostname to connect from any device on the local network, or `127.0.0.1` to limit it only to local connections.
+All settings can also be provided as environment variables (e.g. `PF400_IP`, `NODE_URL`). The node's stable ID is stored in `.madsci/registry.json` and reused across restarts.
 
 ### Docker
 
diff --git a/compose.yaml b/compose.yaml
index 6f92b39..d63ea5a 100644
--- a/compose.yaml
+++ b/compose.yaml
@@ -7,13 +7,16 @@ services:
     environment:
       - USER_ID=${USER_ID:-1000}
       - GROUP_ID=${GROUP_ID:-1000}
-      - PF400_IP=146.137.240.35
+    env_file:
+      - path: .env
+        required: false
     build:
       context: .
       dockerfile: Dockerfile
       tags:
         - ghcr.io/ad-sdl/pf400_module:latest
         - ghcr.io/ad-sdl/pf400_module:dev
-    command: python -m pf400_rest_node --node_definition definitions/pf400.node.yaml
+    command: python -m pf400_rest_node
     volumes:
-      - ./definitions:/home/madsci/definitions/
+      - ./settings.yaml:/home/madsci/settings.yaml
+      - ./.madsci:/home/madsci/.madsci
diff --git a/definitions/pf400.info.yaml b/definitions/pf400.info.yaml
deleted file mode 100644
index d0ac954..0000000
--- a/definitions/pf400.info.yaml
+++ /dev/null
@@ -1,303 +0,0 @@
-node_name: pf400
-node_id: 01JPR0HZX0WJT1X9EHZ611SGP6
-node_description: MADSci node for controlling PF400, plate handler robot
-node_type: device
-module_name: pf400
-module_version: 2.1.0
-capabilities:
-  get_info: true
-  get_state: true
-  get_status: true
-  send_action: true
-  get_action_result: true
-  get_action_history: true
-  action_files: true
-  send_admin_commands: true
-  set_config: true
-  get_resources: false
-  get_log: true
-  admin_commands:
-  - cancel
-  - lock
-  - pause
-  - reset
-  - resume
-  - safety_stop
-  - shutdown
-  - unlock
-node_url: null
-actions:
-  transfer:
-    name: transfer
-    description: Transfer a plate from one location to another
-    args:
-      source_plate_rotation:
-        name: source_plate_rotation
-        description: Orientation of the plate at the source, wide or narrow
-        argument_type: str
-        required: false
-        default: ''
-      target_plate_rotation:
-        name: target_plate_rotation
-        description: Final orientation of the plate at the target, wide or narrow
-        argument_type: str
-        required: false
-        default: ''
-    locations:
-      source:
-        name: source
-        description: Location to pick a plate from
-        argument_type: location
-        required: true
-        default: null
-      target:
-        name: target
-        description: Location to place a plate to
-        argument_type: location
-        required: true
-        default: null
-      source_approach:
-        name: source_approach
-        description: Location to approach from
-        argument_type: location
-        required: false
-        default: null
-      target_approach:
-        name: target_approach
-        description: Location to approach from
-        argument_type: location
-        required: false
-        default: null
-    files: {}
-    results: {}
-    blocking: false
-    asynchronous: true
-  pick_plate:
-    name: pick_plate
-    description: Pick a plate from a source location
-    args: {}
-    locations:
-      source:
-        name: source
-        description: Location to pick a plate from
-        argument_type: location
-        required: true
-        default: null
-      source_approach:
-        name: source_approach
-        description: Location to approach from
-        argument_type: location
-        required: false
-        default: null
-    files: {}
-    results: {}
-    blocking: false
-    asynchronous: true
-  place_plate:
-    name: place_plate
-    description: Place a plate in a target location, optionally moving first to target_approach
-    args: {}
-    locations:
-      target:
-        name: target
-        description: Location to place a plate to
-        argument_type: location
-        required: true
-        default: null
-      target_approach:
-        name: target_approach
-        description: Location to approach from
-        argument_type: location
-        required: false
-        default: null
-    files: {}
-    results: {}
-    blocking: false
-    asynchronous: true
-  remove_lid:
-    name: remove_lid
-    description: Remove a lid from a plate
-    args:
-      source_plate_rotation:
-        name: source_plate_rotation
-        description: Orientation of the plate at the source, wide or narrow
-        argument_type: str
-        required: false
-        default: ''
-      target_plate_rotation:
-        name: target_plate_rotation
-        description: Final orientation of the plate at the target, wide or narrow
-        argument_type: str
-        required: false
-        default: ''
-      lid_height:
-        name: lid_height
-        description: height of the lid, in steps
-        argument_type: float
-        required: false
-        default: 7.0
-    locations:
-      source:
-        name: source
-        description: Location to pick a plate from
-        argument_type: location
-        required: true
-        default: null
-      target:
-        name: target
-        description: Location to place a plate to
-        argument_type: location
-        required: true
-        default: null
-      source_approach:
-        name: source_approach
-        description: Location to approach from
-        argument_type: location
-        required: false
-        default: null
-      target_approach:
-        name: target_approach
-        description: Location to approach from
-        argument_type: location
-        required: false
-        default: null
-    files: {}
-    results: {}
-    blocking: false
-    asynchronous: true
-  replace_lid:
-    name: replace_lid
-    description: Replace a lid on a plate
-    args:
-      source_plate_rotation:
-        name: source_plate_rotation
-        description: Orientation of the plate at the source, wide or narrow
-        argument_type: str
-        required: false
-        default: ''
-      target_plate_rotation:
-        name: target_plate_rotation
-        description: Final orientation of the plate at the target, wide or narrow
-        argument_type: str
-        required: false
-        default: ''
-      lid_height:
-        name: lid_height
-        description: height of the lid, in steps
-        argument_type: float
-        required: false
-        default: 7.0
-    locations:
-      source:
-        name: source
-        description: Location to pick a plate from
-        argument_type: location
-        required: true
-        default: null
-      target:
-        name: target
-        description: Location to place a plate to
-        argument_type: location
-        required: true
-        default: null
-      source_approach:
-        name: source_approach
-        description: Location to approach from
-        argument_type: location
-        required: false
-        default: null
-      target_approach:
-        name: target_approach
-        description: Location to approach from
-        argument_type: location
-        required: false
-        default: null
-    files: {}
-    results: {}
-    blocking: false
-    asynchronous: true
-config:
-  node_definition: definitions/pf400.node.yaml
-  node_info_path: null
-  update_node_files: true
-  status_update_interval: 2.0
-  state_update_interval: 2.0
-  node_url: http://127.0.0.1:2000/
-  uvicorn_kwargs: {}
-  pf400_ip: null
-  pf400_port: 10100
-  pf400_status_port: 10000
-config_schema:
-  description: Configuration for the pf400 node module.
-  properties:
-    node_definition:
-      anyOf:
-      - type: string
-      - format: path
-        type: string
-      - type: 'null'
-      default: default.node.yaml
-      description: Path to the node definition file to use. If set, the node will
-        load the definition from this file on startup. Otherwise, a default configuration
-        will be created.
-      title: Node Definition File
-    node_info_path:
-      anyOf:
-      - type: string
-      - format: path
-        type: string
-      - type: 'null'
-      default: null
-      description: Path to export the generated node info file. If not set, will use
-        the node name and the node_definition's path.
-      title: Node Info Path
-    update_node_files:
-      default: true
-      description: Whether to update the node definition and info files on startup.
-        If set to False, the node will not update the files even if they are out of
-        date.
-      title: Update Node Files
-      type: boolean
-    status_update_interval:
-      anyOf:
-      - type: number
-      - type: 'null'
-      default: 2.0
-      description: The interval in seconds at which the node should update its status.
-      title: Status Update Interval
-    state_update_interval:
-      anyOf:
-      - type: number
-      - type: 'null'
-      default: 2.0
-      description: The interval in seconds at which the node should update its state.
-      title: State Update Interval
-    node_url:
-      default: http://127.0.0.1:2000/
-      description: The URL used to communicate with the node. This is the base URL
-        for the REST API.
-      format: uri
-      minLength: 1
-      title: Node URL
-      type: string
-    uvicorn_kwargs:
-      additionalProperties: true
-      description: Configuration for the Uvicorn server that runs the REST API.
-      title: Uvicorn Configuration
-      type: object
-    pf400_ip:
-      anyOf:
-      - type: string
-      - type: 'null'
-      default: null
-      title: Pf400 Ip
-    pf400_port:
-      default: 10100
-      title: Pf400 Port
-      type: integer
-    pf400_status_port:
-      default: 10000
-      title: Pf400 Status Port
-      type: integer
-  title: PF400NodeConfig
-  type: object
diff --git a/definitions/pf400.node.yaml b/definitions/pf400.node.yaml
deleted file mode 100644
index 4d35c78..0000000
--- a/definitions/pf400.node.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-node_name: pf400
-node_id: 01JPR0HZX0WJT1X9EHZ611SGP6
-node_description: MADSci node for controlling PF400, plate handler robot
-node_type: device
-module_name: pf400
-module_version: 2.1.0
-capabilities: null
diff --git a/devbox.json b/devbox.json
new file mode 100644
index 0000000..fbd43f0
--- /dev/null
+++ b/devbox.json
@@ -0,0 +1,24 @@
+{
+  "$schema": "https://raw.githubusercontent.com/jetify-com/devbox/0.16.0/.schema/devbox.schema.json",
+  "packages": [
+    "pdm@latest",
+    "just@latest",
+    "uv@latest",
+    "ruff@latest",
+    "pre-commit@latest",
+    "python@3.12"
+  ],
+  "env": {
+    "PDM_USE_UV": "True"
+  },
+  "shell": {
+    "init_hook": [
+      ". $VENV_DIR/bin/activate"
+    ],
+    "scripts": {
+      "test": [
+        "echo \"Error: no test specified\" && exit 1"
+      ]
+    }
+  }
+}
diff --git a/devbox.lock b/devbox.lock
new file mode 100644
index 0000000..266e806
--- /dev/null
+++ b/devbox.lock
@@ -0,0 +1,374 @@
+{
+  "lockfile_version": "1",
+  "packages": {
+    "github:NixOS/nixpkgs/nixpkgs-unstable": {
+      "last_modified": "2026-02-26T05:06:13Z",
+      "resolved": "github:NixOS/nixpkgs/26eaeac4e409d7b5a6bf6f90a2a2dc223c78d915?lastModified=1772082373"
+    },
+    "just@latest": {
+      "last_modified": "2026-02-23T15:40:43Z",
+      "resolved": "github:NixOS/nixpkgs/80d901ec0377e19ac3f7bb8c035201e2e098cc97#just",
+      "source": "devbox-search",
+      "version": "1.46.0",
+      "systems": {
+        "aarch64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/70xj73qsinvmbc3rn1rch3k0bk2ric41-just-1.46.0",
+              "default": true
+            },
+            {
+              "name": "man",
+              "path": "/nix/store/0rf7kvb3b5pz82rwadn4xm8y77x2iy4q-just-1.46.0-man",
+              "default": true
+            },
+            {
+              "name": "doc",
+              "path": "/nix/store/z9xkrp3wmnlhf9h9s1jsh4r23w9jnjj1-just-1.46.0-doc"
+            }
+          ],
+          "store_path": "/nix/store/70xj73qsinvmbc3rn1rch3k0bk2ric41-just-1.46.0"
+        },
+        "aarch64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/429xi40vq2by0f8qibrj8w45n92mkhzf-just-1.46.0",
+              "default": true
+            },
+            {
+              "name": "man",
+              "path": "/nix/store/sykdbhkkadkdgx0psdm3q1j2zpcqm7nn-just-1.46.0-man",
+              "default": true
+            },
+            {
+              "name": "doc",
+              "path": "/nix/store/4qwqc5rhwj795kqk6385l97paqpvhlaf-just-1.46.0-doc"
+            }
+          ],
+          "store_path": "/nix/store/429xi40vq2by0f8qibrj8w45n92mkhzf-just-1.46.0"
+        },
+        "x86_64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/2ai2169px8hbs6ap7srh9240v7qarjrl-just-1.46.0",
+              "default": true
+            },
+            {
+              "name": "man",
+              "path": "/nix/store/ii6487zmcpc6qf5v95pfw646f8smkf87-just-1.46.0-man",
+              "default": true
+            },
+            {
+              "name": "doc",
+              "path": "/nix/store/7hjj4qlvv9kk7rwj3gwz7pyxy6sc8p74-just-1.46.0-doc"
+            }
+          ],
+          "store_path": "/nix/store/2ai2169px8hbs6ap7srh9240v7qarjrl-just-1.46.0"
+        },
+        "x86_64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/x6bvf2yyik9jlp2bdsdh8hbzg4l9sd49-just-1.46.0",
+              "default": true
+            },
+            {
+              "name": "man",
+              "path": "/nix/store/n15hvaaz1fmrl0fgypqr04yj6mj825rw-just-1.46.0-man",
+              "default": true
+            },
+            {
+              "name": "doc",
+              "path": "/nix/store/hd32nmf13rby52cd7g5gw6f3p2ghnrhl-just-1.46.0-doc"
+            }
+          ],
+          "store_path": "/nix/store/x6bvf2yyik9jlp2bdsdh8hbzg4l9sd49-just-1.46.0"
+        }
+      }
+    },
+    "pdm@latest": {
+      "last_modified": "2026-02-23T15:40:43Z",
+      "resolved": "github:NixOS/nixpkgs/80d901ec0377e19ac3f7bb8c035201e2e098cc97#pdm",
+      "source": "devbox-search",
+      "version": "2.26.6",
+      "systems": {
+        "aarch64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/y730lpwsb6fi7c4gj75rfm68dc39glvl-pdm-2.26.6",
+              "default": true
+            },
+            {
+              "name": "dist",
+              "path": "/nix/store/g8ppkqdl6d0q4l8s5q85dqyfdj3pql1j-pdm-2.26.6-dist"
+            }
+          ],
+          "store_path": "/nix/store/y730lpwsb6fi7c4gj75rfm68dc39glvl-pdm-2.26.6"
+        },
+        "aarch64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/kkpybwbdns1k4zh91riki6ph3kjn5880-pdm-2.26.6",
+              "default": true
+            },
+            {
+              "name": "dist",
+              "path": "/nix/store/6maywzx4cz508360hynbhxp09aish96x-pdm-2.26.6-dist"
+            }
+          ],
+          "store_path": "/nix/store/kkpybwbdns1k4zh91riki6ph3kjn5880-pdm-2.26.6"
+        },
+        "x86_64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/yw9jlcrajy1m7n7z9anvnmdpw1d3agbq-pdm-2.26.6",
+              "default": true
+            },
+            {
+              "name": "dist",
+              "path": "/nix/store/mr7j2z2q31x8l6z3bl9mz2h3hidb48fz-pdm-2.26.6-dist"
+            }
+          ],
+          "store_path": "/nix/store/yw9jlcrajy1m7n7z9anvnmdpw1d3agbq-pdm-2.26.6"
+        },
+        "x86_64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/0iv0f8r0lpmnnjxklx7kiivdaxc6x9nm-pdm-2.26.6",
+              "default": true
+            },
+            {
+              "name": "dist",
+              "path": "/nix/store/xldnwp9d766k156iw7s403hpy4q2xdgg-pdm-2.26.6-dist"
+            }
+          ],
+          "store_path": "/nix/store/0iv0f8r0lpmnnjxklx7kiivdaxc6x9nm-pdm-2.26.6"
+        }
+      }
+    },
+    "pre-commit@latest": {
+      "last_modified": "2026-02-23T15:40:43Z",
+      "resolved": "github:NixOS/nixpkgs/80d901ec0377e19ac3f7bb8c035201e2e098cc97#pre-commit",
+      "source": "devbox-search",
+      "version": "4.5.1",
+      "systems": {
+        "aarch64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/l55n4b26170g382dxchwchs5bb2mm816-pre-commit-4.5.1",
+              "default": true
+            },
+            {
+              "name": "dist",
+              "path": "/nix/store/vx8bcz0p4c4nr57i0kszdnfk3vrxhc4n-pre-commit-4.5.1-dist"
+            }
+          ],
+          "store_path": "/nix/store/l55n4b26170g382dxchwchs5bb2mm816-pre-commit-4.5.1"
+        },
+        "aarch64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/vry6jkxxy96b4vv8sr2yw2p2llangkd5-pre-commit-4.5.1",
+              "default": true
+            },
+            {
+              "name": "dist",
+              "path": "/nix/store/l94g308gxsvwzil56ssvg0nb55gkjxfj-pre-commit-4.5.1-dist"
+            }
+          ],
+          "store_path": "/nix/store/vry6jkxxy96b4vv8sr2yw2p2llangkd5-pre-commit-4.5.1"
+        },
+        "x86_64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/h3g711srm8fn3c12xs638bhrgs7vqml4-pre-commit-4.5.1",
+              "default": true
+            },
+            {
+              "name": "dist",
+              "path": "/nix/store/grbm0lk0i1fqliqj6lhgvymnr2kggvaj-pre-commit-4.5.1-dist"
+            }
+          ],
+          "store_path": "/nix/store/h3g711srm8fn3c12xs638bhrgs7vqml4-pre-commit-4.5.1"
+        },
+        "x86_64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/j3m430mdag04c150qlr72zbvhmpkb1cz-pre-commit-4.5.1",
+              "default": true
+            },
+            {
+              "name": "dist",
+              "path": "/nix/store/l3z236pck7hx6lz5x4s46xa0vkmjmvsh-pre-commit-4.5.1-dist"
+            }
+          ],
+          "store_path": "/nix/store/j3m430mdag04c150qlr72zbvhmpkb1cz-pre-commit-4.5.1"
+        }
+      }
+    },
+    "python@3.12": {
+      "last_modified": "2026-02-23T15:40:43Z",
+      "plugin_version": "0.0.4",
+      "resolved": "github:NixOS/nixpkgs/80d901ec0377e19ac3f7bb8c035201e2e098cc97#python312",
+      "source": "devbox-search",
+      "version": "3.12.12",
+      "systems": {
+        "aarch64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/6m0sga6inpabxm4nh7ab8zvychy66d48-python3-3.12.12",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/6m0sga6inpabxm4nh7ab8zvychy66d48-python3-3.12.12"
+        },
+        "aarch64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/p3dgpm3z2s0k2sf6838ybrqvz6r89ry2-python3-3.12.12",
+              "default": true
+            },
+            {
+              "name": "debug",
+              "path": "/nix/store/xcz6h6sqxbhg07ccjh2qr2xxrnh4mc70-python3-3.12.12-debug"
+            }
+          ],
+          "store_path": "/nix/store/p3dgpm3z2s0k2sf6838ybrqvz6r89ry2-python3-3.12.12"
+        },
+        "x86_64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/ll4yja86q574m1gp3bzzk9wshcbl332k-python3-3.12.12",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/ll4yja86q574m1gp3bzzk9wshcbl332k-python3-3.12.12"
+        },
+        "x86_64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/flbw79qdmvzbdrafd93avy5a7d29m2vb-python3-3.12.12",
+              "default": true
+            },
+            {
+              "name": "debug",
+              "path": "/nix/store/pwz8rx97fb0laq9scg8zycmyh5xixa4a-python3-3.12.12-debug"
+            }
+          ],
+          "store_path": "/nix/store/flbw79qdmvzbdrafd93avy5a7d29m2vb-python3-3.12.12"
+        }
+      }
+    },
+    "ruff@latest": {
+      "last_modified": "2026-02-23T15:40:43Z",
+      "resolved": "github:NixOS/nixpkgs/80d901ec0377e19ac3f7bb8c035201e2e098cc97#ruff",
+      "source": "devbox-search",
+      "version": "0.15.1",
+      "systems": {
+        "aarch64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/z4qndhvs1avahvnalx2d7lpld1xn15sd-ruff-0.15.1",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/z4qndhvs1avahvnalx2d7lpld1xn15sd-ruff-0.15.1"
+        },
+        "aarch64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/g78xly6975js6w0k12ksxfg72i4z9f07-ruff-0.15.1",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/g78xly6975js6w0k12ksxfg72i4z9f07-ruff-0.15.1"
+        },
+        "x86_64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/g9cv6b067gzx7swniwahv1wi551mslq1-ruff-0.15.1",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/g9cv6b067gzx7swniwahv1wi551mslq1-ruff-0.15.1"
+        },
+        "x86_64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/w0712ww7bkq6rrf2a9n8wjnvsf37q810-ruff-0.15.1",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/w0712ww7bkq6rrf2a9n8wjnvsf37q810-ruff-0.15.1"
+        }
+      }
+    },
+    "uv@latest": {
+      "last_modified": "2026-02-23T15:40:43Z",
+      "resolved": "github:NixOS/nixpkgs/80d901ec0377e19ac3f7bb8c035201e2e098cc97#uv",
+      "source": "devbox-search",
+      "version": "0.10.4",
+      "systems": {
+        "aarch64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/iz3bcbs2pa00l0awp05pfb0x8dlx1ljm-uv-0.10.4",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/iz3bcbs2pa00l0awp05pfb0x8dlx1ljm-uv-0.10.4"
+        },
+        "aarch64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/d3agwkb703z1j2iccs5p0hyf8nva03fy-uv-0.10.4",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/d3agwkb703z1j2iccs5p0hyf8nva03fy-uv-0.10.4"
+        },
+        "x86_64-darwin": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/vrznmkha6ws0574jhhnxf4czsy3igs8s-uv-0.10.4",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/vrznmkha6ws0574jhhnxf4czsy3igs8s-uv-0.10.4"
+        },
+        "x86_64-linux": {
+          "outputs": [
+            {
+              "name": "out",
+              "path": "/nix/store/kwxpv3m0wyyzgpqvm805vlkh2as4asy6-uv-0.10.4",
+              "default": true
+            }
+          ],
+          "store_path": "/nix/store/kwxpv3m0wyyzgpqvm805vlkh2as4asy6-uv-0.10.4"
+        }
+      }
+    }
+  }
+}
diff --git a/pdm.lock b/pdm.lock
index b8071e7..f9eda1a 100644
--- a/pdm.lock
+++ b/pdm.lock
@@ -3,31 +3,26 @@
 
 [metadata]
 groups = ["default", "dev"]
-strategy = ["inherit_metadata"]
+strategy = []
 lock_version = "4.5.0"
-content_hash = "sha256:86150d5573b91103df487cf5fd51723bc45344317025162d81e0f2c3923f363a"
+content_hash = "sha256:156028279ae891cca591d8596bd7eeec70235c867534527622147bc9fb96df5f"
 
 [[metadata.targets]]
-requires_python = ">=3.9.1,<3.13"
+requires_python = ">=3.10,<3.13"
 
 [[package]]
 name = "aenum"
 version = "3.1.16"
-summary = "Advanced Enumerations (compatible with Python's stdlib Enum), NamedTuples, and NamedConstants"
-groups = ["default"]
+summary = ""
 files = [
     {file = "aenum-3.1.16-py3-none-any.whl", hash = "sha256:9035092855a98e41b66e3d0998bd7b96280e85ceb3a04cc035636138a1943eaf"},
+    {file = "aenum-3.1.16.tar.gz", hash = "sha256:bfaf9589bdb418ee3a986d85750c7318d9d2839c1b1a1d6fe8fc53ec201cf140"},
 ]
 
 [[package]]
 name = "annotated-types"
 version = "0.7.0"
-requires_python = ">=3.8"
-summary = "Reusable constraint types to use with typing.Annotated"
-groups = ["default"]
-dependencies = [
-    "typing-extensions>=4.0.0; python_version < \"3.9\"",
-]
+summary = ""
 files = [
     {file = "annotated_types-0.7.0-py3-none-any.whl", hash = "sha256:1f02e8b43a8fbbc3f3e0d4f0f4bfc8131bcb4eebe8849b8e5c773f3a1c582a53"},
     {file = "annotated_types-0.7.0.tar.gz", hash = "sha256:aff07c09a53a08bc8cfccb9c85b05f1aa9a2a6f23728d790723543408344ce89"},
@@ -36,14 +31,12 @@ files = [
 [[package]]
 name = "anyio"
 version = "4.9.0"
-requires_python = ">=3.9"
-summary = "High level compatibility layer for multiple asynchronous event loop implementations"
-groups = ["default"]
+summary = ""
 dependencies = [
-    "exceptiongroup>=1.0.2; python_version < \"3.11\"",
-    "idna>=2.8",
-    "sniffio>=1.1",
-    "typing-extensions>=4.5; python_version < \"3.13\"",
+    "exceptiongroup; python_full_version < \"3.11\"",
+    "idna",
+    "sniffio",
+    "typing-extensions",
 ]
 files = [
     {file = "anyio-4.9.0-py3-none-any.whl", hash = "sha256:9f76d541cad6e36af7beb62e978876f3b41e3e04f2c1fbf0884604c0a9c4d93c"},
@@ -53,10 +46,7 @@ files = [
 [[package]]
 name = "appnope"
 version = "0.1.4"
-requires_python = ">=3.6"
-summary = "Disable App Nap on macOS >= 10.9"
-groups = ["dev"]
-marker = "platform_system == \"Darwin\""
+summary = ""
 files = [
     {file = "appnope-0.1.4-py2.py3-none-any.whl", hash = "sha256:502575ee11cd7a28c0205f379b525beefebab9d161b7c964670864014ed7213c"},
     {file = "appnope-0.1.4.tar.gz", hash = "sha256:1de3860566df9caf38f01f86f65e0e13e379af54f9e4bee1e66b48f2efffd1ee"},
@@ -65,9 +55,7 @@ files = [
 [[package]]
 name = "argon2-cffi"
 version = "25.1.0"
-requires_python = ">=3.8"
-summary = "Argon2 for Python"
-groups = ["default"]
+summary = ""
 dependencies = [
     "argon2-cffi-bindings",
 ]
@@ -79,11 +67,9 @@ files = [
 [[package]]
 name = "argon2-cffi-bindings"
 version = "21.2.0"
-requires_python = ">=3.6"
-summary = "Low-level CFFI bindings for Argon2"
-groups = ["default"]
+summary = ""
 dependencies = [
-    "cffi>=1.0.1",
+    "cffi",
 ]
 files = [
     {file = "argon2-cffi-bindings-21.2.0.tar.gz", hash = "sha256:bb89ceffa6c791807d1305ceb77dbfacc5aa499891d2c55661c6459651fc39e3"},
@@ -102,9 +88,7 @@ files = [
 [[package]]
 name = "asttokens"
 version = "3.0.0"
-requires_python = ">=3.8"
-summary = "Annotate AST trees with source code positions"
-groups = ["dev"]
+summary = ""
 files = [
     {file = "asttokens-3.0.0-py3-none-any.whl", hash = "sha256:e3078351a059199dd5138cb1c706e6430c05eff2ff136af5eb4790f9d28932e2"},
     {file = "asttokens-3.0.0.tar.gz", hash = "sha256:0dcd8baa8d62b0c1d118b399b2ddba3c4aff271d0d7a9e0d4c1681c79035bbc7"},
@@ -113,9 +97,7 @@ files = [
 [[package]]
 name = "certifi"
 version = "2025.6.15"
-requires_python = ">=3.7"
-summary = "Python package for providing Mozilla's CA Bundle."
-groups = ["default"]
+summary = ""
 files = [
     {file = "certifi-2025.6.15-py3-none-any.whl", hash = "sha256:2e0c7ce7cb5d8f8634ca55d2ba7e6ec2689a2fd6537d8dec1296a477a4910057"},
     {file = "certifi-2025.6.15.tar.gz", hash = "sha256:d747aa5a8b9bbbb1bb8c22bb13e22bd1f18e9796defa16bab421f7f7a317323b"},
@@ -124,9 +106,7 @@ files = [
 [[package]]
 name = "cffi"
 version = "1.17.1"
-requires_python = ">=3.8"
-summary = "Foreign Function Interface for Python calling C code."
-groups = ["default", "dev"]
+summary = ""
 dependencies = [
     "pycparser",
 ]
@@ -166,38 +146,13 @@ files = [
     {file = "cffi-1.17.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:4ceb10419a9adf4460ea14cfd6bc43d08701f0835e979bf821052f1805850fe8"},
     {file = "cffi-1.17.1-cp312-cp312-win32.whl", hash = "sha256:a08d7e755f8ed21095a310a693525137cfe756ce62d066e53f502a83dc550f65"},
     {file = "cffi-1.17.1-cp312-cp312-win_amd64.whl", hash = "sha256:51392eae71afec0d0c8fb1a53b204dbb3bcabcb3c9b807eedf3e1e6ccf2de903"},
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-groups = ["default"]
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-groups = ["default"]
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-groups = ["dev"]
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-groups = ["default"]
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 ]
 
