SCARA Robot Python Emulator & 2D/3D Kinematic Visualizer
scaraemu is a standalone kinematic emulator, real-time 2D/3D visualizer, and hardware communication bridge for 4-DOF SCARA robotic manipulators.
Developed in python code.
The README is used to introduce the modules and provide instructions on how to install the modules, any machine dependencies it may have and any other information that should be provided before the modules are installed.
Table of Contents
- 🚀 Installation
- 📦 Dependencies
- 📁 Tool structure
- 📊 Code coverage
- 🛠 Usage
- 📚 Docs
- 👥 Contributing
- 📄 Copyright and licence
🚀 Installation
Used next development environment
Currently there are three ways to install package
- Install process based on using pip mechanism
- Install process based on build mechanism
- Install process based on setup.py mechanism
- Install process based on docker mechanism
Install using pip
scaraemu is located at pypi.org.
You can install by using pip
# python3
pip3 install scaraemu
Install using build
Navigate to release page download and extract release archive.
To install scaraemu type the following
tar xvzf scaraemu-x.y.z.tar.gz
cd scaraemu-x.y.z/
# python3
wget https://bootstrap.pypa.io/get-pip.py
python3 get-pip.py
python3 -m pip install --upgrade setuptools
python3 -m pip install --upgrade pip
python3 -m pip install --upgrade build
pip3 install -r requirements.txt
python3 -m build --no-isolation --wheel
pip3 install ./dist/scaraemu-*-py3-none-any.whl
rm -f get-pip.py
chmod 755 /usr/local/lib/python3.10/dist-packages/usr/local/bin/scaraemu_run.py
ln -s /usr/local/lib/python3.10/dist-packages/usr/local/bin/scaraemu_run.py /usr/local/bin/scaraemu_run.py
Install using py setup
Navigate to release page download and extract release archive.
To install scaraemu locate and run setup.py with arguments
tar xvzf scaraemu-x.y.z.tar.gz
cd scaraemu-x.y.z
# python3
pip3 install -r requirements.txt
python3 setup.py install_lib
python3 setup.py install_egg_info
Install using docker
You can use Dockerfile to create image/container.
📦 Dependencies
scaraemu requires next modules and libraries
📁 Tool structure
scaraemu is based on OOP and Hexagonal Architecture.
Tool structure
Click to expand framework structure
scaraemu/
├── core/
│ ├── __init__.py
│ ├── model/
│ │ ├── __init__.py
│ │ ├── kinematics/
│ │ │ ├── __init__.py
│ │ │ ├── joints.py
│ │ │ ├── pose.py
│ │ │ └── step_coords.py
│ │ └── simulation/
│ │ ├── __init__.py
│ │ ├── state.py
│ │ └── telemetry.py
│ └── service/
│ ├── emulation/
│ │ ├── controller/
│ │ │ ├── controller.py
│ │ │ ├── flags.py
│ │ │ ├── icontroller.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── iservice.py
│ │ ├── motion/
│ │ │ ├── __init__.py
│ │ │ └── stepper.py
│ │ ├── notification/
│ │ │ ├── ilistener.py
│ │ │ ├── __init__.py
│ │ │ ├── inotifier.py
│ │ │ └── notifier.py
│ │ ├── provides.py
│ │ ├── queue/
│ │ │ ├── __init__.py
│ │ │ ├── iqueue.py
│ │ │ ├── queue.py
│ │ │ └── snapshot.py
│ │ └── service.py
│ ├── __init__.py
│ └── kinematics/
│ ├── imanipulator.py
│ └── __init__.py
├── engine.py
├── infrastructure/
│ ├── cli/
│ │ ├── engine.py
│ │ ├── icli.py
│ │ ├── __init__.py
│ │ └── setup/
│ │ ├── bundle.py
│ │ ├── dep_validator.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── keys.py
│ │ ├── opt_validator.py
│ │ ├── options.py
│ │ ├── registry.py
│ │ └── validator.py
│ ├── command/
│ │ ├── bundle.py
│ │ ├── definition.py
│ │ ├── executor.py
│ │ ├── idefinition.py
│ │ ├── iexecutor.py
│ │ └── __init__.py
│ ├── config/
│ │ ├── scara_geometry.json
│ │ ├── scara_geometry_scheme.json
│ │ ├── scaraemu.cfg
│ │ └── scaraemu.logo
│ ├── connection/
│ │ ├── command/
│ │ │ ├── dependencies.py
│ │ │ ├── dispatcher.py
│ │ │ ├── factory.py
│ │ │ ├── idispatcher.py
│ │ │ └── __init__.py
│ │ ├── coordinator/
│ │ │ ├── coordinator.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── icoordinator.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── handler/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── handler.py
