diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 0000000..a812dae
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,71 @@
+name: Docker Image Build and Publish
+
+on:
+  push: # * Run for every push
+    branches: [ "*" ]
+    tags: [ '*' ]
+  schedule: # Run on Tuesday's at 12:00
+    - cron: '0 12 * * 2'
+  workflow_dispatch: # Run manually
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+
+
+jobs:
+  build_and_publish:
+
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v2
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+
+      # Login against a Docker registry
+      # https://github.com/docker/login-action
+      - name: Log into registry ${{ env.REGISTRY }}
+        uses: docker/login-action@343f7c4344506bcbf9b4de18042ae17996df046d # v3.0.0
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      # Extract metadata (tags, labels) for Docker
+      # https://github.com/docker/metadata-action
+      - name: Extract Docker metadata
+        id: meta
+        uses: docker/metadata-action@96383f45573cb7f253c731d3b3ab81c87ef81934 # v5.0.0
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=schedule
+            type=ref,event=branch
+            type=ref,event=tag
+            type=ref,event=pr
+            type=raw,value=latest,enable={{is_default_branch}}
+
+      # Build and push Docker image with Buildx
+      # https://github.com/docker/build-push-action
+      - name: Build and push Docker image
+        id: build-and-push
+        uses: docker/build-push-action@0565240e2d4ab88bba5387d719585280857ece09 # v5.0.0
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          platforms: linux/amd64,linux/arm64
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
new file mode 100644
index 0000000..f01c862
--- /dev/null
+++ b/.github/workflows/pre-commit.yml
@@ -0,0 +1,20 @@
+name: Pre-Commit Checks
+
+on:
+  push: # Run for every push
+    branches: ["*"]
+    tags: ["*"]
+  workflow_dispatch: # Run manually
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      name: Checkout code
+    - uses: actions/setup-python@v4
+      name: Setup Python
+      with:
+        python-version: 3.9
+    - uses: pre-commit/action@v3.0.1
+      name: Run Pre-Commit Checks
diff --git a/.justfile b/.justfile
new file mode 100644
index 0000000..4f0003b
--- /dev/null
+++ b/.justfile
@@ -0,0 +1,28 @@
+# List available commands
+default:
+  @just --list --justfile {{justfile()}}
+
+# initialize the project
+init:
+  @which pdm || echo "pdm not found, you'll need to install it: https://github.com/pdm-project/pdm"
+  @pdm install -G:all
+  @OSTYPE="" . .venv/bin/activate
+  @which pre-commit && pre-commit install && pre-commit autoupdate || true
+
+# Build the project
+build: init dcb
+
+# Run the pre-commit checks
+checks:
+  @pre-commit run --all-files || { echo "Checking fixes\n" ; pre-commit run --all-files; }
+check: checks
+
+# Run automated tests
+test:
+  @pytest
+tests: test
+pytest: test
+
+# Build docker image
+dcb:
+  @docker compose build
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 22ff296..caed31b 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -16,7 +16,7 @@ repos:
       - id: nbstripout
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.9.9
+    rev: v0.11.5
     hooks:
       # Run the linter.
       - id: ruff
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..4eb26e6
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,25 @@
+FROM ghcr.io/ad-sdl/madsci
+
+LABEL org.opencontainers.image.source=https://github.com/AD-SDL/hudson_platecrane_module
+LABEL org.opencontainers.image.description="Drivers and REST API's for the Hudson Platecrane and Sciclops robots"
+LABEL org.opencontainers.image.licenses=MIT
+
+#########################################
+# Module specific logic goes below here #
+#########################################
+
+RUN apt update && apt install -y libusb-1.0-0-dev && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p sciclops_module
+
+COPY ./src sciclops_module/src
+COPY ./README.md sciclops_module/README.md
+COPY ./pyproject.toml sciclops_module/pyproject.toml
+
+RUN --mount=type=cache,target=/root/.cache \
+    pip install -e ./sciclops_module
+
+RUN usermod -aG dialout madsci
+
+CMD ["python", "-,", "sciclops_rest_node"]
+#########################################
diff --git a/README.md b/README.md
index dd1c035..9eedb34 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,26 @@
 # sciclops_module
-A MADSci node module for interfacing with the Hudson Robotics Sciclops Platecrane
+
+A MADSci Node module for interfacing with the Hudson Robotics Sciclops Platecrane.
