griip-core-dev 0.5.6.dev26079__tar.gz → 0.6.0.dev26142__tar.gz

{griip_core_dev-0.5.6.dev26079 → griip_core_dev-0.6.0.dev26142}/PKG-INFO

@@ -1,7 +1,7 @@
 Metadata-Version: 2.5
 Name: griip-core-dev
-Version: 0.5.6.dev26079
-Summary: Dev build of griip-core from commit af7595040 (PR #6192). Not a release.
+Version: 0.6.0.dev26142
+Summary: Dev build of griip-core from commit f0cbea1ad (PR #6530). Not a release.
 Author: VentionCo
 License: Proprietary
 Requires-Python: <3.13,>=3.10

{griip_core_dev-0.5.6.dev26079 → griip_core_dev-0.6.0.dev26142}/README.md

@@ -2,7 +2,7 @@
 
 Shared foundation for GRIIP, by [Vention](https://vention.com).
 
-Holds the code that both the `mmai-griip-api` server and the `griip-sdk` client
+Holds the code that both the `griip-server` server and the `griip-sdk` client
 need. The SDK talks to the API over gRPC, so neither can depend on the other.
 Code both sides need lives here.
 

{griip_core_dev-0.5.6.dev26079 → griip_core_dev-0.6.0.dev26142}/proto/griip.proto

@@ -19,6 +19,22 @@ service GriipApiAdmin {
   rpc Initialize (InitializeRequest) returns (InitializeResponse);
   rpc StartPerceptionMcapRecording (StartPerceptionMcapRecordingRequest) returns (StartPerceptionMcapRecordingResponse);
   rpc StopPerceptionMcapRecording (StopPerceptionMcapRecordingRequest) returns (StopPerceptionMcapRecordingResponse);
+  // Callable before Initialize.
+  rpc GetServerInfo (GetServerInfoRequest) returns (GetServerInfoResponse);
+}
+
+message GetServerInfoRequest {}
+
+message GetServerInfoResponse {
+  // Package version of the running griip-server.
+  string version = 1;
+  // Hash of this proto's compiled descriptor; differs between mismatched client and server.
+  string proto_revision = 2;
+  bool initialized = 3;
+  string part_id = 4;
+  // Id SAM and FoundationPose were initialized with.
+  string part_model_id = 5;
+  string perception_version = 6;
 }
 
 message McapRecordingConfig {
@@ -107,6 +123,8 @@ message PerceptionServicesConfig {
   string sam_url = 1;
   string foundation_pose_url = 2;
   string foundation_stereo_url = 3;
+  // mmai-parts on the accelerator: receives a part's perception bundle at Initialize.
+  string parts_url = 4;
 }
 
 message PlannerConfig {
@@ -121,7 +139,9 @@ message PlannerConfig {
   // Path to the static collision-cuboids JSON (the VAMP planning environment).
   // Also sent via ConfigurePlanner; carried here so the perception MCAP logger
   // can visualize the environment cuboids at recording start.
+  // Read only when `cuboids` is empty.
   string cuboids_path = 9;
+  repeated Cuboid cuboids = 10;
 }
 
 message GraspFilteringConfig {
@@ -146,6 +166,12 @@ message PartConfig {
   // symmetry transforms so a symmetric part resolves to one canonical pose.
   // Unset = no symmetry (FoundationPose runs as before).
   SymmetryConfig symmetry = 7;
+  // The part's perception folder (part_config.yaml, mesh, prompt) as a zip. When
+  // set, the server uploads it to mmai-parts (perception_services.parts_url) as
+  // <part_id>__<perception_version> and initializes SAM and FoundationPose with
+  // that id instead of part_model_id. Unset = the part is already there.
+  bytes perception_bundle = 8;
+  string perception_version = 9;
 }
 
 // Object symmetry used to canonicalize the estimated pose to one repeatable
@@ -181,6 +207,7 @@ message ConfigurePlannerRequest {
   optional int32 planner_max_iterations = 6;
   optional double planner_max_cost = 7;
   repeated CollisionSpheres gripper_collision_spheres = 8;
+  repeated Cuboid cuboids = 9;
 }
 
 message ConfigurePlannerResponse {
@@ -235,6 +262,8 @@ message EstimateDepthRequest {
 
 message EstimateDepthResponse {
   bytes depth_data = 1;
+  int32 depth_height = 2;
+  int32 depth_width = 3;
 }
 
 message DetectObjectsRequest {

{griip_core_dev-0.5.6.dev26079 → griip_core_dev-0.6.0.dev26142}/pyproject.toml

@@ -2,8 +2,8 @@ dependency-groups = { }
 
 [project]
 name = "griip-core-dev"
-version = "0.5.6.dev26079"
-description = "Dev build of griip-core from commit af7595040 (PR #6192). Not a release."
+version = "0.6.0.dev26142"
+description = "Dev build of griip-core from commit f0cbea1ad (PR #6530). Not a release."
 requires-python = ">=3.10,<3.13"
 dependencies = [
   "vention-grpc-py-sdk>=0.0.72",

{griip_core_dev-0.5.6.dev26079 → griip_core_dev-0.6.0.dev26142}/scripts/generate_proto.py

@@ -1,7 +1,7 @@
 """Generate Python gRPC stubs from proto/griip.proto.
 
 griip-core is the single source of truth for the 'griip' wire contract. Both
-the mmai-griip-api server and the griip-sdk client depend on griip-core and
+the griip-server server and the griip-sdk client depend on griip-core and
 import these stubs, so only one descriptor set is ever registered.
 