│ │ │ ├── ihandler.py
│ │ │ └── __init__.py
│ │ ├── __init__.py
│ │ ├── listener/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── listener.py
│ │ └── provides.py
│ ├── dependencies.py
│ ├── factory.py
│ ├── gui/
│ │ ├── bridge/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── log/
│ │ │ │ ├── adapter.py
│ │ │ │ └── __init__.py
│ │ │ ├── provides.py
│ │ │ ├── server/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── log_adapter.py
│ │ │ │ └── state_adapter.py
│ │ │ ├── status/
│ │ │ │ ├── adapter.py
│ │ │ │ └── __init__.py
│ │ │ └── sync/
│ │ │ ├── __init__.py
│ │ │ ├── isynchronizer.py
│ │ │ └── synchronizer.py
│ │ ├── canvas/
│ │ │ ├── canvas_xy.py
│ │ │ ├── canvas_z.py
│ │ │ ├── config.py
│ │ │ ├── icanvas_xy.py
│ │ │ ├── icanvas_z.py
│ │ │ ├── __init__.py
│ │ │ ├── renderer/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── j1_boundary_renderer.py
│ │ │ │ ├── manipulator_arm_renderer.py
│ │ │ │ ├── manipulator_render_context.py
│ │ │ │ ├── trail_renderer.py
│ │ │ │ ├── trajectory_path_renderer.py
│ │ │ │ ├── workspace_boundary_renderer.py
│ │ │ │ ├── z_render_context.py
│ │ │ │ └── z_renderer.py
│ │ │ ├── target/
│ │ │ │ ├── elbow_auto_switch_coordinator.py
│ │ │ │ ├── elbow_dependencies.py
│ │ │ │ ├── ielbow_auto_switch_coordinator.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── itarget_click_listener.py
│ │ │ │ ├── itarget_motion_dispatcher.py
│ │ │ │ ├── target_action_coordinator.py
│ │ │ │ ├── target_dependencies.py
│ │ │ │ └── target_motion_dispatcher.py
│ │ │ └── viewport/
│ │ │ ├── coordinate_transformer.py
│ │ │ ├── icoordinate_transformer.py
│ │ │ ├── __init__.py
│ │ │ ├── iviewport.py
│ │ │ ├── viewport.py
│ │ │ └── z_coordinate_mapper.py
│ │ ├── console/
│ │ │ ├── buffer_actions.py
│ │ │ ├── ilog_listener.py
│ │ │ ├── __init__.py
│ │ │ └── panel.py
│ │ ├── delegates/
│ │ │ ├── assembly.py
│ │ │ ├── bundle.py
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── engine.py
│ │ ├── factory.py
│ │ ├── igui.py
│ │ ├── __init__.py
│ │ ├── jog/
│ │ │ ├── action/
│ │ │ │ ├── coordinator.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── idelegate.py
│ │ │ │ └── __init__.py
│ │ │ ├── dpad/
│ │ │ │ ├── __init__.py
│ │ │ │ └── section.py
│ │ │ ├── __init__.py
│ │ │ ├── panel.py
│ │ │ └── step/
│ │ │ ├── __init__.py
│ │ │ ├── iprovider.py
│ │ │ └── section.py
│ │ ├── layout/
│ │ │ ├── builder/
│ │ │ │ ├── builder.py
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── ibuilder.py
│ │ │ │ └── __init__.py
│ │ │ └── __init__.py
│ │ ├── lifecycle/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── irunner.py
│ │ │ └── runner.py
│ │ ├── machine/
│ │ │ ├── configuration/
│ │ │ │ ├── coordinator.py
│ │ │ │ ├── idelegate.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── section.py
│ │ │ ├── __init__.py
│ │ │ ├── panel.py
│ │ │ └── safety/
│ │ │ ├── coordinator.py
│ │ │ ├── idelegate.py
│ │ │ ├── __init__.py
│ │ │ └── section.py
│ │ ├── provides.py
│ │ ├── services.py
│ │ ├── splash/
│ │ │ ├── factory.py
│ │ │ ├── ifactory.py
│ │ │ ├── __init__.py
│ │ │ ├── iscreen.py
│ │ │ └── screen.py
│ │ ├── telemetry/
│ │ │ ├── cartesian/
│ │ │ │ ├── __init__.py
│ │ │ │ └── section.py
│ │ │ ├── __init__.py
│ │ │ ├── iview.py
│ │ │ ├── joint/
│ │ │ │ ├── __init__.py
│ │ │ │ └── section.py
│ │ │ ├── panel.py
│ │ │ └── step/
│ │ │ ├── __init__.py
│ │ │ └── section.py
│ │ ├── theme/
│ │ │ ├── __init__.py
│ │ │ ├── style.py
│ │ │ └── theme.py
│ │ ├── ticker/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── ifactory.py
│ │ │ ├── __init__.py
│ │ │ ├── iticker.py
│ │ │ ├── observer/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iobserver.py
│ │ │ │ └── observer.py
│ │ │ ├── scheduler/
│ │ │ │ ├── ilistener.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── ischeduler.py