+
+## Installation and Usage
+
+### Python
+
+```bash
+# Create a virtual environment named .venv
+python -m venv .venv
+# Activate the virtual environment on Linux or macOS
+source .venv/bin/activate
+# Alternatively, activate the virtual environment on Windows
+# .venv\Scripts\activate
+# Install the module and dependencies in the venv
+pip install .
+# Run the environment
+python -m sciclops_rest_node --host 127.0.0.1 --port 2000
+```
+
+### Docker
+
+- We provide a `Dockerfile` and example docker compose file (`compose.yaml`) to run this node dockerized.
+- There is also a pre-built image available as `ghcr.io/ad-sdl/sciclops_module`.
+- You can control the container user's id and group id by setting the `USER_ID` and `GROUP_ID`
diff --git a/compose.yaml b/compose.yaml
new file mode 100644
index 0000000..577c6bc
--- /dev/null
+++ b/compose.yaml
@@ -0,0 +1,16 @@
+name: sciclops_node
+services:
+  sciclops:
+    container_name: sciclops
+    image: ghcr.io/ad-sdl/sciclops_module
+    build:
+      context: .
+      dockerfile: Dockerfile
+      tags:
+        - ghcr.io/ad-sdl/sciclops_module:latest
+        - ghcr.io/ad-sdl/sciclops_module:dev
+    command: python -m sciclops_rest_node
+    privileged: true
+    network_mode: host
+    volumes:
+      - ./definitions:/home/madsci/definitions
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..adac53b
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,144 @@
+[project]
+name = "hudson_platecrane_module"
+version = "1.5.0"
+description = "Driver for the Platecrane and Sciclops"
+authors = [
+    {name = "Ryan D. Lewis", email="ryan.lewis@anl.gov"},
+    {name = "Rafael Vescovi", email="ravescovi@anl.gov"},
+    {name = "Doga Ozgulbas", email="dozgulbas@anl.gov"},
+    {name = "Abe Stroka", email="astroka@anl.gov"},
+    {name = "Kyle Hippe", email = "khippe@anl.gov"},
+    {name = "Tobias Ginsburg", email = "tginsburg@anl.gov"},
+]
+dependencies = [
+    "fastapi>=0.103",
+    "uvicorn>=0.14.0",
+    "pyusb",
+    "libusb",
+    "pyserial",
+    "madsci.node_module>=0.1.9",
+    "pydantic>=2.7",
+    "pytest"
+]
+requires-python = ">=3.9.1"
+readme = "README.md"
+license = {text = "MIT"}
+
+[project.urls]
+homepage = "https://github.com/AD-SDL/sciclops_module"
+
+######################
+# Build Info + Tools #
+######################
+[build-system]
+requires = ["setuptools", "wheel"]
+build-backend = "setuptools.build_meta"
+
+#####################
+# Development Tools #
+#####################
+
+[tool.ruff]
+# https://docs.astral.sh/ruff/configuration/
+
+# Exclude a variety of commonly ignored directories.
+exclude = [
+    ".bzr",
+    ".direnv",
+    ".eggs",
+    ".git",
+    ".git-rewrite",
+    ".hg",
+    ".mypy_cache",
+    ".nox",
+    ".pants.d",
+    ".pytype",
+    ".ruff_cache",
+    ".svn",
+    ".tox",
+    ".venv",
+    "__pypackages__",
+    "_build",
+    "buck-out",
+    "build",
+    "dist",
+    "node_modules",
+    "venv",
+    "docs",
+]
+
+# Same as Black.
+line-length = 88
+indent-width = 4
+
+# Assume Python 3.8
+target-version = "py38"
+
+[tool.ruff.lint]
+# Enable Pyflakes (`F`) and a subset of the pycodestyle (`E`)  codes by default.
+select = [
+    # pycodestyle
+    "E",
+    # Pyflakes
+    "F",
+    # pyupgrade
+    # "UP",
+    # flake8-bugbear
+    "B",
+    # flake8-simplify
+    # "SIM",
+    # isort
+    "I",
+    # Warning
+    "W",
+    # pydocstyle
+    "D100", "D101", "D102", "D103", "D104", "D105", "D106", "D107",
+    # ruff
+    # "RUF"
+]
+ignore = [
+    "E501" # Line too long
+]
+
+# Allow fix for all enabled rules (when `--fix`) is provided.
+fixable = ["ALL"]
+unfixable = []
+
+# Allow unused variables when underscore-prefixed.
+dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
+
+[tool.ruff.format]
+# Like Black, use double quotes for strings.
+quote-style = "double"
+
+# Like Black, indent with spaces, rather than tabs.
+indent-style = "space"
+
+# Like Black, respect magic trailing commas.
