Merge pull request #33 from AllenNeuralDynamics/fix-manipulator-order

Fix manipulator ordering
AllenNeuralDynamics · Jun 6, 2024 · c30f077 · c30f077
2 parents ab6b926 + 5ad228c
commit c30f077
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Showing 5 changed files with 13 additions and 13 deletions.
diff --git a/examples/aind_manipulator.py b/examples/aind_manipulator.py
@@ -36,7 +36,7 @@
 )
 
 rig = m.CalibrationRig(
-    harp_manipulator=m.AindManipulatorDevice(port_name="COM4"),
+    manipulator=m.AindManipulatorDevice(port_name="COM4", calibration=calibration_data),
     rig_name="AindManipulatorRig",
 )
 

diff --git a/src/DataSchemas/aind_behavior_services/__init__.py b/src/DataSchemas/aind_behavior_services/__init__.py
@@ -1,4 +1,4 @@
-__version__ = "0.7.6"
+__version__ = "0.7.7"
 
 from .rig import AindBehaviorRigModel
 from .session import AindBehaviorSessionModel

diff --git a/src/DataSchemas/aind_behavior_services/calibration/aind_manipulator.py b/src/DataSchemas/aind_behavior_services/calibration/aind_manipulator.py
@@ -14,9 +14,9 @@ class Axis(IntEnum):
     """Motor axis available"""
 
     NONE = 0
-    Y1 = 1
-    Y2 = 2
-    X = 3
+    X = 1
+    Y1 = 2
+    Y2 = 3
     Z = 4
 
 

diff --git a/src/DataSchemas/schemas/aind_manipulator_calibration_rig.json b/src/DataSchemas/schemas/aind_manipulator_calibration_rig.json
@@ -83,7 +83,7 @@
         "axis_configuration": {
           "default": [
             {
-              "axis": 1,
+              "axis": 2,
               "step_acceleration_interval": 100,
               "step_interval": 100,
               "microstep_resolution": 0,
@@ -93,7 +93,7 @@
               "min_limit": -1
             },
             {
-              "axis": 2,
+              "axis": 3,
               "step_acceleration_interval": 100,
               "step_interval": 100,
               "microstep_resolution": 0,
@@ -103,7 +103,7 @@
               "min_limit": -1
             },
             {
-              "axis": 3,
+              "axis": 1,
               "step_acceleration_interval": 100,
               "step_interval": 100,
               "microstep_resolution": 0,
@@ -131,9 +131,9 @@
         },
         "homing_order": {
           "default": [
-            1,
             2,
             3,
+            1,
             4
           ],
           "items": {
@@ -240,9 +240,9 @@
       "type": "integer",
       "x-enumNames": [
         "None",
+        "X",
         "Y1",
         "Y2",
-        "X",
         "Z"
       ]
     },

diff --git a/src/Extensions/AindManipulatorCalibrationRig.cs b/src/Extensions/AindManipulatorCalibrationRig.cs
@@ -497,13 +497,13 @@ public enum Axis
         None = 0,
 
         [System.Runtime.Serialization.EnumMemberAttribute(Value="1")]
-        Y1 = 1,
+        X = 1,
 
         [System.Runtime.Serialization.EnumMemberAttribute(Value="2")]
-        Y2 = 2,
+        Y1 = 2,
 
         [System.Runtime.Serialization.EnumMemberAttribute(Value="3")]
-        X = 3,
+        Y2 = 3,
 
         [System.Runtime.Serialization.EnumMemberAttribute(Value="4")]
         Z = 4,