│ │ │ │ └── scheduler.py
│ │ │ └── ticker.py
│ │ ├── toolbar/
│ │ │ ├── action/
│ │ │ │ ├── coordinator.py
│ │ │ │ ├── idelegate.py
│ │ │ │ └── __init__.py
│ │ │ ├── connection/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── istatus_view.py
│ │ │ │ └── section.py
│ │ │ ├── __init__.py
│ │ │ ├── panel.py
│ │ │ ├── port/
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iprovider.py
│ │ │ │ └── section.py
│ │ │ └── server/
│ │ │ ├── __init__.py
│ │ │ └── section.py
│ │ ├── trajectory/
│ │ │ ├── __init__.py
│ │ │ ├── panel.py
│ │ │ ├── preset/
│ │ │ │ ├── coordinator.py
│ │ │ │ ├── idelegate.py
│ │ │ │ ├── __init__.py
│ │ │ │ └── section.py
│ │ │ ├── queue/
│ │ │ │ ├── coordinator.py
│ │ │ │ ├── idelegate.py
│ │ │ │ ├── __init__.py
│ │ │ │ ├── iview.py
│ │ │ │ └── section.py
│ │ │ └── script/
│ │ │ ├── coordinator.py
│ │ │ ├── idelegate.py
│ │ │ ├── __init__.py
│ │ │ └── section.py
│ │ └── window/
│ │ ├── configurator.py
│ │ ├── factory.py
│ │ ├── iconfigurator.py
│ │ └── __init__.py
│ ├── __init__.py
│ ├── preferences/
│ │ ├── dependencies.py
│ │ ├── exceptions/
│ │ │ ├── __init__.py
│ │ │ └── preference_not_found_error.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── provides.py
│ │ ├── serial/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ └── repository.py
│ │ └── server/
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── irepository.py
│ │ ├── preference.py
│ │ └── repository.py
│ ├── provides.py
│ ├── scaralang/
│ │ ├── bypass/
│ │ │ ├── adapter.py
│ │ │ ├── factory.py
│ │ │ ├── iadapter.py
│ │ │ └── __init__.py
│ │ ├── demo/
│ │ │ ├── adapter.py
│ │ │ ├── factory.py
│ │ │ ├── iadapter.py
│ │ │ └── __init__.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── kinematics/
│ │ │ ├── __init__.py
│ │ │ ├── linkage/
│ │ │ │ ├── adapter.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iadapter.py
│ │ │ │ └── __init__.py
│ │ │ └── solver/
│ │ │ ├── adapter.py
│ │ │ ├── factory.py
│ │ │ ├── iadapter.py
│ │ │ └── __init__.py
│ │ ├── protocol/
│ │ │ ├── builder/
│ │ │ │ ├── adapter.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iadapter.py
│ │ │ │ └── __init__.py
│ │ │ ├── codec/
│ │ │ │ ├── adapter.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iadapter.py
│ │ │ │ └── __init__.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── payload/
│ │ │ │ ├── adapter.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── iadapter.py
│ │ │ │ └── __init__.py
│ │ │ ├── provides.py
│ │ │ └── response/
│ │ │ ├── adapter.py
│ │ │ ├── factory.py
│ │ │ ├── iadapter.py
│ │ │ └── __init__.py
│ │ ├── provides.py
│ │ ├── reach/
│ │ │ ├── adapter.py
│ │ │ ├── factory.py
│ │ │ ├── iadapter.py
│ │ │ └── __init__.py
│ │ ├── safety/
│ │ │ ├── adapter.py
│ │ │ ├── factory.py
│ │ │ ├── iadapter.py
│ │ │ └── __init__.py
│ │ └── script/
│ │ ├── adapter.py
│ │ ├── discovery.py
│ │ ├── factory.py
│ │ ├── iadapter.py
│ │ └── __init__.py
│ ├── server/
│ │ ├── accept/
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── iworker.py
│ │ │ └── worker.py
│ │ ├── dependencies.py
│ │ ├── dispatcher/
│ │ │ ├── dispatcher.py
│ │ │ ├── factory.py
│ │ │ ├── idispatcher.py
│ │ │ └── __init__.py
│ │ ├── factory.py
│ │ ├── handler/
│ │ │ ├── ihandler.py
│ │ │ ├── __init__.py
│ │ │ ├── jog/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ └── __init__.py
│ │ │ ├── motion/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ └── __init__.py
│ │ │ ├── system/
│ │ │ │ ├── dependencies.py
│ │ │ │ ├── factory.py
│ │ │ │ ├── handler.py
│ │ │ │ └── __init__.py
│ │ │ └── tool/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── handler.py
│ │ │ └── __init__.py
│ │ ├── __init__.py
│ │ ├── iserver.py
│ │ ├── logger/
│ │ │ ├── factory.py
│ │ │ ├── holder.py
│ │ │ ├── iholder.py
│ │ │ ├── ilistener.py
│ │ │ └── __init__.py
│ │ ├── manager/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── ilistener.py
│ │ │ ├── imanager.py
│ │ │ ├── __init__.py