+skip-magic-trailing-comma = false
+
+# Like Black, automatically detect the appropriate line ending.
+line-ending = "auto"
+
+[tool.pytest.ini_options]
+# https://docs.pytest.org/en/stable/customize.html
+addopts = "-x"
+junit_family="xunit1"
+filterwarnings = [
+    "ignore::DeprecationWarning",
+    "ignore::pottery.exceptions.InefficientAccessWarning",
+]
+markers = [
+    "hardware: marks test as requiring hardware (deselect with '-m \"not hardware\"')",
+]
+
+[tool.mypy]
+# https://mypy.readthedocs.io/en/stable/config_file.html#using-a-pyproject-toml
+show_error_codes = true
+check_untyped_defs = true
+follow_imports = "normal"
+strict_optional = true
+plugins = ["pydantic.mypy"]
+strict = true
+disallow_untyped_defs = true
+implicit_reexport = true
diff --git a/src/sciclops_interface.py b/src/sciclops_interface.py
new file mode 100644
index 0000000..a45efcc
--- /dev/null
+++ b/src/sciclops_interface.py
@@ -0,0 +1,778 @@
+"""Driver for the Hudson Robotics Sciclops robot."""
+
+import asyncio
+import re
+
+import usb.core
+import usb.util
+from madsci.client.resource_client import ResourceClient
+from madsci.common.types.node_types import RestNodeConfig
+
+
+class SCICLOPS:
+    """
+    Description:
+    Python interface that allows remote commands to be executed to the Sciclops.
+    """
+
+    def __init__(
+        self, config: RestNodeConfig, resource_client: ResourceClient, gripper_id: str
+    ):
+        """Creates a new SCICLOPS driver object. The default VENDOR_ID and PRODUCT_ID are for the Sciclops robot."""
+        self.VENDOR_ID = config.vendor_id
+        self.PRODUCT_ID = config.product_id
+        self.resource_client = resource_client
+        self.gripper_id = gripper_id
+        self.neutral_joints = config.neutral_joints
+        self.host_path = self.connect_sciclops()
+        self.exchange_location = config.exchange_location
+        self.current_pos = [0, 0, 0, 0]
+        self.STATUS = 0
+        self.ERROR = ""
+        self.plate_info = config.plate_info
+        self.success_count = 0
+        self.status = self.get_status()
+        self.error = self.get_error()
+        self.movement_state = "READY"
+
+    def connect_sciclops(self):
+        """
+        Connect to USB device. If wrong device, inform user
+        """
+        host_path = usb.core.find(idVendor=self.VENDOR_ID, idProduct=self.PRODUCT_ID)
+
+        if host_path is None:
+            raise Exception("Could not establish connection.")
+
+        else:
+            print("Device Connected")
+            return host_path
+
+    def disconnect_robot(self):
+        """Disconnects from the sciclops robot."""
+        try:
+            usb.util.dispose_resources(self.host_path)
+        except Exception as err:
+            print(err)
+        else:
+            print("Robot is disconnected")
+
+    def send_command(self, command):
+        """
+        Sends provided command to Sciclops and stores data outputted by the sciclops.
+        """
+
+        self.host_path.write(4, command)
+
+        response_buffer = "Write: " + command
+        msg = None
+
+        # Adds SciClops output to response_buffer
+        while msg != command:
+            # or "success" not in msg or "error" in msg
+            try:
+                response = self.host_path.read(0x83, 200, timeout=5000)
+            except Exception:
+                break
+            msg = "".join(chr(i) for i in response)
+            response_buffer = response_buffer + "Read: " + msg
+
+        print(response_buffer)
+
+        self.success_count = self.success_count + response_buffer.count("0000 Success")
+
+        self.get_error(response_buffer)
+
+        return response_buffer
+
+    def get_error(self, response_buffer=None):
+        """
+        Gets error message from the feedback.
+        """
+
+        if not response_buffer:
+            return
+
+        output_line = response_buffer[response_buffer[:-1].rfind("\n") :]
+        exp = r"(\d)(\d)(\d)(\d)(.*\w)"  # Format of feedback that indicates an error message
+        output_line = re.search(exp, response_buffer)
+
+        try:
+            # Checks if specified format is found in the last line of feedback
+            if output_line[5][5:9] != "0000":
+                self.ERROR = "ERROR: %s" % output_line[5]
+
+        except Exception:
+            pass
+
+    ################################
+    # Individual Command Functions
+
+    def get_position(self):
+        """
+        Requests and stores sciclops position.