 The generated stubs are committed so the published griip-core wheel ships them

griip_core_dev-0.6.0.dev26142/src/griip_core/contract.py

@@ -0,0 +1,14 @@
+"""Identify the griip proto contract a process was built against."""
+
+from __future__ import annotations
+
+import hashlib
+
+from griip_core.generated import griip_pb2
+
+PROTO_REVISION_LENGTH = 12
+
+
+def proto_revision() -> str:
+    """Hash of the compiled griip proto: equal on client and server exactly when their contracts are."""
+    return hashlib.sha256(griip_pb2.DESCRIPTOR.serialized_pb).hexdigest()[:PROTO_REVISION_LENGTH]

griip_core_dev-0.6.0.dev26142/src/griip_core/generated/griip_pb2.py

@@ -0,0 +1,151 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: griip.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'griip.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0bgriip.proto\x12\x05griip\"\x16\n\x14GetServerInfoRequest\"\x99\x01\n\x15GetServerInfoResponse\x12\x0f\n\x07version\x18\x01 \x01(\t\x12\x16\n\x0eproto_revision\x18\x02 \x01(\t\x12\x13\n\x0binitialized\x18\x03 \x01(\x08\x12\x0f\n\x07part_id\x18\x04 \x01(\t\x12\x15\n\rpart_model_id\x18\x05 \x01(\t\x12\x1a\n\x12perception_version\x18\x06 \x01(\t\"k\n\x13McapRecordingConfig\x12\x0f\n\x07\x65nabled\x18\x01 \x01(\x08\x12\x12\n\noutput_dir\x18\x02 \x01(\t\x12\x16\n\x0emax_duration_s\x18\x03 \x01(\x05\x12\x17\n\x0f\x66ilename_prefix\x18\x04 \x01(\t\"p\n\x16\x43\x61meraCalibrationInput\x12\x19\n\x11\x63\x61mera_intrinsics\x18\x01 \x03(\x01\x12\x13\n\x0bimage_width\x18\x02 \x01(\x05\x12\x14\n\x0cimage_height\x18\x03 \x01(\x05\x12\x10\n\x08\x66rame_id\x18\x04 \x01(\t\"\x9b\x04\n\x11InitializeRequest\x12 \n\x05mocks\x18\x01 \x01(\x0b\x32\x11.griip.MockConfig\x12!\n\x05robot\x18\x02 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\x01(\x0b\x32\x12.griip.JointAngles\x12!\n\tbin_walls\x18\x08 \x03(\x0b\x32\x0e.griip.BinWall\x12\x16\n\x0emax_detections\x18\t \x01(\x05\x12\x1c\n\x14max_picks_per_object\x18\n \x01(\x05\x12!\n\tbin_floor\x18\x0b \x01(\x0b\x32\x0e.griip.BinWall\x12\x0b\n\x03roi\x18\x0c \x03(\x05\x12\x1c\n\x14\x63\x61pture_timestamp_ns\x18\r \x01(\x03\x12?\n\x1eprep_gripper_collision_spheres\x18\x0e \x03(\x0b\x32\x17.griip.CollisionSpheres\x12\x41\n plunge_gripper_collision_spheres\x18\x0f \x03(\x0b\x32\x17.griip.CollisionSpheres\x12@\n\x1fscoop_gripper_collision_spheres\x18\x10 \x03(\x0b\x32\x17.griip.CollisionSpheres\"\x8b\x01\n\x15GeneratePicksResponse\x12/\n\x0bpick_result\x18\x01 \x01(\x0b\x32\x18.griip.PickResultMessageH\x00\x12\x36\n\x10terminal_message\x18\x02 \x01(\x0b\x32\x1a.griip.PickTerminalMessageH\x00\x42\t\n\x07payload\"\xfa\x03\n\x11PickResultMessage\x12\x0f\n\x07pick_id\x18\x01 \x01(\x05\x12\x12\n\ngrasp_name\x18\x02 \x01(\t\x12\x1c\n\x14object_pose_in_world\x18\x04 \x03(\x01\x12\x15\n\robject_in_tcp\x18\x05 \x03(\x01\x12\x11\n\tprep_pose\x18\x06 \x03(\x01\x12\x13\n\x0bplunge_pose\x18\x07 \x03(\x01\x12\x12\n\nscoop_pose\x18\x08 \x03(\x01\x12+\n\x0fprep_trajectory\x18\t \x03(\x0b\x32\x12.griip.JointAngles\x12\x10\n\x08priority\x18\n \x01(\x05\x12\x18\n\x10\x64istance_to_home\x18\x0b \x01(\x01\x12\x1d\n\x15retract_move_distance\x18\x0c \x01(\x01\x12\x18\n\x10grasp_point_pose\x18\r \x03(\x01\x12\x1d\n\x15\x64\x65tected_object_index\x18\x10 \x01(\x05\x12\x30\n\x0cparallel_jaw\x18\x14 \x01(\x0b\x32\x18.griip.ParallelJawParamsH\x00\x12\'\n\x07suction\x18\x15 \x01(\x0b\x32\x14.griip.SuctionParamsH\x00\x12\x30\n\x0cthree_finger\x18\x16 \x01(\x0b\x32\x18.griip.ThreeFingerParamsH\x00\x42\x11\n\x0f\x65xecutor_params\"k\n\x11ScoopMotionParams\x12\x17\n\x0fplunge_velocity\x18\x01 \x01(\x01\x12\x16\n\x0escoop_velocity\x18\x02 \x01(\x01\x12%\n\x1d\x66orce_torque_sensor_threshold\x18\x03 \x01(\x01\"\xde\x01\n\x11ParallelJawParams\x12\x1e\n\x04mode\x18\x01 \x01(\x0e\x32\x10.griip.GraspMode\x12\x12\n\nprep_width\x18\x02 \x01(\x05\x12\x15\n\rengaged_width\x18\x03 \x01(\x05\x12\x12\n\ngrip_force\x18\x04 \x01(\x05\x12\x1c\n\x14grip_check_min_width\x18\x05 \x01(\x05\x12\x1c\n\x14grip_check_max_width\x18\x06 \x01(\x05\x12.\n\x0cscoop_motion\x18\x07 \x01(\x0b\x32\x18.griip.ScoopMotionParams\"`\n\rSuctionParams\x12\x1f\n\x17vacuum_engage_threshold\x18\x01 \x01(\x01\x12.\n\x0cscoop_motion\x18\x02 \x01(\x0b\x32\x18.griip.ScoopMotionParams\"\xa8\x01\n\x11ThreeFingerParams\x12\x1e\n\x04mode\x18\x01 \x01(\x0e\x32\x10.griip.GraspMode\x12\x12\n\ngrip_force\x18\x02 \x01(\x05\x12.