│ │ │ └── manager.py
│ │ ├── motion_completion_listener.py
│ │ ├── pose/
│ │ │ ├── factory.py
│ │ │ ├── holder.py
│ │ │ ├── iholder.py
│ │ │ └── __init__.py
│ │ ├── processor/
│ │ │ ├── dependencies.py
│ │ │ ├── factory.py
│ │ │ ├── __init__.py
│ │ │ ├── iprocessor.py
│ │ │ └── processor.py
│ │ ├── provides.py
│ │ ├── server.py
│ │ └── session/
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── ioutbound_queue.py
│ │ ├── iworker.py
│ │ ├── outbound_queue.py
│ │ └── worker.py
│ ├── settings/
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── geometry/
│ │ │ ├── factory.py
│ │ │ ├── iloader.py
│ │ │ ├── __init__.py
│ │ │ └── loader.py
│ │ ├── __init__.py
│ │ ├── provides.py
│ │ └── transmission/
│ │ ├── factory.py
│ │ ├── iloader.py
│ │ ├── __init__.py
│ │ └── loader.py
│ └── streaming/
│ ├── dependencies.py
│ ├── factory.py
│ ├── __init__.py
│ ├── motion/
│ │ ├── coordinator.py
│ │ ├── factory.py
│ │ ├── icoordinator.py
│ │ └── __init__.py
│ ├── provides.py
│ ├── pumper/
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── ipumper.py
│ │ └── pumper.py
│ └── streamer/
│ ├── dependencies.py
│ ├── factory.py
│ ├── __init__.py
│ ├── istreamer.py
│ └── streamer.py
├── __init__.py
├── py.typed
└── setup/
├── bundle.py
├── dep_validator.py
├── dependencies.py
├── factory.py
├── __init__.py
├── keys.py
├── kinematics/
│ ├── dependencies.py
│ ├── factory.py
│ ├── __init__.py
│ └── provides.py
├── opt_validator.py
├── options.py
├── registry.py
└── validator.py
103 directories, 408 files
🏗 Architecture & SOLID Principles
scaraemu follows a clean, decoupled Layered Digital Twin Architecture separating real-time kinematic simulation, physical canvas rendering, autonomous trajectory generation, and hardware serial bridging:
┌─────────────────────────────────────────────────────────┐
│ ScaraEmuGUI │ (Presenter / Main Window)
└────────────────────────────┬────────────────────────────┘
│ Orchestrates UI Components via DTOs
┌─────────────────────────┬───────────┴─────────────┬──────────────────────────┐
▼ ▼ ▼ ▼
┌──────────────────┐ ┌─────────────────┐ ┌───────────────────┐ ┌──────────────────┐
│ CanvasXY │ │ CanvasZ │ │TrajectoryDemoPanel│ │ ConsolePanel │
│ (Top-Down 2D) │ │ (Z Elevation) │ │(Autonomous Motion)│ │ (Logs/Telemetry) │
└────────┬─────────┘ └────────┬────────┘ └─────────┬─────────┘ └─────────┬────────┘
│ │ │ │
└────────────┬────────────┴─────────────────────────┘ │
│ Dispatches Events to Coordinators │
▼ ▼
┌──────────────────────────┐ ┌─────────────────────────┐
│ Action Coordinators │ │ Bridge Adapters │
└────────────┬─────────────┘ └────────────┬────────────┘
│ Controls Simulation │ Decodes Binary
▼ ▼ Frames
┌──────────────────────────┐ ┌─────────────────────────┐
│ EmulationService │ (Kinematic Simulation Engine) │ BinaryCodec │
└────────────┬─────────────┘ └────────────┬────────────┘
│ │
┌────────────┴────────────┬────────────────────────┐ │ Uses
▼ ▼ ▼ ▼
┌───────────────────┐ ┌──────────────────┐ ┌──────────────────┐ ┌─────────────────────────┐
│ManipulatorKinemat.│ │TrajectoryPreset │ │ VirtualServer │ │ BinaryFrame │
│(Forward / Inverse)│ │(Autonomous Path) │ │ (TCP 127.0.0.1) │ └─────────────────────────┘
└───────────────────┘ └──────────────────┘ └──────────────────┘
SOLID Principles Compliance
- S — Single Responsibility Principle (SRP):
- Strict limit of $\le 15$ methods per class enforced by automated CI quality gate (
srp_checker.py), with fine-grained components strictly targeting 2 to 4 methods (max 6 methods). - Presentation logic is cleanly partitioned between
ScaraEmuGUI(layout assembly), focused action coordinators (TargetActionCoordinator,JogActionCoordinator,QueueActionCoordinator,ScriptLoaderCoordinator), modular bridge adapters (ServerAdapter,StatusAdapter,LogAdapter,BridgeSynchronizer), and modular UI panels (CanvasXY,CanvasZ,JogPanel,TrajectoryDemoPanel,ConsolePanel,MachinePanel,TelemetryPanel).