+        Coordinates:
+        Z: Vertical axis
+        R: Base turning axis
+        Y: Extension axis
+        P: Gripper turning axis
+        """
+
+        command = "GETPOS\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            print(out_msg)
+            # Checks if specified format is found in feedback
+            exp = r"Z:([-.\d]+), R:([-.\d]+), Y:([-.\d]+), P:([-.\d]+)"  # Format of coordinates provided in feedback
+            find_current_pos = re.search(exp, out_msg)
+            self.current_pos = {
+                "Z": float(find_current_pos[1]),
+                "R": float(find_current_pos[2]),
+                "Y": float(find_current_pos[3]),
+                "P": float(find_current_pos[4]),
+            }
+
+            return self.current_pos
+        except Exception as e:
+            raise (e)
+
+    def get_status(self):
+        """
+        Checks status of Sciclops
+        """
+
+        command = "STATUS\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the status
+            find_status = re.search(exp, out_msg)
+            self.status = find_status[1]
+
+            print(self.status)
+
+        except Exception:
+            pass
+
+    async def check_complete(self):
+        """
+        Checks to see if current sciclops action has completed
+        """
+        print("Checking if complete")
+        command = "STATUS\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the status
+            find_status = re.search(exp, out_msg)
+            self.status = find_status[1]
+            self.movement_state = "READY"
+
+            return True
+
+        except Exception:
+            self.movement_state = "BUSY"
+
+            return False
+        finally:
+            await asyncio.sleep(0.1)
+
+    async def check_complete_loop(self):
+        """
+        continuously runs check_complete until it returns True
+        """
+        a = False
+        while not a:
+            a = await self.check_complete()
+
+        print("ACTION COMPLETE")
+
+    def get_version(self):
+        """
+        Checks version of Sciclops
+        """
+
+        command = "VERSION\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the version
+            find_version = re.search(exp, out_msg)
+            self.VERSION = find_version[1]
+
+            print(self.VERSION)
+
+        except Exception:
+            pass
+
+    # TODO: swings outward and collides with pf400
+    def reset(self):
+        """
+        Resets Sciclops
+        """
+
+        self.set_speed(5)
+
+        command = "RESET\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the version
+            find_reset = re.search(exp, out_msg)
+            self.RESET = find_reset[1]
+
+            print(self.RESET)
+
+        except Exception:
+            pass
+
+    def get_config(self):
+        """
+        Checks configuration of Sciclops
+        """
+
+        command = "GETCONFIG\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the configuration
+            find_config = re.search(exp, out_msg)
+            self.CONFIG = find_config[1]
+
+            print(self.CONFIG)
+
+        except Exception:
+            pass
+
+    def get_grip_length(self):
+        """
+        Checks current length of the gripper (units unknown) of Sciclops
+        """
+
+        command = "GETGRIPPERLENGTH\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the gripper length
+            find_grip_length = re.search(exp, out_msg)
+            self.griplength = find_grip_length[1]
+
+            print(self.griplength)
+
+        except Exception:
+            pass
+
+        command = "GETCOLLAPSEDISTANCE\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the collapsed distance
+            find_collapsed_distance = re.search(exp, out_msg)
+            self.COLLAPSEDDISTANCE = find_collapsed_distance[1]
+
+            print(self.COLLAPSEDDISTANCE)
+
+        except Exception:
+            pass
+
+    def get_steps_per_unit(self):
+        """
+        ???