\n\x0cscoop_motion\x18\x03 \x01(\x0b\x32\x18.griip.ScoopMotionParams\x12\x15\n\rprep_io_state\x18\x04 \x01(\x05\x12\x18\n\x10\x65ngaged_io_state\x18\x05 \x01(\x05\"u\n\x13PickTerminalMessage\x12\x19\n\x11no_parts_detected\x18\x01 \x01(\x08\x12\x1d\n\x15total_picks_generated\x18\x02 \x01(\x05\x12$\n\x1chas_only_ungraspable_objects\x18\x03 \x01(\x08\"\xd4\x02\n\x18GeneratePlacementRequest\x12\x10\n\x08image_id\x18\x01 \x01(\t\x12\x10\n\x08left_png\x18\x02 \x01(\x0c\x12\x11\n\tdepth_png\x18\x03 \x01(\x0c\x12\x19\n\x11\x63\x61mera_intrinsics\x18\x04 \x03(\x01\x12\x15\n\rtcp_to_camera\x18\x05 \x03(\x01\x12\x15\n\robject_in_tcp\x18\x06 \x03(\x01\x12\x13\n\x0btarget_pose\x18\x07 \x03(\x01\x12#\n\x1bplanning_start_joint_angles\x18\x08 \x03(\x01\x12\x1b\n\x13max_object_diameter\x18\t \x01(\x01\x12\x1c\n\x14\x61xis_in_object_frame\x18\n \x03(\x01\x12\x1b\n\x13number_of_rotations\x18\x0b \x01(\x05\x12&\n\x1e\x65nable_in_hand_pose_estimation\x18\x0c \x01(\x08\"\xad\x01\n\x19GeneratePlacementResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x1b\n\x0e\x66\x61ilure_reason\x18\x02 \x01(\tH\x00\x88\x01\x01\x12\x1d\n\x15refined_object_in_tcp\x18\x03 \x03(\x01\x12\x30\n\x0cik_solutions\x18\x04 \x03(\x0b\x32\x1a.griip.PlacementIkSolutionB\x11\n\x0f_failure_reason\"k\n\x13PlacementIkSolution\x12\x14\n\x0cjoint_angles\x18\x01 \x03(\x01\x12#\n\x1btarget_object_pose_in_world\x18\x02 \x03(\x01\x12\x19\n\x11\x64istance_to_start\x18\x03 \x01(\x01\"\x1d\n\x0bJointAngles\x12\x0e\n\x06values\x18\x01 \x03(\x01\"8\n\nQuaternion\x12\t\n\x01w\x18\x01 \x01(\x01\x12\t\n\x01x\x18\x02 \x01(\x01\x12\t\n\x01y\x18\x03 \x01(\x01\x12\t\n\x01z\x18\x04 \x01(\x01\"*\n\x07Vector3\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\"P\n\x04Pose\x12 \n\x08position\x18\x01 \x01(\x0b\x32\x0e.griip.Vector3\x12&\n\x0borientation\x18\x02 \x01(\x0b\x32\x11.griip.Quaternion\"B\n\x10\x43ollisionSpheres\x12\x1e\n\x06\x63\x65nter\x18\x01 \x01(\x0b\x32\x0e.griip.Vector3\x12\x0e\n\x06radius\x18\x02 \x01(\x01\"X\n\x07\x42inWall\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x0f\n\x07width_x\x18\x02 \x01(\x01\x12\x0f\n\x07width_y\x18\x03 \x01(\x01\x12\x0f\n\x07width_z\x18\x04 \x01(\x01\x12\x0c\n\x04pose\x18\x05 \x03(\x01\"H\n\x06\x43uboid\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\n\n\x02wx\x18\x02 \x01(\x01\x12\n\n\x02wy\x18\x03 \x01(\x01\x12\n\n\x02wz\x18\x04 \x01(\x01\x12\x0c\n\x04pose\x18\x05 \x03(\x01*=\n\tGraspMode\x12\x17\n\x13GRASP_MODE_EXTERNAL\x10\x00\x12\x17\n\x13GRASP_MODE_INTERNAL\x10\x01\x32\x8d\x03\n\rGriipApiAdmin\x12\x41\n\nInitialize\x12\x18.griip.InitializeRequest\x1a\x19.griip.InitializeResponse\x12w\n\x1cStartPerceptionMcapRecording\x12*.griip.StartPerceptionMcapRecordingRequest\x1a+.griip.StartPerceptionMcapRecordingResponse\x12t\n\x1bStopPerceptionMcapRecording\x12).griip.StopPerceptionMcapRecordingRequest\x1a*.griip.StopPerceptionMcapRecordingResponse\x12J\n\rGetServerInfo\x12\x1b.griip.GetServerInfoRequest\x1a\x1c.griip.GetServerInfoResponse2\xa3\x01\n\x0fPlanningService\x12S\n\x10\x43onfigurePlanner\x12\x1e.griip.ConfigurePlannerRequest\x1a\x1f.griip.ConfigurePlannerResponse\x12;\n\x08PlanPath\x12\x16.griip.PlanPathRequest\x1a\x17.griip.PlanPathResponse2\xf4\x01\n\x11PerceptionService\x12J\n\rEstimateDepth\x12\x1b.griip.EstimateDepthRequest\x1a\x1c.griip.EstimateDepthResponse\x12J\n\rDetectObjects\x12\x1b.griip.DetectObjectsRequest\x1a\x1c.griip.DetectObjectsResponse\x12G\n\x0c\x45stimatePose\x12\x1a.griip.EstimatePoseRequest\x1a\x1b.griip.EstimatePoseResponse2\xb9\x01\n\x0ePickingService\x12L\n\rGeneratePicks\x12\x1b.griip.GeneratePicksRequest\x1a\x1c.griip.GeneratePicksResponse0\x01\x12Y\n\x12ReportSelectedPick\x12 .griip.ReportSelectedPickRequest\x1a!.griip.ReportSelectedPickResponse2h\n\x0ePlacingService\x12V\n\x11GeneratePlacement\x12\x1f.griip.GeneratePlacementRequest\x1a .griip.GeneratePlacementResponseB\x15\n\x11\x63om.vention.griipP\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'griip_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  _globals['DESCRIPTOR']._loaded_options = None
+  _globals['DESCRIPTOR']._serialized_options = b'\n\021com.vention.griipP\001'
+  _globals['_GRASPMODE']._serialized_start=8331
+  _globals['_GRASPMODE']._serialized_end=8392
+  _globals['_GETSERVERINFOREQUEST']._serialized_start=22
+  _globals['_GETSERVERINFOREQUEST']._serialized_end=44
+  _globals['_GETSERVERINFORESPONSE']._serialized_start=47
+  _globals['_GETSERVERINFORESPONSE']._serialized_end=200
+  _globals['_MCAPRECORDINGCONFIG']._serialized_start=202
+  _globals['_MCAPRECORDINGCONFIG']._serialized_end=309
+  _globals['_CAMERACALIBRATIONINPUT']._serialized_start=311
+  _globals['_CAMERACALIBRATIONINPUT']._serialized_end=423
+  _globals['_INITIALIZEREQUEST']._serialized_start=426
+  _globals['_INITIALIZEREQUEST']._serialized_end=965
+  _globals['_INITIALIZERESPONSE']._serialized_start=968
+  _globals['_INITIALIZERESPONSE']._serialized_end=1192
+  _globals['_INITIALIZERESPONSE_STATUS']._serialized_start=1093
+  _globals['_INITIALIZERESPONSE_STATUS']._serialized_end=1192
+  _globals['_STARTPERCEPTIONMCAPRECORDINGREQUEST']._serialized_start=1194
+  _globals['_STARTPERCEPTIONMCAPRECORDINGREQUEST']._serialized_end=1231
+  _globals['_STARTPERCEPTIONMCAPRECORDINGRESPONSE']._serialized_start=1234
+  _globals['_STARTPERCEPTIONMCAPRECORDINGRESPONSE']._serialized_end=1467
+  _globals['_STARTPERCEPTIONMCAPRECORDINGRESPONSE_STATUS']._serialized_start=1365
+  _globals['_STARTPERCEPTIONMCAPRECORDINGRESPONSE_STATUS']._serialized_end=1467
+  _globals['_STOPPERCEPTIONMCAPRECORDINGREQUEST']._serialized_start=1469
+  _globals['_STOPPERCEPTIONMCAPRECORDINGREQUEST']._serialized_end=1505
+  _globals['_STOPPERCEPTIONMCAPRECORDINGRESPONSE']._serialized_start=1508
+  _globals['_STOPPERCEPTIONMCAPRECORDINGRESPONSE']._serialized_end=1684
