@rainbow-robotics/muscat-plugin-kit 1.10.2-dev.5 → 1.10.2-dev.7

package/cli/storybook-dist/assets/{preview-BoJV1ynr.js → preview-i5rYb1IR.js}

@@ -1,2 +1,2 @@
-const __vite__mapDeps=(i,m=__vite__mapDeps,d=(m.f||(m.f=["./DocsRenderer-CFRXHY34-Boj7BBcx.js","./iframe-D3ykNOcq.js","./index-Dmy2JGbm.js","./index-ChsGqxH_.js","./index-NJyPL3Uy.js","./jsx-runtime-BTJTZTIL.js","./index-CT3U1fyk.js","./index-BRq5TIsn.js","./index-DgH-xKnr.js","./index-DrFu-skq.js","./client-DTf7SId2.js"])))=>i.map(i=>d[i]);
-import{_ as a}from"./iframe-D3ykNOcq.js";var i=Object.defineProperty,s=(e,r)=>{for(var t in r)i(e,t,{get:r[t],enumerable:!0})},_={};s(_,{parameters:()=>d});var p=Object.entries(globalThis.TAGS_OPTIONS??{}).reduce((e,r)=>{let[t,o]=r;return o.excludeFromDocsStories&&(e[t]=!0),e},{}),d={docs:{renderer:async()=>{let{DocsRenderer:e}=await a(()=>import("./DocsRenderer-CFRXHY34-Boj7BBcx.js"),__vite__mapDeps([0,1,2,3,4,5,6,7,8,9,10]),import.meta.url);return new e},stories:{filter:e=>{var r;return(e.tags||[]).filter(t=>p[t]).length===0&&!((r=e.parameters.docs)!=null&&r.disable)}}}};export{d as parameters};
+const __vite__mapDeps=(i,m=__vite__mapDeps,d=(m.f||(m.f=["./DocsRenderer-CFRXHY34-BGHjhFiI.js","./iframe-D-mTyH7q.js","./index-Dmy2JGbm.js","./index-ChsGqxH_.js","./index-DKrg3vQJ.js","./jsx-runtime-BTJTZTIL.js","./index-CT3U1fyk.js","./index-BRq5TIsn.js","./index-DgH-xKnr.js","./index-DrFu-skq.js","./client-DTf7SId2.js"])))=>i.map(i=>d[i]);
+import{_ as a}from"./iframe-D-mTyH7q.js";var i=Object.defineProperty,s=(e,r)=>{for(var t in r)i(e,t,{get:r[t],enumerable:!0})},_={};s(_,{parameters:()=>d});var p=Object.entries(globalThis.TAGS_OPTIONS??{}).reduce((e,r)=>{let[t,o]=r;return o.excludeFromDocsStories&&(e[t]=!0),e},{}),d={docs:{renderer:async()=>{let{DocsRenderer:e}=await a(()=>import("./DocsRenderer-CFRXHY34-BGHjhFiI.js"),__vite__mapDeps([0,1,2,3,4,5,6,7,8,9,10]),import.meta.url);return new e},stories:{filter:e=>{var r;return(e.tags||[]).filter(t=>p[t]).length===0&&!((r=e.parameters.docs)!=null&&r.disable)}}}};export{d as parameters};

package/cli/storybook-dist/iframe.html

@@ -509,7 +509,7 @@
   }
 </script>
 
-    <script type="module" crossorigin src="./assets/iframe-D3ykNOcq.js"></script>
+    <script type="module" crossorigin src="./assets/iframe-D-mTyH7q.js"></script>
   </head>
 