+        """
+
+        command = "GETSTEPSPERUNIT\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"Z:([-.\d]+),R:([-.\d]+),Y:([-.\d]+),P:([-.\d]+)"  # Format of the coordinates provided in feedback
+            find_steps_per_unit = re.search(exp, out_msg)
+            self.STEPSPERUNIT = [
+                float(find_steps_per_unit[1]),
+                float(find_steps_per_unit[2]),
+                float(find_steps_per_unit[3]),
+                float(find_steps_per_unit[4]),
+            ]
+
+            print(self.STEPSPERUNIT)
+
+        except Exception:
+            pass
+
+    def home(self, axis=""):
+        """
+        Homes all of the axes. Returns to neutral position (above exchange)
+        """
+
+        # Moves axes to home position
+        command = "HOME\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the success message
+            home_msg = re.search(exp, out_msg)
+            self.HOMEMSG = home_msg[1]
+
+            print(self.HOMEMSG)
+        except Exception:
+            pass
+
+        # Moves axes to neutral position (above exchange)
+
+    def open(self):
+        """
+        Opens gripper
+        """
+
+        command = "OPEN\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the success message
+            open_msg = re.search(exp, out_msg)
+            self.OPENMSG = open_msg[1]
+            print(self.OPENMSG)
+
+        except Exception:
+            pass
+
+    def close(self):
+        """
+        Closes gripper
+        """
+
+        command = "CLOSE\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line is the success message
+            close_msg = re.search(exp, out_msg)
+            self.CLOSEMSG = close_msg[1]
+
+            print(self.CLOSEMSG)
+        except Exception:
+            pass
+
+    def check_open(self):
+        """
+        Checks if gripper is open
+        """
+
+        command = "GETGRIPPERISOPEN\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line answers if the gripper is open
+            check_open_msg = re.search(exp, out_msg)
+            self.CHECKOPENMSG = check_open_msg[1]
+
+            print(self.CHECKOPENMSG)
+        except Exception:
+            pass
+
+    def check_closed(self):
+        """
+        Checks if gripper is closed
+        """
+
+        command = "GETGRIPPERISCLOSED\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates that the rest of the line answers if the gripper is closed
+            check_closed_msg = re.search(exp, out_msg)
+            self.CHECKCLOSEDMSG = check_closed_msg[1]
+
+            print(self.CHECKCLOSEDMSG)
+
+        except Exception:
+            pass
+
+    def check_plate(self):
+        """
+        ???
+        """
+
+        command = "GETPLATEPRESENT\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates ???
+            check_plate_msg = re.search(exp, out_msg)
+            self.CHECKPLATEMSG = check_plate_msg[1]
+
+            print(self.CHECKPLATEMSG)
+
+        except Exception:
+            pass
+
+    def set_speed(self, speed):
+        """
+        Changes speed of Sciclops
+        """
+
+        command = "SETSPEED %d\r\n" % speed  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            exp = r"0000 (.*\w)"  # Format of feedback that indicates success message
+            set_speed_msg = re.search(exp, out_msg)
+            self.SETSPEEDMSG = set_speed_msg[1]
+            print(self.SETSPEEDMSG)
+        except Exception:
+            pass
+
+    def list_points(self):
+        """
+        Lists all of the preset points
+        """
+
+        command = "LISTPOINTS\r\n"  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            list_point_msg_index = out_msg.find(
+                "0000"
+            )  # Format of feedback that indicates success message
+            self.LISTPOINTS = out_msg[list_point_msg_index + 4 :]
+            print(self.LISTPOINTS)
+        except Exception:
+            pass
+
+    def jog(self, axis, distance):
+        """
+        Moves the specified axis the specified distance.
+        """
+
+        command = "JOG %s,%d\r\n" % (axis, distance)  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            jog_msg_index = out_msg.find(
+                "0000"
+            )  # Format of feedback that indicates success message
+            self.JOGMSG = out_msg[jog_msg_index + 4 :]
+            print(self.JOGMSG)
+        except Exception:
+            pass
+
+    def loadpoint(self, R, Z, P, Y):
+        """
+        Adds point to listpoints function
+        """
+
+        command = "LOADPOINT R:%s, Z:%s, P:%s, Y:%s, R:%s\r\n" % (
+            R,
+            Z,
+            P,
+            Y,
+            R,
+        )  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+        try:
+            # Checks if specified format is found in feedback
+            loadpoint_msg_index = out_msg.find(
+                "0000"
+            )  # Format of feedback that indicates success message
+            self.LOADPOINTMSG = out_msg[loadpoint_msg_index + 5 :]
+        except Exception:
+            pass
+
+    def deletepoint(self, R, Z, P, Y):
+        """
+        Deletes point from listpoints function
+        """
+
+        command = "DELETEPOINT R:%s\r\n" % R  # Command interpreted by Sciclops
+        out_msg = self.send_command(command)
+        try:
+            deletepoint_msg_index = out_msg.find(
+                "0000"
+            )  # Format of feedback that indicates success message
+            self.DELETEPOINTMSG = out_msg[deletepoint_msg_index + 5 :]
+        except Exception:
+            pass
+
+    def move(self, R, Z, P, Y):
+        """
+        Moves to specified coordinates
+        """
+
+        self.loadpoint(R, Z, P, Y)
+
+        command = "MOVE R:%s\r\n" % R
+        out_msg_move = self.send_command(command)
+
+        try:
+            # Checks if specified format is found in feedback
+            move_msg_index = out_msg_move.find(
+                "0000"
+            )  # Format of feedback that indicates success message
+            self.MOVEMSG = out_msg_move[move_msg_index + 4 :]
+        except Exception:
+            pass
+
+        self.deletepoint(R, Z, P, Y)
+
+    def move_neutral(self):
+        """Move the robot arm to the neutral position."""