+  _globals['_STOPPERCEPTIONMCAPRECORDINGRESPONSE_STATUS']._serialized_start=1093
+  _globals['_STOPPERCEPTIONMCAPRECORDINGRESPONSE_STATUS']._serialized_end=1140
+  _globals['_MOCKCONFIG']._serialized_start=1687
+  _globals['_MOCKCONFIG']._serialized_end=1824
+  _globals['_ROBOTCONFIG']._serialized_start=1827
+  _globals['_ROBOTCONFIG']._serialized_end=1964
+  _globals['_PERCEPTIONSERVICESCONFIG']._serialized_start=1966
+  _globals['_PERCEPTIONSERVICESCONFIG']._serialized_end=2088
+  _globals['_PLANNERCONFIG']._serialized_start=2091
+  _globals['_PLANNERCONFIG']._serialized_end=2337
+  _globals['_GRASPFILTERINGCONFIG']._serialized_start=2340
+  _globals['_GRASPFILTERINGCONFIG']._serialized_end=2473
+  _globals['_PARTCONFIG']._serialized_start=2476
+  _globals['_PARTCONFIG']._serialized_end=2759
+  _globals['_SYMMETRYCONFIG']._serialized_start=2761
+  _globals['_SYMMETRYCONFIG']._serialized_end=2856
+  _globals['_COLLISIONLINESEGMENT']._serialized_start=2858
+  _globals['_COLLISIONLINESEGMENT']._serialized_end=2896
+  _globals['_CONFIGUREPLANNERREQUEST']._serialized_start=2899
+  _globals['_CONFIGUREPLANNERREQUEST']._serialized_end=3300
+  _globals['_CONFIGUREPLANNERRESPONSE']._serialized_start=3302
+  _globals['_CONFIGUREPLANNERRESPONSE']._serialized_end=3399
+  _globals['_PLANPATHREQUEST']._serialized_start=3402
+  _globals['_PLANPATHREQUEST']._serialized_end=4085
+  _globals['_PLANPATHRESPONSE']._serialized_start=4088
+  _globals['_PLANPATHRESPONSE']._serialized_end=4301
+  _globals['_ESTIMATEDEPTHREQUEST']._serialized_start=4303
+  _globals['_ESTIMATEDEPTHREQUEST']._serialized_end=4418
+  _globals['_ESTIMATEDEPTHRESPONSE']._serialized_start=4420
+  _globals['_ESTIMATEDEPTHRESPONSE']._serialized_end=4506
+  _globals['_DETECTOBJECTSREQUEST']._serialized_start=4509
+  _globals['_DETECTOBJECTSREQUEST']._serialized_end=4696
+  _globals['_DETECTOBJECTSRESPONSE']._serialized_start=4698
+  _globals['_DETECTOBJECTSRESPONSE']._serialized_end=4764
+  _globals['_DETECTEDOBJECT']._serialized_start=4766
+  _globals['_DETECTEDOBJECT']._serialized_end=4886
+  _globals['_ESTIMATEPOSEREQUEST']._serialized_start=4889
+  _globals['_ESTIMATEPOSEREQUEST']._serialized_end=5059
+  _globals['_ESTIMATEPOSERESPONSE']._serialized_start=5061
+  _globals['_ESTIMATEPOSERESPONSE']._serialized_end=5127
+  _globals['_REPORTSELECTEDPICKREQUEST']._serialized_start=5129
+  _globals['_REPORTSELECTEDPICKREQUEST']._serialized_end=5253
+  _globals['_REPORTSELECTEDPICKRESPONSE']._serialized_start=5255
+  _globals['_REPORTSELECTEDPICKRESPONSE']._serialized_end=5295
+  _globals['_GENERATEPICKSREQUEST']._serialized_start=5298
+  _globals['_GENERATEPICKSREQUEST']._serialized_end=5881
+  _globals['_GENERATEPICKSRESPONSE']._serialized_start=5884
+  _globals['_GENERATEPICKSRESPONSE']._serialized_end=6023
+  _globals['_PICKRESULTMESSAGE']._serialized_start=6026
+  _globals['_PICKRESULTMESSAGE']._serialized_end=6532
+  _globals['_SCOOPMOTIONPARAMS']._serialized_start=6534
+  _globals['_SCOOPMOTIONPARAMS']._serialized_end=6641
+  _globals['_PARALLELJAWPARAMS']._serialized_start=6644
+  _globals['_PARALLELJAWPARAMS']._serialized_end=6866
+  _globals['_SUCTIONPARAMS']._serialized_start=6868
+  _globals['_SUCTIONPARAMS']._serialized_end=6964
+  _globals['_THREEFINGERPARAMS']._serialized_start=6967
+  _globals['_THREEFINGERPARAMS']._serialized_end=7135
+  _globals['_PICKTERMINALMESSAGE']._serialized_start=7137
+  _globals['_PICKTERMINALMESSAGE']._serialized_end=7254
+  _globals['_GENERATEPLACEMENTREQUEST']._serialized_start=7257
+  _globals['_GENERATEPLACEMENTREQUEST']._serialized_end=7597
+  _globals['_GENERATEPLACEMENTRESPONSE']._serialized_start=7600
+  _globals['_GENERATEPLACEMENTRESPONSE']._serialized_end=7773
+  _globals['_PLACEMENTIKSOLUTION']._serialized_start=7775
+  _globals['_PLACEMENTIKSOLUTION']._serialized_end=7882
+  _globals['_JOINTANGLES']._serialized_start=7884
+  _globals['_JOINTANGLES']._serialized_end=7913
+  _globals['_QUATERNION']._serialized_start=7915
+  _globals['_QUATERNION']._serialized_end=7971
+  _globals['_VECTOR3']._serialized_start=7973
+  _globals['_VECTOR3']._serialized_end=8015
+  _globals['_POSE']._serialized_start=8017
+  _globals['_POSE']._serialized_end=8097
+  _globals['_COLLISIONSPHERES']._serialized_start=8099
+  _globals['_COLLISIONSPHERES']._serialized_end=8165
+  _globals['_BINWALL']._serialized_start=8167
+  _globals['_BINWALL']._serialized_end=8255
+  _globals['_CUBOID']._serialized_start=8257
+  _globals['_CUBOID']._serialized_end=8329
+  _globals['_GRIIPAPIADMIN']._serialized_start=8395
+  _globals['_GRIIPAPIADMIN']._serialized_end=8792
+  _globals['_PLANNINGSERVICE']._serialized_start=8795
+  _globals['_PLANNINGSERVICE']._serialized_end=8958
+  _globals['_PERCEPTIONSERVICE']._serialized_start=8961
+  _globals['_PERCEPTIONSERVICE']._serialized_end=9205
+  _globals['_PICKINGSERVICE']._serialized_start=9208
+  _globals['_PICKINGSERVICE']._serialized_end=9393
+  _globals['_PLACINGSERVICE']._serialized_start=9395
+  _globals['_PLACINGSERVICE']._serialized_end=9499
+# @@protoc_insertion_point(module_scope)