- Strict limit of $\le 15$ methods per class enforced by automated CI quality gate (
- O — Open/Closed Principle (OCP):
- Autonomous motion routines and trajectory actions use pluggable coordinators without modifying core emulation or rendering dispatchers.
- L — Liskov Substitution Principle (LSP):
- Strict avoidance of concrete class inheritance hierarchies; all contracts use Python
@runtime_checkable Protocolstructural typing (IManipulatorKinematics,IEmulationService,ICanvasXY,ICanvasZ).
- Strict avoidance of concrete class inheritance hierarchies; all contracts use Python
- I — Interface Segregation Principle (ISP):
- Role-specific interfaces ensure components only bind to methods they consume. Validated by
isp_checker.py.
- Role-specific interfaces ensure components only bind to methods they consume. Validated by
- D — Dependency Inversion Principle (DIP):
- Presentation, server handlers, and bridge controllers depend exclusively on structural abstractions (
IManipulatorKinematics,IEmulationService,IEmulationQueue) and immutable domain models (ScaraPose,ScaraJoints,JointSteps).
- Presentation, server handlers, and bridge controllers depend exclusively on structural abstractions (
Automated Quality Gates (run_quality_gates.sh)
All PRs and builds are checked against 4 automated architectural gates:
- Structural Protocols Gate: Confirms 100% adherence to pure
@runtime_checkable Protocoldefinitions. - Interface Segregation Gate (ISP): Confirms that interfaces are finely segregated with no bloated dependencies.
- Module Limits Gate: Enforces file length limits and line lengths $\le 100$ characters.
- Single Responsibility Gate (SRP): Enforces strict adherence to $\le 15$ methods per class.
🌐 SCARA Ecosystem Role & Physical Hardware Simulation
scaraemu serves as the visual Digital Twin within the unified 4-tier SCARA robotics architecture:
- scaralang Integration: Simulates bytecode execution and binary wire frames (
0xAA 0x55) compiled byscaralang. - scarajectory Loopback: Receives real-time streaming trajectories over loopback TCP (port 8888) or PTY serial channels, returning closed-loop flow control and ACK/NACK responses.
- scara_base Hardware Simulation: Accurately visualizes physical dual-link kinematics, Z-elevation, and end-effector actions corresponding to the real robot driven by Raspberry Pi Pico (RP2040) controlling NEMA steppers in Open-Loop (TMC2209) or Closed-Loop (MKS SERVO42D via CAN bus).
✨ Features
- 2D Planar Dual-Link Visualizer: Real-time rendering of primary ($L_1$) and secondary ($L_2$) arm links, active joint angles, target crosshair, and animated motion path trail.
- Side Elevation Z-Tower View: Multi-rod lead screw carriage elevation, active tool height, and radial extension profile visualization.
- Interactive Targeting & Jogging: Direct mouse click position targeting on both XY and Z canvases, Cartesian delta jogging ($X, Y, Z, \Phi$), Lefty/Righty elbow toggling, and Emergency Stop.
- Autonomous Trajectory Demos: Pre-programmed autonomous demonstration trajectories (Circle, Square, 5-Point Star, 3D Helical Coil, and Pick & Place 3D JUMP Arch).
- Sliding Window Stream Processing: Multi-threaded TCP socket and queue processing with dynamic ACK tracking, auto-pause on buffer full, and progress monitoring.
