SCARA Motion Trajectory Studio & Streamer

scarajectory is a standalone CAD/CAM motion planning, kinematic validation, and real-time trajectory streaming software for 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
  • Install using pip
  • Install using build
  • Install using py setup
  • Install using docker
• 📦 Dependencies
• 📁 Tool structure
  • 🏗 Architecture & SOLID Principles
  • ✨ Features
  • 📐 SCARA Kinematic & Geometric Configuration
• 📊 Code coverage
• 🛠 Usage
  • CLI Command Options
  • Interactive Motion Planning Workflow
• 📚 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

scarajectory is located at pypi.org.

You can install by using pip

# python3
pip3 install scarajectory

Install using build

Navigate to release page download and extract release archive.

To install scarajectory type the following

tar xvzf scarajectory-x.y.z.tar.gz
cd scarajectory-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/scarajectory-*-py3-none-any.whl
rm -f get-pip.py
chmod 755 /usr/local/lib/python3.10/dist-packages/usr/local/bin/scarajectory_run.py
ln -s /usr/local/lib/python3.10/dist-packages/usr/local/bin/scarajectory_run.py /usr/local/bin/scarajectory_run.py

Install using py setup

Navigate to release page download and extract release archive.

To install scarajectory locate and run setup.py with arguments

tar xvzf scarajectory-x.y.z.tar.gz
cd scarajectory-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

scarajectory requires next modules and libraries

• ats-utilities - Python App/Tool/Script Utilities
• pyserial - Python Serial Port Extension

📁 Tool structure

scarajectory is based on OOP and Clean Architecture.

Tool structure

    scarajectory/
         ├── core/
         │   ├── __init__.py
         │   ├── model/
         │   │   ├── canvas_interaction_state.py
         │   │   ├── canvas_settings_dto.py
         │   │   ├── canvas_tool_mode.py
         │   │   ├── __init__.py
         │   │   ├── itrajectory_plan.py
         │   │   ├── plan_history.py
         │   │   ├── point_dto.py
         │   │   ├── scara_bounds.py
         │   │   ├── stream_config_dto.py
         │   │   ├── stream_progress.py
         │   │   ├── stream_state.py
         │   │   ├── trajectory_metrics.py
         │   │   ├── trajectory_plan.py
         │   │   ├── trajectory_serializer.py
         │   │   ├── validation_result_dto.py
         │   │   ├── viewport_transform.py
         │   │   └── waypoint.py
         │   └── service/
         │       ├── engine.py
         │       ├── __init__.py
         │       ├── iplan_storage_service.py
         │       ├── iservice.py
         │       ├── istream_observer.py
         │       ├── itrajectory_observer.py
         │       ├── itrajectory_streamer.py
         │       ├── itrajectory_validator.py
         │       ├── plan_storage_service.py
         │       └── trajectory_validator.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/
         │   │   ├── command.py
         │   │   ├── icommand_definition.py
         │   │   ├── icommand_executor.py
         │   │   ├── __init__.py
         │   │   ├── studio_command_definition.py
         │   │   └── studio_command_executor.py
         │   ├── communication/
         │   │   ├── __init__.py
         │   │   ├── protocol/
         │   │   │   ├── command_formatter.py
         │   │   │   ├── command_templates.py
         │   │   │   ├── config_command_formatter.py
         │   │   │   ├── __init__.py
         │   │   │   ├── motion_command_formatter.py
         │   │   │   ├── protocol_parser.py
         │   │   │   └── robot_response_dto.py
         │   │   ├── serial_device_preferences.py
         │   │   ├── serial_port_scanner.py
         │   │   ├── serial_streamer.py
         │   │   ├── stream_session.py
         │   │   └── transport/
         │   │       ├── __init__.py
         │   │       ├── itransport.py
         │   │       ├── serial_transport.py
         │   │       └── tcp_transport.py
         │   ├── config/
         │   │   ├── scara_geometry.json
         │   │   ├── scarajectory.cfg
         │   │   ├── scarajectory.logo
         │   │   └── scheme.json
         │   ├── gui/
         │   │   ├── canvas.py
         │   │   ├── components/
         │   │   │   ├── canvas_renderer.py
         │   │   │   ├── canvas_tool_handler.py
         │   │   │   ├── __init__.py
         │   │   │   ├── jog_tab.py
         │   │   │   ├── menu_bar.py
         │   │   │   ├── preview_tab.py
         │   │   │   ├── serial_console.py
         │   │   │   ├── stream_status_bar.py
         │   │   │   ├── streamer_tab.py
         │   │   │   ├── toolbar.py
         │   │   │   ├── validation_tab.py
         │   │   │   └── waypoint_editor.py
         │   │   ├── controls.py
         │   │   ├── engine.py
         │   │   ├── icanvas.py
         │   │   ├── icontrols.py
         │   │   ├── igui.py
         │   │   ├── __init__.py
         │   │   ├── itable.py
         │   │   ├── table.py
         │   │   └── theme.py
         │   └── __init__.py
         ├── __init__.py
         ├── py.typed
         └── setup/
             ├── bundle.py
             ├── dep_validator.py
             ├── dependencies.py
             ├── factory.py
             ├── __init__.py
             ├── keys.py
             ├── opt_validator.py
             ├── options.py
             ├── registry.py
             └── validator.py