+[[package]]
+name = "httpx"
+version = "0.28.1"
+summary = ""
+dependencies = [
+    "anyio",
+    "certifi",
+    "httpcore",
+    "idna",
+]
+files = [
+    {file = "httpx-0.28.1-py3-none-any.whl", hash = "sha256:d909fcccc110f8c7faf814ca82a9a4d816bc5a6dbfea25d6591d6985b8ba59ad"},
+    {file = "httpx-0.28.1.tar.gz", hash = "sha256:75e98c5f16b0f35b567856f597f06ff2270a374470a5c2392242528e3e3e42fc"},
+]
+
 [[package]]
 name = "identify"
 version = "2.6.15"
-requires_python = ">=3.9"
-summary = "File identification library for Python"
-groups = ["dev"]
+summary = ""
 files = [
     {file = "identify-2.6.15-py2.py3-none-any.whl", hash = "sha256:1181ef7608e00704db228516541eb83a88a9f94433a8c80bb9b5bd54b1d81757"},
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@@ -607,9 +471,7 @@ files = [
 [[package]]
 name = "idna"
 version = "3.10"
-requires_python = ">=3.6"
-summary = "Internationalized Domain Names in Applications (IDNA)"
-groups = ["default"]
+summary = ""
 files = [
     {file = "idna-3.10-py3-none-any.whl", hash = "sha256:946d195a0d259cbba61165e88e65941f16e9b36ea6ddb97f00452bae8b1287d3"},
     {file = "idna-3.10.tar.gz", hash = "sha256:12f65c9b470abda6dc35cf8e63cc574b1c52b11df2c86030af0ac09b01b13ea9"},
@@ -618,13 +480,9 @@ files = [
 [[package]]
 name = "importlib-metadata"
 version = "8.7.0"
-requires_python = ">=3.9"
-summary = "Read metadata from Python packages"
-groups = ["dev"]
-marker = "python_version < \"3.10\""
+summary = ""
 dependencies = [
-    "typing-extensions>=3.6.4; python_version < \"3.8\"",
-    "zipp>=3.20",
+    "zipp",
 ]
 files = [
     {file = "importlib_metadata-8.7.0-py3-none-any.whl", hash = "sha256:e5dd1551894c77868a30651cef00984d50e1002d06942a7101d34870c5f02afd"},
@@ -634,23 +492,21 @@ files = [
 [[package]]
 name = "ipykernel"
 version = "6.29.5"
-requires_python = ">=3.8"
-summary = "IPython Kernel for Jupyter"
-groups = ["dev"]
+summary = ""
 dependencies = [
-    "appnope; platform_system == \"Darwin\"",
-    "comm>=0.1.1",
-    "debugpy>=1.6.5",
-    "ipython>=7.23.1",
-    "jupyter-client>=6.1.12",
-    "jupyter-core!=5.0.*,>=4.12",
-    "matplotlib-inline>=0.1",
+    "appnope; sys_platform == \"darwin\"",
+    "comm",
+    "debugpy",
+    "ipython",
+    "jupyter-client",
+    "jupyter-core",
+    "matplotlib-inline",
     "nest-asyncio",
     "packaging",
     "psutil",
-    "pyzmq>=24",
-    "tornado>=6.1",
-    "traitlets>=5.4.0",
+    "pyzmq",
+    "tornado",
+    "traitlets",
 ]
 files = [
     {file = "ipykernel-6.29.5-py3-none-any.whl", hash = "sha256:afdb66ba5aa354b09b91379bac28ae4afebbb30e8b39510c9690afb7a10421b5"},
@@ -660,21 +516,18 @@ files = [
 [[package]]
 name = "ipython"
 version = "8.18.1"
-requires_python = ">=3.9"
-summary = "IPython: Productive Interactive Computing"
-groups = ["dev"]
+summary = ""
 dependencies = [
     "colorama; sys_platform == \"win32\"",
     "decorator",
-    "exceptiongroup; python_version < \"3.11\"",
-    "jedi>=0.16",
+    "exceptiongroup; python_full_version < \"3.11\"",
+    "jedi",
     "matplotlib-inline",
-    "pexpect>4.3; sys_platform != \"win32\"",
-    "prompt-toolkit<3.1.0,>=3.0.41",
-    "pygments>=2.4.0",
+    "pexpect; sys_platform != \"win32\"",
+    "prompt-toolkit",
+    "pygments",
     "stack-data",
-    "traitlets>=5",
-    "typing-extensions; python_version < \"3.10\"",
+    "traitlets",
 ]
 files = [
     {file = "ipython-8.18.1-py3-none-any.whl", hash = "sha256:e8267419d72d81955ec1177f8a29aaa90ac80ad647499201119e2f05e99aa397"},
@@ -684,11 +537,9 @@ files = [
 [[package]]
 name = "jedi"
 version = "0.19.2"
-requires_python = ">=3.6"
-summary = "An autocompletion tool for Python that can be used for text editors."
-groups = ["dev"]
+summary = ""
 dependencies = [
-    "parso<0.9.0,>=0.8.4",
+    "parso",
 ]
 files = [
     {file = "jedi-0.19.2-py2.py3-none-any.whl", hash = "sha256:a8ef22bde8490f57fe5c7681a3c83cb58874daf72b4784de3cce5b6ef6edb5b9"},
@@ -698,16 +549,13 @@ files = [
 [[package]]
 name = "jupyter-client"
 version = "8.6.3"
-requires_python = ">=3.8"
-summary = "Jupyter protocol implementation and client libraries"
-groups = ["dev"]
+summary = ""
 dependencies = [
-    "importlib-metadata>=4.8.3; python_version < \"3.10\"",
-    "jupyter-core!=5.0.*,>=4.12",
-    "python-dateutil>=2.8.2",
-    "pyzmq>=23.0",
-    "tornado>=6.2",
-    "traitlets>=5.3",
+    "jupyter-core",
+    "python-dateutil",
+    "pyzmq",
+    "tornado",
+    "traitlets",
 ]
 files = [
     {file = "jupyter_client-8.6.3-py3-none-any.whl", hash = "sha256:e8a19cc986cc45905ac3362915f410f3af85424b4c0905e94fa5f2cb08e8f23f"},
@@ -717,13 +565,11 @@ files = [
 [[package]]
 name = "jupyter-core"
 version = "5.8.1"
-requires_python = ">=3.8"
-summary = "Jupyter core package. A base package on which Jupyter projects rely."
-groups = ["dev"]
+summary = ""
 dependencies = [
-    "platformdirs>=2.5",
-    "pywin32>=300; sys_platform == \"win32\" and platform_python_implementation != \"PyPy\"",
-    "traitlets>=5.3",
+    "platformdirs",
+    "pywin32; platform_python_implementation != \"PyPy\" and sys_platform == \"win32\"",
+    "traitlets",
 ]
 files = [
     {file = "jupyter_core-5.8.1-py3-none-any.whl", hash = "sha256:c28d268fc90fb53f1338ded2eb410704c5449a358406e8a948b75706e24863d0"},
@@ -733,9 +579,7 @@ files = [
 [[package]]
 name = "linkify-it-py"
 version = "2.0.3"
-requires_python = ">=3.7"
-summary = "Links recognition library with FULL unicode support."
-groups = ["default"]
+summary = ""
 dependencies = [
     "uc-micro-py",
 ]
@@ -746,76 +590,78 @@ files = [
 
 [[package]]
 name = "madsci-client"
-version = "0.5.0"
-requires_python = ">=3.9.1"
-summary = "The Modular Autonomous Discovery for Science (MADSci) Python Client and CLI."
-groups = ["default"]
+version = "0.7.0rc1"
+summary = ""
 dependencies = [
-    "click>=8.1.7",
+    "click",
+    "httpx",
     "madsci-common",
-    "minio>=7.1.0",
-    "trogon>=0.6.0",
+    "minio",
+    "opentelemetry-api",
+    "rich",
+    "structlog",
+    "trogon",
 ]
 files = [
-    {file = "madsci_client-0.5.0-py3-none-any.whl", hash = "sha256:350f63132a8a64a0c238e0b9d946b4a65cf03e744c2971d4fb3ff4e58d9f36fb"},
-    {file = "madsci_client-0.5.0.tar.gz", hash = "sha256:1f7eb89ff83d20042f0d6b5d22a0a893cc535a3948c2e7bf487bbea259d3b946"},
+    {file = "madsci_client-0.7.0rc1-py3-none-any.whl", hash = "sha256:043193f976b691b1dada2b2f31782338157a95fbf0c541a18f35585f266fda62"},
+    {file = "madsci_client-0.7.0rc1.tar.gz", hash = "sha256:c2a9fd1cf470b1d24f3f0372f309b55d953cda1335471e9cb342ec35eb3d9e2a"},
 ]
 
 [[package]]
 name = "madsci-common"
-version = "0.5.0"
-requires_python = ">=3.9.1"
-summary = "The Modular Autonomous Discovery for Science (MADSci) Common Definitions and Utilities."
-groups = ["default"]
+version = "0.7.0rc1"
+summary = ""
 dependencies = [
-    "PyYAML>=6.0.2",
-    "aenum>=3.1.15",
-    "classy-fastapi>=0.7.0",
-    "fastapi>=0.115.4",
-    "multiprocess>=0.70.17",
-    "pydantic-extra-types>=2.10.2",
-    "pydantic-settings-export>=1.0.2",
-    "pydantic-settings>=2.9.1",
-    "pydantic>=2.10",
-    "pymongo>=4.10.1",
-    "python-dotenv>=1.0.1",
-    "python-multipart>=0.0.17",
-    "python-ulid[pydantic]>=3.0.0",
-    "regex>=2025.7.34",
-    "requests>=2.32.3",
-    "semver>=3.0.4",
-    "sqlmodel>=0.0.22",
-    "uvicorn[standard]>=0.32.0",
-]
-files = [
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+    "aenum",
+    "classy-fastapi",
+    "click",
+    "fastapi",
+    "httpx",
+    "multiprocess",
+    "opentelemetry-api",
+    "psycopg2-binary",
+    "pydantic",
+    "pydantic-extra-types",
+    "pydantic-settings",
+    "pydantic-settings-export",
+    "pymongo",
+    "python-dotenv",
+    "python-multipart",
+    "python-ulid[pydantic]",
+    "pyyaml",
+    "regex",
+    "requests",
+    "rich",
+    "semver",
+    "simpleeval",
+    "sqlmodel",
+    "uvicorn[standard]",
+]
+files = [
+    {file = "madsci_common-0.7.0rc1-py3-none-any.whl", hash = "sha256:6fd3f71f2105c6861d0f81175a9b99991b5c64b7c7920e2ca585c2170bff1069"},
+    {file = "madsci_common-0.7.0rc1.tar.gz", hash = "sha256:541d2b9da128c6fc67d9c3ba1a8a191900a6bafa24791ff3d6d2452576f84d3d"},
 ]
 
 [[package]]
 name = "madsci-node-module"
-version = "0.5.0"
-requires_python = ">=3.9.1"
-summary = "The Modular Autonomous Discovery for Science (MADSci) Node Module Helper Classes."
-groups = ["default"]
+version = "0.7.0rc1"
+summary = ""
 dependencies = [
     "madsci-client",
     "madsci-common",
     "regex",
 ]
 files = [
-    {file = "madsci_node_module-0.5.0-py3-none-any.whl", hash = "sha256:b7353d8633740bf62cfad05ad1a3bd2e9c190f997fac7fed93919361c503c36e"},
-    {file = "madsci_node_module-0.5.0.tar.gz", hash = "sha256:77bdea14bf1ce01bc46fe99865cb3294f947e81e613d7b79c4097c6ed8462087"},
+    {file = "madsci_node_module-0.7.0rc1-py3-none-any.whl", hash = "sha256:a7b82acd7ab1edbe5d5c1f517d26a5d0c7b53b2c643603bd3afd22a21a3a6921"},
+    {file = "madsci_node_module-0.7.0rc1.tar.gz", hash = "sha256:01d1c7cd5ec91e98e5c66b725d897417bda85a961479d64346a05a35a0d7e70e"},
 ]
 
 [[package]]
 name = "markdown-it-py"
 version = "3.0.0"
-requires_python = ">=3.8"
-summary = "Python port of markdown-it. Markdown parsing, done right!"
-groups = ["default"]
+summary = ""
 dependencies = [
-    "mdurl~=0.1",
+    "mdurl",
 ]
 files = [
     {file = "markdown-it-py-3.0.0.tar.gz", hash = "sha256:e3f60a94fa066dc52ec76661e37c851cb232d92f9886b15cb560aaada2df8feb"},
@@ -825,12 +671,23 @@ files = [
 [[package]]
 name = "markdown-it-py"
 version = "3.0.0"
-extras = ["linkify", "plugins"]
-requires_python = ">=3.8"
-summary = "Python port of markdown-it. Markdown parsing, done right!"
-groups = ["default"]
+extras = ["linkify"]
+summary = ""
+dependencies = [
+    "linkify-it-py",
+    "markdown-it-py==3.0.0",
+]
+files = [
+    {file = "markdown-it-py-3.0.0.tar.gz", hash = "sha256:e3f60a94fa066dc52ec76661e37c851cb232d92f9886b15cb560aaada2df8feb"},
+    {file = "markdown_it_py-3.0.0-py3-none-any.whl", hash = "sha256:355216845c60bd96232cd8d8c40e8f9765cc86f46880e43a8fd22dc1a1a8cab1"},
+]
+
+[[package]]
+name = "markdown-it-py"
+version = "3.0.0"
+extras = ["plugins"]
+summary = ""
 dependencies = [
-    "linkify-it-py<3,>=1",
     "markdown-it-py==3.0.0",
     "mdit-py-plugins",
 ]
@@ -842,9 +699,7 @@ files = [
 [[package]]
 name = "matplotlib-inline"
 version = "0.1.7"
-requires_python = ">=3.8"
-summary = "Inline Matplotlib backend for Jupyter"
-groups = ["dev"]
+summary = ""
 dependencies = [
     "traitlets",
 ]
@@ -856,11 +711,9 @@ files = [
 [[package]]
 name = "mdit-py-plugins"
 version = "0.4.2"
-requires_python = ">=3.8"
-summary = "Collection of plugins for markdown-it-py"
-groups = ["default"]
+summary = ""
 dependencies = [
-    "markdown-it-py<4.0.0,>=1.0.0",
+    "markdown-it-py",
 ]
 files = [
     {file = "mdit_py_plugins-0.4.2-py3-none-any.whl", hash = "sha256:0c673c3f889399a33b95e88d2f0d111b4447bdfea7f237dab2d488f459835636"},
@@ -870,9 +723,7 @@ files = [
 [[package]]
 name = "mdurl"
 version = "0.1.2"
-requires_python = ">=3.7"
-summary = "Markdown URL utilities"
-groups = ["default"]
+summary = ""
 files = [
     {file = "mdurl-0.1.2-py3-none-any.whl", hash = "sha256:84008a41e51615a49fc9966191ff91509e3c40b939176e643fd50a5c2196b8f8"},
     {file = "mdurl-0.1.2.tar.gz", hash = "sha256:bb413d29f5eea38f31dd4754dd7377d4465116fb207585f97bf925588687c1ba"},
@@ -881,9 +732,7 @@ files = [
 [[package]]
 name = "minio"
 version = "7.2.15"
-requires_python = ">=3.9"
-summary = "MinIO Python SDK for Amazon S3 Compatible Cloud Storage"
-groups = ["default"]
+summary = ""
 dependencies = [
     "argon2-cffi",
     "certifi",
@@ -899,11 +748,9 @@ files = [
 [[package]]
 name = "multiprocess"
 version = "0.70.18"
-requires_python = ">=3.8"
-summary = "better multiprocessing and multithreading in Python"
-groups = ["default"]
+summary = ""
 dependencies = [
-    "dill>=0.4.0",
+    "dill",
 ]
 files = [
     {file = "multiprocess-0.70.18-pp310-pypy310_pp73-macosx_10_15_x86_64.whl", hash = "sha256:25d4012dcaaf66b9e8e955f58482b42910c2ee526d532844d8bcf661bbc604df"},
@@ -912,13 +759,10 @@ files = [
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-    {file = "multiprocess-0.70.18-pp39-pypy39_pp73-macosx_10_13_arm64.whl", hash = "sha256:9fd8d662f7524a95a1be7cbea271f0b33089fe792baabec17d93103d368907da"},
-    {file = "multiprocess-0.70.18-pp39-pypy39_pp73-macosx_10_13_x86_64.whl", hash = "sha256:3fbba48bfcd932747c33f0b152b26207c4e0840c35cab359afaff7a8672b1031"},
-    {file = "multiprocess-0.70.18-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:5f9be0342e597dde86152c10442c5fb6c07994b1c29de441b7a3a08b0e6be2a0"},
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-    {file = "multiprocess-0.70.18-py313-none-any.whl", hash = "sha256:871743755f43ef57d7910a38433cfe41319e72be1bbd90b79c7a5ac523eb9334"},
+    {file = "multiprocess-0.70.18-py38-none-any.whl", hash = "sha256:dbf705e52a154fe5e90fb17b38f02556169557c2dd8bb084f2e06c2784d8279b"},
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 ]
@@ -926,9 +770,7 @@ files = [
 [[package]]
 name = "nest-asyncio"
 version = "1.6.0"
-requires_python = ">=3.5"
-summary = "Patch asyncio to allow nested event loops"
-groups = ["dev"]
+summary = ""
 files = [
     {file = "nest_asyncio-1.6.0-py3-none-any.whl", hash = "sha256:87af6efd6b5e897c81050477ef65c62e2b2f35d51703cae01aff2905b1852e1c"},
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@@ -937,20 +779,29 @@ files = [
 [[package]]
 name = "nodeenv"
 version = "1.9.1"
-requires_python = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
-summary = "Node.js virtual environment builder"
-groups = ["dev"]
+summary = ""
 files = [
     {file = "nodeenv-1.9.1-py2.py3-none-any.whl", hash = "sha256:ba11c9782d29c27c70ffbdda2d7415098754709be8a7056d79a737cd901155c9"},
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 ]
 
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+name = "opentelemetry-api"
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-    "pydantic<3.0.0,>=1.10.13",
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+    "asttokens",
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-groups = ["default"]
-marker = "python_full_version < \"3.11\""
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-summary = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
-groups = ["dev"]
+summary = ""
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-groups = ["dev"]
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-    "textual>=0.61.0",
+    "click",
+    "textual",
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-    "h11>=0.8",
-    "typing-extensions>=4.0; python_version < \"3.11\"",
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 version = "20.35.4"
-requires_python = ">=3.8"
-summary = "Virtual Python Environment builder"
-groups = ["dev"]
+summary = ""
 dependencies = [
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+    "filelock",
+    "platformdirs",
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 version = "1.1.0"
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-groups = ["default"]
+summary = ""
 dependencies = [
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+    "anyio",
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 version = "0.2.13"
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-groups = ["dev"]
-dependencies = [
-    "backports-functools-lru-cache>=1.2.1; python_version < \"3.2\"",
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 name = "websockets"
 version = "15.0.1"
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-summary = "An implementation of the WebSocket Protocol (RFC 6455 & 7692)"
-groups = ["default"]
+summary = ""
 files = [
     {file = "websockets-15.0.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:d63efaa0cd96cf0c5fe4d581521d9fa87744540d4bc999ae6e08595a1014b45b"},
     {file = "websockets-15.0.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ac60e3b188ec7574cb761b08d50fcedf9d77f1530352db4eef1707fe9dee7205"},
@@ -2417,40 +1934,12 @@ files = [
     {file = "websockets-15.0.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:3be571a8b5afed347da347bfcf27ba12b069d9d7f42cb8c7028b5e98bbb12597"},
     {file = "websockets-15.0.1-cp312-cp312-win32.whl", hash = "sha256:c338ffa0520bdb12fbc527265235639fb76e7bc7faafbb93f6ba80d9c06578a9"},
     {file = "websockets-15.0.1-cp312-cp312-win_amd64.whl", hash = "sha256:fcd5cf9e305d7b8338754470cf69cf81f420459dbae8a3b40cee57417f4614a7"},
-    {file = "websockets-15.0.1-cp313-cp313-macosx_10_13_universal2.whl", hash = "sha256:ee443ef070bb3b6ed74514f5efaa37a252af57c90eb33b956d35c8e9c10a1931"},
-    {file = "websockets-15.0.1-cp313-cp313-macosx_10_13_x86_64.whl", hash = "sha256:5a939de6b7b4e18ca683218320fc67ea886038265fd1ed30173f5ce3f8e85675"},
-    {file = "websockets-15.0.1-cp313-cp313-macosx_11_0_arm64.whl", hash = "sha256:746ee8dba912cd6fc889a8147168991d50ed70447bf18bcda7039f7d2e3d9151"},
-    {file = "websockets-15.0.1-cp313-cp313-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:595b6c3969023ecf9041b2936ac3827e4623bfa3ccf007575f04c5a6aa318c22"},
-    {file = "websockets-15.0.1-cp313-cp313-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3c714d2fc58b5ca3e285461a4cc0c9a66bd0e24c5da9911e30158286c9b5be7f"},
-    {file = "websockets-15.0.1-cp313-cp313-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0f3c1e2ab208db911594ae5b4f79addeb3501604a165019dd221c0bdcabe4db8"},
-    {file = "websockets-15.0.1-cp313-cp313-musllinux_1_2_aarch64.whl", hash = "sha256:229cf1d3ca6c1804400b0a9790dc66528e08a6a1feec0d5040e8b9eb14422375"},
-    {file = "websockets-15.0.1-cp313-cp313-musllinux_1_2_i686.whl", hash = "sha256:756c56e867a90fb00177d530dca4b097dd753cde348448a1012ed6c5131f8b7d"},
-    {file = "websockets-15.0.1-cp313-cp313-musllinux_1_2_x86_64.whl", hash = "sha256:558d023b3df0bffe50a04e710bc87742de35060580a293c2a984299ed83bc4e4"},
-    {file = "websockets-15.0.1-cp313-cp313-win32.whl", hash = "sha256:ba9e56e8ceeeedb2e080147ba85ffcd5cd0711b89576b83784d8605a7df455fa"},
-    {file = "websockets-15.0.1-cp313-cp313-win_amd64.whl", hash = "sha256:e09473f095a819042ecb2ab9465aee615bd9c2028e4ef7d933600a8401c79561"},
-    {file = "websockets-15.0.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:5f4c04ead5aed67c8a1a20491d54cdfba5884507a48dd798ecaf13c74c4489f5"},
-    {file = "websockets-15.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:abdc0c6c8c648b4805c5eacd131910d2a7f6455dfd3becab248ef108e89ab16a"},
-    {file = "websockets-15.0.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:a625e06551975f4b7ea7102bc43895b90742746797e2e14b70ed61c43a90f09b"},
-    {file = "websockets-15.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d591f8de75824cbb7acad4e05d2d710484f15f29d4a915092675ad3456f11770"},
-    {file = "websockets-15.0.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:47819cea040f31d670cc8d324bb6435c6f133b8c7a19ec3d61634e62f8d8f9eb"},
-    {file = "websockets-15.0.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ac017dd64572e5c3bd01939121e4d16cf30e5d7e110a119399cf3133b63ad054"},
-    {file = "websockets-15.0.1-cp39-cp39-musllinux_1_2_aarch64.whl", hash = "sha256:4a9fac8e469d04ce6c25bb2610dc535235bd4aa14996b4e6dbebf5e007eba5ee"},
-    {file = "websockets-15.0.1-cp39-cp39-musllinux_1_2_i686.whl", hash = "sha256:363c6f671b761efcb30608d24925a382497c12c506b51661883c3e22337265ed"},
-    {file = "websockets-15.0.1-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:2034693ad3097d5355bfdacfffcbd3ef5694f9718ab7f29c29689a9eae841880"},
-    {file = "websockets-15.0.1-cp39-cp39-win32.whl", hash = "sha256:3b1ac0d3e594bf121308112697cf4b32be538fb1444468fb0a6ae4feebc83411"},
-    {file = "websockets-15.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:b7643a03db5c95c799b89b31c036d5f27eeb4d259c798e878d6937d71832b1e4"},
     {file = "websockets-15.0.1-pp310-pypy310_pp73-macosx_10_15_x86_64.whl", hash = "sha256:0c9e74d766f2818bb95f84c25be4dea09841ac0f734d1966f415e4edfc4ef1c3"},
     {file = "websockets-15.0.1-pp310-pypy310_pp73-macosx_11_0_arm64.whl", hash = "sha256:1009ee0c7739c08a0cd59de430d6de452a55e42d6b522de7aa15e6f67db0b8e1"},
     {file = "websockets-15.0.1-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:76d1f20b1c7a2fa82367e04982e708723ba0e7b8d43aa643d3dcd404d74f1475"},
     {file = "websockets-15.0.1-pp310-pypy310_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f29d80eb9a9263b8d109135351caf568cc3f80b9928bccde535c235de55c22d9"},
     {file = "websockets-15.0.1-pp310-pypy310_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b359ed09954d7c18bbc1680f380c7301f92c60bf924171629c5db97febb12f04"},
     {file = "websockets-15.0.1-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:cad21560da69f4ce7658ca2cb83138fb4cf695a2ba3e475e0559e05991aa8122"},
-    {file = "websockets-15.0.1-pp39-pypy39_pp73-macosx_10_15_x86_64.whl", hash = "sha256:7f493881579c90fc262d9cdbaa05a6b54b3811c2f300766748db79f098db9940"},
-    {file = "websockets-15.0.1-pp39-pypy39_pp73-macosx_11_0_arm64.whl", hash = "sha256:47b099e1f4fbc95b701b6e85768e1fcdaf1630f3cbe4765fa216596f12310e2e"},
-    {file = "websockets-15.0.1-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:67f2b6de947f8c757db2db9c71527933ad0019737ec374a8a6be9a956786aaf9"},
-    {file = "websockets-15.0.1-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d08eb4c2b7d6c41da6ca0600c077e93f5adcfd979cd777d747e9ee624556da4b"},
-    {file = "websockets-15.0.1-pp39-pypy39_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4b826973a4a2ae47ba357e4e82fa44a463b8f168e1ca775ac64521442b19e87f"},
-    {file = "websockets-15.0.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:21c1fa28a6a7e3cbdc171c694398b6df4744613ce9b36b1a498e816787e28123"},
     {file = "websockets-15.0.1-py3-none-any.whl", hash = "sha256:f7a866fbc1e97b5c617ee4116daaa09b722101d4a3c170c787450ba409f9736f"},
     {file = "websockets-15.0.1.tar.gz", hash = "sha256:82544de02076bafba038ce055ee6412d68da13ab47f0c60cab827346de828dee"},
 ]
@@ -2458,10 +1947,7 @@ files = [
 [[package]]
 name = "zipp"
 version = "3.23.0"
-requires_python = ">=3.9"
-summary = "Backport of pathlib-compatible object wrapper for zip files"
-groups = ["dev"]
-marker = "python_version < \"3.10\""
+summary = ""
 files = [
     {file = "zipp-3.23.0-py3-none-any.whl", hash = "sha256:071652d6115ed432f5ce1d34c336c0adfd6a884660d1e9712a256d3d3bd4b14e"},
     {file = "zipp-3.23.0.tar.gz", hash = "sha256:a07157588a12518c9d4034df3fbbee09c814741a33ff63c05fa29d26a2404166"},
diff --git a/pyproject.toml b/pyproject.toml
index feaa8ce..8931058 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -9,12 +9,12 @@ authors = [
     {name = "Tobias Ginsburg", email = "tginsburg@anl.gov"},
 ]
 dependencies = [
-    "madsci-node-module~=0.6.0",
+    "madsci-node-module==0.7.0rc1",
     "pynput>=1.8.1",
-    "madsci-client~=0.6.0",
-    "madsci-common~=0.6.0",
+    "madsci-client==0.7.0rc1",
+    "madsci-common==0.7.0rc1",
 ]
-requires-python = ">=3.9.1,<3.13"
+requires-python = ">=3.10,<3.13"
 readme = "README.md"
 license = {text = "MIT"}
 
diff --git a/settings.yaml b/settings.yaml
new file mode 100644
index 0000000..1948e76
--- /dev/null
+++ b/settings.yaml
@@ -0,0 +1,3 @@
+node_name: test_pf400
+node_description: MADSci node for controlling PF400, plate handler robot
+node_module_name: pf400
diff --git a/src/pf400_rest_node.py b/src/pf400_rest_node.py
index 30d3487..d912f51 100644
--- a/src/pf400_rest_node.py
+++ b/src/pf400_rest_node.py
@@ -3,6 +3,7 @@
 
 from typing import Annotated, Optional
 
+from madsci.common.ownership import get_current_ownership_info
 from madsci.common.types.action_types import ActionFailed
 from madsci.common.types.location_types import LocationArgument
 from madsci.common.types.node_types import RestNodeConfig
@@ -54,13 +55,13 @@ def startup_handler(self) -> None:
             description="Template for PF400 robot gripper slot. Used to track what the robot is currently holding.",
             required_overrides=["resource_name"],
             tags=["pf400", "gripper", "slot"],
-            created_by=self.node_definition.node_id,
+            created_by=get_current_ownership_info().node_id,
             version="1.0.0",
         )
 
         self.gripper_resource = self.resource_client.create_resource_from_template(
             template_name="pf400_gripper",
-            resource_name=f"{self.node_definition.node_name}.gripper",
+            resource_name=f"{self.node_info.node_name}.gripper",
             add_to_database=True,
         )
         self.logger.log_info(
@@ -84,7 +85,7 @@ def startup_handler(self) -> None:
             description="Template for temporary lid storage slot. Used when removing/replacing lids from plates.",
             required_overrides=["resource_name"],
             tags=["pf400", "lid", "slot", "temporary"],
-            created_by=self.node_definition.node_id,
+            created_by=get_current_ownership_info().node_id,
             version="1.0.0",
         )
 
@@ -106,7 +107,7 @@ def startup_handler(self) -> None:
             description="Template for plate lids. Used to track lids during lid operations.",
             required_overrides=["resource_name"],
             tags=["lid", "plate", "asset"],
-            created_by=self.node_definition.node_id,
+            created_by=get_current_ownership_info().node_id,
             version="1.0.0",
         )
 
@@ -213,11 +214,11 @@ def transfer(
         transfer_result = self.pf400_interface.transfer(
             source=source,
             target=target,
-            source_approach=source_approach if source_approach else None,
-            target_approach=target_approach if target_approach else None,
+            source_approach=source_approach or None,
+            target_approach=target_approach or None,
             source_plate_rotation=source_plate_rotation,
             target_plate_rotation=target_plate_rotation,
-            rotation_deck=rotation_deck if rotation_deck else None,
+            rotation_deck=rotation_deck or None,
             grab_offset=grab_offset,
             source_approach_height_offset=source_approach_height_offset,
             target_approach_height_offset=target_approach_height_offset,
@@ -275,7 +276,7 @@ def pick_plate(
 
         pick_result = self.pf400_interface.pick_plate(
             source=source,
-            source_approach=source_approach if source_approach else None,
+            source_approach=source_approach or None,
             grab_offset=grab_offset,
             approach_height_offset=approach_height_offset,
         )
@@ -334,7 +335,7 @@ def place_plate(
 
         place_result = self.pf400_interface.place_plate(
             target=target,
-            target_approach=target_approach if target_approach else None,
+            target_approach=target_approach or None,
             grab_offset=grab_offset,
             approach_height_offset=approach_height_offset,
         )