{griip_core_dev-0.5.6.dev26079 → griip_core_dev-0.6.0.dev26142}/src/griip_core/generated/griip_pb2.pyi

@@ -14,6 +14,26 @@ class GraspMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
 GRASP_MODE_EXTERNAL: GraspMode
 GRASP_MODE_INTERNAL: GraspMode
 
+class GetServerInfoRequest(_message.Message):
+    __slots__ = ()
+    def __init__(self) -> None: ...
+
+class GetServerInfoResponse(_message.Message):
+    __slots__ = ("version", "proto_revision", "initialized", "part_id", "part_model_id", "perception_version")
+    VERSION_FIELD_NUMBER: _ClassVar[int]
+    PROTO_REVISION_FIELD_NUMBER: _ClassVar[int]
+    INITIALIZED_FIELD_NUMBER: _ClassVar[int]
+    PART_ID_FIELD_NUMBER: _ClassVar[int]
+    PART_MODEL_ID_FIELD_NUMBER: _ClassVar[int]
+    PERCEPTION_VERSION_FIELD_NUMBER: _ClassVar[int]
+    version: str
+    proto_revision: str
+    initialized: bool
+    part_id: str
+    part_model_id: str
+    perception_version: str
+    def __init__(self, version: _Optional[str] = ..., proto_revision: _Optional[str] = ..., initialized: _Optional[bool] = ..., part_id: _Optional[str] = ..., part_model_id: _Optional[str] = ..., perception_version: _Optional[str] = ...) -> None: ...
+
 class McapRecordingConfig(_message.Message):
     __slots__ = ("enabled", "output_dir", "max_duration_s", "filename_prefix")
     ENABLED_FIELD_NUMBER: _ClassVar[int]
@@ -157,17 +177,19 @@ class RobotConfig(_message.Message):
     def __init__(self, model: _Optional[str] = ..., driver: _Optional[str] = ..., vrmcs_url: _Optional[str] = ..., robot_ip: _Optional[str] = ..., joint_lower_limits: _Optional[_Iterable[float]] = ..., joint_upper_limits: _Optional[_Iterable[float]] = ...) -> None: ...
 
