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A .dwg file is a binary file that has a proprietary format controlled by Autodesk. It's format can change from version to version. AutoCAD can also save files in a .dxf format. DXF is an ASCII file that was originally created to enable 3rd party developers to write software that complements the features of AutoCAD. I think it would make much more sense for you to work from a dxf rather than dwg file.
For example, the dxf code for a lwpolyline looks like this.
A portion of the code for a dxf file with a polyline with two straight segments followed by an arc then another straight segment looks like this:
AcDbPolyline
90
5
70
0
43
0.0
10
8.319873837667117
20
11.99992329523352
10
19.42205923226548
20
16.98133090859468
10
31.08996107392547
20
11.04603673852302
42
0.4338377669093521
10
37.80784396922083
20
13.48374686732284
10
46.1521615979551
20
16.16876090508994
A 10 indicates that an x coordinate follows, a 20 signifies a y coordinate. Arcs are represented by "bulge factor (dxf code 42) where:
bulge = tan(angle/4), CCW is positive
You can search the dxf file for AcDbPolyline then extract the data you need to create the instructions to drive the SCARA.