From e11d2002972b82b9eff7a0987e0fb36c27636794 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Mon, 2 Mar 2026 12:46:04 -0600
Subject: [PATCH 04/21] Automatic configuration documentation

---
 .env.example            | 20 ++++++++++++++++++++
 .pre-commit-config.yaml |  7 +++++++
 AGENTS.md               |  6 +++---
 README.md               | 16 ++++++----------
 docs/Configuration.md   | 30 ++++++++++++++++++++++++++++++
 pdm.lock                |  2 +-
 pyproject.toml          | 13 +++++++++++++
 7 files changed, 80 insertions(+), 14 deletions(-)
 create mode 100644 .env.example
 create mode 100644 docs/Configuration.md

diff --git a/.env.example b/.env.example
new file mode 100644
index 0000000..3a41e68
--- /dev/null
+++ b/.env.example
@@ -0,0 +1,20 @@
+### PF400NodeConfig
+
+# NODE_STATUS_UPDATE_INTERVAL=2.0
+# NODE_STATE_UPDATE_INTERVAL=2.0
+# NODE_NODE_NAME=null
+# NODE_NODE_ID=null
+# NODE_NODE_TYPE=null
+# NODE_MODULE_NAME=null
+# NODE_MODULE_VERSION=null
+# NODE_URL="http://127.0.0.1:2000/"
+# NODE_UVICORN_KWARGS={"limit_concurrency":10}
+# NODE_ENABLE_RATE_LIMITING=true
+# NODE_RATE_LIMIT_REQUESTS=100
+# NODE_RATE_LIMIT_WINDOW=60
+# NODE_RATE_LIMIT_SHORT_REQUESTS=50
+# NODE_RATE_LIMIT_SHORT_WINDOW=1
+# NODE_RATE_LIMIT_CLEANUP_INTERVAL=300
+# NODE_PF400_IP=null
+# NODE_PF400_PORT=10100
+# NODE_PF400_STATUS_PORT=10000
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 4724a70..95ff59e 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -24,3 +24,10 @@ repos:
         args: [--fix]
       # Run the formatter.
       - id: ruff-format
+  - repo: https://github.com/jag-k/pydantic-settings-export
+    rev: v1.0.3
+    hooks:
+      - id: pydantic-settings-export
+        entry: pdm run pydantic-settings-export
+        language: system
+        files: ^src/pf400_rest_node\.py$
diff --git a/AGENTS.md b/AGENTS.md
index dc6bd7c..e230412 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -9,11 +9,11 @@ MADSci node module for the Brooks Automation PreciseFlex 400 (PF400) robot arm.
 ## Installation and Running
 
 ```bash
-# Install (use pip, not PDM)
-pip install .
+# Install
+pdm install
 
 # Configure (see Configuration section below), then run
-python -m pf400_rest_node
+pdm run python -m pf400_rest_node
 
 # Run via Docker
 docker compose up
diff --git a/README.md b/README.md
index b5abe6d..da9c96f 100644
--- a/README.md
+++ b/README.md
@@ -6,17 +6,13 @@ Implementation of a MADSci Node Module for integrating a Brooks Automation Preci
 
 ### Python
 
+This project uses [PDM](https://pdm-project.org/en/latest/#installation) for dependency management.
+
 ```bash
-# Create a virtual environment named .venv
-python -m venv .venv
-# Activate the virtual environment on Linux or macOS
-source .venv/bin/activate
-# Alternatively, activate the virtual environment on Windows
-# .venv\Scripts\activate
-# Install the module and dependencies in the venv
-pip install .
+# Install dependencies
+pdm install
 # Create a settings file (see Configuration below), then start the node
-python -m pf400_rest_node
+pdm run python -m pf400_rest_node
 ```
 
 ### Configuration
@@ -31,7 +27,7 @@ pf400_port: 10100
 pf400_status_port: 10000
 ```
 
-All settings can also be provided as environment variables (e.g. `PF400_IP`, `NODE_URL`). The node's stable ID is stored in `.madsci/registry.json` and reused across restarts.
+All settings can also be provided as environment variables — see [`.env.example`](.env.example) for the full list. For detailed descriptions of every option, see [`docs/Configuration.md`](docs/Configuration.md). The node's stable ID is stored in `.madsci/registry.json` and reused across restarts.
 
 ### Docker
 
diff --git a/docs/Configuration.md b/docs/Configuration.md
new file mode 100644
index 0000000..7655cca
--- /dev/null
+++ b/docs/Configuration.md
@@ -0,0 +1,30 @@
+# Configuration
+
+Here you can find all available configuration options using ENV variables.
+
+## PF400NodeConfig
+
+Configuration for the pf400 node module.
+
+**Environment Prefix**: `NODE_`
+
+| Name                               | Type                     | Default                    | Description                                                                                                                                                            | Example                    |
+|------------------------------------|--------------------------|----------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|----------------------------|
+| `NODE_STATUS_UPDATE_INTERVAL`      | `number` \| `NoneType`   | `2.0`                      | The interval in seconds at which the node should update its status.                                                                                                    | `2.0`                      |
+| `NODE_STATE_UPDATE_INTERVAL`       | `number` \| `NoneType`   | `2.0`                      | The interval in seconds at which the node should update its state.                                                                                                     | `2.0`                      |
+| `NODE_NODE_NAME`                   | `string` \| `NoneType`   | `null`                     | Name for this node. If not set, defaults to the class name.                                                                                                            | `null`                     |
+| `NODE_NODE_ID`                     | `string` \| `NoneType`   | `null`                     | Unique ID for this node. If not set, a new ULID is generated.                                                                                                          | `null`                     |
+| `NODE_NODE_TYPE`                   | `NodeType` \| `NoneType` | `null`                     | The type of thing this node provides an interface for.                                                                                                                 | `null`                     |
+| `NODE_MODULE_NAME`                 | `string` \| `NoneType`   | `null`                     | Name of the node module implementation.                                                                                                                                | `null`                     |
+| `NODE_MODULE_VERSION`              | `string` \| `NoneType`   | `null`                     | Version of the node module implementation.                                                                                                                             | `null`                     |
+| `NODE_URL` \| `NODE_URL`           | `AnyUrl`                 | `"http://127.0.0.1:2000/"` | The URL used to communicate with the node. This is the base URL for the REST API.                                                                                      | `"http://127.0.0.1:2000/"` |
+| `NODE_UVICORN_KWARGS`              | `object`                 | `{"limit_concurrency":10}` | Configuration for the Uvicorn server that runs the REST API. By default, sets limit_concurrency=10 to protect against connection exhaustion attacks.                   | `{"limit_concurrency":10}` |
+| `NODE_ENABLE_RATE_LIMITING`        | `boolean`                | `true`                     | Enable rate limiting middleware for the REST API.                                                                                                                      | `true`                     |
+| `NODE_RATE_LIMIT_REQUESTS`         | `integer`                | `100`                      | Maximum number of requests allowed per long time window (only used if enable_rate_limiting is True).                                                                   | `100`                      |
+| `NODE_RATE_LIMIT_WINDOW`           | `integer`                | `60`                       | Long time window in seconds for rate limiting (only used if enable_rate_limiting is True).                                                                             | `60`                       |
+| `NODE_RATE_LIMIT_SHORT_REQUESTS`   | `integer` \| `NoneType`  | `50`                       | Maximum number of requests allowed per short time window for burst protection (only used if enable_rate_limiting is True). If None, short window limiting is disabled. | `50`                       |
+| `NODE_RATE_LIMIT_SHORT_WINDOW`     | `integer` \| `NoneType`  | `1`                        | Short time window for burst protection in seconds (only used if enable_rate_limiting is True). If None, short window limiting is disabled.                             | `1`                        |
+| `NODE_RATE_LIMIT_CLEANUP_INTERVAL` | `integer`                | `300`                      | Interval in seconds between cleanup operations to prevent memory leaks (only used if enable_rate_limiting is True).                                                    | `300`                      |
+| `NODE_PF400_IP`                    | `string` \| `NoneType`   | `null`                     |                                                                                                                                                                        | `null`                     |
+| `NODE_PF400_PORT`                  | `integer`                | `10100`                    |                                                                                                                                                                        | `10100`                    |
+| `NODE_PF400_STATUS_PORT`           | `integer`                | `10000`                    |                                                                                                                                                                        | `10000`                    |
diff --git a/pdm.lock b/pdm.lock
index f9eda1a..d298cb1 100644
--- a/pdm.lock
+++ b/pdm.lock
@@ -5,7 +5,7 @@
 groups = ["default", "dev"]
 strategy = []
 lock_version = "4.5.0"
-content_hash = "sha256:156028279ae891cca591d8596bd7eeec70235c867534527622147bc9fb96df5f"
+content_hash = "sha256:fd74e01c0aa90edb96464d66e43f1df3e85ecb316327a3395fa43c5f234dc398"
 
 [[metadata.targets]]
 requires_python = ">=3.10,<3.13"
diff --git a/pyproject.toml b/pyproject.toml
index 8931058..ca6a272 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -27,4 +27,17 @@ dev = [
     "ipykernel>=6.29.5",
     "ruff>=0.12.0",
     "pre-commit>=4.3.0",
+    "pydantic-settings-export>=1.0.2",
 ]
+
+[tool.pydantic_settings_export]
+project_dir = "."
+default_settings = [
+    "pf400_rest_node:PF400NodeConfig",
+]
+
+[[tool.pydantic_settings_export.generators.markdown]]
+paths = ["docs/Configuration.md"]
+
+[[tool.pydantic_settings_export.generators.dotenv]]
+paths = [".env.example"]

From 5bf957b45dd5e09e48b9e4ead643a79f90803a2f Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Mon, 9 Mar 2026 15:01:12 -0500
Subject: [PATCH 05/21] Update to v0.7, add move_to_location and move_neutral
 actions

---
 Dockerfile                   |  2 +-
 pdm.lock                     | 20 +++++------
 pyproject.toml               |  6 ++--
 src/pf400_interface/pf400.py | 70 ++++++++++++++++++++++++++++++++++++
 src/pf400_rest_node.py       | 53 +++++++++++++++++++--------
 5 files changed, 123 insertions(+), 28 deletions(-)

diff --git a/Dockerfile b/Dockerfile
index c9d46e6..90d1114 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -19,6 +19,6 @@ RUN --mount=type=cache,target=/root/.cache \
     uv pip install --python ${MADSCI_VENV}/bin/python -e /home/madsci/pf400_module && \
     chown -R ${USER_ID}:${GROUP_ID} /home/madsci/pf400_module
 
-CMD ["python", "-m", "pf400_rest_node", "--node_definition", "definitions/pf400.node.yaml"]
+CMD ["python", "-m", "pf400_rest_node"]
 
 #########################################
diff --git a/pdm.lock b/pdm.lock
index d298cb1..c56892b 100644
--- a/pdm.lock
+++ b/pdm.lock
@@ -5,7 +5,7 @@
 groups = ["default", "dev"]
 strategy = []
 lock_version = "4.5.0"
-content_hash = "sha256:fd74e01c0aa90edb96464d66e43f1df3e85ecb316327a3395fa43c5f234dc398"
+content_hash = "sha256:27982f65982f80f0c56310d580de55bd6ffd42f27c42e41004e1e38a4cb0ce7f"
 
 [[metadata.targets]]
 requires_python = ">=3.10,<3.13"
@@ -590,7 +590,7 @@ files = [
 
 [[package]]
 name = "madsci-client"
-version = "0.7.0rc1"
+version = "0.7.0"
 summary = ""
 dependencies = [
     "click",
@@ -603,13 +603,13 @@ dependencies = [
     "trogon",
 ]
 files = [
-    {file = "madsci_client-0.7.0rc1-py3-none-any.whl", hash = "sha256:043193f976b691b1dada2b2f31782338157a95fbf0c541a18f35585f266fda62"},
-    {file = "madsci_client-0.7.0rc1.tar.gz", hash = "sha256:c2a9fd1cf470b1d24f3f0372f309b55d953cda1335471e9cb342ec35eb3d9e2a"},
+    {file = "madsci_client-0.7.0-py3-none-any.whl", hash = "sha256:aea70545929af0c07b46fcd35f639fc728be3cab78cd2049d5dfe7d8244f79d9"},
+    {file = "madsci_client-0.7.0.tar.gz", hash = "sha256:d707383f607da7e16ea2e7a5ba42e6af6bc0b9beb355e8811f2a4e4cef21739b"},
 ]
 
 [[package]]
 name = "madsci-common"
-version = "0.7.0rc1"
+version = "0.7.0"
 summary = ""
 dependencies = [
     "aenum",
@@ -638,13 +638,13 @@ dependencies = [
     "uvicorn[standard]",
 ]
 files = [
-    {file = "madsci_common-0.7.0rc1-py3-none-any.whl", hash = "sha256:6fd3f71f2105c6861d0f81175a9b99991b5c64b7c7920e2ca585c2170bff1069"},
-    {file = "madsci_common-0.7.0rc1.tar.gz", hash = "sha256:541d2b9da128c6fc67d9c3ba1a8a191900a6bafa24791ff3d6d2452576f84d3d"},
+    {file = "madsci_common-0.7.0-py3-none-any.whl", hash = "sha256:4eb988c97709d55baa07d24a708e42567de6c75f9713b54e188bff000903adf8"},
+    {file = "madsci_common-0.7.0.tar.gz", hash = "sha256:0bf3f155c3de19b85090ef2928ef4eb157405f096484fe7c27b5cc45a16daab6"},
 ]
 
 [[package]]
 name = "madsci-node-module"
-version = "0.7.0rc1"
+version = "0.7.0"
 summary = ""
 dependencies = [
     "madsci-client",
@@ -652,8 +652,8 @@ dependencies = [
     "regex",
 ]
 files = [
-    {file = "madsci_node_module-0.7.0rc1-py3-none-any.whl", hash = "sha256:a7b82acd7ab1edbe5d5c1f517d26a5d0c7b53b2c643603bd3afd22a21a3a6921"},
-    {file = "madsci_node_module-0.7.0rc1.tar.gz", hash = "sha256:01d1c7cd5ec91e98e5c66b725d897417bda85a961479d64346a05a35a0d7e70e"},
+    {file = "madsci_node_module-0.7.0-py3-none-any.whl", hash = "sha256:744cc1cbf9e4eb698f4709f93039439d693788c9a4ce5d9bf0f022b2784c1a43"},
+    {file = "madsci_node_module-0.7.0.tar.gz", hash = "sha256:1bdbf319c56de287e97feb605bc05308195323318db3a22f73081b4ddf21bc67"},
 ]
 
 [[package]]
diff --git a/pyproject.toml b/pyproject.toml
index ca6a272..849998e 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -9,10 +9,10 @@ authors = [
     {name = "Tobias Ginsburg", email = "tginsburg@anl.gov"},
 ]
 dependencies = [
-    "madsci-node-module==0.7.0rc1",
+    "madsci-node-module~=0.7",
     "pynput>=1.8.1",
-    "madsci-client==0.7.0rc1",
-    "madsci-common==0.7.0rc1",
+    "madsci-client~=0.7",
+    "madsci-common~=0.7",
 ]
 requires-python = ">=3.10,<3.13"
 readme = "README.md"
diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py
index 69437ac..23befa5 100644
--- a/src/pf400_interface/pf400.py
+++ b/src/pf400_interface/pf400.py
@@ -1033,6 +1033,76 @@ def place_plate(
 
         return release_succeeded
 
+    def move_to_location(
+        self,
+        target: LocationArgument,
+        target_approach: LocationArgument = None,
+        grab_offset: Optional[float] = None,
+        approach_height_offset: Optional[float] = None,
+    ) -> None:
+        """
+        Move to a target location for testing/calibration purposes.
+
+        Follows the same approach and descend sequence as pick_plate, but keeps the
+        gripper open (unless holding a plate) and does not grip/release or change
+        resource state. Stays at the target position so the user can inspect and
+        adjust calibration. Use move_all_joints_neutral() to retract afterward.
+        """
+        above_position = self._calculate_above_position(
+            target.representation, approach_height_offset, grab_offset
+        )
+
+        # Check if the gripper is currently holding a plate
+        holding_plate = (
+            self.resource_client
+            and len(
+                self.resource_client.get_resource(self.gripper_resource_id).children
+            )
+            > 0
+        )
+
+        # Only open gripper if not holding a plate (prevent dropping labware)
+        if not holding_plate:
+            self.open_gripper()
+
+        if target_approach:
+            self._handle_approach_location(target_approach)
+            approach_motion_profile = self.straight_motion_profile
+        else:
+            self.move_all_joints_neutral(target.representation)
+            approach_motion_profile = self.fast_motion_profile
+
+        self.move_joint(
+            target_joint_angles=above_position, profile=approach_motion_profile
+        )
+
+        target_position = (
+            self._apply_grab_offset(target.representation, grab_offset)
+            if grab_offset
+            else target.representation
+        )
+        self.move_joint(
+            target_joint_angles=target_position,
+            profile=approach_motion_profile,
+            gripper_open=not holding_plate,
+        )
+
+    def move_neutral(self, height_offset: Optional[float] = None) -> None:
+        """
+        Retract upward and move to neutral position.
+
+        Retracts the arm upward by height_offset (defaults to default_approach_height)
+        before moving to neutral, mirroring the retract step in pick_plate/place_plate.
+        """
+        retract_height = (
+            height_offset if height_offset is not None else self.default_approach_height
+        )
+        self.move_in_one_axis(
+            profile=self.slow_motion_profile,
+            axis_z=retract_height,
+        )
+        self.move_all_joints_neutral()
+
     def transfer(
         self,
         source: LocationArgument,
diff --git a/src/pf400_rest_node.py b/src/pf400_rest_node.py
index d912f51..13e1cb7 100644
--- a/src/pf400_rest_node.py
+++ b/src/pf400_rest_node.py
@@ -344,6 +344,45 @@ def place_plate(
 
         return None
 
+    @action(
+        name="move_to_location",
+        description="Move to a location for testing/calibration (gripper open, no grip)",
+    )
+    def move_to_location(
+        self,
+        target: Annotated[LocationArgument, "Location to move to"],
+        target_approach: Annotated[
+            Optional[LocationArgument], "Location to approach from"
+        ] = None,
+        grab_offset: Optional[Annotated[float, "Add grab height offset"]] = None,
+        approach_height_offset: Optional[
+            Annotated[float, "Add approach height offset"]
+        ] = None,
+    ) -> None:
+        """Move to a location using the same approach/descend sequence as pick/place but with gripper open and no grip/release. Stays at the target for inspection. Use move_neutral to retract."""
+        self.pf400_interface.move_to_location(
+            target=target,
+            target_approach=target_approach or None,
+            grab_offset=grab_offset,
+            approach_height_offset=approach_height_offset,
+        )
+
+    @action(
+        name="move_neutral",
+        description="Retract the arm to neutral position",
+    )
+    def move_neutral(
+        self,
+        height_offset: Optional[
+            Annotated[
+                float,
+                "Height to retract before moving to neutral (defaults to default_approach_height)",
+            ]
+        ] = None,
+    ) -> None:
+        """Retract upward and move to neutral position. Use after move_to_location to retract the arm."""
+        self.pf400_interface.move_neutral(height_offset=height_offset)
+
     @action(name="remove_lid", description="Remove a lid from a plate")
     def remove_lid(
         self,
@@ -505,20 +544,6 @@ def reset(self) -> None:
         self.logger.log("Node reset.")
         return result
 
-    def safety_stop(self) -> None:
-        """Stop the node."""
-        self.logger.log("Stopping node...")
-        self.node_status.stopped = True
-        self.logger.log("Node stopped.")
-        return True
-
-    def cancel(self) -> None:
-        """Cancel the node."""
-        self.logger.log("Canceling node...")
-        self.node_status.cancelled = True
-        self.logger.log("Node cancelled.")
-        return True
-
 
 if __name__ == "__main__":
     pf400_node = PF400Node()

From 0ad964adeb1178f7f4daf6c023aeb50b1472d6de Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Mon, 9 Mar 2026 15:07:28 -0500
Subject: [PATCH 06/21] Update pre-commit workflow to use pdm + uv

---
 .github/workflows/pre-commit.yml | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index f01c862..74a5913 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -10,11 +10,17 @@ jobs:
   pre-commit:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       name: Checkout code
-    - uses: actions/setup-python@v4
-      name: Setup Python
+    - name: Install the latest version of uv
+      uses: astral-sh/setup-uv@v7
+    - name: Setup PDM
+      uses: pdm-project/setup-pdm@v4
       with:
-        python-version: 3.9
+        python-version: "3.10"
+    - name: Install dependencies
+      env:
+        PDM_USE_UV: "True"
+      run: pdm install
     - uses: pre-commit/action@v3.0.1
       name: Run Pre-Commit Checks

From c3f71d170384b33cd1c40e4d3e9d843be0d1155c Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Mon, 9 Mar 2026 15:10:46 -0500
Subject: [PATCH 07/21] Update pdm lockfile

---
 pdm.lock | 1756 ++++++++++++++++++++++++++++--------------------------
 1 file changed, 908 insertions(+), 848 deletions(-)

diff --git a/pdm.lock b/pdm.lock
index c56892b..0a4e22a 100644
--- a/pdm.lock
+++ b/pdm.lock
@@ -19,6 +19,15 @@ files = [
     {file = "aenum-3.1.16.tar.gz", hash = "sha256:bfaf9589bdb418ee3a986d85750c7318d9d2839c1b1a1d6fe8fc53ec201cf140"},
 ]
 
+[[package]]
+name = "annotated-doc"
+version = "0.0.4"
+summary = ""
+files = [
+    {file = "annotated_doc-0.0.4-py3-none-any.whl", hash = "sha256:571ac1dc6991c450b25a9c2d84a3705e2ae7a53467b5d111c24fa8baabbed320"},
+    {file = "annotated_doc-0.0.4.tar.gz", hash = "sha256:fbcda96e87e9c92ad167c2e53839e57503ecfda18804ea28102353485033faa4"},
+]
+
 [[package]]
 name = "annotated-types"
 version = "0.7.0"
@@ -30,17 +39,16 @@ files = [
 
 [[package]]
 name = "anyio"
-version = "4.9.0"
+version = "4.12.1"
 summary = ""
 dependencies = [
     "exceptiongroup; python_full_version < \"3.11\"",
     "idna",
-    "sniffio",
     "typing-extensions",
 ]
 files = [
-    {file = "anyio-4.9.0-py3-none-any.whl", hash = "sha256:9f76d541cad6e36af7beb62e978876f3b41e3e04f2c1fbf0884604c0a9c4d93c"},
-    {file = "anyio-4.9.0.tar.gz", hash = "sha256:673c0c244e15788651a4ff38710fea9675823028a6f08a5eda409e0c9840a028"},
+    {file = "anyio-4.12.1-py3-none-any.whl", hash = "sha256:d405828884fc140aa80a3c667b8beed277f1dfedec42ba031bd6ac3db606ab6c"},
+    {file = "anyio-4.12.1.tar.gz", hash = "sha256:41cfcc3a4c85d3f05c932da7c26d0201ac36f72abd4435ba90d0464a3ffed703"},
 ]
 
 [[package]]
@@ -66,144 +74,160 @@ files = [
 
 [[package]]
 name = "argon2-cffi-bindings"
-version = "21.2.0"
+version = "25.1.0"
 summary = ""
 dependencies = [
     "cffi",
 ]
 files = [
-    {file = "argon2-cffi-bindings-21.2.0.tar.gz", hash = "sha256:bb89ceffa6c791807d1305ceb77dbfacc5aa499891d2c55661c6459651fc39e3"},
-    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ccb949252cb2ab3a08c02024acb77cfb179492d5701c7cbdbfd776124d4d2367"},
-    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9524464572e12979364b7d600abf96181d3541da11e23ddf565a32e70bd4dc0d"},
-    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b746dba803a79238e925d9046a63aa26bf86ab2a2fe74ce6b009a1c3f5c8f2ae"},
-    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:58ed19212051f49a523abb1dbe954337dc82d947fb6e5a0da60f7c8471a8476c"},
-    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:bd46088725ef7f58b5a1ef7ca06647ebaf0eb4baff7d1d0d177c6cc8744abd86"},
-    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-musllinux_1_1_i686.whl", hash = "sha256:8cd69c07dd875537a824deec19f978e0f2078fdda07fd5c42ac29668dda5f40f"},
-    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:f1152ac548bd5b8bcecfb0b0371f082037e47128653df2e8ba6e914d384f3c3e"},
-    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-win32.whl", hash = "sha256:603ca0aba86b1349b147cab91ae970c63118a0f30444d4bc80355937c950c082"},
-    {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-win_amd64.whl", hash = "sha256:b2ef1c30440dbbcba7a5dc3e319408b59676e2e039e2ae11a8775ecf482b192f"},
-    {file = "argon2_cffi_bindings-21.2.0-cp38-abi3-macosx_10_9_universal2.whl", hash = "sha256:e415e3f62c8d124ee16018e491a009937f8cf7ebf5eb430ffc5de21b900dad93"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-macosx_10_9_universal2.whl", hash = "sha256:aecba1723ae35330a008418a91ea6cfcedf6d31e5fbaa056a166462ff066d500"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-macosx_10_9_x86_64.whl", hash = "sha256:2630b6240b495dfab90aebe159ff784d08ea999aa4b0d17efa734055a07d2f44"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-macosx_11_0_arm64.whl", hash = "sha256:7aef0c91e2c0fbca6fc68e7555aa60ef7008a739cbe045541e438373bc54d2b0"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:1e021e87faa76ae0d413b619fe2b65ab9a037f24c60a1e6cc43457ae20de6dc6"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:d3e924cfc503018a714f94a49a149fdc0b644eaead5d1f089330399134fa028a"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:c87b72589133f0346a1cb8d5ecca4b933e3c9b64656c9d175270a000e73b288d"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:1db89609c06afa1a214a69a462ea741cf735b29a57530478c06eb81dd403de99"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-win32.whl", hash = "sha256:473bcb5f82924b1becbb637b63303ec8d10e84c8d241119419897a26116515d2"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-win_amd64.whl", hash = "sha256:a98cd7d17e9f7ce244c0803cad3c23a7d379c301ba618a5fa76a67d116618b98"},
+    {file = "argon2_cffi_bindings-25.1.0-cp39-abi3-win_arm64.whl", hash = "sha256:b0fdbcf513833809c882823f98dc2f931cf659d9a1429616ac3adebb49f5db94"},
+    {file = "argon2_cffi_bindings-25.1.0-pp310-pypy310_pp73-macosx_10_15_x86_64.whl", hash = "sha256:6dca33a9859abf613e22733131fc9194091c1fa7cb3e131c143056b4856aa47e"},
+    {file = "argon2_cffi_bindings-25.1.0-pp310-pypy310_pp73-macosx_11_0_arm64.whl", hash = "sha256:21378b40e1b8d1655dd5310c84a40fc19a9aa5e6366e835ceb8576bf0fea716d"},
+    {file = "argon2_cffi_bindings-25.1.0-pp310-pypy310_pp73-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:5d588dec224e2a83edbdc785a5e6f3c6cd736f46bfd4b441bbb5aa1f5085e584"},
+    {file = "argon2_cffi_bindings-25.1.0-pp310-pypy310_pp73-manylinux_2_26_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:5acb4e41090d53f17ca1110c3427f0a130f944b896fc8c83973219c97f57b690"},
+    {file = "argon2_cffi_bindings-25.1.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:da0c79c23a63723aa5d782250fbf51b768abca630285262fb5144ba5ae01e520"},
+    {file = "argon2_cffi_bindings-25.1.0.tar.gz", hash = "sha256:b957f3e6ea4d55d820e40ff76f450952807013d361a65d7f28acc0acbf29229d"},
 ]
 
 [[package]]
 name = "asttokens"
-version = "3.0.0"
+version = "3.0.1"
 summary = ""
 files = [
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 [[package]]

From 6d06b41e874568fcf62cb058252349bf32cfa5fa Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Mon, 9 Mar 2026 15:15:09 -0500
Subject: [PATCH 08/21] Initialize pdm

---
 pyproject.toml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index 849998e..3d954b9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -41,3 +41,10 @@ paths = ["docs/Configuration.md"]
 
 [[tool.pydantic_settings_export.generators.dotenv]]
 paths = [".env.example"]
+
+[tool.pdm]
+distribution = true
+
+[build-system]
+requires = ["pdm-backend"]
+build-backend = "pdm.backend"

From 3a1bfdb501af0c36c842cb6c6c73723797750fd9 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 12 May 2026 17:07:17 -0700
Subject: [PATCH 09/21] Removed old kinematics