- Virtual Server Bridge & Binary Protocol Codec: Bidirectional streaming over TCP socket (port 8888) with
scaralangbinary wire frames (0xAA 0x55), real-time status telemetry queries, dynamic queue management, and digital twin synchronization. - Configurable Kinematics & Dimensions: Dynamic robot link lengths ($L_1, L_2$), stroke limits ($Z_{min}, Z_{max}$), and speed bounds configurable via CLI options and JSON schema.
- Strict Quality & SOLID Standards: 100% protocol conformity, zero ISP/SRP violations, 100% code coverage (8,947/8,947 lines), and 9.99 / 10.00 Pylint score.
📐 SCARA Kinematic & Geometric Configuration
The robot dimensions and physical boundaries can be customized in scara_geometry.json or injected programmatically:
| Parameter | Default Value | Description |
|---|---|---|
l1 |
150.0 mm |
Primary arm link length (shoulder to elbow). |
l2 |
120.0 mm |
Secondary arm link length (elbow to wrist). |
r_min |
30.0 mm |
Inner singular deadzone radius ($ |
r_max |
270.0 mm |
Maximum horizontal reach boundary ($L_1 + L_2$). |
z_min |
0.0 mm |
Minimum vertical height limit (bed level). |
z_max |
100.0 mm |
Maximum vertical stroke limit. |
min_speed |
1.0 mm/s |
Minimum allowable feedrate speed. |
max_speed |
100.0 mm/s |
Maximum allowable safe feedrate speed. |
📊 Code coverage
Click to expand code coverage
| Name | Stmts | Miss | Cover |
|---|---|---|---|
scaraemu/__init__.py |
9 | 0 | 100% |
scaraemu/core/__init__.py |
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scaraemu/core/model/__init__.py |
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scaraemu/core/model/kinematics/__init__.py |
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scaraemu/core/model/kinematics/joints.py |
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scaraemu/core/model/kinematics/pose.py |
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scaraemu/core/model/kinematics/step_coords.py |
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scaraemu/core/model/simulation/__init__.py |
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scaraemu/core/model/simulation/state.py |
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scaraemu/core/model/simulation/telemetry.py |
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scaraemu/core/service/__init__.py |
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scaraemu/core/service/emulation/__init__.py |
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scaraemu/core/service/emulation/controller/__init__.py |
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scaraemu/core/service/emulation/controller/controller.py |
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scaraemu/core/service/emulation/controller/flags.py |
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scaraemu/core/service/emulation/controller/icontroller.py |
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scaraemu/core/service/emulation/dependencies.py |
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scaraemu/core/service/emulation/factory.py |
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scaraemu/core/service/emulation/iservice.py |
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scaraemu/core/service/emulation/motion/__init__.py |
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scaraemu/core/service/emulation/motion/stepper.py |
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scaraemu/core/service/emulation/notification/__init__.py |
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scaraemu/core/service/emulation/notification/ilistener.py |
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scaraemu/core/service/emulation/notification/inotifier.py |
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scaraemu/core/service/emulation/notification/notifier.py |
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scaraemu/core/service/emulation/provides.py |
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scaraemu/core/service/emulation/queue/__init__.py |
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scaraemu/core/service/emulation/queue/iqueue.py |
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scaraemu/core/service/emulation/queue/queue.py |
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scaraemu/core/service/emulation/queue/snapshot.py |
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scaraemu/core/service/emulation/service.py |
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scaraemu/core/service/kinematics/__init__.py |
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scaraemu/core/service/kinematics/imanipulator.py |
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scaraemu/engine.py |
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scaraemu/infrastructure/__init__.py |
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scaraemu/infrastructure/cli/__init__.py |
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scaraemu/infrastructure/cli/engine.py |
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scaraemu/infrastructure/cli/icli.py |
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scaraemu/infrastructure/cli/setup/__init__.py |
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scaraemu/infrastructure/cli/setup/bundle.py |
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scaraemu/infrastructure/cli/setup/dep_validator.py |
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scaraemu/infrastructure/cli/setup/dependencies.py |
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scaraemu/infrastructure/cli/setup/factory.py |
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scaraemu/infrastructure/cli/setup/keys.py |
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scaraemu/infrastructure/cli/setup/opt_validator.py |
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scaraemu/infrastructure/cli/setup/options.py |
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scaraemu/infrastructure/cli/setup/registry.py |
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scaraemu/infrastructure/cli/setup/validator.py |
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scaraemu/infrastructure/command/__init__.py |
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scaraemu/infrastructure/command/bundle.py |
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scaraemu/infrastructure/command/definition.py |
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scaraemu/infrastructure/command/executor.py |
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scaraemu/infrastructure/command/idefinition.py |
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scaraemu/infrastructure/command/iexecutor.py |
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scaraemu/infrastructure/connection/command/__init__.py |
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scaraemu/infrastructure/connection/command/dependencies.py |
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scaraemu/infrastructure/connection/command/dispatcher.py |
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scaraemu/infrastructure/connection/command/factory.py |
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scaraemu/infrastructure/connection/command/idispatcher.py |