     15 directories, 103 files

🏗 Architecture & SOLID Principles

                  ┌──────────────────────────────┐
                  │       ScarajectoryGUI        │ (Presenter / Controller)
                  └──────────────┬───────────────┘
                                 │ Uses DTOs (StreamConfigDTO, CanvasSettingsDTO)
         ┌───────────────────────┼───────────────────────┐
         │                       │                       │
         ▼                       ▼                       ▼
┌──────────────────┐    ┌─────────────────┐    ┌──────────────────┐
│ TrajectoryCanvas │    │ TrajectoryTable │    │  TrajectoryPlan  │ (Domain Model)
└──────────────────┘    └─────────────────┘    └────────┬─────────┘
   (Vector CAD)           (Data Grid)                   │
         ▲                       ▲                      │
         └───────────┬───────────┘                      │
                     │ (itrajectory_observer.py)        │
                     └──────────────────────────────────┤
                                                        ▼
                                             ┌────────────────────────┐
                    (Interface Segregation)  │ itrajectory_validator  │
                                             └──────────┬─────────────┘
                                                        │ Uses PointDTO
                                                        ▼
                                             ┌────────────────────────┐
                                             │  trajectory_validator  │ (Reachability Engine)
                                             └────────────────────────┘

✨ Features

• Interactive Vector CAD Editor: Real-time vector drafting with dedicated Point, Line, Rectangle, Circle, and Freehand tools with live vertex dragging and viewport zoom/pan.
• Kinematic Reachability & Deadzone Enforcement: Annular geometric validation ensuring trajectories stay within reachable workspace boundaries ($R_{min} = |L_1 - L_2|$, $R_{max} = L_1 + L_2$).
• Undo / Redo Transaction Stack: Non-destructive history management for waypoint additions, modifications, insertions, and deletions (Ctrl+Z, Ctrl+Y).
• ASCII Protocol Generation: Generates micro-command streaming packets for RP2040 firmware (<pt#X#Y#Z#PHI#SPEED#end>).
• Sliding Window Hardware Streaming: Multi-threaded USB serial (/dev/ttyACM0) and TCP socket streaming with dynamic ACK tracking, auto-pause on buffer full, and progress monitoring.
• Manual Jogging & Diagnostics: Interactive jog grid (X, Y, Z, Phi), vacuum pump and release valve toggles, homing, status queries, and raw serial command console.
• 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, 81% test coverage, and 10.00 / 10.00 Pylint score.

📐 SCARA Kinematic & Geometric Configuration

The robot dimensions and physical boundaries can be customized in scara_geometry.json or injected programmatically:

📊 Code coverage

🛠 Usage

Install package

pip3 install scarajectory

Prepare main entry point by downloading main.py or create your own.

wget -O main.py https://raw.githubusercontent.com/vroncevic/scarajectory/main/main.py

CLI Command Options

Launch the graphical studio with default configuration:

python3 main.py studio

Launch with initial trajectory plan file and disabled deadzone restriction:

python3 main.py studio --file ./trajectories/rectangle_demo.json --dead-zone disable --verbose enable

Interactive Motion Planning Workflow

1. Design Trajectory & Geometry:
   • Use Point, Line, Rectangle, Circle, or Freehand tools directly on the interactive vector canvas.
   • Fine-tune Cartesian parameters ($X, Y, Z, \phi, \text{speed}$) using the Waypoint Data Table or interactive vertex drag.
2. Kinematic Validation:
   • Open the Plan Validation tab and run validation against reachability limits ($L_1 = 150\text{ mm}, L_2 = 120\text{ mm}$).
   • Verify total path length and estimated execution time.
3. ASCII Program Preview:
   • Inspect the formatted ASCII micro-command stream (<pt#...#end>) under the Program Preview tab.
4. Hardware Streaming & Execution:
   • Connect to /dev/ttyACM0 (or TCP host) under the Hardware Streamer tab.
   • Trigger streaming to execute real-time motion on the physical SCARA robot.
5. Manual Jogging & Diagnostics:
   • Use the Manual Jog tab for directional jog movements, vacuum pump activation, release valve triggers, and homing.

📚 Docs

More documentation and info at

• scarajectory.readthedocs.io
• www.python.org

👥 Contributing

Contributing to scarajectory

📄 Copyright and licence

Copyright (C) 2026 by vroncevic.github.io/scarajectory

scarajectory 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! 🌍✨

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