---
 src/pf400_interface/pf400_kinematics.py | 180 ------------------------
 1 file changed, 180 deletions(-)
 delete mode 100644 src/pf400_interface/pf400_kinematics.py

diff --git a/src/pf400_interface/pf400_kinematics.py b/src/pf400_interface/pf400_kinematics.py
deleted file mode 100644
index 457918d..0000000
--- a/src/pf400_interface/pf400_kinematics.py
+++ /dev/null
@@ -1,180 +0,0 @@
-"""Handles the kinematics of the PF400 robot arm"""
-
-import math
-
-
-class KINEMATICS:
-    """Class for calculating the forward and inverse kinematics of the PF400 robot arm."""
-
-    """
-    Joint coordinates, list of length 6 for PF400 with horizontal rail,
-      rail positions units are mm, angles in degrees increasing CCW looking down (-z):
-        0  vertical rail position in mm, +z up, range [ 0, 1500 ] mm (for the 1.5m v_rail)
-        1  angle of shoulder joint (v_rail to upper_arm), 0 deg perp v_rail, range: [-93, 93] deg
-        2  angle of elbow joint (upper_arm to forearm), 0 deg under upper_arm, range: [-168, 168] deg
-        3  angle of wrist joint (forearm to end_effector), 0 deg extends forearm, range: [-960, 960] deg
-        4  the separation between plate-handling gripper fingers, range: [ ???, ??? ] mm
-        5  horizontal rail position in mm, +x perp v_rail, range: [-1000,1000] (for the 2m h_rail)
-
-    Cartesian coordinates, list of length 6:
-        0  X       increasing away from the face of the v_rail, parallel to the h_rail
-        1  Y       increasing to the left when facing in the +x direction
-        2  Z       increasing up along the v_rail
-        3  yaw     angle of gripper fingers to +x axis
-        4  pitch   fixed at  90 deg
-        5  roll    fixed at 180 deg
-    """
-
-    def __init__(self) -> None:
-        """Constructor for the KINEMATICS class."""
-        # Robot arm segment lengths (in millimeters)
-        self.shoulder_length = (
-            302  # mm    (perhaps rename to upper_arm, as shoulder is a joint)
-        )
-        self.elbow_length = 289  # mm    (perhaps rename to forearm, as elbo is a joint)
-        self.end_effector_length = (
-            162  # mm    (???does this length terminate at the Tool Center Point?)
-        )
-
-    def forward_kinematics(
-        self, joint_states: list[float]
-    ) -> tuple[list[float], float, float]:
-        """
-        Description: Calculates the forward kinematics for a given array of joint_states.
-        Parameters:
-            - joint_states : 6 joint states of the target location
-        Return:
-            - cartesian_coordinates: Returns the calculated cartesian coordinates of the given joint states (in millimeters)
-            - phi: Phi angle in degrees to be used for inverse kinematics
-            - joint_state[5]: The rail length. Needs to be subtracted from x axis if calculated coordinates will be fed into inverse kinematics
-        """
-
-        if joint_states[2] > 180:
-            adjusted_angle_j3 = (
-                joint_states[2] - 360
-            )  # Fixing the quadrant on the third joint. Joint 3 range is 10 to 350 instead of -180 to 180
-        else:
-            adjusted_angle_j3 = joint_states[2]
-
-        # Convert angles to radians
-        shoulder_angle = math.radians(joint_states[1])  # Joint 2
-        elbow_angle = math.radians(joint_states[2])  # Joint 3
-        gripper_angle = math.radians(joint_states[3])  # Joint 4
-
-        x = (
-            self.shoulder_length * math.cos(shoulder_angle)
-            + self.elbow_length * math.cos(shoulder_angle + elbow_angle)
-            + self.end_effector_length
-            * math.cos(shoulder_angle + elbow_angle + gripper_angle)
-        )
-        y = (
-            self.shoulder_length * math.sin(shoulder_angle)
-            + self.elbow_length * math.sin(shoulder_angle + elbow_angle)
-            + self.end_effector_length
-            * math.sin(shoulder_angle + elbow_angle + gripper_angle)
-        )
-        z = joint_states[0]
-
-        phi = (
-            math.degrees(shoulder_angle)
-            + adjusted_angle_j3
-            + math.degrees(gripper_angle)
-        )
-
-        if phi > 0 and phi < 540:
-            yaw = phi % 360
-        elif phi > 540 and phi < 720:
-            yaw = phi % 360 - 360
-        elif phi > 720 and phi < 900:
-            yaw = phi % 720
-        elif phi > 900 and phi < 1080:
-            yaw = phi % 720 - 720
-
-        cartesian_coordinates = self.get_cartesian_coordinates()
-
-        cartesian_coordinates[0] = round(x, 3) + joint_states[5]
-        cartesian_coordinates[1] = round(y, 3)
-        cartesian_coordinates[2] = round(z, 3)
-        cartesian_coordinates[3] = round(yaw, 3)
-
-        return cartesian_coordinates, round(phi, 3), joint_states[5]
-
-    def inverse_kinematics(
-        self,
-        cartesian_coordinates: list,
-        phi: float,
-        rail: float = 0.0,
-        get_gripper_length: float = 123.0,
-    ) -> list[float]:
-        """
-        Description: Calculates the inverse kinematics for a given array of cartesian coordinates.
-        Parameters:
-            - cartesian_coordinates: X/Y/Z Yaw/Pitch/Roll cartesian coordinates.
-                                        X axis has to be subtracted from the rail length before feeding into this function!
-            - Phi: Phi angle. Phi = Joint_2_angle + Joint_3_angle + Joint_4_angle
-            - Rail: Rail length (optional). If provided it will be subtracted from X axis.
-        Return:
-            - Joint angles: Calculated 6 new joint angles.
-        """
-
-        joint1 = cartesian_coordinates[2]
-        xe = cartesian_coordinates[0] - rail
-        ye = cartesian_coordinates[1]
-
-        if phi < 360:
-            phi = cartesian_coordinates[3]
-        elif phi > 360 and phi < 540:
-            phi = cartesian_coordinates[3] + 360
-        elif (phi > 540 and phi < 720) or (phi > 720 and phi < 900):
-            phi = cartesian_coordinates[3] + 720
-        elif phi > 900 and phi < 1080:
-            phi = cartesian_coordinates[3] + 1440
-
-        phi_e = math.radians(phi)
-
-        x_second_joint = xe - self.end_effector_length * math.cos(phi_e)
-        y_second_joint = ye - self.end_effector_length * math.sin(phi_e)
-
-        radius = math.sqrt(x_second_joint**2 + y_second_joint**2)
-        gamma = math.acos(
-            (
-                radius * radius
-                + self.shoulder_length * self.shoulder_length
-                - self.elbow_length * self.elbow_length
-            )
-            / (2 * radius * self.shoulder_length)
-        )
-
-        theta2 = math.pi - math.acos(
-            (
-                self.shoulder_length * self.shoulder_length
-                + self.elbow_length * self.elbow_length
-                - radius * radius
-            )
-            / (2 * self.shoulder_length * self.elbow_length)
-        )
-        theta1 = math.atan2(y_second_joint, x_second_joint) - gamma
-        theta3 = phi_e - theta1 - theta2
-
-        if cartesian_coordinates[1] > 0 or (
-            cartesian_coordinates[1] < 0
-            and math.degrees(theta1) < 0
-            and abs(math.degrees(theta1)) < abs(math.degrees(theta1 + 2 * gamma))
-        ):
-            # Robot is in the First Quadrant on the coordinate plane (x:+ , y:+)
-            joint2 = math.degrees(theta1)
-            joint3 = math.degrees(
-                theta2
-            )  # Adding 360 degrees to Joint 3 to fix the pose.
-            joint4 = math.degrees(theta3)
-
-        elif cartesian_coordinates[1] < 0:
-            # Robot is in the Forth Quadrant on the coordinate plane (x:+ , y:-)
-            # Use the joint angles for Forth Quadrant
-            joint2 = math.degrees(theta1 + 2 * gamma)
-            joint3 = (
-                math.degrees(theta2 * -1) + 360
-            )  # Adding 360 degrees to Joint 3 to fix the pose.
-            joint4 = math.degrees(theta3 + 2 * (theta2 - gamma))
-
-        return [joint1, joint2, joint3, joint4, get_gripper_length, rail]

From deb066dbf0ad026c1371e345defffd0dfa739ccf Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 12 May 2026 17:08:20 -0700
Subject: [PATCH 10/21] Using new internal Kinematics

---
 src/pf400_interface/pf400.py | 568 ++++++++++++++---------------------
 1 file changed, 232 insertions(+), 336 deletions(-)

diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py
index 23befa5..5e5e75c 100644
--- a/src/pf400_interface/pf400.py
+++ b/src/pf400_interface/pf400.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-"""Driver code for the PF400 robot arm."""
+"""Interface code for the PF400 robot arm."""
 
 import copy
 import telnetlib
@@ -20,11 +20,10 @@
     Pf400ConnectionError,
     Pf400ResponseError,
 )
-from pf400_interface.pf400_kinematics import KINEMATICS
 
 
-class PF400(KINEMATICS):
-    """Main Driver Class for the PF400 Robot Arm."""
+class PF400:
+    """Main Interface Class for the PF400 Robot Arm."""
 
     slow_motion_profile = 1
     fast_motion_profile = 2
@@ -79,9 +78,7 @@ def __init__(
             - Programs are sent to the 10x00 port (first robot port: 10100).
             - A program sent to robot will be executed immediately unless there is a prior operation running on the robot.
             - If a second motion command is sent while the referenced robot is moving, the second command is blocked and will not reply until the first motion is complete.
-
         """
-        super().__init__()  # PF400 kinematics
         self.logger = logger or EventClient()
         self.host = host
         self.port = port
@@ -92,12 +89,9 @@ def __init__(
         self.gripper_resource_id = gripper_resource_id
         self.command_lock = Lock()
         self.status_lock = Lock()
-        # Initialize robot
         self.connect()
-        self.configure_robot()
-        # Plate variables
+        self._configure_robot()
 
-        # Initialize neutral_joints as an instance attribute
         self.neutral_joints = [
             400.0,
             1.400,
@@ -109,14 +103,9 @@ def __init__(
 
         self.set_gripper_open()
         self.set_gripper_close()
-        self.logger.warn(
-            "HARD CODED ROTATION LOCATION IS DEPRECATED, USE rotation_deck WITH TRANSFER METHOD INSTEAD"
-        )
 
     def connect(self) -> None:
-        """
-        Description: Create a streaming socket to send string commands to the robot using telnetlib3.
-        """
+        """Create a streaming socket to send string commands to the robot using telnetlib."""
         try:
             self.robot_connection = telnetlib.Telnet(self.host, self.port, 5)  # noqa: S312
             self.status_connection = telnetlib.Telnet(self.host, self.status_port, 5)  # noqa: S312
@@ -125,11 +114,11 @@ def connect(self) -> None:
                 err_message=f"Failed to connect using telnetlib: {e}"
             ) from e
 
-    def configure_robot(self) -> None:
+    def _configure_robot(self) -> None:
         """Configures the robot by setting the mode and selecting the robot ID."""
-        self.send_robot_command(f"mode {self.mode}")
+        self.send_command(f"mode {self.mode}")
         self.send_status_command(f"mode {self.mode}")
-        self.send_robot_command(f"selectRobot {self.robot_id}")
+        self.send_command(f"selectRobot {self.robot_id}")
         self.send_status_command(f"selectRobot {self.robot_id}")
 
     def disconnect(self) -> None:
@@ -141,7 +130,7 @@ def disconnect(self) -> None:
             self.status_connection.close()
             self.status_connection = None
 
-    def send_robot_command(self, command: str) -> str:
+    def send_command(self, command: str) -> str:
         """
         Sends a command to the robot and return the response.
 
@@ -156,8 +145,7 @@ def send_robot_command(self, command: str) -> str:
         Returns:
             str: The response received from the robot.
 
-
-                    Raises:
+        Raises:
             Pf400ConnectionError: If no connection to the robot can be established.
             Pf400CommandError: If an AttributeError occurs during command execution.
         """
@@ -172,10 +160,10 @@ def send_robot_command(self, command: str) -> str:
                     .rstrip("\r\n")
                 )
                 if response != "" and response in ERROR_CODES:
-                    self.handle_error_output(response)
+                    self._handle_error_output(response)
                 if response in OUTPUT_CODES:
                     self.logger.log_debug(response)
-                self.await_movement_completion()
+                self._await_movement_completion()
                 return response
             except AttributeError as e:
                 raise Pf400CommandError(err_message="Attribute Error") from e
@@ -184,10 +172,6 @@ def send_status_command(self, command: str) -> str:
         """
         Sends a status command to the PF400 device and returns the response.
 
-        This method ensures thread-safe access using a lock, establishes a connection if needed,
-        writes the command to the status writer, and reads the response. It handles error and output
-        codes appropriately, logging or raising exceptions as necessary.
-
         Args:
             command (str): The command string to send to the PF400 device.
 
@@ -209,98 +193,70 @@ def send_status_command(self, command: str) -> str:
                     .rstrip("\r\n")
                 )
                 if response != "" and response in ERROR_CODES:
-                    self.handle_error_output(response)
+                    self._handle_error_output(response)
                 if response in OUTPUT_CODES:
                     self.logger.log_debug(response)
                 return response
             except AttributeError as e:
                 raise Pf400CommandError(err_message="Attribute Error") from e
 
-    def handle_error_output(self, output: str) -> None:
-        """
-        Description: Handles the error message output
-        """
+    def _parse_response(self, response: str) -> list[float]:
+        """Parse a TCS response string into a list of floats, stripping the leading status code."""
+        parts = response.split(" ")
+        return [float(x) for x in parts[1:]]
+
+    def _handle_error_output(self, output: str) -> None:
+        """Handles the error message output."""
         response = Pf400ResponseError.from_error_code(output)
         self.logger.log_error(response)
         raise response
 
     def enable_power(self) -> str:
-        """
-        Description: Enables the power on the robot
-        """
-        return self.send_robot_command("hp 1 -1")
+        """Enables the power on the robot."""
+        return self.send_command("hp 1 -1")
 
     def disable_power(self) -> str:
-        """
-        Description: Disables the power on the robot
-        """
-        return self.send_robot_command("hp 0")
+        """Disables the power on the robot."""
+        return self.send_command("hp 0")
 
-    def split_response(self, response: str) -> list[str]:
-        """
-        Description: Splits the response string into a list of strings.
-        Parameters:
-            - response: The response string to be split.
-        Returns: A list of strings.
-        """
+    def _split_response(self, response: str) -> list[str]:
+        """Splits the response string into a list of strings."""
         return response.split(" ") if response else []
 
     def check_powered(self) -> bool:
-        """
-        Description: Checks whether the robot power is on or off.
-        Returns: bool indicating whether the robot is powered on.
-        """
-        self.power_state = self.split_response(self.send_status_command("hp"))[1]
+        """Checks whether the robot power is on or off."""
+        self.power_state = self._split_response(self.send_status_command("hp"))[1]
         return self.power_state == "1"
 
     def check_attached(self) -> bool:
-        """
-        Description: Checks whether the robot is attached or not.
-        Returns: bool indicating whether the robot is attached.
-        """
-        self.attach_state = self.split_response(self.send_robot_command("attach"))[1]
+        """Checks whether the robot is attached or not."""
+        self.attach_state = self._split_response(self.send_command("attach"))[1]
         return self.attach_state == "1"
 
     def check_homed(self) -> bool:
-        """
-        Description: Checks whether the robot is homed or not.
-        Returns: bool indicating whether the robot is homed.
-        """
-        self.home_state = self.split_response(self.send_status_command("pd 2800"))[1]
+        """Checks whether the robot is homed or not."""
+        self.home_state = self._split_response(self.send_status_command("pd 2800"))[1]
         return self.home_state == "1"
 
     def check_system_state(self) -> str:
-        """
-        Description: Checks the global system state code
-        Returns: The system state code as a string.
-        """
-        self.system_state = self.send_robot_command("sysState")
+        """Checks the global system state code."""
+        self.system_state = self.send_command("sysState")
         return self.system_state
 
     def attach_robot(self) -> str:
-        """
-        Description: Attach to the robot to enable motion commands.
-        """
-        return self.send_robot_command("attach 1")
+        """Attach to the robot to enable motion commands."""
+        return self.send_command("attach 1")
 
     def detach_robot(self) -> str:
-        """
-        Description: Detach from the robot to disable motion commands.
-        """
-        return self.send_robot_command("attach 0")
+        """Detach from the robot to disable motion commands."""
+        return self.send_command("attach 0")
 
     def home_robot(self) -> str:
-        """
-        Description: Homes robot joints. Homing takes around 15 seconds.
-        """
-
-        return self.send_robot_command("home")
+        """Homes robot joints. Homing takes around 15 seconds."""
+        return self.send_command("home")
 
     def initialize_robot(self) -> None:
-        """
-        Description: Initializes the robot by calling enable_power, attach_robot, home_robot, set_profile functions and checks the robot state to find out if the initialization was successful
-        """
-
+        """Initializes the robot by calling enable_power, attach_robot, home_robot, set_profile functions."""
         self.check_state()
         retry_count = 0
         while self.power_state != "1" and retry_count < 5:
@@ -327,70 +283,55 @@ def initialize_robot(self) -> None:
         self.get_robot_movement_state()
 
     def get_robot_movement_state(self) -> int:
-        """Checks the movement state of the robot
-        States: 0 = Power off
-                1 = Stopped
-                2 = Acceleration
-                3 = Deceleration
+        """Checks the movement state of the robot.
+
+        States: 0 = Power off, 1 = Stopped, 2 = Acceleration, 3 = Deceleration
         """
         movement_state = self.send_status_command("state")
         self.movement_state = int(float(movement_state.split(" ")[1]))
         return self.movement_state
 
-    def await_movement_completion(self) -> None:
-        """Waits until the robot has finished moving"""
+    def _await_movement_completion(self) -> None:
+        """Waits until the robot has finished moving."""
         while True:
             if self.get_robot_movement_state() <= 1:
                 return
             time.sleep(0.1)
 
     def check_state(self) -> int:
-        """
-        Description: Checks the various state values of the robot and returns False if any of the states are not initialized correctly.
-        """
-
+        """Checks the various state values of the robot."""
         try:
             is_powered = self.check_powered()
             is_attached = self.check_attached()
             is_homed = self.check_homed()
             system_state = self.check_system_state()
-            system_state_ok = self.split_response(system_state)[1] == "21"
+            system_state_ok = self._split_response(system_state)[1] == "21"
             return is_powered and is_attached and is_homed and system_state_ok
         except Exception as e:
             self.logger.log_info(f"Exception during state check: {e}")
             return False
 
     def get_joint_states(self) -> list[float]:
-        """
-        Description: Locates the robot and returns the joint locations for all 6 joints.
-        """
-        states = self.send_robot_command("wherej")
+        """Locates the robot and returns the joint locations for all 6 joints."""
+        states = self.send_command("wherej")
         joints = states.split(" ")
         joints = joints[1:]
         return [float(x) for x in joints]
 
     def get_cartesian_coordinates(self) -> list[float]:
-        """
-        Description: This function finds the current cartesian coordinates and angles of the robot.
-                Return: A float array with x/y/z yaw/pitch/roll
-        """
-        coordinates = self.send_robot_command("whereC")
+        """Returns the current Cartesian coordinates of the robot as [X, Y, Z, yaw, pitch, roll]."""
+        coordinates = self.send_command("whereC")
         coordinates_list = coordinates.split(" ")
         coordinates_list = coordinates_list[1:-1]
         return [float(x) for x in coordinates_list]
 
-    def get_gripper_position(self) -> float:
+    def get_gripper_state(self) -> float:
         """Returns the current position of the gripper."""
         joint_angles = self.get_joint_states()
         return joint_angles[4]
 
     def set_profile(self, profile_dict: Optional[dict] = None) -> str:
-        """
-        Description: Sets and saves the motion profiles (defined in robot data) to the robot.
-                                If user defines a custom profile, this profile will saved onto motion profile 4 on the robot
-        Parameters:
-                        - profile_dict: Custom motion profile
-        """
+        """Sets and saves the motion profiles to the robot."""
         if profile_dict is None:
             profile1 = "Profile 1"
             for value in MOTION_PROFILES[0].values():
@@ -401,16 +342,14 @@ def set_profile(self, profile_dict: Optional[dict] = None) -> str:
             profile3 = "Profile 3"
             for value in MOTION_PROFILES[2].values():
                 profile3 += " " + str(value)
-
-            self.send_robot_command(profile1)
-            self.send_robot_command(profile2)
-            out_msg = self.send_robot_command(profile3)
-
+            self.send_command(profile1)
+            self.send_command(profile2)
+            out_msg = self.send_command(profile3)
         elif len(profile_dict) == 8:
             profile4 = "Profile 4"
             for value in profile_dict.values():
                 profile4 += " " + str(value)
-            out_msg = self.send_robot_command(profile4)
+            out_msg = self.send_command(profile4)
         else:
             raise Exception(
                 f"Motion profile takes 8 arguments, {len(profile_dict)} where given"
@@ -429,33 +368,21 @@ def gripper_close(self) -> int:
 
     def set_gripper_open(self, gripper_length: Optional[int] = None) -> None:
         """Configure the definition of gripper open."""
-        self.send_robot_command(f"GripOpenPos {gripper_length or self.gripper_open}")
+        self.send_command(f"GripOpenPos {gripper_length or self.gripper_open}")
 
     def set_gripper_close(self, gripper_length: Optional[int] = None) -> None:
         """Configure the definition of gripper close."""
-        self.send_robot_command(f"GripClosePos {gripper_length or self.gripper_close}")
+        self.send_command(f"GripClosePos {gripper_length or self.gripper_close}")
 
     def grab_plate(
         self, width: Optional[int] = None, speed: int = 100, force: int = 10
     ) -> bool:
-        """
-        Description:
-                Grabs the plate by applying additional force
-        Parameters:
-            - width: Plate width, in mm. Should be accurate to within about 1 mm.
-            - speed: Percent speed to open fingers.  1 to 100.
-            - Force: Maximum gripper squeeze force, in Nt.
-                A positive value indicates the fingers must close to grasp.
-                A negative value indicates the fingers must open to grasp.
-        Returns:
-            True if the plate was successfully grabbed, False otherwise.
-        """
+        """Grabs the plate by applying additional force."""
         if width is None:
             width = self.gripper_close
-        grab_plate_status = self.send_robot_command(
+        grab_plate_status = self.send_command(
             f"GraspPlate {width} {speed} {force}"
         ).split(" ")
-
         if grab_plate_status[1] == "0":
             return False
         if grab_plate_status[1] == "-1":
@@ -468,23 +395,12 @@ def grab_plate(
         )
 
     def release_plate(self, width: Optional[int] = None, speed: int = 100) -> bool:
-        """
-        Description:
-                Release the plate
-        Parameters:
-                - width: Open width, in mm. Larger than the widest corners of the plates.
-                        If None, uses the default gripper_open value based on grip_wide setting.
-                - speed: Percent speed to open fingers.  1 to 100.
-        Returns:
-            True if the gripper successfully opened to the target width, False otherwise.
-        """
+        """Release the plate."""
         if width is None:
             width = self.gripper_open
-
-        release_plate_status = self.send_robot_command(
-            f"ReleasePlate {width} {speed}"
-        ).split(" ")
-
+        release_plate_status = self.send_command(f"ReleasePlate {width} {speed}").split(
+            " "
+        )
         if release_plate_status[0] != "0":
             self.logger.log_error(
                 f"Unexpected response from ReleasePlate: {release_plate_status[0]}"
@@ -492,80 +408,145 @@ def release_plate(self, width: Optional[int] = None, speed: int = 100) -> bool:
             raise Pf400ResponseError(
                 f"Unexpected response from ReleasePlate command: {release_plate_status[0]}."
             )
-
-        # Verify gripper opened to target width
-        current_gripper_position = self.get_gripper_position()
-
+        current_gripper_position = self.get_gripper_state()
         if abs(current_gripper_position - width) <= 5:
             return True
-
         self.logger.log_error(
             f"Gripper failed to open to target width. Expected: {width}, Got: {current_gripper_position}"
         )
         return False
 
     def open_gripper(self, gripper_length: Optional[int] = None) -> float:
-        """Opens the gripper"""
+        """Opens the gripper."""
         self.set_gripper_open(gripper_length=gripper_length)
-        self.send_robot_command("gripper 1")
-        return self.get_gripper_position()
+        self.send_command("gripper 1")
+        return self.get_gripper_state()
 
     def close_gripper(self, gripper_length: Optional[int] = None) -> float:
-        """Closes the gripper"""
+        """Closes the gripper."""
         self.set_gripper_close(gripper_length=gripper_length)
-        self.send_robot_command("gripper 2")
-        return self.get_gripper_position()
+        self.send_command("gripper 2")
+        return self.get_gripper_state()
+
+    # -------------------------------------------------------------------------
+    # Kinematics -- implemented via custom TCS server commands (Custom.gpl)
+    # -------------------------------------------------------------------------
+
+    def joint_to_cart(self, joint_states: list[float]) -> list[float]:
+        """Forward kinematics (FK): convert joint angles to Cartesian coordinates.
+
+        Calls the JointToCart custom TCS command which uses the robot's internal
+        KineSol method. The rail offset is handled automatically inside the command.
+
+        Args:
+            joint_states: 6 joint values [j1, j2, j3, j4, j5, rail]
+
+        Returns:
+            Cartesian coordinates as [X, Y, Z, yaw, pitch, roll]
+        """
+        j1, j2, j3, j4, j5, rail = joint_states
+        response = self.send_command(f"JointToCart {j1} {j2} {j3} {j4} {j5} {rail}")
+        return self._parse_response(response)
 
-    def set_plate_rotation(
-        self, joint_states: list[float], rotation_degree: float = 0
+    def cart_to_joint(
+        self, cartesian_coordinates: list[float], rail: float
     ) -> list[float]:
+        """Inverse kinematics (IK): convert Cartesian coordinates to joint angles.
+
+        Calls the CartToJoint custom TCS command which uses the robot's internal
+        KineSol method. The rail position must be passed explicitly so the command
+        can subtract it from X before running IK, then return it as j6.
+
+        Args:
+            cartesian_coordinates: [X, Y, Z, yaw, pitch, roll] in world coordinates
+            rail: Rail position in mm (j6 from wherej)
+
+        Returns:
+            Joint angles as [j1, j2, j3, j4, j5, rail]
         """
-        Description:
-        Parameters:
-                - joint_states:
-                - rotation_degree:
-        Note: If the rotation requires changing the "Quadrant" on the coordinate plane,
-                        inverse kinematics calculation will be calculated wrong!
+        x, y, z, yaw, pitch, roll = cartesian_coordinates
+        response = self.send_command(
+            f"CartToJoint {x} {y} {z} {yaw} {pitch} {roll} {rail}"
+        )
+        return self._parse_response(response)
+
+    def rotate_yaw(self, joint_states: list[float], rotation_deg: float) -> list[float]:
+        """Rotate the end effector yaw at a given joint location.
+
+        Calls the RotateLoc custom TCS command which internally runs FK, applies
+        the yaw rotation, then runs IK to return the new joint angles. Use this
+        to switch between narrow and wide microplate orientations without saving
+        duplicate locations.
+
+        Args:
+            joint_states: 6 joint values [j1, j2, j3, j4, j5, rail]
+            rotation_deg: Yaw rotation to apply in degrees, typically 90 or -90
+
+        Returns:
+            New joint angles as [j1, j2, j3, j4, j5, rail]
         """
-        cartesian_coordinates, phi_angle, rail_pos = self.forward_kinematics(
-            joint_states
+        j1, j2, j3, j4, j5, rail = joint_states
+        response = self.send_command(
+            f"RotateLoc {j1} {j2} {j3} {j4} {j5} {rail} {rotation_deg}"
         )
-        # Fixing the orientation offset here
-        if rotation_degree == -90:  # Yaw 90 to 0 degrees:
-            cartesian_coordinates[1] += 4
-            cartesian_coordinates[0] += 29
-        elif rotation_degree == 90:
-            cartesian_coordinates[1] -= 4
-            cartesian_coordinates[0] -= 29
-
-        if cartesian_coordinates[1] < 0:
-            # Location is on the right side of the robot
-            cartesian_coordinates[3] += rotation_degree
-        elif cartesian_coordinates[1] > 0 and joint_states[1]:
-            cartesian_coordinates[3] -= rotation_degree
-
-        return self.inverse_kinematics(cartesian_coordinates, phi_angle, rail_pos)
+        return self._parse_response(response)
+
+    def move_with_rotation(
+        self,
+        joint_states: list[float],
+        rotation_deg: float,
+        profile: int = 2,
+    ) -> str:
+        """Move the end effector to a location with a yaw rotation applied.
+
+        Computes the rotated Cartesian location using FK and the given rotation,
+        then moves to it using MoveC (straight line Cartesian motion). This avoids
+        IK ambiguity by letting the robot's internal motion controller handle the
+        joint configuration along the straight line path.
+
+        Args:
+            joint_states: 6 joint values [j1, j2, j3, j4, j5, rail]
+            rotation_deg: Yaw rotation to apply in degrees, typically 90 or -90
+            profile: Motion profile index, defaults to fast profile (2)
+
+        Returns:
+            Robot response string
+        """
+        cart = self.joint_to_cart(joint_states)
+        cart[3] += rotation_deg
+        # Normalize yaw to -180 to 180
+        if cart[3] > 180:
+            cart[3] -= 360
+        elif cart[3] < -180:
+            cart[3] += 360
+        return self.move_cartesian(cart, profile=profile)
+
+    # -------------------------------------------------------------------------
+    # Motion
+    # -------------------------------------------------------------------------
 
     def check_incorrect_plate_orientation(
-        self, goal_location: list[float], goal_rotation: list[float]
+        self, goal_location: list[float], goal_rotation: float
     ) -> list[float]:
+        """Fix plate rotation on the goal location if recorded with incorrect orientation.
+
+        Args:
+            goal_location: 6 joint values for the goal location
+            goal_rotation: Expected rotation angle in degrees (0 or 90)
+
+        Returns:
+            Corrected joint angles if orientation was wrong, otherwise unchanged.
         """
-        Description: Fixes plate rotation on the goal location if it was recorded with an incorrect orientation.
-        Parameters:
-            - goal_location
-            - goal_rotation
-        Return:
-            goal_location:
-                - New goal location if the incorrect orientation was found.
-                - Same goal location if there orientation was correct.
-        """
-        # This will fix plate rotation on the goal location if it was recorded with an incorrect orientation
-        cartesian_goal, _phi_source, _rail_source = self.forward_kinematics(
-            goal_location
-        )
-        # Checking yaw angle
-        if goal_rotation != 0 and cartesian_goal[3] > -10 and cartesian_goal[3] < 10:
-            goal_location = self.set_plate_rotation(goal_location, goal_rotation)
+        if goal_rotation == 0:
+            return goal_location
+
+        cart = self.joint_to_cart(goal_location)
+        yaw = cart[3]
+
+        # If yaw is close to 0 but rotation is expected, the location was saved
+        # with the wrong orientation and needs to be corrected
+        if -10 < yaw < 10:
+            return self.rotate_yaw(goal_location, goal_rotation)
 
         return goal_location
 
@@ -576,39 +557,31 @@ def move_joint(
         gripper_close: bool = False,
         gripper_open: bool = False,
     ) -> str:
-        """
-        Description: Creates the movement commands with the given robot_location, profile, gripper closed and gripper open info
-        Parameters:
-                        - target: Which location the PF400 will move.
-                        - profile: Motion profile ID.
-                        - gripper_close: If set to TRUE, gripper is closed. If set to FALSE, gripper position will remain same as the previous location.
-                        - gripper_open: If set to TRUE, gripper is opened. If set to FALSE, gripper position will remain same as the previous location.
-        Return: Returns the created movement command in string format
-        """
+        """Move the robot to a joint angle location.
 