   <body>

package/cli/storybook-dist/project.json

@@ -1 +1 @@
-{"generatedAt":1792719902005,"userSince":1750932757926,"hasCustomBabel":false,"hasCustomWebpack":false,"hasStaticDirs":false,"hasStorybookEslint":true,"refCount":0,"testPackages":{"@vitest/browser":"3.2.4","@vitest/coverage-v8":"3.2.4","playwright":"1.59.1","vitest":"3.2.4"},"hasRouterPackage":false,"monorepo":"Turborepo","packageManager":{"type":"yarn","version":"berry","agent":"yarn@berry"},"preview":{"usesGlobals":false},"framework":{"name":"@storybook/react-vite","options":{}},"builder":"@storybook/builder-vite","renderer":"@storybook/react","portableStoriesFileCount":0,"applicationFileCount":0,"storybookVersion":"8.6.18","storybookVersionSpecifier":"^8.6.4","language":"typescript","storybookPackages":{"@chromatic-com/storybook":{"version":"3.2.7"},"@storybook/addon-essentials":{"version":"8.6.18"},"@storybook/addon-links":{"version":"8.6.18"},"@storybook/addon-onboarding":{"version":"8.6.18"},"@storybook/addon-themes":{"version":"8.6.18"},"@storybook/blocks":{"version":"8.6.18"},"@storybook/experimental-addon-test":{"version":"8.6.18"},"@storybook/react":{"version":"8.6.18"},"@storybook/react-vite":{"version":"8.6.18"},"@storybook/test":{"version":"8.6.18"},"@storybook/theming":{"version":"8.6.18"},"eslint-plugin-storybook":{"version":"0.11.6"},"storybook":{"version":"8.6.18"},"storybook-addon-react-docgen":{"version":"1.2.44"}},"addons":{"$SNIP/node_modules/@storybook/addon-links":{"version":null},"$SNIP/node_modules/@storybook/addon-essentials":{"version":null},"$SNIP/node_modules/@chromatic-com/storybook":{"version":null},"$SNIP/node_modules/@storybook/addon-themes":{"version":null},"$SNIP/node_modules/@storybook/experimental-addon-test":{"version":null}}}
+{"generatedAt":1792728734236,"userSince":1750932757926,"hasCustomBabel":false,"hasCustomWebpack":false,"hasStaticDirs":false,"hasStorybookEslint":true,"refCount":0,"testPackages":{"@vitest/browser":"3.2.4","@vitest/coverage-v8":"3.2.4","playwright":"1.59.1","vitest":"3.2.4"},"hasRouterPackage":false,"monorepo":"Turborepo","packageManager":{"type":"yarn","version":"berry","agent":"yarn@berry"},"preview":{"usesGlobals":false},"framework":{"name":"@storybook/react-vite","options":{}},"builder":"@storybook/builder-vite","renderer":"@storybook/react","portableStoriesFileCount":0,"applicationFileCount":0,"storybookVersion":"8.6.18","storybookVersionSpecifier":"^8.6.4","language":"typescript","storybookPackages":{"@chromatic-com/storybook":{"version":"3.2.7"},"@storybook/addon-essentials":{"version":"8.6.18"},"@storybook/addon-links":{"version":"8.6.18"},"@storybook/addon-onboarding":{"version":"8.6.18"},"@storybook/addon-themes":{"version":"8.6.18"},"@storybook/blocks":{"version":"8.6.18"},"@storybook/experimental-addon-test":{"version":"8.6.18"},"@storybook/react":{"version":"8.6.18"},"@storybook/react-vite":{"version":"8.6.18"},"@storybook/test":{"version":"8.6.18"},"@storybook/theming":{"version":"8.6.18"},"eslint-plugin-storybook":{"version":"0.11.6"},"storybook":{"version":"8.6.18"},"storybook-addon-react-docgen":{"version":"1.2.44"}},"addons":{"$SNIP/node_modules/@storybook/addon-links":{"version":null},"$SNIP/node_modules/@storybook/addon-essentials":{"version":null},"$SNIP/node_modules/@chromatic-com/storybook":{"version":null},"$SNIP/node_modules/@storybook/addon-themes":{"version":null},"$SNIP/node_modules/@storybook/experimental-addon-test":{"version":null}}}

package/cli/templates/common/README.md

@@ -314,6 +314,19 @@ developing on the robot.
 