 class PerceptionServicesConfig(_message.Message):
-    __slots__ = ("sam_url", "foundation_pose_url", "foundation_stereo_url")
+    __slots__ = ("sam_url", "foundation_pose_url", "foundation_stereo_url", "parts_url")
     SAM_URL_FIELD_NUMBER: _ClassVar[int]
     FOUNDATION_POSE_URL_FIELD_NUMBER: _ClassVar[int]
     FOUNDATION_STEREO_URL_FIELD_NUMBER: _ClassVar[int]
+    PARTS_URL_FIELD_NUMBER: _ClassVar[int]
     sam_url: str
     foundation_pose_url: str
     foundation_stereo_url: str
-    def __init__(self, sam_url: _Optional[str] = ..., foundation_pose_url: _Optional[str] = ..., foundation_stereo_url: _Optional[str] = ...) -> None: ...
+    parts_url: str
+    def __init__(self, sam_url: _Optional[str] = ..., foundation_pose_url: _Optional[str] = ..., foundation_stereo_url: _Optional[str] = ..., parts_url: _Optional[str] = ...) -> None: ...
 
 class PlannerConfig(_message.Message):
-    __slots__ = ("planner_name", "max_iterations", "max_samples", "range", "dynamic_domain", "radius", "start_tree_first", "simp_max_iterations", "cuboids_path")
+    __slots__ = ("planner_name", "max_iterations", "max_samples", "range", "dynamic_domain", "radius", "start_tree_first", "simp_max_iterations", "cuboids_path", "cuboids")
     PLANNER_NAME_FIELD_NUMBER: _ClassVar[int]
     MAX_ITERATIONS_FIELD_NUMBER: _ClassVar[int]
     MAX_SAMPLES_FIELD_NUMBER: _ClassVar[int]
@@ -177,6 +199,7 @@ class PlannerConfig(_message.Message):
     START_TREE_FIRST_FIELD_NUMBER: _ClassVar[int]
     SIMP_MAX_ITERATIONS_FIELD_NUMBER: _ClassVar[int]
     CUBOIDS_PATH_FIELD_NUMBER: _ClassVar[int]
+    CUBOIDS_FIELD_NUMBER: _ClassVar[int]
     planner_name: str
     max_iterations: int
     max_samples: int
@@ -186,7 +209,8 @@ class PlannerConfig(_message.Message):
     start_tree_first: bool
     simp_max_iterations: int
     cuboids_path: str
-    def __init__(self, planner_name: _Optional[str] = ..., max_iterations: _Optional[int] = ..., max_samples: _Optional[int] = ..., range: _Optional[float] = ..., dynamic_domain: _Optional[bool] = ..., radius: _Optional[float] = ..., start_tree_first: _Optional[bool] = ..., simp_max_iterations: _Optional[int] = ..., cuboids_path: _Optional[str] = ...) -> None: ...
+    cuboids: _containers.RepeatedCompositeFieldContainer[Cuboid]
+    def __init__(self, planner_name: _Optional[str] = ..., max_iterations: _Optional[int] = ..., max_samples: _Optional[int] = ..., range: _Optional[float] = ..., dynamic_domain: _Optional[bool] = ..., radius: _Optional[float] = ..., start_tree_first: _Optional[bool] = ..., simp_max_iterations: _Optional[int] = ..., cuboids_path: _Optional[str] = ..., cuboids: _Optional[_Iterable[_Union[Cuboid, _Mapping]]] = ...) -> None: ...
 
 class GraspFilteringConfig(_message.Message):
     __slots__ = ("aggressive_angle_threshold_bin_floor_degrees", "aggressive_angle_threshold_gravity_axis_degrees")
@@ -197,7 +221,7 @@ class GraspFilteringConfig(_message.Message):
     def __init__(self, aggressive_angle_threshold_bin_floor_degrees: _Optional[float] = ..., aggressive_angle_threshold_gravity_axis_degrees: _Optional[float] = ...) -> None: ...
 
 class PartConfig(_message.Message):
-    __slots__ = ("part_id", "part_model_id", "tcp_offset", "grasp_definitions_json", "held_object_collision_spheres", "mesh_path", "symmetry")
+    __slots__ = ("part_id", "part_model_id", "tcp_offset", "grasp_definitions_json", "held_object_collision_spheres", "mesh_path", "symmetry", "perception_bundle", "perception_version")
     PART_ID_FIELD_NUMBER: _ClassVar[int]
     PART_MODEL_ID_FIELD_NUMBER: _ClassVar[int]
     TCP_OFFSET_FIELD_NUMBER: _ClassVar[int]
@@ -205,6 +229,8 @@ class PartConfig(_message.Message):
     HELD_OBJECT_COLLISION_SPHERES_FIELD_NUMBER: _ClassVar[int]
     MESH_PATH_FIELD_NUMBER: _ClassVar[int]
     SYMMETRY_FIELD_NUMBER: _ClassVar[int]
+    PERCEPTION_BUNDLE_FIELD_NUMBER: _ClassVar[int]
+    PERCEPTION_VERSION_FIELD_NUMBER: _ClassVar[int]
     part_id: str
     part_model_id: str
     tcp_offset: _containers.RepeatedScalarFieldContainer[float]
@@ -212,7 +238,9 @@ class PartConfig(_message.Message):
     held_object_collision_spheres: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
     mesh_path: str
     symmetry: SymmetryConfig
-    def __init__(self, part_id: _Optional[str] = ..., part_model_id: _Optional[str] = ..., tcp_offset: _Optional[_Iterable[float]] = ..., grasp_definitions_json: _Optional[str] = ..., held_object_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ..., mesh_path: _Optional[str] = ..., symmetry: _Optional[_Union[SymmetryConfig, _Mapping]] = ...) -> None: ...
+    perception_bundle: bytes
+    perception_version: str
+    def __init__(self, part_id: _Optional[str] = ..., part_model_id: _Optional[str] = ..., tcp_offset: _Optional[_Iterable[float]] = ..., grasp_definitions_json: _Optional[str] = ..., held_object_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ..., mesh_path: _Optional[str] = ..., symmetry: _Optional[_Union[SymmetryConfig, _Mapping]] = ..., perception_bundle: _Optional[bytes] = ..., perception_version: _Optional[str] = ...) -> None: ...
 