+        self.move(
+            R=self.neutral_joints["R"],
+            Z=self.neutral_joints["Z"],
+            P=self.neutral_joints["P"],
+            Y=self.neutral_joints["Y"],
+        )
+
+    def get_plate(self, source, target):
+        """
+        Grabs plate and places on exchange. Paramater is the stack that the Sciclops is requested to remove the plate from.
+        Format: "Stack<num>"
+        remove lid and trash bools tell whether to remove lid from plate and whether to throw said lid in the trash or place in nest
+        """
+
+        plate_type = "96_well"
+        # Move arm up and to neutral position to avoid hitting any objects
+        self.open()
+        self.set_speed(10)  #
+        self.jog("Y", -1000)
+        self.jog("Z", 1000)
+        self.set_speed(12)
+        self.move_neutral()
+
+        # check coordinates
+        asyncio.run(self.check_complete_loop())
+
+        # Move above desired tower
+        self.set_speed(100)
+        self.move(
+            R=source.location["R"],
+            Z=23.5188,
+            P=source.location["P"],
+            Y=source.location["Y"],
+        )
+        # check coordinates
+        asyncio.run(self.check_complete_loop())
+
+        # Remove plate from towertower_info["type"]
+        self.close()
+        self.set_speed(15)
+        self.jog("Z", -1000)
+        # move up certain amount
+        self.jog("Z", 10)
+        self.open()
+        grab_height = self.plate_info[plate_type]["grab_tower"]
+        self.jog("Z", grab_height)
+        self.close()
+        try:
+            plate, _ = self.resource_client.pop(source.resource_id)
+            self.resource_client.push(self.gripper_id, plate)
+        except Exception as e:
+            self.open()
+            self.move_neutral()
+            raise e
+        self.set_speed(100)
+        self.jog("Z", 1000)
+        # check coordinates
+        # asyncio.run(self.check_complete_loop())
+
+        # Place in exchange
+        self.move(
+            R=target.location["R"],
+            Z=23.5188,
+            P=target.location["P"],
+            Y=target.location["Y"],
+        )
+        # check coordinates
+        # asyncio.run(self.check_complete_loop())
+        self.jog("Z", -380)
+        self.set_speed(5)
+        self.jog("Z", -30)
+        self.open()
+        try:
+            plate, _ = self.resource_client.pop(self.gripper_id)
+            self.resource_client.push(target.resource_id, plate)
+        except Exception as e:
+            self.move_neutral()
+            raise e
+
+        self.set_speed(100)
+        self.jog("Z", 1000)
+        # check coordinates
+        # asyncio.run(self.check_complete_loop())
+        # check if lid needs to be removed
+        # Move back to neutral
+        self.move_neutral()
+        # check coordinates
+        # asyncio.run(self.check_complete_loop())
+
+    def return_plate(self, source, target):
+        """
+        Grabs plate and places on exchange. Paramater is the stack that the Sciclops is requested to remove the plate from.
+        Format: "Stack<num>"
+        remove lid and trash bools tell whether to remove lid from plate and whether to throw said lid in the trash or place in nest
+        """
+
+        plate_type = "96_well"
+        # Move arm up and to neutral position to avoid hitting any objects
+        self.open()
+        self.set_speed(10)  #
+        self.jog("Y", -1000)
+        self.jog("Z", 1000)
+        self.set_speed(12)
+        self.move_neutral()
+
+        # check coordinates
+        asyncio.run(self.check_complete_loop())
+
+        # Move above desired tower
+        self.set_speed(100)
+        self.move(
+            R=source.location["R"],
+            Z=23.5188,
+            P=source.location["P"],
+            Y=source.location["Y"],
+        )
+        # check coordinates
+        asyncio.run(self.check_complete_loop())
+
+        self.close()
+        self.set_speed(15)
+        self.jog("Z", -380)
+        # move up certain amount
+        self.open()
+        self.set_speed(5)
+        self.jog("Z", -30)
+        grab_height = self.plate_info[plate_type]["grab_tower"]
+        self.jog("Z", grab_height)
+        self.close()
+        try:
+            plate, _ = self.resource_client.pop(source.resource_id)
+            self.resource_client.push(self.gripper_id, plate)
+        except Exception as e:
+            self.open()
+            self.move_neutral()
+            raise e
+        self.set_speed(50)
+        self.jog("Z", 1000)
+
+        # Place in tower