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scaraemu/infrastructure/connection/coordinator/icoordinator.py |
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scaraemu/infrastructure/connection/dependencies.py |
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scaraemu/infrastructure/connection/factory.py |
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scaraemu/infrastructure/connection/handler/factory.py |
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scaraemu/infrastructure/connection/handler/handler.py |
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scaraemu/infrastructure/connection/handler/ihandler.py |
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scaraemu/infrastructure/connection/listener/dependencies.py |
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scaraemu/infrastructure/connection/listener/factory.py |
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scaraemu/infrastructure/gui/bridge/server/log_adapter.py |
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scaraemu/infrastructure/gui/bridge/server/state_adapter.py |
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scaraemu/infrastructure/gui/bridge/status/__init__.py |
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scaraemu/infrastructure/gui/bridge/status/adapter.py |
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scaraemu/infrastructure/gui/bridge/sync/isynchronizer.py |
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scaraemu/infrastructure/gui/bridge/sync/synchronizer.py |
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scaraemu/infrastructure/gui/canvas/canvas_xy.py |
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scaraemu/infrastructure/gui/canvas/canvas_z.py |
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scaraemu/infrastructure/gui/canvas/config.py |
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scaraemu/infrastructure/gui/canvas/icanvas_xy.py |
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scaraemu/infrastructure/gui/canvas/icanvas_z.py |
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scaraemu/infrastructure/gui/canvas/renderer/__init__.py |
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scaraemu/infrastructure/gui/canvas/renderer/j1_boundary_renderer.py |
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scaraemu/infrastructure/gui/canvas/renderer/manipulator_arm_renderer.py |
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scaraemu/infrastructure/gui/canvas/renderer/manipulator_render_context.py |
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scaraemu/infrastructure/gui/canvas/renderer/trail_renderer.py |
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scaraemu/infrastructure/gui/canvas/renderer/trajectory_path_renderer.py |
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scaraemu/infrastructure/gui/canvas/renderer/workspace_boundary_renderer.py |
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scaraemu/infrastructure/gui/canvas/renderer/z_render_context.py |
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scaraemu/infrastructure/gui/canvas/renderer/z_renderer.py |
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scaraemu/infrastructure/gui/canvas/target/__init__.py |
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scaraemu/infrastructure/gui/canvas/target/elbow_auto_switch_coordinator.py |
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scaraemu/infrastructure/gui/canvas/target/elbow_dependencies.py |
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scaraemu/infrastructure/gui/canvas/target/ielbow_auto_switch_coordinator.py |
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scaraemu/infrastructure/gui/canvas/target/itarget_click_listener.py |
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scaraemu/infrastructure/gui/canvas/target/itarget_motion_dispatcher.py |
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scaraemu/infrastructure/gui/canvas/target/target_action_coordinator.py |
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scaraemu/infrastructure/gui/canvas/target/target_dependencies.py |
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scaraemu/infrastructure/gui/canvas/target/target_motion_dispatcher.py |
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scaraemu/infrastructure/gui/canvas/viewport/__init__.py |
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scaraemu/infrastructure/gui/canvas/viewport/coordinate_transformer.py |
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scaraemu/infrastructure/gui/canvas/viewport/icoordinate_transformer.py |
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scaraemu/infrastructure/gui/canvas/viewport/iviewport.py |
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scaraemu/infrastructure/gui/canvas/viewport/viewport.py |
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scaraemu/infrastructure/gui/canvas/viewport/z_coordinate_mapper.py |
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scaraemu/infrastructure/gui/console/__init__.py |
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scaraemu/infrastructure/gui/console/buffer_actions.py |
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scaraemu/infrastructure/gui/console/ilog_listener.py |
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scaraemu/infrastructure/gui/console/panel.py |
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scaraemu/infrastructure/gui/delegates/factory.py |
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scaraemu/infrastructure/gui/engine.py |
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scaraemu/infrastructure/gui/factory.py |
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scaraemu/infrastructure/gui/igui.py |
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scaraemu/infrastructure/gui/jog/__init__.py |
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scaraemu/infrastructure/gui/jog/action/__init__.py |
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scaraemu/infrastructure/gui/jog/action/coordinator.py |
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scaraemu/infrastructure/gui/jog/action/dependencies.py |
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scaraemu/infrastructure/gui/jog/action/idelegate.py |
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scaraemu/infrastructure/gui/jog/dpad/__init__.py |
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scaraemu/infrastructure/gui/jog/dpad/section.py |
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scaraemu/infrastructure/gui/jog/panel.py |
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scaraemu/infrastructure/gui/jog/step/iprovider.py |
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scaraemu/infrastructure/gui/jog/step/section.py |
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scaraemu/infrastructure/gui/layout/__init__.py |
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scaraemu/infrastructure/gui/layout/builder/__init__.py |
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scaraemu/infrastructure/gui/layout/builder/builder.py |
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🛠 Usage
Install package
pip3 install scaraemu
Prepare main entry point by downloading main.py or create your own.
