pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.iswap_request_joint_state

async STAR.iswap_request_joint_state() → Dict[int, float]

Snapshot of the iSWAP’s current joint state, keyed by iSWAPAxis.

Composes the per-axis request methods into a single read-through dict. Units are axis-implicit (see iSWAPAxis): X/Y/Z/GRIPPER in mm, ROTATION and WRIST in degrees.

Raises:

RuntimeError – if iSWAP is not installed or if setup() has not run (the rotation-drive angle reader needs the predefined-stop table).

Return type:

Dict[int, float]