 ---
 
+## Several developers on one robot
+
+Against a remote robot, `muscat-pk dev` / `dev:back` run your plugin under a dev id of its own,
+`<manifest id>.dev-<user>-<random>` (printed at start; the random part is kept in `~/.muscat-pk/dev-id`).
+Two machines developing the same plugin on one robot would otherwise register the same topics on its
+gateway, and a button in one UI would silently run the other machine's backend. The UI, the backend,
+the ROS namespace and external routes (`common/plugin/<dev id>/<path>`) all use the dev id.
+
+Pass `--keep-id` to run under the manifest id instead, e.g. to test program `execute` or an external
+client that uses the real id. Then only one machine may be connected to that robot.
+
+---
+
 ## Backend runtimes
 
 `manifest.json` chooses one backend runtime. `muscat-pk dev` runs backend code in
@@ -377,7 +390,7 @@ def move_j_example():
     manipulate = RBManipulateSDK()
     return manipulate.move.call_move_j(
         robot_model="C500920",
-        target={"tar_values": [0, 0, 0, 0, 0, 0], "tar_frame": 0, "tar_unit": 0},
+        target={"tar_values": [0, 0, 0, 0, 0, 0, 0], "tar_frame": -1, "tar_unit": 0},
     )
 
 

package/cli/templates/common/py/main.py

@@ -81,8 +81,8 @@ def move_j_example():
     return manipulate.move.call_move_j(
         robot_model="C500920",
         target={
-            "tar_values": [0, 0, 0, 0, 0, 0],
-            "tar_frame": 0,
+            "tar_values": [0, 0, 0, 0, 0, 0, 0],
+            "tar_frame": -1,
             "tar_unit": 0,
         },
     )

package/cli/templates/cpp/cpp/main.cpp

@@ -59,7 +59,7 @@ int main() {
   });
 
   // Example: robot control (not called automatically — add safety checks first).
-  //   IPC::MoveInput_TargetT t; t.tar_values = {0, 0, 0, 0, 0, 0};
+  //   IPC::MoveInput_TargetT t; t.tar_values = {0, 0, 0, 0, 0, 0, 0}; t.tar_frame = -1; t.tar_unit = 0;
   //   manipulate.move.call_move_j("C500920", t);
 
   plugin->publish("state", {{"ready", true}, {"plugin", name}});

package/cli/templates/readme-cpp/README.md

@@ -314,6 +314,19 @@ developing on the robot.
 
 ---
 
+## Several developers on one robot
+
+Against a remote robot, `muscat-pk dev` / `dev:back` run your plugin under a dev id of its own,
+`<manifest id>.dev-<user>-<random>` (printed at start; the random part is kept in `~/.muscat-pk/dev-id`).
+Two machines developing the same plugin on one robot would otherwise register the same topics on its
+gateway, and a button in one UI would silently run the other machine's backend. The UI, the backend,
+the ROS namespace and external routes (`common/plugin/<dev id>/<path>`) all use the dev id.
+
+Pass `--keep-id` to run under the manifest id instead, e.g. to test program `execute` or an external
+client that uses the real id. Then only one machine may be connected to that robot.
+
+---
+
 ## Backend runtimes
 
 `manifest.json` chooses one backend runtime. `muscat-pk dev` runs backend code in
@@ -524,9 +537,9 @@ RBManipulateSDK manipulate;                       // on the robot: connects to t
 manipulate.state.call_servocontrol("C500920", 1);
 