+        self.move(
+            R=target.location["R"],
+            Z=23.5188,
+            P=target.location["P"],
+            Y=target.location["Y"],
+        )
+
+        self.jog("Z", -1000)
+        self.jog("Z", 10)
+        self.open()
+        try:
+            plate, _ = self.resource_client.pop(self.gripper_id)
+            self.resource_client.push(target.resource_id, plate)
+        except Exception as e:
+            self.move_neutral()
+            raise e
+        self.set_speed(100)
+        self.jog("Z", 1000)
+        self.move_neutral()
+
+    def limp(self, limp_bool):
+        """
+        Turns on/off limp mode (allows someone to manually move joints)
+        """
+        if limp_bool:
+            limp_string = "FALSE"
+        else:
+            limp_string = "TRUE"
+        command = "LIMP %s" % limp_string  # Command interpreted by Sciclops
+        self.send_command(command)
+
+    def plate_to_stack(self, tower, add_lid):
+        """Plate from exchange to stack (self, tower, plateinfo)"""
+        # Move arm up and to neutral position to avoid hitting any objects
+        self.open()
+        self.set_speed(10)
+        self.jog("Y", -1000)
+        self.jog("Z", 1000)
+        self.set_speed(12)
+        self.move(
+            R=self.labware["neutral"]["pos"]["R"],
+            Z=23.5188,
+            P=self.labware["neutral"]["pos"]["P"],
+            Y=self.labware["neutral"]["pos"]["Y"],
+        )
+        asyncio.run(self.check_complete_loop())
+        plate_type = self.labware["exchange"]["type"]
+        if add_lid:
+            self.check_for_lid()
+            self.replace_lid()
+
+        # TODO: check to see if given stack is full, use function to account for different labware, maybe checks all stacks to find one with same labware?
+
+        # move over exchange
+        self.open()
+        self.move(
+            R=self.labware["exchange"]["pos"]["R"],
+            Z=23.5188,
+            P=self.labware["exchange"]["pos"]["P"],
+            Y=self.labware["exchange"]["pos"]["Y"],
+        )
+        # check coordinates
+        asyncio.run(self.check_complete_loop())
+        # grab plate
+        self.set_speed(100)
+        self.jog("Z", -380)
+        grab_height = self.plate_info[plate_type]["grab_exchange"]
+        self.jog("Z", grab_height)
+        self.close()
+        self.set_speed(100)
+        self.jog("Z", 1000)
+        asyncio.run(self.check_complete_loop())
+
+        # move above tower, place plate in tower
+        self.move(
+            R=self.labware[tower]["pos"]["R"],
+            Z=23.5188,
+            P=self.labware[tower]["pos"]["P"],
+            Y=self.labware[tower]["pos"]["Y"],
+        )
+        # check coordinates
+        asyncio.run(self.check_complete_loop())
+        self.set_speed(10)
+        self.jog("Z", -1000)
+        self.open()
+        self.set_speed(100)
+        self.jog("Z", 1000)
+        # check coordinates
+        asyncio.run(self.check_complete_loop())
+
+        # move to home
+        self.move(
+            R=self.labware["neutral"]["pos"]["R"],
+            Z=23.5188,
+            P=self.labware["neutral"]["pos"]["P"],
+            Y=self.labware["neutral"]["pos"]["Y"],
+        )
+        # check coordinates
+        asyncio.run(self.check_complete_loop())
+
+        # update labware dict
+        self.labware["exchange"]["howmany"] -= 1
+        self.labware[tower]["howmany"] += 1
diff --git a/src/sciclops_rest_node.py b/src/sciclops_rest_node.py
new file mode 100644
index 0000000..19341da
--- /dev/null
+++ b/src/sciclops_rest_node.py
@@ -0,0 +1,157 @@
+#! /usr/bin/env python3
+"""The server for the Hudson Platecrane/Sciclops that takes incoming WEI flow requests from the experiment application"""
+
+from typing import Any, Optional
+
+from madsci.client.resource_client import ResourceClient
+from madsci.common.types.action_types import ActionSucceeded
+from madsci.common.types.admin_command_types import AdminCommandResponse
+from madsci.common.types.auth_types import OwnershipInfo
+from madsci.common.types.location_types import LocationArgument
+from madsci.common.types.node_types import RestNodeConfig
+from madsci.common.types.resource_types.definitions import SlotResourceDefinition
+from madsci.node_module.helpers import action
+from madsci.node_module.rest_node_module import RestNode
+from typing_extensions import Annotated
+
+from sciclops_interface import SCICLOPS
+
+
+class SciclopsConfig(RestNodeConfig):
+    """Configuration for the camera node module."""