 class SymmetryConfig(_message.Message):
     __slots__ = ("axes", "expected_orientation")
@@ -229,7 +257,7 @@ class CollisionLineSegment(_message.Message):
     def __init__(self, points: _Optional[_Iterable[float]] = ...) -> None: ...
 
 class ConfigurePlannerRequest(_message.Message):
-    __slots__ = ("cuboids_path", "robot_model", "gripper_collision_spheres_path", "object_mesh_path", "tcp_to_camera_transform", "planner_max_iterations", "planner_max_cost", "gripper_collision_spheres")
+    __slots__ = ("cuboids_path", "robot_model", "gripper_collision_spheres_path", "object_mesh_path", "tcp_to_camera_transform", "planner_max_iterations", "planner_max_cost", "gripper_collision_spheres", "cuboids")
     CUBOIDS_PATH_FIELD_NUMBER: _ClassVar[int]
     ROBOT_MODEL_FIELD_NUMBER: _ClassVar[int]
     GRIPPER_COLLISION_SPHERES_PATH_FIELD_NUMBER: _ClassVar[int]
@@ -238,6 +266,7 @@ class ConfigurePlannerRequest(_message.Message):
     PLANNER_MAX_ITERATIONS_FIELD_NUMBER: _ClassVar[int]
     PLANNER_MAX_COST_FIELD_NUMBER: _ClassVar[int]
     GRIPPER_COLLISION_SPHERES_FIELD_NUMBER: _ClassVar[int]
+    CUBOIDS_FIELD_NUMBER: _ClassVar[int]
     cuboids_path: str
     robot_model: str
     gripper_collision_spheres_path: str
@@ -246,7 +275,8 @@ class ConfigurePlannerRequest(_message.Message):
     planner_max_iterations: int
     planner_max_cost: float
     gripper_collision_spheres: _containers.RepeatedCompositeFieldContainer[CollisionSpheres]
-    def __init__(self, cuboids_path: _Optional[str] = ..., robot_model: _Optional[str] = ..., gripper_collision_spheres_path: _Optional[str] = ..., object_mesh_path: _Optional[str] = ..., tcp_to_camera_transform: _Optional[_Iterable[float]] = ..., planner_max_iterations: _Optional[int] = ..., planner_max_cost: _Optional[float] = ..., gripper_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ...) -> None: ...
+    cuboids: _containers.RepeatedCompositeFieldContainer[Cuboid]
+    def __init__(self, cuboids_path: _Optional[str] = ..., robot_model: _Optional[str] = ..., gripper_collision_spheres_path: _Optional[str] = ..., object_mesh_path: _Optional[str] = ..., tcp_to_camera_transform: _Optional[_Iterable[float]] = ..., planner_max_iterations: _Optional[int] = ..., planner_max_cost: _Optional[float] = ..., gripper_collision_spheres: _Optional[_Iterable[_Union[CollisionSpheres, _Mapping]]] = ..., cuboids: _Optional[_Iterable[_Union[Cuboid, _Mapping]]] = ...) -> None: ...
 
 class ConfigurePlannerResponse(_message.Message):
     __slots__ = ("environment_id", "robot_dof", "num_cuboids_loaded")
@@ -317,10 +347,14 @@ class EstimateDepthRequest(_message.Message):
     def __init__(self, left_image: _Optional[bytes] = ..., right_image: _Optional[bytes] = ..., camera_intrinsics: _Optional[_Iterable[float]] = ..., stereo_baseline: _Optional[float] = ...) -> None: ...
 
 class EstimateDepthResponse(_message.Message):
-    __slots__ = ("depth_data",)
+    __slots__ = ("depth_data", "depth_height", "depth_width")
     DEPTH_DATA_FIELD_NUMBER: _ClassVar[int]
+    DEPTH_HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    DEPTH_WIDTH_FIELD_NUMBER: _ClassVar[int]
     depth_data: bytes
-    def __init__(self, depth_data: _Optional[bytes] = ...) -> None: ...
+    depth_height: int
+    depth_width: int
+    def __init__(self, depth_data: _Optional[bytes] = ..., depth_height: _Optional[int] = ..., depth_width: _Optional[int] = ...) -> None: ...
 
 class DetectObjectsRequest(_message.Message):
     __slots__ = ("image_id", "color_image", "depth_image", "camera_intrinsics", "camera_pose_in_world", "bin_walls", "roi")

{griip_core_dev-0.5.6.dev26079 → griip_core_dev-0.6.0.dev26142}/src/griip_core/generated/griip_pb2_grpc.py

@@ -59,6 +59,11 @@ class GriipApiAdminStub:
                 request_serializer=griip__pb2.StopPerceptionMcapRecordingRequest.SerializeToString,
                 response_deserializer=griip__pb2.StopPerceptionMcapRecordingResponse.FromString,
                 _registered_method=True)
+        self.GetServerInfo = channel.unary_unary(
+                '/griip.GriipApiAdmin/GetServerInfo',
+                request_serializer=griip__pb2.GetServerInfoRequest.SerializeToString,
+                response_deserializer=griip__pb2.GetServerInfoResponse.FromString,
+                _registered_method=True)
 
 
 class GriipApiAdminServicer:
@@ -92,6 +97,13 @@ class GriipApiAdminServicer:
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def GetServerInfo(self, request, context):
+        """Callable before Initialize.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
 
 def add_GriipApiAdminServicer_to_server(servicer, server):
     rpc_method_handlers = {
@@ -110,6 +122,11 @@ def add_GriipApiAdminServicer_to_server(servicer, server):
                     request_deserializer=griip__pb2.StopPerceptionMcapRecordingRequest.FromString,
                     response_serializer=griip__pb2.StopPerceptionMcapRecordingResponse.SerializeToString,
             ),
+            'GetServerInfo': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetServerInfo,
+                    request_deserializer=griip__pb2.GetServerInfoRequest.FromString,
+                    response_serializer=griip__pb2.GetServerInfoResponse.SerializeToString,
+            ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
             'griip.GriipApiAdmin', rpc_method_handlers)
@@ -212,6 +229,33 @@ class GriipApiAdmin:
             metadata,
             _registered_method=True)
 
