v1: PreciseFlex: move the arm family into a brooks.precise_flex package

pylabrobot/brooks/precise_flex/__init__.py

@@ -0,0 +1,55 @@
+"""Brooks PreciseFlex robots.
+
+Why one package for the family - every PreciseFlex arm runs the same Guidance/TCS controller and
+speaks the same GPL command protocol, DataIDs, and error codes, so they share the bulk of this
+driver. They differ only in kinematics (per geometry, e.g. the c10's R-P-R-R joint order, the c8A's
+six axes) and gripper, which are handled by per-model device classes and per-geometry kinematics
+modules within the package. Grouping by the shared controller keeps that common driver in one place
+rather than duplicated per arm model.
+
+Scope - the PreciseFlex robot line. Implemented:
+
+- PreciseFlex 400 (PF400)
+- PreciseFlex 3400 (PF3400)
+
+To be added here:
+
+- PreciseFlex 100 / 1400 (PF100 / PF1400)
+- c-series: c3, c5, c8A, c10
+- direct-drive: DD4, DD6
+- linear rail
+
+Everything here is PreciseFlex-specific, including the TCS controller protocol (``tcs_modules``),
+``error_codes``, and the controller DataIDs (``data_ids``) - the PreciseFlex line is the only user of
+the Guidance/TCS controller, so they live with it. A future, genuinely different Brooks device family
+would get its own sibling package under ``brooks/``, and anything shared would be lifted up then.
+
+Re-exports the public classes so ``from pylabrobot.brooks.precise_flex import PreciseFlex400`` keeps
+working.
+"""
+
+from pylabrobot.brooks.precise_flex.precise_flex import (
+  Axis,
+  PreciseFlex400,
+  PreciseFlex400Backend,
+  PreciseFlex3400Backend,
+  PreciseFlexArmBackend,
+  PreciseFlexCartesianPose,
+  PreciseFlexConfiguration,
+  PreciseFlexDriver,
+  PreciseFlexError,
+  WorkingVolume,
+)
+
+__all__ = [
+  "Axis",
+  "PreciseFlex400",
+  "PreciseFlex400Backend",
+  "PreciseFlex3400Backend",
+  "PreciseFlexArmBackend",
+  "PreciseFlexCartesianPose",
+  "PreciseFlexConfiguration",
+  "PreciseFlexDriver",
+  "PreciseFlexError",
+  "WorkingVolume",
+]

pylabrobot/brooks/error_codes.py → pylabrobot/brooks/precise_flex/errors.py

@@ -1919,3 +1919,15 @@
     "description": "A remote request to load a new vision project has failed because the current project has not been saved. Save the current project before attempting to load a new one.",
   },
 }
+
+
+class PreciseFlexError(Exception):
+  def __init__(self, replycode: int, message: str):
+    self.replycode = replycode
+    self.message = message
+    if replycode in ERROR_CODES:
+      text = ERROR_CODES[replycode]["text"]
+      description = ERROR_CODES[replycode]["description"]
+      super().__init__(f"PreciseFlexError {replycode}: {text}. {description} - {message}")
+    else:
+      super().__init__(f"PreciseFlexError {replycode}: {message}")

pylabrobot/brooks/kinematics.py → pylabrobot/brooks/precise_flex/kinematics.py

@@ -22,7 +22,7 @@
 from pylabrobot.capabilities.arms.standard import JointPose
 
 if TYPE_CHECKING:
-  from pylabrobot.brooks.precise_flex import PreciseFlexCartesianPose
+  from pylabrobot.brooks.precise_flex.precise_flex import PreciseFlexCartesianPose
 
 
 # Known PF400 link-length configs (l1 = shoulder->elbow, l2 = elbow->wrist), in mm, per the 615287
@@ -78,7 +78,7 @@ def fk(joints: JointPose, p: PF400Params) -> "PreciseFlexCartesianPose":
     orientation/wrist derived from the joint configuration (J3 sign and
     wrapped J4 sign, respectively).
   """
-  from pylabrobot.brooks.precise_flex import PreciseFlexCartesianPose
+  from pylabrobot.brooks.precise_flex.precise_flex import PreciseFlexCartesianPose
   from pylabrobot.resources import Coordinate, Rotation
 
   j1 = joints[1]

pylabrobot/brooks/precise_flex.py → pylabrobot/brooks/precise_flex/precise_flex.py

@@ -7,16 +7,6 @@
 from enum import IntEnum
 from typing import Dict, List, Literal, Optional
 
-from pylabrobot.brooks import kinematics
-from pylabrobot.brooks.confirmed_firmware_versions import (
-  SUPPORTED_ROBOT_TYPES,
-  is_confirmed,
-  is_supported_model,
-  suggest_entry,
-)
-from pylabrobot.brooks.data_ids import DataID
-from pylabrobot.brooks.error_codes import ERROR_CODES
-from pylabrobot.brooks.tcs_modules import missing_required_modules
 from pylabrobot.capabilities.arms.backend import (
   CanFreedrive,
   HasJoints,
@@ -30,6 +20,18 @@
 from pylabrobot.resources import Coordinate, Rotation
 from pylabrobot.resources.resource import Resource
 
+# PreciseFlex-specific siblings - relative imports.
+from . import kinematics
+from .confirmed_firmware_versions import (
+  SUPPORTED_ROBOT_TYPES,
+  is_confirmed,
+  is_supported_model,
+  suggest_entry,
+)
+from .data_ids import DataID
+from .errors import PreciseFlexError
+from .tcs_modules import missing_required_modules
+
 logger = logging.getLogger(__name__)
 
 
@@ -157,23 +159,6 @@ def working_volume(self) -> WorkingVolume:
     return WorkingVolume(inner=inner, outer=outer, zmin=zmin, zmax=zmax)
 
 
-# ---------------------------------------------------------------------------
-# Exceptions
-# ---------------------------------------------------------------------------
-
-
-class PreciseFlexError(Exception):
-  def __init__(self, replycode: int, message: str):
-    self.replycode = replycode
-    self.message = message
-    if replycode in ERROR_CODES:
-      text = ERROR_CODES[replycode]["text"]
-      description = ERROR_CODES[replycode]["description"]
-      super().__init__(f"PreciseFlexError {replycode}: {text}. {description} - {message}")
-    else:
-      super().__init__(f"PreciseFlexError {replycode}: {message}")
-
-
 # ---------------------------------------------------------------------------
 # Driver — owns Socket I/O and device lifecycle
 # ---------------------------------------------------------------------------

pylabrobot/brooks/precise_flex_tests.py → pylabrobot/brooks/precise_flex/precise_flex_tests.py

@@ -2,8 +2,7 @@
 from typing import Tuple
 from unittest.mock import AsyncMock, MagicMock
 
-from pylabrobot.brooks import kinematics
-from pylabrobot.brooks.precise_flex import Axis, PreciseFlex400Backend
+from pylabrobot.brooks.precise_flex import Axis, PreciseFlex400Backend, kinematics
 
 
 def _make_backend(