pylabrobot.liquid_handling.backends.hamilton.STAR_backend.STAR.iswap_request_pose

async STAR.iswap_request_pose() → CartesianCoords

Compute the iSWAP gripper pose via forward kinematics.

FK-based alternative to request_iswap_position (C0 QG), which is firmware-state-dependent and only returns correct values after certain preceding commands. Reads the joint state directly via iswap_request_joint_state and runs _iswap_fk against the link lengths cached during setup().

Returns:

CartesianCoords with location = grip-center deck coordinates (mm) and rotation.z = gripper yaw (deg, deck-frame, 0 = +x; rotation.x/.y = 0 since the gripper plane stays parallel to the deck).

Raises:

RuntimeError – if iSWAP is not installed or if setup() has not populated the wrist STRAIGHT calibration / cached link lengths.

Return type:

CartesianCoords