-        # Checking unpermitted gripper command
-        # add check gripper here and remove gripper open/close from state
+        Args:
+            target_joint_angles: Target joint angles [j1, j2, j3, j4, j5, rail]
+            profile: Motion profile ID
+            gripper_close: If True, gripper is closed before moving
+            gripper_open: If True, gripper is opened before moving
+        """
         if gripper_close and gripper_open:
             raise Exception("Gripper cannot be open and closed at the same time!")
-
-        # Setting the gripper location to open or close. If there is no gripper position passed in, target_joint_angles will be used.
         if gripper_close:
             target_joint_angles[4] = self.gripper_close
         elif gripper_open:
             target_joint_angles[4] = self.gripper_open
         else:
-            target_joint_angles[4] = self.get_gripper_position()
-
+            target_joint_angles[4] = self.get_gripper_state()
         move_command = (
             "movej" + " " + str(profile) + " " + " ".join(map(str, target_joint_angles))
         )
-
-        return self.send_robot_command(move_command)
+        return self.send_command(move_command)
 
     def move_cartesian(
         self, target_cartesian_coordinates: list[float], profile: int = 2
     ) -> str:
-        """Move the arm to a target location in cartesian coordinates."""
+        """Move the arm to a target location in Cartesian coordinates."""
         move_command = (
             "MoveC"
             + " "
@@ -616,29 +589,16 @@ def move_cartesian(
             + " "
             + " ".join(map(str, target_cartesian_coordinates))
         )
-
-        return self.send_robot_command(move_command)
+        return self.send_command(move_command)
 
     def move_in_one_axis(
         self, profile: int = 1, axis_x: int = 0, axis_y: int = 0, axis_z: int = 0
     ) -> str:
-        """
-        Description: Moves the end effector on single axis with a goal movement in millimeters.
-        Parameters:
-                - axis_x : Goal movement on x axis in mm
-                - axis_y : Goal movement on y axis in mm
-                - axis_z : Goal movement on z axis in mm
-        Returns: A string response from the robot indicating the result of the move command.
-        """
-
-        # Find the cartesian coordinates of the target joint states
+        """Move the end effector on a single axis by a given distance in mm."""
         cartesian_coordinates = self.get_cartesian_coordinates()
-
-        # Move end effector on the single axis
         cartesian_coordinates[0] += axis_x
         cartesian_coordinates[1] += axis_y
         cartesian_coordinates[2] += axis_z
-
         move_command = (
             "MoveC"
             + " "
@@ -646,15 +606,11 @@ def move_in_one_axis(
             + " "
             + " ".join(map(str, cartesian_coordinates))
         )
-        return self.send_robot_command(move_command)
+        return self.send_command(move_command)
 
     def move_gripper_safe_zone(self) -> None:
-        """
-        Description: Check if end effector is outside the safe boundaries. If it is, move it on the y axis first to prevent collisions with the module frames.
-        """
-
+        """Check if end effector is outside safe boundaries and move it in if needed."""
         current_cartesian_coordinates = self.get_cartesian_coordinates()
-
         if current_cartesian_coordinates[1] <= self.safe_left_boundary:
             y_distance = self.safe_left_boundary - current_cartesian_coordinates[1]
             self.move_in_one_axis(profile=self.slow_motion_profile, axis_y=y_distance)
@@ -663,55 +619,40 @@ def move_gripper_safe_zone(self) -> None:
             self.move_in_one_axis(profile=self.slow_motion_profile, axis_y=y_distance)
 
     def move_gripper_neutral(self) -> None:
-        """
-        Description: Move end effector to neutral position
-        """
-
+        """Move end effector to neutral position."""
         self.move_gripper_safe_zone()
         gripper_neutral = self.get_joint_states()
         gripper_neutral[3] = self.neutral_joints[3]
-
         self.move_joint(gripper_neutral, self.slow_motion_profile)
 
     def move_arm_neutral(self) -> None:
-        """
-        Description: Move arm to neutral position
-        """
+        """Move arm to neutral position."""
         arm_neutral = self.neutral_joints
         current_location = self.get_joint_states()
         arm_neutral[0] = current_location[0]
         arm_neutral[5] = current_location[5]
-
         self.move_joint(arm_neutral, self.slow_motion_profile)
 
     def move_rails_neutral(
         self, v_rail: Optional[float] = None, h_rail: Optional[float] = None
     ) -> None:
-        """Setting the target location's linear rail position for pf400_neutral"""
-
+        """Move rails to neutral position."""
         current_location = self.get_joint_states()
-
         if not v_rail:
-            v_rail = current_location[0]  # Keep the vertical rail same
+            v_rail = current_location[0]
         if not h_rail:
-            h_rail = current_location[5]  # Keep the horizontal rail same
-
+            h_rail = current_location[5]
         self.neutral_joints[5] = h_rail
         self.move_joint(self.neutral_joints, self.fast_motion_profile)
         self.neutral_joints[0] = v_rail + self.default_approach_height
         self.move_joint(self.neutral_joints, self.slow_motion_profile)
 
     def move_all_joints_neutral(self, target: Optional[list[float]] = None) -> None:
-        """
-        Description: Move all joints to neutral position
-        """
+        """Move all joints to neutral position."""
         if target is None:
             target = self.get_joint_states()
-        # First move end effector to it's nuetral position
         self.move_gripper_neutral()
-        # Setting an arm neutral position without moving the horizontal & vertical rails
         self.move_arm_neutral()
-        # Setting the target location's linear rail position for pf400_neutral
         self.move_rails_neutral(target[0], target[5])
 
     def remove_lid(
@@ -726,10 +667,9 @@ def remove_lid(
         grab_offset: Optional[float] = None,
         approach_height_offset: Optional[float] = None,
     ) -> None:
-        """Remove the lid from the plate"""
+        """Remove the lid from the plate."""
         source.representation = copy.deepcopy(source.representation)
         source.representation[0] += lid_height
-
         self.transfer(
             source=source,
             target=target,
@@ -753,10 +693,9 @@ def replace_lid(
         grab_offset: Optional[float] = None,
         approach_height_offset: Optional[float] = None,
     ) -> None:
-        """Replace the lid on the plate"""
+        """Replace the lid on the plate."""
         target.representation = copy.deepcopy(target.representation)
         target.representation[0] += lid_height
-
         self.transfer(
             source=source,
             target=target,
@@ -771,17 +710,13 @@ def replace_lid(
     def rotate_plate_on_deck(
         self, rotation_degree: int, rotation_deck: Optional[LocationArgument] = None
     ) -> None:
-        """
-        Description: Uses the rotation deck to rotate the plate between two transfers
-        Parameters: - rotation_degree: Rotation degree.
-        """
+        """Use the rotation deck to rotate the plate between two transfers."""
         if not rotation_deck:
             raise ValueError("Rotation deck location must be provided.")
         target = rotation_deck.representation
 
-        # Fixing the offset on the z axis
         if rotation_degree == -90:
-            target = self.set_plate_rotation(target, -rotation_degree)
+            target = self.rotate_yaw(target, -rotation_degree)
 
         above_position = list(map(add, target, self.default_approach_vector))
 
@@ -807,8 +742,7 @@ def rotate_plate_on_deck(
         )
         self.open_gripper(self.gripper_open_wide)
 
-        # Rotating gripper to grab the plate from other rotation
-        target = self.set_plate_rotation(target, rotation_degree)
+        target = self.rotate_yaw(target, rotation_degree)
         above_position = list(map(add, target, self.default_approach_vector))
         self.move_joint(
             target_joint_angles=above_position, profile=self.slow_motion_profile
@@ -838,11 +772,8 @@ def rotate_plate_on_deck(
         self.move_all_joints_neutral(target)
 
     def _handle_approach_location(self, approach: LocationArgument) -> None:
-        """
-        Handle moving to an approach location, whether single or multiple.
-        """
+        """Handle moving to an approach location, whether single or multiple."""
         if isinstance(approach.representation[0], list):
-            # Multiple approach locations provided
             self.move_all_joints_neutral(approach.representation[0])
             for location in approach.representation:
                 self.move_joint(
@@ -850,7 +781,6 @@ def _handle_approach_location(self, approach: LocationArgument) -> None:
                     profile=self.fast_motion_profile,
                 )
         else:
-            # Single approach location provided
             self.move_all_joints_neutral(approach.representation)
             self.move_joint(
                 target_joint_angles=approach.representation,
@@ -858,11 +788,7 @@ def _handle_approach_location(self, approach: LocationArgument) -> None:
             )
 
     def _handle_approach_return(self, approach: LocationArgument) -> None:
-        """
-        Handle returning from an approach location, whether single or multiple.
-        Uses straight motion profile for the first approach location (closest to target),
-        and fast motion profile for remaining approach locations.
-        """
+        """Handle returning from an approach location, whether single or multiple."""
         if isinstance(approach.representation[0], list):
             for index, location in enumerate(reversed(approach.representation)):
                 motion_profile = (
@@ -888,22 +814,16 @@ def _calculate_above_position(
         approach_height_offset: Optional[float] = None,
         grab_height_offset: Optional[float] = None,
     ) -> list:
-        """
-        Calculate the position above a target with optional height offset.
-        """
+        """Calculate the position above a target with optional height offset."""
         above_offset = copy.deepcopy(self.default_approach_vector)
-
         if approach_height_offset:
             above_offset[0] += approach_height_offset
         if grab_height_offset:
             above_offset[0] += grab_height_offset
-
         return list(map(add, position, above_offset))
 
     def _apply_grab_offset(self, position: list, grab_offset: float) -> list:
-        """
-        Apply grab offset to a position.
-        """
+        """Apply grab offset to a position."""
         position = copy.deepcopy(position)
         position[0] += grab_offset
         return position
@@ -916,11 +836,7 @@ def pick_plate(
         approach_height_offset: Optional[float] = None,
         grip_width: Optional[int] = None,
     ) -> bool:
-        """
-        Pick a plate from the source location, optionally using an approach location.
-
-        Returns True if the plate was successfully grabbed, False otherwise.
-        """
+        """Pick a plate from the source location."""
         above_position = self._calculate_above_position(
             source.representation, approach_height_offset, grab_offset
         )
@@ -979,9 +895,7 @@ def place_plate(
         approach_height_offset: Optional[float] = None,
         open_width: Optional[int] = None,
     ) -> bool:
-        """
-        Place a plate in the target location
-        """
+        """Place a plate in the target location."""
         above_position = self._calculate_above_position(
             target.representation, approach_height_offset, grab_offset
         )
@@ -1040,19 +954,11 @@ def move_to_location(
         grab_offset: Optional[float] = None,
         approach_height_offset: Optional[float] = None,
     ) -> None:
-        """
-        Move to a target location for testing/calibration purposes.
-
-        Follows the same approach and descend sequence as pick_plate, but keeps the
-        gripper open (unless holding a plate) and does not grip/release or change
-        resource state. Stays at the target position so the user can inspect and
-        adjust calibration. Use move_all_joints_neutral() to retract afterward.
-        """
+        """Move to a target location for testing/calibration purposes."""
         above_position = self._calculate_above_position(
             target.representation, approach_height_offset, grab_offset
         )
 
-        # Check if the gripper is currently holding a plate
         holding_plate = (
             self.resource_client
             and len(
@@ -1061,7 +967,6 @@ def move_to_location(
             > 0
         )
 
-        # Only open gripper if not holding a plate (prevent dropping labware)
         if not holding_plate:
             self.open_gripper()
 
@@ -1088,12 +993,7 @@ def move_to_location(
         )
 
     def move_neutral(self, height_offset: Optional[float] = None) -> None:
-        """
-        Retract upward and move to neutral position.
-
-        Retracts the arm upward by height_offset (defaults to default_approach_height)
-        before moving to neutral, mirroring the retract step in pick_plate/place_plate.
-        """
+        """Retract upward and move to neutral position."""
         retract_height = (
             height_offset if height_offset is not None else self.default_approach_height
         )
@@ -1116,26 +1016,25 @@ def transfer(
         source_approach_height_offset: Optional[float] = None,
         target_approach_height_offset: Optional[float] = None,
     ) -> bool:
-        """
-        Description: Plate transfer function that performs series of movements to pick and place the plates
-                Parameters:
-                        - source: Source location
-                        - target: Target location
-                        - source_approach: Approach location for source
-                        - target_approach: Approach location for target
-                        - source_plate_rotation: narrow or wide
-                        - target_plate_rotation: narrow or wide
-                        - rotation_deck: Location for plate rotation deck
-                        - grab_offset: Add grab height offset
-                        - source_approach_height_offset: Add source approach height offset
-                        - target_approach_height_offset: Add target approach height offset
-
-                Note: Plate rotation defines the rotation of the plate on the deck, not the grabbing angle.
+        """Plate transfer function that performs series of movements to pick and place the plates.
+
+        Args:
+            source: Source location
+            target: Target location
+            source_approach: Approach location for source
+            target_approach: Approach location for target
+            source_plate_rotation: 'narrow', 'wide', or ''
+            target_plate_rotation: 'narrow', 'wide', or ''
+            rotation_deck: Location for plate rotation deck
+            grab_offset: Add grab height offset
+            source_approach_height_offset: Add source approach height offset
+            target_approach_height_offset: Add target approach height offset
+
+        Note: Plate rotation defines the rotation of the plate on the deck, not the grabbing angle.
         """
         source = copy.deepcopy(source)
         target = copy.deepcopy(target)
 
-        # Validate rotation arguments
         for rotation_arg in [source_plate_rotation, target_plate_rotation]:
             if rotation_arg.lower() not in ["wide", "narrow", ""]:
                 raise ValueError(
@@ -1143,7 +1042,6 @@ def transfer(
                     "Expected 'wide', 'narrow', or ''."
                 )
 
-        # Determine source rotation (0 or 90 degrees)
         plate_source_rotation = 90 if source_plate_rotation.lower() == "wide" else 0
         self.grip_wide = source_plate_rotation.lower() == "wide"
 
@@ -1164,14 +1062,12 @@ def transfer(
             self.logger.error("Transfer failed: no plate detected after picking.")
             return False
 
-        # Determine target rotation (0 or 90 degrees)
         plate_target_rotation = 90 if target_plate_rotation.lower() == "wide" else 0
         self.grip_wide = target_plate_rotation.lower() == "wide"
         target.representation = self.check_incorrect_plate_orientation(
             target.representation, plate_target_rotation
         )
 
-        # Rotate plate if needed
         rotation_needed = plate_target_rotation - plate_source_rotation
         if rotation_needed != 0:
             self.rotate_plate_on_deck(

From 65053add554b06f5b1014761bb3dda837134a6a0 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 12 May 2026 17:09:30 -0700
Subject: [PATCH 11/21] Custom TCS server methods

---
 scripts/custom_tcs_server/Custom.gpl | 314 +++++++++++++++++++++++++++
 1 file changed, 314 insertions(+)
 create mode 100644 scripts/custom_tcs_server/Custom.gpl

diff --git a/scripts/custom_tcs_server/Custom.gpl b/scripts/custom_tcs_server/Custom.gpl
new file mode 100644
index 0000000..cec7aee
--- /dev/null
+++ b/scripts/custom_tcs_server/Custom.gpl
@@ -0,0 +1,314 @@
+#Region "Module CustomCommands"
+' Copyright (c) 2012 by Precise Automation Inc.  All rights reserved.
+' =======================================================================
+' Permission is granted to customers of Precise Automation to use this
+' software for any purpose, including commercial applications, and to
+' alter it and redistribute it freely, so long as this notice is included
+' with any modified or unmodified version of this software.
+'
+' This software is provided "as is," without warranty of any kind, express or
+' implied.  In no event shall Precise Automation be held liable for any
+' direct, indirect, incidental, special or consequential damages arising
+' out of the use of or inability to use this software.
+' =======================================================================
+
+Module CustomCommands
+
+' Custom commands for RPL Argonne National Laboratory
+'
+' Commands implemented:
+'
+'   JointToCart <j1> <j2> <j3> <j4> <j5> <rail>
+'       Forward kinematics (FK): converts joint angles to a Cartesian location.
+'       Rail offset is added to X so the result matches wherec world coordinates.
+'       Returns: X Y Z yaw pitch roll
+'
+'   CartToJoint <X> <Y> <Z> <yaw> <pitch> <roll> <rail>
+'       Inverse kinematics (IK): converts a Cartesian location to joint angles.
+'       Robot configuration is read from the robot automatically.
+'       Rail is passed explicitly and subtracted from X before IK.
+'       Returns: j1 j2 j3 j4 j5 rail
+'
+'   RotateLoc <j1> <j2> <j3> <j4> <j5> <rail> <rotation_deg>
+'       Rotates the end effector by rotation_deg around the Z axis (yaw) at the
+'       given joint location. Internally runs FK, applies the rotation, then runs
+'       IK to compute the new joint angles. Useful for switching between narrow
+'       and wide microplate orientations without saving duplicate locations.
+'       Returns: j1 j2 j3 j4 j5 rail
+
+    Private Const Version As String = "RPL Custom Module 2.0"
+    Public Custom_global_value As Integer
+    Public Custom_robot_array(N_ROB) As Integer
+
+#End Region
+#Region "Init"
+' Init -- Module Initialization
+
+    Public Sub Init()
+        Custom_global_value = 123
+        Command.AddPlugin(Version, "CustomCommands")
+    End Sub
+
+#End Region
+#Region "Hook_InitCommand"
+' Hook_InitCommand -- Initialization routine called when a command object is created
+
+    Public Sub Hook_InitCommand(ByVal Cmd As Command, ByRef Reply As String)
+
+        If Cmd.Rob.RobNum = 0 Then
+            GoTo _exit                  ' No robot
+        End If
+
+        Custom_robot_array(Cmd.Rob.RobNum) = Cmd.Rob.RobNum + 1000
+
+    _exit:
+        Return
+    End Sub
+
+#End Region
+#Region "Cmd_JointToCart"
+' Cmd_JointToCart -- Convert joint angles to Cartesian location (Forward Kinematics, FK)
+'
+' SYNOPSIS:
+'   JointToCart <j1> <j2> <j3> <j4> <j5> <rail>
+'
+' INPUTS:
+'   j1            Tower Z joint angle in degrees
+'   j2..j5        Remaining arm joint angles in degrees
+'   rail          Rail position in mm (j6)
+'
+' OUTPUTS:
+'   Reply: "0 X Y Z yaw pitch roll" on success
+'          "-error_code, message" on failure
+'
+' NOTE: X includes the rail offset so the result matches wherec world coordinates.
+'
+' EXAMPLE:
+'   wherej  ->  0 176.539 1.4 177.05 537.273 70.803 -967.609
+'   Send:       JointToCart 176.539 1.4 177.05 537.273 70.803 -967.609
+'   Receive:    0 -811.497 24.550 176.539 -4.277 90.000 180.000
+
+    Public Sub Cmd_JointToCart(ByVal Cmd As Command, ByRef Reply As String)
+
+        Dim joint_loc As New Location
+        Dim cart_loc  As New Location
+        Dim rail_pos  As Double
+
+        If Cmd.Nparm <> 6 Then
+            Reply = "-1, JointToCart requires 6 parameters: j1 j2 j3 j4 j5 rail"
+            Return
+        End If
+
+        Cmd.StringtoDouble(0)
+
+        ' Build joint angle location from the 5 arm joints
+        joint_loc.Angles( _
+            Cmd.cData(1), _
+            Cmd.cData(2), _
+            Cmd.cData(3), _
+            Cmd.cData(4), _
+            Cmd.cData(5) _
+        )
+
+        rail_pos = Cmd.cData(6)
+
+        ' Select robot so KineSol can use its kinematic model
+        Robot.Selected = Cmd.Rob.RobNum
+
+        ' Forward kinematics: convert joint angles to Cartesian
+        ' mode=1 ignores conversion errors (joint out of range, etc.)
+        cart_loc = joint_loc.KineSol(1)
+
+        ' Add rail offset to X to match wherec world coordinates
+        cart_loc.X = cart_loc.X + rail_pos
+
+        Reply = "0 " & _
+            Format(cart_loc.X,     "0.000") & " " & _
+            Format(cart_loc.Y,     "0.000") & " " & _
+            Format(cart_loc.Z,     "0.000") & " " & _
+            Format(cart_loc.Yaw,   "0.000") & " " & _
+            Format(cart_loc.Pitch, "0.000") & " " & _
+            Format(cart_loc.Roll,  "0.000")
+
+    End Sub
+
+#End Region
+#Region "Cmd_CartToJoint"
+' Cmd_CartToJoint -- Convert Cartesian location to joint angles (Inverse Kinematics, IK)
+'
+' SYNOPSIS:
+'   CartToJoint <X> <Y> <Z> <yaw> <pitch> <roll> <rail>
+'
+' INPUTS:
+'   X Y Z           Cartesian position in mm (world coordinates, including rail offset)
+'   yaw pitch roll  Orientation in degrees
+'   rail            Rail position in mm (j6 from wherej), used to remove rail offset from X
+'
+' NOTE: Robot configuration is read automatically from Robot.Where.Config.
+'       Rail is subtracted from X before IK so the kinematic model works in arm-local space.
+'       Rail is returned unchanged as the last value in the output.
+'
+' OUTPUTS:
+'   Reply: "0 j1 j2 j3 j4 j5 rail" on success
+'          "-error_code, message" on failure
+'
+' EXAMPLE:
+'   wherec  ->  0 434.606 365.118 357.127 -4.839 90 180 1
+'   wherej  ->  0 357.127 13.669 84.86 616.632 70.785 40.839
+'   Send:       CartToJoint 434.606 365.118 357.127 -4.839 90 180 40.839
+'   Receive:    0 357.127 13.669 84.860 616.632 70.785 40.839
+
+    Public Sub Cmd_CartToJoint(ByVal Cmd As Command, ByRef Reply As String)
+
+        Dim cart_loc  As New Location
+        Dim joint_loc As New Location
+        Dim rail_pos  As Double
+
+        If Cmd.Nparm <> 7 Then
+            Reply = "-1, CartToJoint requires 7 parameters: X Y Z yaw pitch roll rail"
+            Return
+        End If
+
+        Cmd.StringtoDouble(0)
+
+        rail_pos = Cmd.cData(7)
+
+        ' Build Cartesian location by setting each property individually
+        ' Subtract rail offset from X so KineSol works in arm-local coordinates
+        cart_loc.X     = Cmd.cData(1) - rail_pos
+        cart_loc.Y     = Cmd.cData(2)
+        cart_loc.Z     = Cmd.cData(3)
+        cart_loc.Yaw   = Cmd.cData(4)
+        cart_loc.Pitch = Cmd.cData(5)
+        cart_loc.Roll  = Cmd.cData(6)
+
+        ' Read config from the robot's current position
+        cart_loc.Config = Robot.Where.Config
+
+        ' Select robot so KineSol can use its kinematic model
+        Robot.Selected = Cmd.Rob.RobNum
+
+        ' Build a 5-axis joint hint from the robot's current position
+        ' This is passed to KineSol so the solver stays close to the current
+        ' configuration and avoids jumping to equivalent but distant solutions
+        ' for multi-turn axes like j4. Rail axis is excluded as KineSol only
+        ' works on the 5 arm axes.
+        Dim hint_loc As New Location
+        hint_loc.Angles( _
+            Robot.WhereAngles.Angle(1), _
+            Robot.WhereAngles.Angle(2), _
+            Robot.WhereAngles.Angle(3), _
+            Robot.WhereAngles.Angle(4), _
+            Robot.WhereAngles.Angle(5) _
+        )
+
+        ' Inverse kinematics: convert Cartesian to joint angles
+        ' Pass hint so solver stays close to current configuration
+        joint_loc = cart_loc.KineSol(1, hint_loc)
+
+        Reply = "0 " & _
+            Format(joint_loc.Angle(1), "0.000") & " " & _
+            Format(joint_loc.Angle(2), "0.000") & " " & _
+            Format(joint_loc.Angle(3), "0.000") & " " & _
+            Format(joint_loc.Angle(4), "0.000") & " " & _
+            Format(joint_loc.Angle(5), "0.000") & " " & _
+            Format(rail_pos,           "0.000")
+
+    End Sub
+
+#End Region
+#Region "Cmd_RotateLoc"
+' Cmd_RotateLoc -- Rotate end effector at a joint location by a given angle (FK + IK)
+'
+' Internally this command runs forward kinematics (FK) to convert the joint angles
+' to Cartesian space, applies the rotation to the yaw axis, then runs inverse
+' kinematics (IK) to return the new joint angles. This allows switching between
+' narrow and wide microplate orientations without saving duplicate locations.
+'
+' SYNOPSIS:
+'   RotateLoc <j1> <j2> <j3> <j4> <j5> <rail> <rotation_deg>
+'
+' INPUTS:
+'   j1            Tower Z joint angle in degrees
+'   j2..j5        Remaining arm joint angles in degrees
+'   rail          Rail position in mm (j6)
+'   rotation_deg  Yaw rotation to apply in degrees (e.g. 90 or -90)
+'
+' OUTPUTS:
+'   Reply: "0 j1 j2 j3 j4 j5 rail" on success
+'          "-error_code, message" on failure
+'
+' EXAMPLE:
+'   wherej  ->  0 176.539 1.4 177.05 537.273 70.803 -967.609
+'   Send:       RotateLoc 176.539 1.4 177.05 537.273 70.803 -967.609 90
+'   Receive:    0 176.539 1.400 177.050 447.273 70.803 -967.609
+
+    Public Sub Cmd_RotateLoc(ByVal Cmd As Command, ByRef Reply As String)
+
+        Dim joint_loc  As New Location
+        Dim cart_loc   As New Location
+        Dim result_loc As New Location
+        Dim rail_pos   As Double
+        Dim rot_deg    As Double
+        Dim new_yaw    As Double
+
+        If Cmd.Nparm <> 7 Then
+            Reply = "-1, RotateLoc requires 7 parameters: j1 j2 j3 j4 j5 rail rotation_deg"
+            Return
+        End If
+
+        Cmd.StringtoDouble(0)
+
+        ' Build joint angle location from the 5 arm joints
+        joint_loc.Angles( _
+            Cmd.cData(1), _
+            Cmd.cData(2), _
+            Cmd.cData(3), _
+            Cmd.cData(4), _
+            Cmd.cData(5) _
+        )
+
+        rail_pos = Cmd.cData(6)
+        rot_deg  = Cmd.cData(7)
+
+        ' Select robot so KineSol can use its kinematic model
+        Robot.Selected = Cmd.Rob.RobNum
+
+        ' Step 1: Forward kinematics, convert joint angles to Cartesian
+        cart_loc = joint_loc.KineSol(1)
+
+        ' Add rail offset to X to work in world coordinates
+        cart_loc.X = cart_loc.X + rail_pos
+
+        ' Step 2: Apply yaw rotation and normalize to -180 to 180 range
+        new_yaw = cart_loc.Yaw + rot_deg
+        If new_yaw > 180.0 Then
+            new_yaw = new_yaw - 360.0
+        End If
+        If new_yaw < -180.0 Then
+            new_yaw = new_yaw + 360.0
+        End If
+        cart_loc.Yaw = new_yaw
+
+        ' Step 3: Inverse kinematics, convert rotated Cartesian back to joint angles
+        ' Subtract rail offset from X so KineSol works in arm-local coordinates
+        ' Pass input joint angles as hint so solver stays close to original configuration
+        ' This prevents j4 (and other multi-turn axes) from jumping to an equivalent
+        ' but physically distant solution
+        cart_loc.X      = cart_loc.X - rail_pos
+        cart_loc.Config = Robot.Where.Config
+        result_loc = cart_loc.KineSol(1, joint_loc)
+
+        Reply = "0 " & _
+            Format(result_loc.Angle(1), "0.000") & " " & _
+            Format(result_loc.Angle(2), "0.000") & " " & _
+            Format(result_loc.Angle(3), "0.000") & " " & _
+            Format(result_loc.Angle(4), "0.000") & " " & _
+            Format(result_loc.Angle(5), "0.000") & " " & _
+            Format(rail_pos,            "0.000")
+
+    End Sub
+
+#End Region
+
+End Module

From 01dfed3123544ae77e9067c71ef149d758502ad0 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 12 May 2026 17:12:20 -0700
Subject: [PATCH 12/21] TCS instructions

---
 scripts/custom_tcs_server/TCS_Instructions.md | 96 +++++++++++++++++++
 1 file changed, 96 insertions(+)
 create mode 100644 scripts/custom_tcs_server/TCS_Instructions.md

diff --git a/scripts/custom_tcs_server/TCS_Instructions.md b/scripts/custom_tcs_server/TCS_Instructions.md
new file mode 100644
index 0000000..269b6e4
--- /dev/null
+++ b/scripts/custom_tcs_server/TCS_Instructions.md
@@ -0,0 +1,96 @@
+# Deploying Custom.gpl to the PF400 TCS Server
+
+This document describes how to update the PF400 robot's TCS server with a new version of `Custom.gpl`.
+`Custom.gpl` adds three custom kinematic commands to the TCS server: `JointToCart`, `CartToJoint`, and `RotateLoc`.
+
+## Prerequisites
+
+- Network access to `rplpf400.cels.anl.gov`
+- `lftp` installed on your machine (`sudo apt install lftp`)
+- The robot's TCS server running on port 10100
+
+## Steps
+
+### 1. Back up the existing file (first time only)
+
+```bash
+lftp ftp://rplpf400.cels.anl.gov
+cd /flash/projects/Tcp_cmd_server_pa
+get Custom.gpl -o Custom.gpl.bak
+quit
+```
+
+### 2. Upload the new Custom.gpl
+
+From the repo root:
+
+```bash
+lftp ftp://rplpf400.cels.anl.gov
+set ftp:passive-mode off
+cd /flash/projects/Tcp_cmd_server_pa
+put path/to/Custom.gpl
+quit
+```
+
+### 3. Reload the project on the robot
+
+- Open the robot web interface at `http://rplpf400.cels.anl.gov`
+- Navigate to **Setup > Load/Compile Project**
+- Select `Tcp_cmd_server_pa` and click **Load**
+- Wait for the confirmation that the project compiled and started successfully
+
+### 4. Verify the deployment
+
+Connect via telnet and check that the new module version appears:
+
+```bash
+telnet rplpf400.cels.anl.gov 10100
+```
+
+Then send:
+
+```
+version
+```
+
+Expected output should include `RPL Custom Module 2.0`. If you see an older version number the project did not reload correctly — repeat step 3.
+
+### 5. Test the commands
+
+With the robot powered and attached, run a quick sanity check:
+
+```
+wherej
+```
+
+Take the 6 joint values from the response (strip the leading `0`) and run:
+
+```
+JointToCart <j1> <j2> <j3> <j4> <j5> <rail>
+```
+
+Compare the output against `wherec` — X, Y, Z, yaw, pitch, roll should match within rounding (~0.01mm).
+
+## Rolling Back
+
+If the new `Custom.gpl` causes issues, restore the backup and reload:
+
+```bash
+lftp ftp://rplpf400.cels.anl.gov
+set ftp:passive-mode off
+cd /flash/projects/Tcp_cmd_server_pa
+put Custom.gpl.bak Custom.gpl
+quit
+```
+
+Then reload the project following step 3 above.
+
+## Custom Commands Reference
+
+| Command | Arguments | Returns | Description |
+|---|---|---|---|
+| `JointToCart` | `j1 j2 j3 j4 j5 rail` | `X Y Z yaw pitch roll` | Forward kinematics (FK) |
+| `CartToJoint` | `X Y Z yaw pitch roll rail` | `j1 j2 j3 j4 j5 rail` | Inverse kinematics (IK) |
+| `RotateLoc` | `j1 j2 j3 j4 j5 rail rotation_deg` | `j1 j2 j3 j4 j5 rail` | Rotate end effector yaw and return new joint angles |
+
+All responses are prefixed with `0` on success (standard TCS status code) or a negative error code on failure.