+    @staticmethod
+    def GetServerInfo(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/griip.GriipApiAdmin/GetServerInfo',
+            griip__pb2.GetServerInfoRequest.SerializeToString,
+            griip__pb2.GetServerInfoResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
 
 class PlanningServiceStub:
     """---------------------------------------------------------------------------

{griip_core_dev-0.5.6.dev26079 → griip_core_dev-0.6.0.dev26142}/src/griip_core/generated/griip_pb2_grpc.pyi

@@ -73,7 +73,23 @@ _GriipApiAdminStopPerceptionMcapRecordingType = typing_extensions.TypeVar(
     ],
 )
 
-class GriipApiAdminStub(typing.Generic[_GriipApiAdminInitializeType, _GriipApiAdminStartPerceptionMcapRecordingType, _GriipApiAdminStopPerceptionMcapRecordingType]):
+_GriipApiAdminGetServerInfoType = typing_extensions.TypeVar(
+    '_GriipApiAdminGetServerInfoType',
+    grpc.UnaryUnaryMultiCallable[
+        griip_pb2.GetServerInfoRequest,
+        griip_pb2.GetServerInfoResponse,
+    ],
+    grpc.aio.UnaryUnaryMultiCallable[
+        griip_pb2.GetServerInfoRequest,
+        griip_pb2.GetServerInfoResponse,
+    ],
+    default=grpc.UnaryUnaryMultiCallable[
+        griip_pb2.GetServerInfoRequest,
+        griip_pb2.GetServerInfoResponse,
+    ],
+)
+
+class GriipApiAdminStub(typing.Generic[_GriipApiAdminInitializeType, _GriipApiAdminStartPerceptionMcapRecordingType, _GriipApiAdminStopPerceptionMcapRecordingType, _GriipApiAdminGetServerInfoType]):
     """---------------------------------------------------------------------------
     GriipApiAdmin
 
@@ -99,6 +115,10 @@ class GriipApiAdminStub(typing.Generic[_GriipApiAdminInitializeType, _GriipApiAd
             griip_pb2.StopPerceptionMcapRecordingRequest,
             griip_pb2.StopPerceptionMcapRecordingResponse,
         ],
+        grpc.UnaryUnaryMultiCallable[
+            griip_pb2.GetServerInfoRequest,
+            griip_pb2.GetServerInfoResponse,
+        ],
     ], channel: grpc.Channel) -> None: ...
 
     @typing.overload
@@ -115,6 +135,10 @@ class GriipApiAdminStub(typing.Generic[_GriipApiAdminInitializeType, _GriipApiAd
             griip_pb2.StopPerceptionMcapRecordingRequest,
             griip_pb2.StopPerceptionMcapRecordingResponse,
         ],
+        grpc.aio.UnaryUnaryMultiCallable[
+            griip_pb2.GetServerInfoRequest,
+            griip_pb2.GetServerInfoResponse,
+        ],
     ], channel: grpc.aio.Channel) -> None: ...
 
     Initialize: _GriipApiAdminInitializeType
@@ -123,6 +147,9 @@ class GriipApiAdminStub(typing.Generic[_GriipApiAdminInitializeType, _GriipApiAd
 
     StopPerceptionMcapRecording: _GriipApiAdminStopPerceptionMcapRecordingType
 
+    GetServerInfo: _GriipApiAdminGetServerInfoType
+    """Callable before Initialize."""
+
 GriipApiAdminAsyncStub: typing_extensions.TypeAlias = GriipApiAdminStub[
     grpc.aio.UnaryUnaryMultiCallable[
         griip_pb2.InitializeRequest,
@@ -136,6 +163,10 @@ GriipApiAdminAsyncStub: typing_extensions.TypeAlias = GriipApiAdminStub[
         griip_pb2.StopPerceptionMcapRecordingRequest,
         griip_pb2.StopPerceptionMcapRecordingResponse,
     ],
+    grpc.aio.UnaryUnaryMultiCallable[
+        griip_pb2.GetServerInfoRequest,
+        griip_pb2.GetServerInfoResponse,
+    ],
 ]
 
 class GriipApiAdminServicer(metaclass=abc.ABCMeta):
@@ -171,6 +202,14 @@ class GriipApiAdminServicer(metaclass=abc.ABCMeta):
         context: _ServicerContext,
     ) -> typing.Union[griip_pb2.StopPerceptionMcapRecordingResponse, collections.abc.Awaitable[griip_pb2.StopPerceptionMcapRecordingResponse]]: ...
 
+    @abc.abstractmethod
+    def GetServerInfo(
+        self,
+        request: griip_pb2.GetServerInfoRequest,
+        context: _ServicerContext,
+    ) -> typing.Union[griip_pb2.GetServerInfoResponse, collections.abc.Awaitable[griip_pb2.GetServerInfoResponse]]:
+        """Callable before Initialize."""
+
 def add_GriipApiAdminServicer_to_server(servicer: GriipApiAdminServicer, server: typing.Union[grpc.Server, grpc.aio.Server]) -> None: ...
 
 _PlanningServiceConfigurePlannerType = typing_extensions.TypeVar(

{griip_core_dev-0.5.6.dev26079 → griip_core_dev-0.6.0.dev26142}/src/griip_core/hardware/vrmcs_client.py

@@ -7,10 +7,10 @@ fa1ff32 (the 1.5.0 release). It used to reach us inside the
 hand-written client, so this had to come across with it.
 
 It lives in griip-core rather than griip-sdk because four of its five callers
--- griip-sdk, vention-perception, mmai-griip-api and (through griip-sdk)
+-- griip-sdk, vention-perception, griip-server and (through griip-sdk)
 griip-teleop -- already depend on griip-core, and because griip-core is where
 the rest of the shared VRMCS plumbing lives (see ``vrmcs_registration``).
-Putting it in griip-sdk would make perception and mmai-griip-api depend on the
+Putting it in griip-sdk would make perception and griip-server depend on the
 whole robot SDK -- toppra, trimesh, urchin, pymodbus, pyserial -- to reach a
 gRPC transport.