+
+    vendor_id: int = 0x7513
+    """The sciclops vendor id address, a device path in Linux/Mac."""
+
+    product_id: int = 0x0002
+
+    """The sciclops vendor id address, a device path in Linux/Mac."""
+
+    neutral_joints: dict[str, float] = {
+        "Z": 23.5188,
+        "R": 109.2741,
+        "Y": 32.7484,
+        "P": 98.2955,
+    }
+    """The neutral joint position for the arm"""
+
+    plate_info: Optional[Any] = None
+    """The specs for picking up different kinds of plates"""
+
+    exchange_location: Optional[Any] = None
+    """the location of the exchange for placing plates"""
+
+    resource_manager_url: Optional[str] = None
+    """the resource manager url for the sciclops"""
+
+
+class SciclopsNode(RestNode):
+    """MADSci node module for the Hudson Robotics Sciclops."""
+
+    config_model = SciclopsConfig
+
+    def startup_handler(self):
+        """Initial run function for the app, initializes the state
+        ParametersNodeLocation
+        ----------
+        app : FastApi
+        The REST API app being initialized
+
+        Returns
+        -------
+        None"""
+        print("Hello, World!")
+        try:
+            self.resource_client = ResourceClient(self.config.resource_manager_url)
+            self.gripper = self.resource_client.init_resource(
+                SlotResourceDefinition(
+                    resource_name="sciclops_gripper_"
+                    + str(self.node_definition.node_name),
+                    owner=OwnershipInfo(node_id=self.node_definition.node_id),
+                )
+            )
+            self.sciclops = SCICLOPS(
+                self.config, self.resource_client, self.gripper.resource_id
+            )
+        except Exception as error_msg:
+            print("------- SCICLOPS Error message: " + str(error_msg) + (" -------"))
+            raise (error_msg)
+        else:
+            print("SCICLOPS online")
+
+    @action(name="status")
+    def status(self):
+        """Action that forces the sciclops to check its status."""
+
+        self.sciclops.get_status()
+        return ActionSucceeded()
+
+    @action
+    def home(self):
+        """Homes the sciclops"""
+        self.sciclops.home()
+        return ActionSucceeded()
+
+    @action(name="get_plate")
+    def get_plate(
+        self,
+        source: Annotated[LocationArgument, "Stack to get plate from"],
+        target: Annotated[LocationArgument, "Exchange to place plate"],
+    ):
+        """Get a plate from a stack position and move it to transfer point (or trash)"""
+        self.sciclops.get_plate(source, target)
+        return ActionSucceeded()
+
+    @action(name="return_plate")
+    def return_plate(
+        self,
+        source: Annotated[LocationArgument, "Exchange to get plate from"],
+        target: Annotated[LocationArgument, "Tower to place plate"],
+    ):
+        """Get a plate from a stack position and move it to transfer point (or trash)"""
+        self.sciclops.return_plate(source, target)
+        return ActionSucceeded()
+
+    @action(name="limp")
+    def limp(
+        self,
+        toggle: Annotated[bool, "turn on or off bool"] = False,
+    ):
+        """Get a plate from a stack position and move it to transfer point (or trash)"""
+        self.sciclops.limp(toggle)
+        return ActionSucceeded()
+
+    @action(name="open")
+    def open(
+        self,
+    ):
+        """Get a plate from a stack position and move it to transfer point (or trash)"""
+        self.sciclops.open()
+        return ActionSucceeded()
+
+    @action(name="close")
+    def close(
+        self,
+    ):
+        """Get a plate from a stack position and move it to transfer point (or trash)"""
+        self.sciclops.close()
+        return ActionSucceeded()
+
+    @action(name="move")
+    def move(self, target: Annotated[LocationArgument, "Target Location to move to"]):
+        """Get a plate from a stack position and move it to transfer point (or trash)"""
+        location = target.location
+        self.sciclops.move(location["Z"], location["R"], location["Y"], location["P"])
+        return ActionSucceeded()
+
+    def get_location(self) -> AdminCommandResponse:
+        """Return the current position of the sciclops"""
+        try:
+            return AdminCommandResponse(data={"location": self.sciclops.get_position()})
+        except Exception:
+            return AdminCommandResponse(success=False)
+
+
+if __name__ == "__main__":
+    sciclops_node = SciclopsNode()
+    sciclops_node.start_node()