From 528a9063a6a8ce6ba98b2aed77eacebd547d0f0a Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 19 May 2026 12:49:23 -0700
Subject: [PATCH 13/21] Added new implementations to you Force Compliance &
 Height Detect

---
 src/pf400_interface/pf400.py | 67 ++++++++++++++++++++++++++++++++++++
 1 file changed, 67 insertions(+)

diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py
index 5e5e75c..776fb02 100644
--- a/src/pf400_interface/pf400.py
+++ b/src/pf400_interface/pf400.py
@@ -521,6 +521,73 @@ def move_with_rotation(
             cart[3] += 360
         return self.move_cartesian(cart, profile=profile)
 
+    # -------------------------------------------------------------------------
+    # Force Compliance -- implemented via custom TCS server commands (Custom.gpl)
+    # Requires XY Compliance license on the controller.
+    # -------------------------------------------------------------------------
+
+    def enable_compliance(self, bias_torque_pct: int = 0) -> str:
+        """Enable horizontal force compliance on the robot joints.
+
+        Allows the horizontal arm axes to float and comply to reaction forces
+        while other axes continue to be driven normally. Use before descending
+        into a pick or place location where the plate may be slightly misaligned
+        or stuck. Always call disable_compliance() after the operation.
+
+        Args:
+            bias_torque_pct: Bias torque as a percentage of last used position control
+                torque (0-100). 0 = fully free (maximum compliance), 100 = full
+                holding torque (no compliance). Typical values: 0-20 for most
+                pick/place operations.
+
+        Returns:
+            Robot response string
+        """
+        return self.send_robot_command(f"EnableCompliance {bias_torque_pct}")
+
+    def disable_compliance(self) -> str:
+        """Disable horizontal force compliance and return to normal position control.
+
+        Always call this after enable_compliance() once the pick or place
+        operation is complete.
+
+        Returns:
+            Robot response string
+        """
+        return self.send_robot_command("DisableCompliance")
+
+    # -------------------------------------------------------------------------
+    # Height Detection -- implemented via TCS PARobot Auto Center module
+    # Requires Z Height Detection license on the controller.
+    # -------------------------------------------------------------------------
+
+    def height_detect(
+        self,
+        search_limit_mm: float = -500,
+        max_force_n: float = -15,
+        thorough: bool = True,
+    ) -> float:
+        """Detect the height of a surface below the gripper using motor force sensing.
+
+        The gripper must be positioned at least 10-20mm above the surface before
+        calling. The robot will descend until it detects contact or reaches the
+        search limit.
+
+        Args:
+            search_limit_mm: Maximum downward search distance in mm, must be negative
+            max_force_n: Maximum contact force in Newtons before stopping, must be negative
+            thorough: If True uses thorough mode (0.3mm accuracy, ~4s slower),
+                else quick mode (0.5mm accuracy, faster)
+
+        Returns:
+            Detected Z height in mm (world coordinates)
+        """
+        mode = 2 if thorough else 1
+        response = self.send_robot_command(
+            f"HeightDetect {mode} {search_limit_mm} {max_force_n}"
+        )
+        return float(response.split(" ")[1])
+
     # -------------------------------------------------------------------------
     # Motion
     # -------------------------------------------------------------------------

From 856c37474e8a74945750533398339262ebff5657 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 19 May 2026 12:50:24 -0700
Subject: [PATCH 14/21] Updated TCS Custom.gpl to add Force Compliance

---
 scripts/custom_tcs_server/Custom.gpl | 99 +++++++++++++++++++++++++++-
 1 file changed, 98 insertions(+), 1 deletion(-)

diff --git a/scripts/custom_tcs_server/Custom.gpl b/scripts/custom_tcs_server/Custom.gpl
index cec7aee..ddbdb6d 100644
--- a/scripts/custom_tcs_server/Custom.gpl
+++ b/scripts/custom_tcs_server/Custom.gpl
@@ -35,8 +35,23 @@ Module CustomCommands
 '       IK to compute the new joint angles. Useful for switching between narrow
 '       and wide microplate orientations without saving duplicate locations.
 '       Returns: j1 j2 j3 j4 j5 rail
+'
+'   EnableCompliance <reduced_pct>
+'       Enables horizontal force compliance on the robot joints (XY plane).
+'       The arm will float/comply to horizontal reaction forces during motion.
+'       reduced_pct (0-100) sets a bias torque as a percentage of the last used
+'       position control torque to prevent axes from drifting or twitching.
+'       0 = fully free (no bias torque), 100 = full holding torque (no compliance).
+'       Typical values: 0-20 for most pick/place operations.
+'       Always call DisableCompliance after the operation is complete.
+'       Returns: 0 on success, error code and message on failure
+'
+'   DisableCompliance
+'       Disables horizontal force compliance and returns joints to normal
+'       position control mode.
+'       Returns: 0 on success, error code and message on failure
 
-    Private Const Version As String = "RPL Custom Module 2.0"
+    Private Const Version As String = "RPL Custom Module 2.1"
     Public Custom_global_value As Integer
     Public Custom_robot_array(N_ROB) As Integer
 
@@ -309,6 +324,88 @@ Module CustomCommands
 
     End Sub
 
+#Region "Cmd_EnableCompliance"
+' Cmd_EnableCompliance -- Enable horizontal force compliance on robot joints
+'
+' Enables AC_HorizCompliance2 mode which allows the horizontal arm axes to
+' float and comply to reaction forces while other axes continue to be driven
+' normally. Use this before descending into a pick or place location where
+' the plate may be slightly misaligned or stuck.
+'
+' The reduced_pct parameter sets a bias torque as a percentage of the last
+' used position control torque to prevent axes from drifting or twitching
+' when compliance is first enabled:
+'   0   = fully free, no bias torque (maximum compliance)
+'   100 = full holding torque (effectively no compliance)
+'   10-20 is recommended for most pick/place operations
+'
+' Requires the XY Compliance license to be installed on the controller.
+'
+' SYNOPSIS:
+'   EnableCompliance <reduced_pct>
+'
+' INPUTS:
+'   reduced_pct   Bias torque percentage 0-100
+'
+' OUTPUTS:
+'   Reply: "0" on success
+'          "-error_code, message" on failure
+
+    Public Sub Cmd_EnableCompliance(ByVal Cmd As Command, ByRef Reply As String)
+
+        Dim exc1        As Exception
+        Dim reduced_pct As Double
+
+        If Cmd.Nparm <> 1 Then
+            Reply = "-1, EnableCompliance requires 1 parameter: reduced_pct (0-100)"
+            Return
+        End If
+
+        Cmd.StringtoDouble(0)
+        reduced_pct = Cmd.cData(1)
+
+        If reduced_pct < 0 Or reduced_pct > 100 Then
+            Reply = "-1, EnableCompliance: reduced_pct must be between 0 and 100"
+            Return
+        End If
+
+        exc1 = AC_HorizCompliance2(Cmd.Rob.RobNum, True, reduced_pct)
+        If exc1.ErrorCode < 0 Then
+            Reply = CStr(exc1.ErrorCode) & ", " & AC_ErrorMessage(exc1)
+        Else
+            Reply = "0"
+        End If
+
+    End Sub
+
+#End Region
+#Region "Cmd_DisableCompliance"
+' Cmd_DisableCompliance -- Disable horizontal force compliance on robot joints
+'
+' Disables AC_HorizCompliance2 mode and returns the horizontal arm axes to
+' normal position control mode. Always call this after EnableCompliance
+' once the pick or place operation is complete.
+'
+' SYNOPSIS:
+'   DisableCompliance
+'
+' OUTPUTS:
+'   Reply: "0" on success
+'          "-error_code, message" on failure
+
+    Public Sub Cmd_DisableCompliance(ByVal Cmd As Command, ByRef Reply As String)
+
+        Dim exc1 As Exception
+
+        exc1 = AC_HorizCompliance2(Cmd.Rob.RobNum, False, 0)
+        If exc1.ErrorCode < 0 Then
+            Reply = CStr(exc1.ErrorCode) & ", " & AC_ErrorMessage(exc1)
+        Else
+            Reply = "0"
+        End If
+
+    End Sub
+
 #End Region
 
 End Module

From f77f7f276d5fdabccf066712be0da236cf840ff9 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 19 May 2026 12:52:38 -0700
Subject: [PATCH 15/21] Updated docs

---
 scripts/custom_tcs_server/TCS_Instructions.md | 74 ++++++++++++++++---
 1 file changed, 65 insertions(+), 9 deletions(-)

diff --git a/scripts/custom_tcs_server/TCS_Instructions.md b/scripts/custom_tcs_server/TCS_Instructions.md
index 269b6e4..78524dd 100644
--- a/scripts/custom_tcs_server/TCS_Instructions.md
+++ b/scripts/custom_tcs_server/TCS_Instructions.md
@@ -1,12 +1,12 @@
 # Deploying Custom.gpl to the PF400 TCS Server
 
 This document describes how to update the PF400 robot's TCS server with a new version of `Custom.gpl`.
-`Custom.gpl` adds three custom kinematic commands to the TCS server: `JointToCart`, `CartToJoint`, and `RotateLoc`.
+`Custom.gpl` adds custom commands to the TCS server for kinematics, force compliance, and height detection.
 
 ## Prerequisites
 
 - Network access to `rplpf400.cels.anl.gov`
-- `lftp` installed on your machine (`sudo apt install lftp`)
+- `lftp` or FileZilla installed on your machine
 - The robot's TCS server running on port 10100
 
 ## Steps
@@ -22,7 +22,7 @@ quit
 
 ### 2. Upload the new Custom.gpl
 
-From the repo root:
+**Via lftp:**
 
 ```bash
 lftp ftp://rplpf400.cels.anl.gov
@@ -32,6 +32,12 @@ put path/to/Custom.gpl
 quit
 ```
 
+**Via FileZilla:**
+
+- Host: `rplpf400.cels.anl.gov`, Port: `21`, leave username and password blank
+- Navigate to `/flash/projects/Tcp_cmd_server_pa` in the right panel
+- Drag `Custom.gpl` from your local machine into that folder
+
 ### 3. Reload the project on the robot
 
 - Open the robot web interface at `http://rplpf400.cels.anl.gov`
@@ -53,11 +59,13 @@ Then send:
 version
 ```
 
-Expected output should include `RPL Custom Module 2.0`. If you see an older version number the project did not reload correctly — repeat step 3.
+Expected output should include `RPL Custom Module 2.1`. If you see an older version number the project did not reload correctly — repeat step 3.
 
 ### 5. Test the commands
 
-With the robot powered and attached, run a quick sanity check:
+With the robot powered and attached, run a quick sanity check for each command group.
+
+**Kinematics:**
 
 ```
 wherej
@@ -71,6 +79,25 @@ JointToCart <j1> <j2> <j3> <j4> <j5> <rail>
 
 Compare the output against `wherec` — X, Y, Z, yaw, pitch, roll should match within rounding (~0.01mm).
 
+**Force Compliance** (requires XY Compliance license):
+
+```
+EnableCompliance 0
+DisableCompliance
+```
+
+Both should return `0`. When compliance is enabled the horizontal arm axes should feel loose when pushed by hand.
+
+**Height Detection** (requires Z Height Detection license):
+
+Position the gripper at least 20mm above a surface, then:
+
+```
+HeightDetect 2 -400 -15
+```
+
+Should return `0 <detected_Z_height_mm>` rather than a license error.
+
 ## Rolling Back
 
 If the new `Custom.gpl` causes issues, restore the backup and reload:
@@ -87,10 +114,39 @@ Then reload the project following step 3 above.
 
 ## Custom Commands Reference
 
+All responses are prefixed with `0` on success (standard TCS status code) or a negative error code and message on failure.
+
+### Kinematics
+
+| Command | Arguments | Returns | Description |
+|---|---|---|---|
+| `JointToCart` | `j1 j2 j3 j4 j5 rail` | `X Y Z yaw pitch roll` | Forward kinematics (FK): convert joint angles to Cartesian coordinates. Rail offset is added to X to match world coordinates. |
+| `CartToJoint` | `X Y Z yaw pitch roll rail` | `j1 j2 j3 j4 j5 rail` | Inverse kinematics (IK): convert Cartesian coordinates to joint angles. Rail is subtracted from X before IK and returned unchanged. |
+| `RotateLoc` | `j1 j2 j3 j4 j5 rail rotation_deg` | `j1 j2 j3 j4 j5 rail` | Rotate end effector yaw by rotation_deg degrees. Internally runs FK, applies rotation, then IK. Use to switch between narrow and wide plate orientations. |
+
+### Force Compliance
+
+Requires XY Compliance license installed on the controller.
+
 | Command | Arguments | Returns | Description |
 |---|---|---|---|
-| `JointToCart` | `j1 j2 j3 j4 j5 rail` | `X Y Z yaw pitch roll` | Forward kinematics (FK) |
-| `CartToJoint` | `X Y Z yaw pitch roll rail` | `j1 j2 j3 j4 j5 rail` | Inverse kinematics (IK) |
-| `RotateLoc` | `j1 j2 j3 j4 j5 rail rotation_deg` | `j1 j2 j3 j4 j5 rail` | Rotate end effector yaw and return new joint angles |
+| `EnableCompliance` | `bias_torque_pct` | `0` | Enable horizontal force compliance. `bias_torque_pct` (0-100) sets a bias torque percentage to prevent axis drift. 0 = fully free, typical values 0-20. |
+| `DisableCompliance` | none | `0` | Disable horizontal force compliance and return to normal position control. Always call after EnableCompliance. |
+
+### Height Detection
+
+Requires Z Height Detection license installed on the controller. Position the gripper at least 20mm above the surface before calling.
+
+| Command | Arguments | Returns | Description |
+|---|---|---|---|
+| `HeightDetect` | `mode search_limit_mm max_force_n` | `detected_Z_mm` | Detect surface height. mode: 1=quick (0.5mm), 2=thorough (0.3mm). search_limit_mm: max downward travel (negative). max_force_n: contact force limit (negative). |
+
+## License Requirements
+
+| Feature | Required License |
+|---|---|
+| Kinematics (JointToCart, CartToJoint, RotateLoc) | GPL license (already installed) |
+| Force Compliance (EnableCompliance, DisableCompliance) | XY Compliance |
+| Height Detection (HeightDetect) | Z Height Detection |
 
-All responses are prefixed with `0` on success (standard TCS status code) or a negative error code on failure.
+To check installed licenses, navigate to **Utilities > Controller Options** in the robot web interface.

From 2dd75e7e3bd9ce0f70e91e135404f14cd00b8d22 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 19 May 2026 14:55:32 -0500
Subject: [PATCH 16/21] Interface tests

---
 tests/test_pf400_interface.ipynb | 664 ++++++++++++++++++++++++++++++-
 1 file changed, 655 insertions(+), 9 deletions(-)

diff --git a/tests/test_pf400_interface.ipynb b/tests/test_pf400_interface.ipynb
index 918f4ab..0cd4611 100644
--- a/tests/test_pf400_interface.ipynb
+++ b/tests/test_pf400_interface.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 124,
    "id": "0",
    "metadata": {},
    "outputs": [],
@@ -12,11 +12,30 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 125,
    "id": "1",
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "\u001b[2m2026-05-18T22:10:39.280362Z\u001b[0m [\u001b[32m\u001b[1minfo     \u001b[0m] \u001b[1mEventClient initialized       \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "1"
+      ]
+     },
+     "execution_count": 125,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
    "source": [
+    "\n",
     "pf400 = PF400(host=\"rplpf400.cels.anl.gov\")\n",
     "pf400.initialize_robot()\n",
     "pf400.get_robot_movement_state()"
@@ -24,7 +43,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 23,
    "id": "2",
    "metadata": {},
    "outputs": [],
@@ -41,10 +60,105 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 115,
    "id": "3",
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "\u001b[2m2026-05-18T22:09:12.860598Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*Soft envelope error* Robot 1: 1\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n"
+     ]
+    },
+    {
+     "data": {
+      "text/html": [
+       "<pre style=\"white-space:pre;overflow-x:auto;line-height:normal;font-family:Menlo,'DejaVu Sans Mono',consolas,'Courier New',monospace\"><span style=\"color: #800000; text-decoration-color: #800000\">╭─────────────────────────────────────── </span><span style=\"color: #800000; text-decoration-color: #800000; font-weight: bold\">Traceback </span><span style=\"color: #bf7f7f; text-decoration-color: #bf7f7f; font-weight: bold\">(most recent call last)</span><span style=\"color: #800000; text-decoration-color: #800000\"> ───────────────────────────────────────╮</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> in &lt;module&gt;:2                                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">1 </span>pf400.open_gripper(pf400.gripper_open_wide)                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span>2 <span style=\"font-weight: bold; text-decoration: underline\">pf400.close_gripper(pf400.gripper_close_narrow)</span>                                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">3 </span>                                                                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:428 in close_gripper                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 425 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">close_gripper</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>, gripper_length: Optional[<span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span>] = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">None</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">float</span>:                              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 426 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Closes the gripper.\"\"\"</span>                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 427 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.set_gripper_close(gripper_length=gripper_length)                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 428 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff; font-weight: bold; text-decoration: underline\">self</span><span style=\"font-weight: bold; text-decoration: underline\">.send_command(</span><span style=\"color: #808000; text-decoration-color: #808000; font-weight: bold; text-decoration: underline\">\"gripper 2\"</span><span style=\"font-weight: bold; text-decoration: underline\">)</span>                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 429 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">return</span> <span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.get_gripper_state()                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 430 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 431 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"># -------------------------------------------------------------------------</span>                          <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:163 in send_command                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 160 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span>.rstrip(<span style=\"color: #808000; text-decoration-color: #808000\">\"\\r\\n\"</span>)                                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 161 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span>)                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 162 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response != <span style=\"color: #808000; text-decoration-color: #808000\">\"\"</span> <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">and</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> ERROR_CODES:                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 163 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._handle_error_output(response)                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 164 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> OUTPUT_CODES:                                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 165 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_debug(response)                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 166 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._await_movement_completion()                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:212 in _handle_error_output              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 209 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Handles the error message output.\"\"\"</span>                                                          <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 210 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span>response = Pf400ResponseError.from_error_code(output)                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 211 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_error(response)                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 212 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">raise</span><span style=\"font-weight: bold; text-decoration: underline\"> response</span>                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 213 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 214 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">enable_power</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">str</span>:                                                                       <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 215 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Enables the power on the robot.\"\"\"</span>                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯</span>\n",
+       "<span style=\"color: #ff0000; text-decoration-color: #ff0000; font-weight: bold\">Pf400ResponseError: </span>*Soft envelope error* Robot <span style=\"color: #008080; text-decoration-color: #008080; font-weight: bold\">1</span>: <span style=\"color: #008080; text-decoration-color: #008080; font-weight: bold\">1</span>\n",
+       "</pre>\n"
+      ],
+      "text/plain": [
+       "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n",
+       "\u001b[31m│\u001b[0m in <module>:2                                                                                                   \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m1 \u001b[0mpf400.open_gripper(pf400.gripper_open_wide)                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m2 \u001b[1;4mpf400.close_gripper(pf400.gripper_close_narrow)\u001b[0m                                                             \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m3 \u001b[0m                                                                                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:428 in close_gripper                     \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 425 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mclose_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m:                              \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 426 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Closes the gripper.\"\"\"\u001b[0m                                                                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 427 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.set_gripper_close(gripper_length=gripper_length)                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 428 \u001b[2m│   │   \u001b[0m\u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4;33mgripper 2\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4m)\u001b[0m                                                                   \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 429 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[94mreturn\u001b[0m \u001b[96mself\u001b[0m.get_gripper_state()                                                                  \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 430 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 431 \u001b[0m\u001b[2m│   \u001b[0m\u001b[2m# -------------------------------------------------------------------------\u001b[0m                          \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 160 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m)                                                                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 161 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m)                                                                                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 162 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES:                                           \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response)                                                  \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 164 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES:                                                             \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 165 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response)                                                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 166 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion()                                                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output              \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 209 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m                                                          \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 210 \u001b[0m\u001b[2m│   │   \u001b[0mresponse = Pf400ResponseError.from_error_code(output)                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 211 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response)                                                                  \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│   │   \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m                                                                                   \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 213 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 214 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m:                                                                       \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 215 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m                                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n",
+       "\u001b[1;91mPf400ResponseError: \u001b[0m*Soft envelope error* Robot \u001b[1;36m1\u001b[0m: \u001b[1;36m1\u001b[0m\n"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
    "source": [
     "pf400.open_gripper(pf400.gripper_open_wide)\n",
     "pf400.close_gripper(pf400.gripper_close_narrow)"
@@ -64,17 +178,549 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 32,
+   "id": "58b72672",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "camera_loc = LocationArgument(\n",
+    "    location_name=\"source\", location = [106.932,23.387,69.67,714.368,75.058,994.962]\n",
+    ")\n",
+    "rotation_deck = LocationArgument(\n",
+    "    location_name=\"rotation_deck\", location =  [62.287,-27.703,113.691,631.713,75.088,994.854]\n",
+    ")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 33,
    "id": "5",
    "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 33,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"narrow\", target_plate_rotation=\"wide\")\n",
+    "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 187,
+   "id": "3c7c7602",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 187,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.pick_plate(source=rotation_deck\n",
+    "                 )\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 188,
+   "id": "4027bb28",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "True"
+      ]
+     },
+     "execution_count": 188,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.place_plate(target=camera_loc)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 36,
+   "id": "c813d4ea",
+   "metadata": {},
    "outputs": [],
    "source": [
-    "pf400.transfer(source=location, target=location)"
+    "pf400.rotate_plate_on_deck(rotation_degree=90, rotation_deck=rotation_deck)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 43,
+   "id": "34c11807",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "rotation_deck_above = LocationArgument(\n",
+    "    location_name=\"rotation_deck_above\", location =  [75.287,-27.703,113.691,631.713,70.088,994.854]\n",
+    ")\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 44,
+   "id": "13443d57",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0 1428.252 164.005 75.293 -2.318 90 180 1'"
+      ]
+     },
+     "execution_count": 44,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.move_joint(target_joint_angles=rotation_deck_above.representation)\n",
+    "pf400.send_command(\"wherec\")"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
+   "id": "984573cd",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0 1428.194 164.106 75.292 -92.296 90 -180 1'"
+      ]
+     },
+     "execution_count": 45,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "new_loc =pf400.rotate_yaw(joint_states=rotation_deck_above.representation, rotation_deg=90.0)\n",
+    "pf400.move_joint(new_loc)\n",
+    "pf400.send_command(\"wherec\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 154,
+   "id": "46f01a50",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "[1430.657, 149.952, 75.287, -2.299, 90.0, 180.0]\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "'0'"
+      ]
+     },
+     "execution_count": 154,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "cart = pf400.joint_to_cart(rotation_deck_above.representation)\n",
+    "print(cart)\n",
+    "pf400.move_with_rotation(rotation_deck_above.representation, 90.0)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 153,
+   "id": "9d2def7b",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0'"
+      ]
+     },
+     "execution_count": 153,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.send_command(\"tool 0 -8 148 0 0 0\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 339,
+   "id": "1f830ba8",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "129.918"
+      ]
+     },
+     "execution_count": 339,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.open_gripper(pf400.gripper_open_wide)\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 347,
+   "id": "ef000acf",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "71.231"
+      ]
+     },
+     "execution_count": 347,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.close_gripper(70.0)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 30,
+   "id": "e9f99e32",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0 0 -8 145 0 0 0'"
+      ]
+     },
+     "execution_count": 30,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.send_command(\"tool\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 318,
+   "id": "3689e6af",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0 0 0 0 0'"
+      ]
+     },
+     "execution_count": 318,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.send_command(\"base\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 201,
+   "id": "956d4e2b",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "[1152.917, 11.806, 130.013, -4.392, 90.0, 180.0]"
+      ]
+     },
+     "execution_count": 201,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.get_cartesian_coordinates()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 173,
+   "id": "24511083",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0'"
+      ]
+     },
+     "execution_count": 173,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.move_cartesian([1427.667, 150.069, 175.292 - 100, -90 + -2.299, 90.0, 180.0])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 199,
+   "id": "0da2cfa9",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "\u001b[2m2026-05-15T15:02:19.789546Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*Joint out-of-range* Set robot joints within their range\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n",
+      "\u001b[2m2026-05-15T15:02:19.789546Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*Joint out-of-range* Set robot joints within their range\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n"
+     ]
+    },
+    {
+     "data": {
+      "text/html": [
+       "<pre style=\"white-space:pre;overflow-x:auto;line-height:normal;font-family:Menlo,'DejaVu Sans Mono',consolas,'Courier New',monospace\"><span style=\"color: #800000; text-decoration-color: #800000\">╭─────────────────────────────────────── </span><span style=\"color: #800000; text-decoration-color: #800000; font-weight: bold\">Traceback </span><span style=\"color: #bf7f7f; text-decoration-color: #bf7f7f; font-weight: bold\">(most recent call last)</span><span style=\"color: #800000; text-decoration-color: #800000\"> ───────────────────────────────────────╮</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> in &lt;module&gt;:1                                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span>1 <span style=\"font-weight: bold; text-decoration: underline\">pf400.move_cartesian([</span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">1000</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">0</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">100</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">0.0</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">90.0</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">180.0</span><span style=\"font-weight: bold; text-decoration: underline\">])</span>                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">2 </span>                                                                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:592 in move_cartesian                    <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 589 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   </span>+ <span style=\"color: #808000; text-decoration-color: #808000\">\" \"</span>                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 590 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   </span>+ <span style=\"color: #808000; text-decoration-color: #808000\">\" \"</span>.join(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">map</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">str</span>, target_cartesian_coordinates))                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 591 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span>)                                                                                                <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 592 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">return</span> <span style=\"color: #00ffff; text-decoration-color: #00ffff; font-weight: bold; text-decoration: underline\">self</span><span style=\"font-weight: bold; text-decoration: underline\">.send_command(move_command)</span>                                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 593 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 594 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">move_in_one_axis</span>(                                                                                <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 595 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>, profile: <span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span> = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">1</span>, axis_x: <span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span> = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">0</span>, axis_y: <span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span> = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">0</span>, axis_z: <span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span> = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">0</span>                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:163 in send_command                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 160 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span>.rstrip(<span style=\"color: #808000; text-decoration-color: #808000\">\"\\r\\n\"</span>)                                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 161 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span>)                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 162 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response != <span style=\"color: #808000; text-decoration-color: #808000\">\"\"</span> <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">and</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> ERROR_CODES:                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 163 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._handle_error_output(response)                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 164 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> OUTPUT_CODES:                                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 165 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_debug(response)                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 166 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._await_movement_completion()                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:212 in _handle_error_output              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 209 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Handles the error message output.\"\"\"</span>                                                          <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 210 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span>response = Pf400ResponseError.from_error_code(output)                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 211 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_error(response)                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 212 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">raise</span><span style=\"font-weight: bold; text-decoration: underline\"> response</span>                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 213 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 214 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">enable_power</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">str</span>:                                                                       <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 215 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Enables the power on the robot.\"\"\"</span>                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯</span>\n",
+       "<span style=\"color: #ff0000; text-decoration-color: #ff0000; font-weight: bold\">Pf400ResponseError: </span>*Joint out-of-range* Set robot joints within their range\n",
+       "</pre>\n"
+      ],
+      "text/plain": [
+       "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n",
+       "\u001b[31m│\u001b[0m in <module>:1                                                                                                   \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m1 \u001b[1;4mpf400.move_cartesian([\u001b[0m\u001b[1;4;94m1000\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m100\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m0.0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m90.0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m180.0\u001b[0m\u001b[1;4m])\u001b[0m                                                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m2 \u001b[0m                                                                                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:592 in move_cartesian                    \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 589 \u001b[0m\u001b[2m│   │   │   \u001b[0m+ \u001b[33m\"\u001b[0m\u001b[33m \u001b[0m\u001b[33m\"\u001b[0m                                                                                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 590 \u001b[0m\u001b[2m│   │   │   \u001b[0m+ \u001b[33m\"\u001b[0m\u001b[33m \u001b[0m\u001b[33m\"\u001b[0m.join(\u001b[96mmap\u001b[0m(\u001b[96mstr\u001b[0m, target_cartesian_coordinates))                                           \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 591 \u001b[0m\u001b[2m│   │   \u001b[0m)                                                                                                \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 592 \u001b[2m│   │   \u001b[0m\u001b[94mreturn\u001b[0m \u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(move_command)\u001b[0m                                                           \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 593 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 594 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mmove_in_one_axis\u001b[0m(                                                                                \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 595 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m, profile: \u001b[96mint\u001b[0m = \u001b[94m1\u001b[0m, axis_x: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m, axis_y: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m, axis_z: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 160 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m)                                                                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 161 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m)                                                                                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 162 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES:                                           \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response)                                                  \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 164 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES:                                                             \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 165 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response)                                                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 166 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion()                                                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output              \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 209 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m                                                          \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 210 \u001b[0m\u001b[2m│   │   \u001b[0mresponse = Pf400ResponseError.from_error_code(output)                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 211 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response)                                                                  \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│   │   \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m                                                                                   \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 213 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 214 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m:                                                                       \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 215 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m                                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n",
+       "\u001b[1;91mPf400ResponseError: \u001b[0m*Joint out-of-range* Set robot joints within their range\n"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "pf400.move_cartesian([1000, 0, 100, 0.0, 90.0, 180.0])"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 200,
+   "id": "19b9a6ef",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "pf400.move_neutral()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 282,
+   "id": "f32966f7",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "\u001b[2m2026-05-15T20:01:35.076594Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*No robot attached*           \u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n",
+      "\u001b[2m2026-05-15T20:01:35.076594Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*No robot attached*           \u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n"
+     ]
+    },
+    {
+     "data": {
+      "text/html": [
+       "<pre style=\"white-space:pre;overflow-x:auto;line-height:normal;font-family:Menlo,'DejaVu Sans Mono',consolas,'Courier New',monospace\"><span style=\"color: #800000; text-decoration-color: #800000\">╭─────────────────────────────────────── </span><span style=\"color: #800000; text-decoration-color: #800000; font-weight: bold\">Traceback </span><span style=\"color: #bf7f7f; text-decoration-color: #bf7f7f; font-weight: bold\">(most recent call last)</span><span style=\"color: #800000; text-decoration-color: #800000\"> ───────────────────────────────────────╮</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> in &lt;module&gt;:1                                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span>1 <span style=\"font-weight: bold; text-decoration: underline\">pf400.open_gripper()</span>                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">2 </span>                                                                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:422 in open_gripper                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 419 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">open_gripper</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>, gripper_length: Optional[<span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span>] = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">None</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">float</span>:                               <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 420 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Opens the gripper.\"\"\"</span>                                                                         <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 421 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.set_gripper_open(gripper_length=gripper_length)                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 422 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff; font-weight: bold; text-decoration: underline\">self</span><span style=\"font-weight: bold; text-decoration: underline\">.send_command(</span><span style=\"color: #808000; text-decoration-color: #808000; font-weight: bold; text-decoration: underline\">\"gripper 1\"</span><span style=\"font-weight: bold; text-decoration: underline\">)</span>                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 423 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">return</span> <span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.get_gripper_state()                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 424 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 425 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">close_gripper</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>, gripper_length: Optional[<span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span>] = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">None</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">float</span>:                              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:163 in send_command                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 160 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span>.rstrip(<span style=\"color: #808000; text-decoration-color: #808000\">\"\\r\\n\"</span>)                                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 161 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span>)                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 162 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response != <span style=\"color: #808000; text-decoration-color: #808000\">\"\"</span> <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">and</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> ERROR_CODES:                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 163 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._handle_error_output(response)                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 164 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> OUTPUT_CODES:                                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 165 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_debug(response)                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 166 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._await_movement_completion()                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:212 in _handle_error_output              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 209 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Handles the error message output.\"\"\"</span>                                                          <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 210 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span>response = Pf400ResponseError.from_error_code(output)                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 211 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_error(response)                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 212 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">raise</span><span style=\"font-weight: bold; text-decoration: underline\"> response</span>                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 213 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 214 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">enable_power</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">str</span>:                                                                       <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 215 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Enables the power on the robot.\"\"\"</span>                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
+       "<span style=\"color: #800000; text-decoration-color: #800000\">╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯</span>\n",
+       "<span style=\"color: #ff0000; text-decoration-color: #ff0000; font-weight: bold\">Pf400ResponseError: </span>*No robot attached*\n",
+       "</pre>\n"
+      ],
+      "text/plain": [
+       "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n",
+       "\u001b[31m│\u001b[0m in <module>:1                                                                                                   \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m1 \u001b[1;4mpf400.open_gripper()\u001b[0m                                                                                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m2 \u001b[0m                                                                                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:422 in open_gripper                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 419 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mopen_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m:                               \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 420 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Opens the gripper.\"\"\"\u001b[0m                                                                         \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 421 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.set_gripper_open(gripper_length=gripper_length)                                             \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 422 \u001b[2m│   │   \u001b[0m\u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4;33mgripper 1\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4m)\u001b[0m                                                                   \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 423 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[94mreturn\u001b[0m \u001b[96mself\u001b[0m.get_gripper_state()                                                                  \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 424 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 425 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mclose_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m:                              \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 160 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m)                                                                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 161 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m)                                                                                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 162 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES:                                           \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response)                                                  \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 164 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES:                                                             \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 165 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response)                                                      \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 166 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion()                                                        \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output              \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 209 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m                                                          \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 210 \u001b[0m\u001b[2m│   │   \u001b[0mresponse = Pf400ResponseError.from_error_code(output)                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 211 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response)                                                                  \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│   │   \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m                                                                                   \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 213 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 214 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m:                                                                       \u001b[31m│\u001b[0m\n",
+       "\u001b[31m│\u001b[0m   \u001b[2m 215 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m                                                            \u001b[31m│\u001b[0m\n",
+       "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n",
+       "\u001b[1;91mPf400ResponseError: \u001b[0m*No robot attached*\n"
+      ]
+     },
+     "metadata": {},
+     "output_type": "display_data"
+    }
+   ],
+   "source": [
+    "pf400.open_gripper()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 123,
    "id": "6",
    "metadata": {},
    "outputs": [],
@@ -99,7 +745,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.12.3"
+   "version": "3.12.12"
   }
  },
  "nbformat": 4,