 IPC::MoveInput_TargetT t;
-t.tar_values = {0, 0, 90, 0, 90, 0};
-t.tar_frame = 0;
-t.tar_unit = 1;
+t.tar_values = {0, 0, 90, 0, 90, 0, 0};  // joint degrees, always 7 values (7th = 0 on 6-axis arms)
+t.tar_frame = -1;                        // -1 = joint space
+t.tar_unit = 0;                          // 0 = mm/deg
 manipulate.move.call_move_j("C500920", t, std::nullopt, MoveSpeedArg{1, 60.f, 120.f});
 manipulate.move.call_move_wait("C500920", -1);
 ```

package/cli/templates/ros2/ros2_ws/src/__PLUGIN_SLUG__/__PLUGIN_SLUG__/node.py

@@ -1,14 +1,25 @@
 import rclpy
 from rclpy.node import Node
-from rainbow.rb_sdk import RBManipulateSDK  # PyPI: rainbow-rb-sdk
+from rainbow.rb_sdk import RBManipulateSDK, RBPluginCall  # PyPI: rainbow-rb-sdk
 
 
 sdk = RBManipulateSDK()
+plugin = RBPluginCall()
+
+
+# External endpoint (REST / Socket.IO / TCP / MQTT / WebRTC), e.g.
+#   curl -X POST http://<robot>/common/plugin/<plugin_id>/hello -d '{"name": "kim"}'
+@plugin.router.on("/hello")
+def hello(payload=None, meta=None):
+    name = (payload or {}).get("name", "there")
+    return {"msg": f"hi {name}", "via": (meta or {}).get("transport")}
 
 
 class __PLUGIN_CLASS__Node(Node):
     def __init__(self):
         super().__init__("__PLUGIN_SLUG___node")
+        # Also connects the plugin to Muscat — router handlers register on the first call.
+        plugin.publish("state", {"ready": True, "plugin": "__PLUGIN_NAME__"})  # -> UI rb.sub("state")
         self.get_logger().info("__PLUGIN_NAME__ node started")
         # sdk is available here — use it alongside ROS2 topics as needed
 

package/cli/templates/ros2-cpp/ros2_ws/src/__PLUGIN_SLUG__/src/node.cpp

@@ -6,6 +6,12 @@
 #include "rclcpp/rclcpp.hpp"
 // Rainbow Robotics C++ SDK (linked as rb_sdk::rb_sdk): RBManipulateSDK etc.
 #include <rainbow/rb_sdk/manipulate/rb_manipulate_sdk.hpp>
+#include <rainbow/rb_sdk/plugin/rb_plugin.hpp>
+
+#include <nlohmann/json.hpp>
+
+using nlohmann::json;
+using rb_plugin::RBPluginCall;
 
 class __PLUGIN_CLASS__Node : public rclcpp::Node {
 public:
@@ -17,6 +23,18 @@ public:
 
 int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
+
+  // plugin id comes from RB_PLUGIN_ID.
+  auto plugin = RBPluginCall::get_instance(RBPluginCall::resolve_plugin_id(std::nullopt));
+  // External endpoint (REST / Socket.IO / TCP / MQTT / WebRTC), e.g.
+  //   curl -X POST http://<robot>/common/plugin/<plugin_id>/hello -d '{"name":"kim"}'
+  plugin->router().on("/hello", [](const json& payload, const json& meta) {
+    const std::string who = payload.is_object() ? payload.value("name", std::string("there")) : "there";
+    return json{{"msg", "hi " + who}, {"via", meta.value("transport", std::string())}};
+  });
+  // Also connects the plugin to Muscat — router handlers register on the first call.
+  plugin->publish("state", {{"ready", true}, {"plugin", "__PLUGIN_NAME__"}});  // -> UI rb.sub("state")
+
   rclcpp::spin(std::make_shared<__PLUGIN_CLASS__Node>());
   rclcpp::shutdown();
   return 0;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@rainbow-robotics/muscat-plugin-kit",
-  "version": "1.10.2-dev.5",
+  "version": "1.10.2-dev.7",
   "type": "module",
   "engines": {
     "node": ">=20"
@@ -52,8 +52,8 @@
   },
   "dependencies": {
     "@modelcontextprotocol/sdk": "^1.29.0",
-    "@rainbow-robotics/plugin-ui": "1.10.2-dev.5",
-    "@rainbow-robotics/preview-host": "1.10.2-dev.5",
+    "@rainbow-robotics/plugin-ui": "1.10.2-dev.7",
+    "@rainbow-robotics/preview-host": "1.10.2-dev.7",
     "@types/react": "^19.0.10",
     "postcss": "^8.5.8",
     "typescript": "^5.8.0",