wget -O main.py https://raw.githubusercontent.com/vroncevic/scaraemu/main/main.py
CLI Command Options
Launch the graphical emulator with default configuration:
python3 main.py emulator
Launch with custom geometry overrides:
python3 main.py emulator --l1 160.0 --l2 110.0 --verbose
| Option | Type | Choices | Description |
|---|---|---|---|
--l1 |
float |
Length in mm | Override primary arm length L1 in millimeters. |
--l2 |
float |
Length in mm | Override secondary arm length L2 in millimeters. |
--z-min |
float |
Limit in mm | Minimum vertical Z boundary in millimeters. |
--z-max |
float |
Limit in mm | Maximum vertical Z boundary in millimeters. |
--robot-config |
str |
File path | Path to custom robot geometry JSON file. |
--verbose |
bool |
Flag | Enable verbose ATS operational logging. |
Interactive Emulation & Control Workflow
- 2D/3D Kinematic Visualizer:
- Inspect top-down planar canvas (XY) and side elevation carriage (Z).
- Directly click anywhere inside reachable annular workspace to command moves.
- Manual Jogging & Axis Control:
- Step along $X, Y, Z, \Phi$ with configurable step sizes under Monitor & Jog.
- Toggle between Lefty and Righty elbow configurations or toggle motor power.
- Autonomous Demo Trajectories:
- Under the Trajectories tab, select Circle, Square, 5-Star, or 3D Helix.
- Watch the real-time simulation interpolator render toolhead paths.
- Virtual Server & Telemetry Streaming:
- Run embedded Virtual Robot Server listening on TCP socket
127.0.0.1:8888. - Telemetry updates synchronize simulated robot position with the visualizer.
- Run embedded Virtual Robot Server listening on TCP socket
- Console & Telemetry Logging:
- Inspect live binary protocol logs, server communication events, and real-time telemetry updates.
🤖 Digital Twin Integration with SCARAjectory
scaraemu acts as a virtual hardware target, SITL digital twin, and kinematic simulator for scarajectory.
Method 1: Virtual Robot Server (TCP 127.0.0.1:8888)
- In scaraemu, click the 🌐 Virtual Server: OFF toggle button on the top status bar.
- The button illuminates green and displays 🌐 Virtual Server: 8888, listening for incoming TCP client connections on
127.0.0.1:8888. - In scarajectory, navigate to the Hardware Streamer tab and select
127.0.0.1:8888 (Digital Twin)from the Port dropdown. - Click Connect in scarajectory.
- Stream any trajectory plan or jog joints interactively:
- scaraemu decodes incoming
scaralangbinary motion frames (CMD_MOVE_JOINT_STEPS). - Forward kinematics computes joint angles ($\theta_1, \theta_2, Z, \phi$) and renders real-time motion on the 2D and 3D canvases.
- Bidirectional handshake frames (
RESP_ACK,RESP_MOVE_DONE) flow back to scarajectory for closed-loop motion synchronization.
- scaraemu decodes incoming
Method 2: Launch via CLI with Initial File
Launch scaraemu with an initial .scara script or plan.json:
python3 main.py emulator --file /path/to/trajectory.scara
The emulator automatically loads the file, executes forward and inverse kinematics, and displays the toolhead path.
Method 3: Load .scara DSL Programs from UI
- Navigate to the Trajectories tab in scaraemu.
- Select any program from the SCARA DSL Script dropdown (12 industrial demo programs included).
- Or click 📂 Load to browse and open any custom
.scaraor JSON trajectory plan.
📚 Docs
More documentation and info at
👥 Contributing
📄 Copyright and licence
Copyright (C) 2026 by vroncevic.github.io/scaraemu
scaraemu is free software; you can redistribute it and/or modify it under the same terms as Python itself, either Python version 3.x or, at your option, any later version of Python 3 you may have available.
Special thanks to Google and the Google developer ecosystem for their tremendous support and innovative tools from the Google bundle that empowered the development and realization of this project. Google, you make this world a better place! 🌍✨
Lets help and support PSF.
1 maintainer
Metadata
1 maintainer
Release files for scaraemu 1.0.2
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