From 77676fa0f47d2dce5438051070b73ca01b2aeed7 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 19 May 2026 17:01:59 -0500
Subject: [PATCH 17/21] Using hardcoded compliance values

---
 src/pf400_interface/pf400.py | 18 +++++++++++++-----
 1 file changed, 13 insertions(+), 5 deletions(-)

diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py
index 776fb02..7ff3972 100644
--- a/src/pf400_interface/pf400.py
+++ b/src/pf400_interface/pf400.py
@@ -39,6 +39,7 @@ class PF400:
     safe_left_boundary = -350.0
     safe_right_boundary = 350.0
 
+    default_bias_torque_pct: int = 50
     default_approach_height = 15.0
     default_approach_vector: typing.ClassVar[list] = [
         default_approach_height,
@@ -526,7 +527,7 @@ def move_with_rotation(
     # Requires XY Compliance license on the controller.
     # -------------------------------------------------------------------------
 
-    def enable_compliance(self, bias_torque_pct: int = 0) -> str:
+    def enable_compliance(self) -> str:
         """Enable horizontal force compliance on the robot joints.
 
         Allows the horizontal arm axes to float and comply to reaction forces
@@ -543,7 +544,7 @@ def enable_compliance(self, bias_torque_pct: int = 0) -> str:
         Returns:
             Robot response string
         """
-        return self.send_robot_command(f"EnableCompliance {bias_torque_pct}")
+        return self.send_command(f"EnableCompliance {self.default_bias_torque_pct}")
 
     def disable_compliance(self) -> str:
         """Disable horizontal force compliance and return to normal position control.
@@ -554,7 +555,7 @@ def disable_compliance(self) -> str:
         Returns:
             Robot response string
         """
-        return self.send_robot_command("DisableCompliance")
+        return self.send_command("DisableCompliance")
 
     # -------------------------------------------------------------------------
     # Height Detection -- implemented via TCS PARobot Auto Center module
@@ -583,7 +584,7 @@ def height_detect(
             Detected Z height in mm (world coordinates)
         """
         mode = 2 if thorough else 1
-        response = self.send_robot_command(
+        response = self.send_command(
             f"HeightDetect {mode} {search_limit_mm} {max_force_n}"
         )
         return float(response.split(" ")[1])
@@ -789,6 +790,7 @@ def rotate_plate_on_deck(
 
         self.move_all_joints_neutral(target)
         self.move_joint(above_position, self.slow_motion_profile)
+        self.enable_compliance()
         self.move_joint(target, self.slow_motion_profile)
         self.release_plate()
 
@@ -807,6 +809,7 @@ def rotate_plate_on_deck(
         self.move_in_one_axis(
             profile=self.slow_motion_profile, axis_z=self.default_approach_height
         )
+        self.disable_compliance()
         self.open_gripper(self.gripper_open_wide)
 
         target = self.rotate_yaw(target, rotation_degree)
@@ -814,6 +817,7 @@ def rotate_plate_on_deck(
         self.move_joint(
             target_joint_angles=above_position, profile=self.slow_motion_profile
         )
+        self.enable_compliance()
         self.move_joint(
             target_joint_angles=target,
             profile=self.slow_motion_profile,
@@ -836,6 +840,7 @@ def rotate_plate_on_deck(
         self.move_in_one_axis(
             profile=self.slow_motion_profile, axis_z=self.default_approach_height
         )
+        self.disable_compliance()
         self.move_all_joints_neutral(target)
 
     def _handle_approach_location(self, approach: LocationArgument) -> None:
@@ -925,6 +930,7 @@ def pick_plate(
             if grab_offset
             else source.representation
         )
+        self.enable_compliance()
         self.move_joint(
             target_joint_angles=target_position,
             profile=approach_motion_profile,
@@ -946,6 +952,7 @@ def pick_plate(
             if approach_height_offset
             else self.default_approach_height,
         )
+        self.disable_compliance()
 
         if source_approach:
             self._handle_approach_return(source_approach)
@@ -981,6 +988,7 @@ def place_plate(
             if grab_offset
             else target.representation
         )
+        self.enable_compliance()
         self.move_joint(target_position, approach_motion_profile)
         release_succeeded = self.release_plate(width=open_width)
 
@@ -1006,7 +1014,7 @@ def place_plate(
             if approach_height_offset
             else self.default_approach_height,
         )
-
+        self.disable_compliance()
         if target_approach:
             self._handle_approach_return(target_approach)
         else:

From 18511390e3be011020ed6558601c1422d716eae4 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Tue, 19 May 2026 17:02:14 -0500
Subject: [PATCH 18/21] More tests

---
 tests/set_tcp.ipynb              | 161 ++++++++++
 tests/test_pf400_interface.ipynb | 500 +++++--------------------------
 2 files changed, 232 insertions(+), 429 deletions(-)
 create mode 100644 tests/set_tcp.ipynb

diff --git a/tests/set_tcp.ipynb b/tests/set_tcp.ipynb
new file mode 100644
index 0000000..9bcbc0c
--- /dev/null
+++ b/tests/set_tcp.ipynb
@@ -0,0 +1,161 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "34aeaee3",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from pf400_interface.pf400 import PF400"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "id": "8391c5af",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "from operator import add\n",
+    "from madsci.common.types.location_types import LocationArgument"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "id": "ea7fbda8",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stderr",
+     "output_type": "stream",
+     "text": [
+      "\u001b[2m2026-05-19T21:00:41.341979Z\u001b[0m [\u001b[32m\u001b[1minfo     \u001b[0m] \u001b[1mEventClient initialized       \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "1"
+      ]
+     },
+     "execution_count": 2,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "\n",
+    "pf400 = PF400(host=\"rplpf400.cels.anl.gov\")\n",
+    "pf400.initialize_robot()\n",
+    "pf400.get_robot_movement_state()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 7,
+   "id": "23d44ef8",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "rotation_deck = LocationArgument(\n",
+    "    location_name=\"rotation_deck\", location =  [68.287,-27.703,113.691,631.713,75.088,994.854]\n",
+    ")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "f5f043cb",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0 0 -8 148 0 0 0'"
+      ]
+     },
+     "execution_count": 5,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.send_command(\"tool\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "id": "681e2ea1",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "[1431.177, 150.432, 68.287, -2.299, 90.0, 180.0]\n"
+     ]
+    },
+    {
+     "data": {
+      "text/plain": [
+       "'0'"
+      ]
+     },
+     "execution_count": 11,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "cart = pf400.joint_to_cart(rotation_deck.representation)\n",
+    "print(cart)\n",
+    "pf400.move_with_rotation(rotation_deck.representation, -90.0)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 9,
+   "id": "8bd11120",
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "'0'"
+      ]
+     },
+     "execution_count": 9,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "pf400.send_command(\"tool 0 -8.5 148.5 0 0 0\")"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": ".venv",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.12.12"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/tests/test_pf400_interface.ipynb b/tests/test_pf400_interface.ipynb
index 0cd4611..02a978e 100644
--- a/tests/test_pf400_interface.ipynb
+++ b/tests/test_pf400_interface.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 124,
+   "execution_count": 1,
    "id": "0",
    "metadata": {},
    "outputs": [],
@@ -12,7 +12,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 125,
+   "execution_count": 2,
    "id": "1",
    "metadata": {},
    "outputs": [
@@ -20,7 +20,7 @@
      "name": "stderr",
      "output_type": "stream",
      "text": [
-      "\u001b[2m2026-05-18T22:10:39.280362Z\u001b[0m [\u001b[32m\u001b[1minfo     \u001b[0m] \u001b[1mEventClient initialized       \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n"
+      "\u001b[2m2026-05-19T20:55:54.094275Z\u001b[0m [\u001b[32m\u001b[1minfo     \u001b[0m] \u001b[1mEventClient initialized       \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n"
      ]
     },
     {
@@ -29,7 +29,7 @@
        "1"
       ]
      },
-     "execution_count": 125,
+     "execution_count": 2,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -43,7 +43,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 23,
+   "execution_count": 3,
    "id": "2",
    "metadata": {},
    "outputs": [],
@@ -60,105 +60,10 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 115,
+   "execution_count": null,
    "id": "3",
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "\u001b[2m2026-05-18T22:09:12.860598Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*Soft envelope error* Robot 1: 1\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n"
-     ]
-    },
-    {
-     "data": {
-      "text/html": [
-       "<pre style=\"white-space:pre;overflow-x:auto;line-height:normal;font-family:Menlo,'DejaVu Sans Mono',consolas,'Courier New',monospace\"><span style=\"color: #800000; text-decoration-color: #800000\">╭─────────────────────────────────────── </span><span style=\"color: #800000; text-decoration-color: #800000; font-weight: bold\">Traceback </span><span style=\"color: #bf7f7f; text-decoration-color: #bf7f7f; font-weight: bold\">(most recent call last)</span><span style=\"color: #800000; text-decoration-color: #800000\"> ───────────────────────────────────────╮</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> in &lt;module&gt;:2                                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">1 </span>pf400.open_gripper(pf400.gripper_open_wide)                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span>2 <span style=\"font-weight: bold; text-decoration: underline\">pf400.close_gripper(pf400.gripper_close_narrow)</span>                                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">3 </span>                                                                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:428 in close_gripper                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 425 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">close_gripper</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>, gripper_length: Optional[<span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span>] = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">None</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">float</span>:                              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 426 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Closes the gripper.\"\"\"</span>                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 427 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.set_gripper_close(gripper_length=gripper_length)                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 428 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff; font-weight: bold; text-decoration: underline\">self</span><span style=\"font-weight: bold; text-decoration: underline\">.send_command(</span><span style=\"color: #808000; text-decoration-color: #808000; font-weight: bold; text-decoration: underline\">\"gripper 2\"</span><span style=\"font-weight: bold; text-decoration: underline\">)</span>                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 429 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">return</span> <span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.get_gripper_state()                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 430 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 431 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"># -------------------------------------------------------------------------</span>                          <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:163 in send_command                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 160 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span>.rstrip(<span style=\"color: #808000; text-decoration-color: #808000\">\"\\r\\n\"</span>)                                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 161 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span>)                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 162 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response != <span style=\"color: #808000; text-decoration-color: #808000\">\"\"</span> <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">and</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> ERROR_CODES:                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 163 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._handle_error_output(response)                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 164 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> OUTPUT_CODES:                                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 165 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_debug(response)                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 166 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._await_movement_completion()                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:212 in _handle_error_output              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 209 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Handles the error message output.\"\"\"</span>                                                          <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 210 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span>response = Pf400ResponseError.from_error_code(output)                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 211 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_error(response)                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 212 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">raise</span><span style=\"font-weight: bold; text-decoration: underline\"> response</span>                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 213 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 214 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">enable_power</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">str</span>:                                                                       <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 215 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Enables the power on the robot.\"\"\"</span>                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯</span>\n",
-       "<span style=\"color: #ff0000; text-decoration-color: #ff0000; font-weight: bold\">Pf400ResponseError: </span>*Soft envelope error* Robot <span style=\"color: #008080; text-decoration-color: #008080; font-weight: bold\">1</span>: <span style=\"color: #008080; text-decoration-color: #008080; font-weight: bold\">1</span>\n",
-       "</pre>\n"
-      ],
-      "text/plain": [
-       "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n",
-       "\u001b[31m│\u001b[0m in <module>:2                                                                                                   \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m1 \u001b[0mpf400.open_gripper(pf400.gripper_open_wide)                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m2 \u001b[1;4mpf400.close_gripper(pf400.gripper_close_narrow)\u001b[0m                                                             \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m3 \u001b[0m                                                                                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:428 in close_gripper                     \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 425 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mclose_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m:                              \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 426 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Closes the gripper.\"\"\"\u001b[0m                                                                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 427 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.set_gripper_close(gripper_length=gripper_length)                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 428 \u001b[2m│   │   \u001b[0m\u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4;33mgripper 2\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4m)\u001b[0m                                                                   \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 429 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[94mreturn\u001b[0m \u001b[96mself\u001b[0m.get_gripper_state()                                                                  \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 430 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 431 \u001b[0m\u001b[2m│   \u001b[0m\u001b[2m# -------------------------------------------------------------------------\u001b[0m                          \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 160 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m)                                                                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 161 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m)                                                                                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 162 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES:                                           \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response)                                                  \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 164 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES:                                                             \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 165 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response)                                                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 166 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion()                                                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output              \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 209 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m                                                          \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 210 \u001b[0m\u001b[2m│   │   \u001b[0mresponse = Pf400ResponseError.from_error_code(output)                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 211 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response)                                                                  \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│   │   \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m                                                                                   \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 213 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 214 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m:                                                                       \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 215 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m                                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n",
-       "\u001b[1;91mPf400ResponseError: \u001b[0m*Soft envelope error* Robot \u001b[1;36m1\u001b[0m: \u001b[1;36m1\u001b[0m\n"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.open_gripper(pf400.gripper_open_wide)\n",
     "pf400.close_gripper(pf400.gripper_close_narrow)"
@@ -178,7 +83,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 32,
+   "execution_count": 4,
    "id": "58b72672",
    "metadata": {},
    "outputs": [],
@@ -193,30 +98,29 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 33,
-   "id": "5",
+   "execution_count": 5,
+   "id": "966d1340",
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "True"
+       "'0'"
       ]
      },
-     "execution_count": 33,
+     "execution_count": 5,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
-    "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"narrow\", target_plate_rotation=\"wide\")\n",
-    "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")"
+    "pf400.enable_compliance()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 187,
-   "id": "3c7c7602",
+   "execution_count": 6,
+   "id": "5",
    "metadata": {},
    "outputs": [
     {
@@ -225,40 +129,61 @@
        "True"
       ]
      },
-     "execution_count": 187,
+     "execution_count": 6,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
    "source": [
-    "pf400.pick_plate(source=rotation_deck\n",
-    "                 )\n"
+    "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"narrow\", target_plate_rotation=\"wide\")\n",
+    "#pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 188,
-   "id": "4027bb28",
+   "execution_count": 6,
+   "id": "eb627d8c",
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "True"
+       "'0'"
       ]
      },
-     "execution_count": 188,
+     "execution_count": 6,
      "metadata": {},
      "output_type": "execute_result"
     }
    ],
+   "source": [
+    "pf400.disable_compliance()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "3c7c7602",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "pf400.pick_plate(source=rotation_deck\n",
+    "                 )\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "4027bb28",
+   "metadata": {},
+   "outputs": [],
    "source": [
     "pf400.place_plate(target=camera_loc)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 36,
+   "execution_count": null,
    "id": "c813d4ea",
    "metadata": {},
    "outputs": [],
@@ -268,7 +193,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 43,
+   "execution_count": null,
    "id": "34c11807",
    "metadata": {},
    "outputs": [],
@@ -280,21 +205,10 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 44,
+   "execution_count": null,
    "id": "13443d57",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0 1428.252 164.005 75.293 -2.318 90 180 1'"
-      ]
-     },
-     "execution_count": 44,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.move_joint(target_joint_angles=rotation_deck_above.representation)\n",
     "pf400.send_command(\"wherec\")"
@@ -305,18 +219,7 @@
    "execution_count": null,
    "id": "984573cd",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0 1428.194 164.106 75.292 -92.296 90 -180 1'"
-      ]
-     },
-     "execution_count": 45,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "new_loc =pf400.rotate_yaw(joint_states=rotation_deck_above.representation, rotation_deg=90.0)\n",
     "pf400.move_joint(new_loc)\n",
@@ -325,28 +228,10 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 154,
+   "execution_count": null,
    "id": "46f01a50",
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "[1430.657, 149.952, 75.287, -2.299, 90.0, 180.0]\n"
-     ]
-    },
-    {
-     "data": {
-      "text/plain": [
-       "'0'"
-      ]
-     },
-     "execution_count": 154,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "cart = pf400.joint_to_cart(rotation_deck_above.representation)\n",
     "print(cart)\n",
@@ -355,7 +240,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 153,
+   "execution_count": 7,
    "id": "9d2def7b",
    "metadata": {},
    "outputs": [
@@ -365,7 +250,7 @@
        "'0'"
       ]
      },
-     "execution_count": 153,
+     "execution_count": 7,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -376,59 +261,37 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 339,
+   "execution_count": null,
    "id": "1f830ba8",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "129.918"
-      ]
-     },
-     "execution_count": 339,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.open_gripper(pf400.gripper_open_wide)\n"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 347,
+   "execution_count": null,
    "id": "ef000acf",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "71.231"
-      ]
-     },
-     "execution_count": 347,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.close_gripper(70.0)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 30,
+   "execution_count": 6,
    "id": "e9f99e32",
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "'0 0 -8 145 0 0 0'"
+       "'0 0 0 162 0 0 0'"
       ]
      },
-     "execution_count": 30,
+     "execution_count": 6,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -439,174 +302,47 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 318,
+   "execution_count": null,
    "id": "3689e6af",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0 0 0 0 0'"
-      ]
-     },
-     "execution_count": 318,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.send_command(\"base\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 201,
+   "execution_count": null,
    "id": "956d4e2b",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "[1152.917, 11.806, 130.013, -4.392, 90.0, 180.0]"
-      ]
-     },
-     "execution_count": 201,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.get_cartesian_coordinates()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 173,
+   "execution_count": null,
    "id": "24511083",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0'"
-      ]
-     },
-     "execution_count": 173,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.move_cartesian([1427.667, 150.069, 175.292 - 100, -90 + -2.299, 90.0, 180.0])"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 199,
+   "execution_count": null,
    "id": "0da2cfa9",
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "\u001b[2m2026-05-15T15:02:19.789546Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*Joint out-of-range* Set robot joints within their range\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n",
-      "\u001b[2m2026-05-15T15:02:19.789546Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*Joint out-of-range* Set robot joints within their range\u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n"
-     ]
-    },
-    {
-     "data": {
-      "text/html": [
-       "<pre style=\"white-space:pre;overflow-x:auto;line-height:normal;font-family:Menlo,'DejaVu Sans Mono',consolas,'Courier New',monospace\"><span style=\"color: #800000; text-decoration-color: #800000\">╭─────────────────────────────────────── </span><span style=\"color: #800000; text-decoration-color: #800000; font-weight: bold\">Traceback </span><span style=\"color: #bf7f7f; text-decoration-color: #bf7f7f; font-weight: bold\">(most recent call last)</span><span style=\"color: #800000; text-decoration-color: #800000\"> ───────────────────────────────────────╮</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> in &lt;module&gt;:1                                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span>1 <span style=\"font-weight: bold; text-decoration: underline\">pf400.move_cartesian([</span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">1000</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">0</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">100</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">0.0</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">90.0</span><span style=\"font-weight: bold; text-decoration: underline\">, </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">180.0</span><span style=\"font-weight: bold; text-decoration: underline\">])</span>                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">2 </span>                                                                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:592 in move_cartesian                    <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 589 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   </span>+ <span style=\"color: #808000; text-decoration-color: #808000\">\" \"</span>                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 590 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   </span>+ <span style=\"color: #808000; text-decoration-color: #808000\">\" \"</span>.join(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">map</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">str</span>, target_cartesian_coordinates))                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 591 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span>)                                                                                                <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 592 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">return</span> <span style=\"color: #00ffff; text-decoration-color: #00ffff; font-weight: bold; text-decoration: underline\">self</span><span style=\"font-weight: bold; text-decoration: underline\">.send_command(move_command)</span>                                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 593 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 594 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">move_in_one_axis</span>(                                                                                <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 595 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>, profile: <span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span> = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">1</span>, axis_x: <span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span> = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">0</span>, axis_y: <span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span> = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">0</span>, axis_z: <span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span> = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">0</span>                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:163 in send_command                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 160 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span>.rstrip(<span style=\"color: #808000; text-decoration-color: #808000\">\"\\r\\n\"</span>)                                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 161 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span>)                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 162 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response != <span style=\"color: #808000; text-decoration-color: #808000\">\"\"</span> <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">and</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> ERROR_CODES:                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 163 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._handle_error_output(response)                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 164 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> OUTPUT_CODES:                                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 165 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_debug(response)                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 166 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._await_movement_completion()                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:212 in _handle_error_output              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 209 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Handles the error message output.\"\"\"</span>                                                          <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 210 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span>response = Pf400ResponseError.from_error_code(output)                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 211 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_error(response)                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 212 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">raise</span><span style=\"font-weight: bold; text-decoration: underline\"> response</span>                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 213 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 214 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">enable_power</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">str</span>:                                                                       <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 215 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Enables the power on the robot.\"\"\"</span>                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯</span>\n",
-       "<span style=\"color: #ff0000; text-decoration-color: #ff0000; font-weight: bold\">Pf400ResponseError: </span>*Joint out-of-range* Set robot joints within their range\n",
-       "</pre>\n"
-      ],
-      "text/plain": [
-       "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n",
-       "\u001b[31m│\u001b[0m in <module>:1                                                                                                   \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m1 \u001b[1;4mpf400.move_cartesian([\u001b[0m\u001b[1;4;94m1000\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m100\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m0.0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m90.0\u001b[0m\u001b[1;4m, \u001b[0m\u001b[1;4;94m180.0\u001b[0m\u001b[1;4m])\u001b[0m                                                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m2 \u001b[0m                                                                                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:592 in move_cartesian                    \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 589 \u001b[0m\u001b[2m│   │   │   \u001b[0m+ \u001b[33m\"\u001b[0m\u001b[33m \u001b[0m\u001b[33m\"\u001b[0m                                                                                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 590 \u001b[0m\u001b[2m│   │   │   \u001b[0m+ \u001b[33m\"\u001b[0m\u001b[33m \u001b[0m\u001b[33m\"\u001b[0m.join(\u001b[96mmap\u001b[0m(\u001b[96mstr\u001b[0m, target_cartesian_coordinates))                                           \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 591 \u001b[0m\u001b[2m│   │   \u001b[0m)                                                                                                \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 592 \u001b[2m│   │   \u001b[0m\u001b[94mreturn\u001b[0m \u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(move_command)\u001b[0m                                                           \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 593 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 594 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mmove_in_one_axis\u001b[0m(                                                                                \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 595 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m, profile: \u001b[96mint\u001b[0m = \u001b[94m1\u001b[0m, axis_x: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m, axis_y: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m, axis_z: \u001b[96mint\u001b[0m = \u001b[94m0\u001b[0m                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 160 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m)                                                                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 161 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m)                                                                                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 162 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES:                                           \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response)                                                  \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 164 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES:                                                             \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 165 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response)                                                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 166 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion()                                                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output              \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 209 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m                                                          \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 210 \u001b[0m\u001b[2m│   │   \u001b[0mresponse = Pf400ResponseError.from_error_code(output)                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 211 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response)                                                                  \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│   │   \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m                                                                                   \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 213 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 214 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m:                                                                       \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 215 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m                                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n",
-       "\u001b[1;91mPf400ResponseError: \u001b[0m*Joint out-of-range* Set robot joints within their range\n"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.move_cartesian([1000, 0, 100, 0.0, 90.0, 180.0])"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 200,
+   "execution_count": null,
    "id": "19b9a6ef",
    "metadata": {},
    "outputs": [],
@@ -616,111 +352,17 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 282,
+   "execution_count": null,
    "id": "f32966f7",
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "\u001b[2m2026-05-15T20:01:35.076594Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*No robot attached*           \u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n",
-      "\u001b[2m2026-05-15T20:01:35.076594Z\u001b[0m [\u001b[31m\u001b[1merror    \u001b[0m] \u001b[1m*No robot attached*           \u001b[0m \u001b[36mevent_type\u001b[0m=\u001b[35mlog_error\u001b[0m\n"
-     ]
-    },
-    {
-     "data": {
-      "text/html": [
-       "<pre style=\"white-space:pre;overflow-x:auto;line-height:normal;font-family:Menlo,'DejaVu Sans Mono',consolas,'Courier New',monospace\"><span style=\"color: #800000; text-decoration-color: #800000\">╭─────────────────────────────────────── </span><span style=\"color: #800000; text-decoration-color: #800000; font-weight: bold\">Traceback </span><span style=\"color: #bf7f7f; text-decoration-color: #bf7f7f; font-weight: bold\">(most recent call last)</span><span style=\"color: #800000; text-decoration-color: #800000\"> ───────────────────────────────────────╮</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> in &lt;module&gt;:1                                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span>1 <span style=\"font-weight: bold; text-decoration: underline\">pf400.open_gripper()</span>                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">2 </span>                                                                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:422 in open_gripper                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 419 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">open_gripper</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>, gripper_length: Optional[<span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span>] = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">None</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">float</span>:                               <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 420 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Opens the gripper.\"\"\"</span>                                                                         <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 421 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.set_gripper_open(gripper_length=gripper_length)                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 422 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff; font-weight: bold; text-decoration: underline\">self</span><span style=\"font-weight: bold; text-decoration: underline\">.send_command(</span><span style=\"color: #808000; text-decoration-color: #808000; font-weight: bold; text-decoration: underline\">\"gripper 1\"</span><span style=\"font-weight: bold; text-decoration: underline\">)</span>                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 423 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">return</span> <span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.get_gripper_state()                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 424 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 425 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">close_gripper</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>, gripper_length: Optional[<span style=\"color: #00ffff; text-decoration-color: #00ffff\">int</span>] = <span style=\"color: #0000ff; text-decoration-color: #0000ff\">None</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">float</span>:                              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:163 in send_command                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 160 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span>.rstrip(<span style=\"color: #808000; text-decoration-color: #808000\">\"\\r\\n\"</span>)                                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 161 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span>)                                                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 162 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response != <span style=\"color: #808000; text-decoration-color: #808000\">\"\"</span> <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">and</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> ERROR_CODES:                                           <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 163 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._handle_error_output(response)                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 164 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">if</span> response <span style=\"color: #ff00ff; text-decoration-color: #ff00ff\">in</span> OUTPUT_CODES:                                                             <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 165 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_debug(response)                                                      <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 166 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   │   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>._await_movement_completion()                                                        <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/</span><span style=\"font-weight: bold\">pf400.py</span>:212 in _handle_error_output              <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>                                                                                                                 <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 209 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Handles the error message output.\"\"\"</span>                                                          <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 210 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span>response = Pf400ResponseError.from_error_code(output)                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 211 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>.logger.log_error(response)                                                                  <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span> <span style=\"color: #800000; text-decoration-color: #800000\">❱ </span> 212 <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   │   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff; font-weight: bold; text-decoration: underline\">raise</span><span style=\"font-weight: bold; text-decoration: underline\"> response</span>                                                                                   <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 213 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span>                                                                                                     <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 214 </span><span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\">│   </span><span style=\"color: #0000ff; text-decoration-color: #0000ff\">def</span><span style=\"color: #808080; text-decoration-color: #808080\"> </span><span style=\"color: #00ff00; text-decoration-color: #00ff00\">enable_power</span>(<span style=\"color: #00ffff; text-decoration-color: #00ffff\">self</span>) -&gt; <span style=\"color: #00ffff; text-decoration-color: #00ffff\">str</span>:                                                                       <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">│</span>   <span style=\"color: #7f7f7f; text-decoration-color: #7f7f7f\"> 215 </span><span style=\"color: #bfbfbf; text-decoration-color: #bfbfbf\">│   │   </span><span style=\"color: #808000; text-decoration-color: #808000\">\"\"\"Enables the power on the robot.\"\"\"</span>                                                            <span style=\"color: #800000; text-decoration-color: #800000\">│</span>\n",
-       "<span style=\"color: #800000; text-decoration-color: #800000\">╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯</span>\n",
-       "<span style=\"color: #ff0000; text-decoration-color: #ff0000; font-weight: bold\">Pf400ResponseError: </span>*No robot attached*\n",
-       "</pre>\n"
-      ],
-      "text/plain": [
-       "\u001b[31m╭─\u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m \u001b[0m\u001b[1;31mTraceback \u001b[0m\u001b[1;2;31m(most recent call last)\u001b[0m\u001b[31m \u001b[0m\u001b[31m──────────────────────────────────────\u001b[0m\u001b[31m─╮\u001b[0m\n",
-       "\u001b[31m│\u001b[0m in <module>:1                                                                                                   \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m1 \u001b[1;4mpf400.open_gripper()\u001b[0m                                                                                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m2 \u001b[0m                                                                                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:422 in open_gripper                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 419 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mopen_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m:                               \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 420 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Opens the gripper.\"\"\"\u001b[0m                                                                         \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 421 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.set_gripper_open(gripper_length=gripper_length)                                             \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 422 \u001b[2m│   │   \u001b[0m\u001b[1;4;96mself\u001b[0m\u001b[1;4m.send_command(\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4;33mgripper 1\u001b[0m\u001b[1;4;33m\"\u001b[0m\u001b[1;4m)\u001b[0m                                                                   \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 423 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[94mreturn\u001b[0m \u001b[96mself\u001b[0m.get_gripper_state()                                                                  \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 424 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 425 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92mclose_gripper\u001b[0m(\u001b[96mself\u001b[0m, gripper_length: Optional[\u001b[96mint\u001b[0m] = \u001b[94mNone\u001b[0m) -> \u001b[96mfloat\u001b[0m:                              \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:163 in send_command                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 160 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m.rstrip(\u001b[33m\"\u001b[0m\u001b[33m\\r\u001b[0m\u001b[33m\\n\u001b[0m\u001b[33m\"\u001b[0m)                                                                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 161 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m)                                                                                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 162 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response != \u001b[33m\"\u001b[0m\u001b[33m\"\u001b[0m \u001b[95mand\u001b[0m response \u001b[95min\u001b[0m ERROR_CODES:                                           \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 163 \u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._handle_error_output(response)                                                  \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 164 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[94mif\u001b[0m response \u001b[95min\u001b[0m OUTPUT_CODES:                                                             \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 165 \u001b[0m\u001b[2m│   │   │   │   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_debug(response)                                                      \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 166 \u001b[0m\u001b[2m│   │   │   │   \u001b[0m\u001b[96mself\u001b[0m._await_movement_completion()                                                        \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[2m/home/rpl/workspaces/rpl_dev/pf400_module/src/pf400_interface/\u001b[0m\u001b[1mpf400.py\u001b[0m:212 in _handle_error_output              \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m                                                                                                                 \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 209 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Handles the error message output.\"\"\"\u001b[0m                                                          \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 210 \u001b[0m\u001b[2m│   │   \u001b[0mresponse = Pf400ResponseError.from_error_code(output)                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 211 \u001b[0m\u001b[2m│   │   \u001b[0m\u001b[96mself\u001b[0m.logger.log_error(response)                                                                  \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m \u001b[31m❱ \u001b[0m 212 \u001b[2m│   │   \u001b[0m\u001b[1;4;94mraise\u001b[0m\u001b[1;4m response\u001b[0m                                                                                   \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 213 \u001b[0m\u001b[2m│   \u001b[0m                                                                                                     \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 214 \u001b[0m\u001b[2m│   \u001b[0m\u001b[94mdef\u001b[0m\u001b[90m \u001b[0m\u001b[92menable_power\u001b[0m(\u001b[96mself\u001b[0m) -> \u001b[96mstr\u001b[0m:                                                                       \u001b[31m│\u001b[0m\n",
-       "\u001b[31m│\u001b[0m   \u001b[2m 215 \u001b[0m\u001b[2;90m│   │   \u001b[0m\u001b[33m\"\"\"Enables the power on the robot.\"\"\"\u001b[0m                                                            \u001b[31m│\u001b[0m\n",
-       "\u001b[31m╰─────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯\u001b[0m\n",
-       "\u001b[1;91mPf400ResponseError: \u001b[0m*No robot attached*\n"
-      ]
-     },
-     "metadata": {},
-     "output_type": "display_data"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.open_gripper()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 123,
+   "execution_count": 16,
    "id": "6",
    "metadata": {},
    "outputs": [],

From 5850f5d31bf6e259e93fc092f7657af7fb7af6c3 Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Wed, 27 May 2026 15:41:13 -0500
Subject: [PATCH 19/21] Use horizontal compliance with pick & place

---
 src/pf400_interface/pf400.py | 30 ++++++++++++++++++++----------
 1 file changed, 20 insertions(+), 10 deletions(-)

diff --git a/src/pf400_interface/pf400.py b/src/pf400_interface/pf400.py
index 7ff3972..1dc985b 100644
--- a/src/pf400_interface/pf400.py
+++ b/src/pf400_interface/pf400.py
@@ -95,9 +95,9 @@ def __init__(
 
         self.neutral_joints = [
             400.0,
-            1.400,
-            177.101,
-            537.107,
+            1.650,
+            177.662,
+            -179.494,
             self.gripper_close_narrow,
             0.0,
         ]
@@ -784,12 +784,15 @@ def rotate_plate_on_deck(
         target = rotation_deck.representation
 
         if rotation_degree == -90:
-            target = self.rotate_yaw(target, -rotation_degree)
+            target = self.rotate_yaw(target, rotation_degree)
 
         above_position = list(map(add, target, self.default_approach_vector))
 
         self.move_all_joints_neutral(target)
         self.move_joint(above_position, self.slow_motion_profile)
+        target_position_above_compliance = copy.deepcopy(target)
+        target_position_above_compliance[0] += 1.0
+        self.move_joint(target_position_above_compliance, self.slow_motion_profile)
         self.enable_compliance()
         self.move_joint(target, self.slow_motion_profile)
         self.release_plate()
@@ -906,7 +909,7 @@ def pick_plate(
         source_approach: LocationArgument = None,
         grab_offset: Optional[float] = None,
         approach_height_offset: Optional[float] = None,
-        grip_width: Optional[int] = None,
+        grip_width: Optional[int] = 122,
     ) -> bool:
         """Pick a plate from the source location."""
         above_position = self._calculate_above_position(
@@ -920,7 +923,6 @@ def pick_plate(
         else:
             self.move_all_joints_neutral(source.representation)
             approach_motion_profile = self.fast_motion_profile
-
         self.move_joint(
             target_joint_angles=above_position, profile=approach_motion_profile
         )
@@ -930,12 +932,12 @@ def pick_plate(
             if grab_offset
             else source.representation
         )
-        self.enable_compliance()
         self.move_joint(
             target_joint_angles=target_position,
             profile=approach_motion_profile,
             gripper_open=True,
         )
+        self.enable_compliance()
         grab_succeeded = self.grab_plate(width=grip_width, speed=100, force=10)
 
         if self.resource_client and grab_succeeded and source.resource_id:
@@ -988,6 +990,9 @@ def place_plate(
             if grab_offset
             else target.representation
         )
+        target_position_above_compliance = copy.deepcopy(target_position)
+        target_position_above_compliance[0] += 2.0
+        self.move_joint(target_position_above_compliance)
         self.enable_compliance()
         self.move_joint(target_position, approach_motion_profile)
         release_succeeded = self.release_plate(width=open_width)
@@ -1120,9 +1125,10 @@ def transfer(
         plate_source_rotation = 90 if source_plate_rotation.lower() == "wide" else 0
         self.grip_wide = source_plate_rotation.lower() == "wide"
 
-        source.representation = self.check_incorrect_plate_orientation(
-            source.representation, plate_source_rotation
-        )
+        """
+        Depricating this implementation
+        source.representation = self.check_incorrect_plate_orientation(source.representation, plate_source_rotation)
+        """
 
         pick_result = self.pick_plate(
             source=source,
@@ -1139,9 +1145,13 @@ def transfer(
 
         plate_target_rotation = 90 if target_plate_rotation.lower() == "wide" else 0
         self.grip_wide = target_plate_rotation.lower() == "wide"
+
+        """
+        Depricating this implementation
         target.representation = self.check_incorrect_plate_orientation(
             target.representation, plate_target_rotation
         )
+        """
 
         rotation_needed = plate_target_rotation - plate_source_rotation
         if rotation_needed != 0:

From 929eeeee1872f93936279983fa5d88cd244ccebd Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Wed, 27 May 2026 15:41:45 -0500
Subject: [PATCH 20/21] Notebooks to work on the TCP settings

---
 tests/set_tcp.ipynb | 131 +++++++++++++++++++++++++++++++-------------
 1 file changed, 94 insertions(+), 37 deletions(-)

diff --git a/tests/set_tcp.ipynb b/tests/set_tcp.ipynb
index 9bcbc0c..d3c6626 100644
--- a/tests/set_tcp.ipynb
+++ b/tests/set_tcp.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": 4,
    "id": "34aeaee3",
    "metadata": {},
    "outputs": [],
@@ -12,7 +12,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": 5,
    "id": "8391c5af",
    "metadata": {},
    "outputs": [],
@@ -23,24 +23,17 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": 6,
    "id": "ea7fbda8",
    "metadata": {},
    "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "\u001b[2m2026-05-19T21:00:41.341979Z\u001b[0m [\u001b[32m\u001b[1minfo     \u001b[0m] \u001b[1mEventClient initialized       \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n"
-     ]
-    },
     {
      "data": {
       "text/plain": [
        "1"
       ]
      },
-     "execution_count": 2,
+     "execution_count": 6,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -54,29 +47,57 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": null,
+   "id": "fae59b5f",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "pf400.open_gripper(130)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "id": "23d44ef8",
    "metadata": {},
    "outputs": [],
    "source": [
     "rotation_deck = LocationArgument(\n",
-    "    location_name=\"rotation_deck\", location =  [68.287,-27.703,113.691,631.713,75.088,994.854]\n",
+    "    location_name=\"rotation_deck\", location =  [63.063,-28.717,113.020,-82.561,71.348,988.948]\n",
+    ")\n",
+    "camera_deck = LocationArgument(\n",
+    "    location_name=\"camera_deck\", location = [105.024,22.029,69.970,-0.551,73.780,991.020]\n",
+    "\n",
     ")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": null,
+   "id": "190df468",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "camera = pf400.rotate_yaw(camera_deck.representation, -90)\n",
+    "camera_wide = LocationArgument(location_name=\"camera_wide\", location = [104.961, 59.382, 36.824, -94.872, 122.180, 990.609]\n",
+    "\n",
+    ")\n",
+    "print(camera_wide)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 10,
    "id": "f5f043cb",
    "metadata": {},
    "outputs": [
     {
      "data": {
       "text/plain": [
-       "'0 0 -8 148 0 0 0'"
+       "'0 0 1 146.5 0 0 0'"
       ]
      },
-     "execution_count": 5,
+     "execution_count": 10,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -87,34 +108,59 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": null,
+   "id": "7beac015",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "pf400.move_joint(camera_deck.representation)"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "a3590046",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "\n",
+    "pf400.transfer(source=camera_wide, target=camera_deck, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
    "id": "681e2ea1",
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "[1431.177, 150.432, 68.287, -2.299, 90.0, 180.0]\n"
-     ]
-    },
-    {
-     "data": {
-      "text/plain": [
-       "'0'"
-      ]
-     },
-     "execution_count": 11,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "cart = pf400.joint_to_cart(rotation_deck.representation)\n",
     "print(cart)\n",
     "pf400.move_with_rotation(rotation_deck.representation, -90.0)"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "79ad16ea",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "rot = pf400.rotate_yaw(rotation_deck.representation,90)\n",
+    "rotation_deck_wide = LocationArgument(location_name=\"rotation_deck_wide\", location = rot)\n",
+    "\n"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "id": "fdfef70d",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "pf400.transfer(rotation_deck_wide,rotation_deck_wide,source_plate_rotation=\"wide\",target_plate_rotation=\"wide\")"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": 9,
@@ -133,7 +179,18 @@
     }
    ],
    "source": [
-    "pf400.send_command(\"tool 0 -8.5 148.5 0 0 0\")"
+    "pf400.send_command(\"tool 0 1 146.5 0 0 0\")\n",
+    "pf400.send_command(\"StoreFile\")"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 11,
+   "id": "a3f2dcba",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "pf400.disconnect()"
    ]
   }
  ],

From 7c1cae3231427fca9722d153fedf277b52efb4db Mon Sep 17 00:00:00 2001
From: Dozgulbas <dozgulbas@anl.gov>
Date: Wed, 27 May 2026 15:41:57 -0500
Subject: [PATCH 21/21] Interface tests

---
 tests/set_tcp.ipynb              | 114 ++++++++-----------
 tests/test_pf400_interface.ipynb | 182 ++++++++++---------------------
 2 files changed, 104 insertions(+), 192 deletions(-)

diff --git a/tests/set_tcp.ipynb b/tests/set_tcp.ipynb
index d3c6626..29c1820 100644
--- a/tests/set_tcp.ipynb
+++ b/tests/set_tcp.ipynb
@@ -2,8 +2,8 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 4,
-   "id": "34aeaee3",
+   "execution_count": null,
+   "id": "0",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -12,34 +12,21 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
-   "id": "8391c5af",
+   "execution_count": null,
+   "id": "1",
    "metadata": {},
    "outputs": [],
    "source": [
-    "from operator import add\n",
     "from madsci.common.types.location_types import LocationArgument"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
-   "id": "ea7fbda8",
+   "execution_count": null,
+   "id": "2",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "1"
-      ]
-     },
-     "execution_count": 6,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "\n",
     "pf400 = PF400(host=\"rplpf400.cels.anl.gov\")\n",
     "pf400.initialize_robot()\n",
     "pf400.get_robot_movement_state()"
@@ -48,7 +35,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "fae59b5f",
+   "id": "3",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -58,50 +45,41 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "23d44ef8",
+   "id": "4",
    "metadata": {},
    "outputs": [],
    "source": [
     "rotation_deck = LocationArgument(\n",
-    "    location_name=\"rotation_deck\", location =  [63.063,-28.717,113.020,-82.561,71.348,988.948]\n",
+    "    location_name=\"rotation_deck\",\n",
+    "    location=[63.063, -28.717, 113.020, -82.561, 71.348, 988.948],\n",
     ")\n",
     "camera_deck = LocationArgument(\n",
-    "    location_name=\"camera_deck\", location = [105.024,22.029,69.970,-0.551,73.780,991.020]\n",
-    "\n",
+    "    location_name=\"camera_deck\",\n",
+    "    location=[105.024, 22.029, 69.970, -0.551, 73.780, 991.020],\n",
     ")"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "190df468",
+   "id": "5",
    "metadata": {},
    "outputs": [],
    "source": [
     "camera = pf400.rotate_yaw(camera_deck.representation, -90)\n",
-    "camera_wide = LocationArgument(location_name=\"camera_wide\", location = [104.961, 59.382, 36.824, -94.872, 122.180, 990.609]\n",
-    "\n",
+    "camera_wide = LocationArgument(\n",
+    "    location_name=\"camera_wide\",\n",
+    "    location=[104.961, 59.382, 36.824, -94.872, 122.180, 990.609],\n",
     ")\n",
     "print(camera_wide)"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
-   "id": "f5f043cb",
+   "execution_count": null,
+   "id": "6",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0 0 1 146.5 0 0 0'"
-      ]
-     },
-     "execution_count": 10,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.send_command(\"tool\")"
    ]
@@ -109,7 +87,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "7beac015",
+   "id": "7",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -119,18 +97,23 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "a3590046",
+   "id": "8",
    "metadata": {},
    "outputs": [],
    "source": [
-    "\n",
-    "pf400.transfer(source=camera_wide, target=camera_deck, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")\n"
+    "pf400.transfer(\n",
+    "    source=camera_wide,\n",
+    "    target=camera_deck,\n",
+    "    rotation_deck=rotation_deck,\n",
+    "    source_plate_rotation=\"wide\",\n",
+    "    target_plate_rotation=\"narrow\",\n",
+    ")"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "681e2ea1",
+   "id": "9",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -142,42 +125,35 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "79ad16ea",
+   "id": "10",
    "metadata": {},
    "outputs": [],
    "source": [
-    "rot = pf400.rotate_yaw(rotation_deck.representation,90)\n",
-    "rotation_deck_wide = LocationArgument(location_name=\"rotation_deck_wide\", location = rot)\n",
-    "\n"
+    "rot = pf400.rotate_yaw(rotation_deck.representation, 90)\n",
+    "rotation_deck_wide = LocationArgument(location_name=\"rotation_deck_wide\", location=rot)"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "fdfef70d",
+   "id": "11",
    "metadata": {},
    "outputs": [],
    "source": [
-    "pf400.transfer(rotation_deck_wide,rotation_deck_wide,source_plate_rotation=\"wide\",target_plate_rotation=\"wide\")"
+    "pf400.transfer(\n",
+    "    rotation_deck_wide,\n",
+    "    rotation_deck_wide,\n",
+    "    source_plate_rotation=\"wide\",\n",
+    "    target_plate_rotation=\"wide\",\n",
+    ")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
-   "id": "8bd11120",
+   "execution_count": null,
+   "id": "12",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0'"
-      ]
-     },
-     "execution_count": 9,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.send_command(\"tool 0 1 146.5 0 0 0\")\n",
     "pf400.send_command(\"StoreFile\")"
@@ -185,8 +161,8 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
-   "id": "a3f2dcba",
+   "execution_count": null,
+   "id": "13",
    "metadata": {},
    "outputs": [],
    "source": [
diff --git a/tests/test_pf400_interface.ipynb b/tests/test_pf400_interface.ipynb
index 02a978e..7968890 100644
--- a/tests/test_pf400_interface.ipynb
+++ b/tests/test_pf400_interface.ipynb
@@ -2,7 +2,7 @@
  "cells": [
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "id": "0",
    "metadata": {},
    "outputs": [],
@@ -12,30 +12,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "id": "1",
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "\u001b[2m2026-05-19T20:55:54.094275Z\u001b[0m [\u001b[32m\u001b[1minfo     \u001b[0m] \u001b[1mEventClient initialized       \u001b[0m \u001b[36mclient_name\u001b[0m=\u001b[35mpf400_interface.pf400\u001b[0m \u001b[36mevent_server\u001b[0m=\u001b[35m'Not configured'\u001b[0m \u001b[36mlog_dir\u001b[0m=\u001b[35m/home/rpl/workspaces/rpl_dev/pf400_module/.madsci/logs\u001b[0m \u001b[36mlog_level\u001b[0m=\u001b[35mEventLogLevel.INFO\u001b[0m \u001b[36mmadsci_version\u001b[0m=\u001b[35m0.7.0\u001b[0m \u001b[36mplatform\u001b[0m=\u001b[35mLinux-6.17.0-19-generic-x86_64-with-glibc2.42\u001b[0m \u001b[36mpython_version\u001b[0m=\u001b[35m3.12.12\u001b[0m\n"
-     ]
-    },
-    {
-     "data": {
-      "text/plain": [
-       "1"
-      ]
-     },
-     "execution_count": 2,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "\n",
     "pf400 = PF400(host=\"rplpf400.cels.anl.gov\")\n",
     "pf400.initialize_robot()\n",
     "pf400.get_robot_movement_state()"
@@ -43,7 +24,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": null,
    "id": "2",
    "metadata": {},
    "outputs": [],
@@ -83,79 +64,54 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
-   "id": "58b72672",
+   "execution_count": null,
+   "id": "5",
    "metadata": {},
    "outputs": [],
    "source": [
     "camera_loc = LocationArgument(\n",
-    "    location_name=\"source\", location = [106.932,23.387,69.67,714.368,75.058,994.962]\n",
+    "    location_name=\"source\", location=[106.932, 23.387, 69.67, 714.368, 75.058, 994.962]\n",
     ")\n",
     "rotation_deck = LocationArgument(\n",
-    "    location_name=\"rotation_deck\", location =  [62.287,-27.703,113.691,631.713,75.088,994.854]\n",
+    "    location_name=\"rotation_deck\",\n",
+    "    location=[62.287, -27.703, 113.691, 631.713, 75.088, 994.854],\n",
     ")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
-   "id": "966d1340",
+   "execution_count": null,
+   "id": "6",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0'"
-      ]
-     },
-     "execution_count": 5,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "pf400.enable_compliance()"
+    "pf400.enablee()"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
-   "id": "5",
+   "execution_count": null,
+   "id": "7",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "True"
-      ]
-     },
-     "execution_count": 6,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"narrow\", target_plate_rotation=\"wide\")\n",
-    "#pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")"
+    "pf400.disable_compliance()\n",
+    "pf400.transfer(\n",
+    "    source=camera_loc,\n",
+    "    target=camera_loc,\n",
+    "    rotation_deck=rotation_deck,\n",
+    "    source_plate_rotation=\"narrow\",\n",
+    "    target_plate_rotation=\"wide\",\n",
+    ")\n",
+    "# pf400.transfer(source=camera_loc, target=camera_loc, rotation_deck=rotation_deck, source_plate_rotation=\"wide\", target_plate_rotation=\"narrow\")"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
-   "id": "eb627d8c",
+   "execution_count": null,
+   "id": "8",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0'"
-      ]
-     },
-     "execution_count": 6,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.disable_compliance()"
    ]
@@ -163,18 +119,17 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "3c7c7602",
+   "id": "9",
    "metadata": {},
    "outputs": [],
    "source": [
-    "pf400.pick_plate(source=rotation_deck\n",
-    "                 )\n"
+    "pf400.pick_plate(source=rotation_deck)"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "4027bb28",
+   "id": "10",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -184,7 +139,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "c813d4ea",
+   "id": "11",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -194,19 +149,20 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "34c11807",
+   "id": "12",
    "metadata": {},
    "outputs": [],
    "source": [
     "rotation_deck_above = LocationArgument(\n",
-    "    location_name=\"rotation_deck_above\", location =  [75.287,-27.703,113.691,631.713,70.088,994.854]\n",
-    ")\n"
+    "    location_name=\"rotation_deck_above\",\n",
+    "    location=[75.287, -27.703, 113.691, 631.713, 70.088, 994.854],\n",
+    ")"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "13443d57",
+   "id": "13",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -217,11 +173,13 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "984573cd",
+   "id": "14",
    "metadata": {},
    "outputs": [],
    "source": [
-    "new_loc =pf400.rotate_yaw(joint_states=rotation_deck_above.representation, rotation_deg=90.0)\n",
+    "new_loc = pf400.rotate_yaw(\n",
+    "    joint_states=rotation_deck_above.representation, rotation_deg=90.0\n",
+    ")\n",
     "pf400.move_joint(new_loc)\n",
     "pf400.send_command(\"wherec\")"
    ]
@@ -229,7 +187,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "46f01a50",
+   "id": "15",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -240,21 +198,10 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
-   "id": "9d2def7b",
+   "execution_count": null,
+   "id": "16",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0'"
-      ]
-     },
-     "execution_count": 7,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.send_command(\"tool 0 -8 148 0 0 0\")"
    ]
@@ -262,17 +209,17 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "1f830ba8",
+   "id": "17",
    "metadata": {},
    "outputs": [],
    "source": [
-    "pf400.open_gripper(pf400.gripper_open_wide)\n"
+    "pf400.open_gripper(pf400.gripper_open_wide)"
    ]
   },
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "ef000acf",
+   "id": "18",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -281,21 +228,10 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
-   "id": "e9f99e32",
+   "execution_count": null,
+   "id": "19",
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "'0 0 0 162 0 0 0'"
-      ]
-     },
-     "execution_count": 6,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
     "pf400.send_command(\"tool\")"
    ]
@@ -303,7 +239,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "3689e6af",
+   "id": "20",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -313,7 +249,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "956d4e2b",
+   "id": "21",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -323,7 +259,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "24511083",
+   "id": "22",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -333,7 +269,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "0da2cfa9",
+   "id": "23",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -343,7 +279,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "19b9a6ef",
+   "id": "24",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -353,7 +289,7 @@
   {
    "cell_type": "code",
    "execution_count": null,
-   "id": "f32966f7",
+   "id": "25",
    "metadata": {},
    "outputs": [],
    "source": [
@@ -362,8 +298,8 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 16,
-   "id": "6",
+   "execution_count": null,
+   "id": "26",
    "metadata": {},
    "outputs": [],
    "source": [