griip-sdk-dev 0.4.0.dev24238__py3-none-any.whl

griip_sdk/__init__.py

@@ -0,0 +1,77 @@
+"""Public API of the griip-sdk.
+
+Consumers should import only from this top-level namespace. Submodules
+(``griip_sdk.cell``, ``griip_sdk.orchestration``, ``griip_sdk.hardware``,
+``griip_core.generated``, ``griip_sdk.calibration``) remain importable but
+are SDK-internal — their layout can change without notice.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+
+from griip_sdk.cell.parts import PartDefinition, list_available_parts
+from griip_sdk.cell.recipes import build_bin_picking_manager, build_grasp_provider, build_pick_only_manager
+from griip_sdk.errors import ConfigError
+from griip_sdk.hardware.gripper import (
+    BaseGripper,
+    GripperMoveResult,
+    ParallelJawGripper,
+    SuctionGripper,
+    ThreeFingerGripper,
+)
+from griip_sdk.orchestration.bin_picking_manager import BinPickingManager
+from griip_sdk.orchestration.grasp_provider import GraspProvider
+from griip_sdk.orchestration.pick_and_place_manager import SingleCyclePickAndPlaceManager
+from griip_sdk.orchestration.types import CaptureInfo, GraspTarget, PickFailureReason, PickResult
+
+
+@dataclass(frozen=True)
+class Cuboid:
+    """Per-call cuboid primitive: a one-shot collision extra layered on top of the
+    configured planner environment without mutating it.
+
+    Pose is a length-7 flat list in [x, y, z, qw, qx, qy, qz] order.
+    """
+
+    name: str
+    wx: float
+    wy: float
+    wz: float
+    pose: list[float]
+
+
+__all__ = [
+    "BaseGripper",
+    "BinPickingManager",
+    "build_bin_picking_manager",
+    "build_calibration_app",
+    "build_grasp_provider",
+    "build_pick_only_manager",
+    "CalibrationApp",
+    "CaptureInfo",
+    "ConfigError",
+    "Cuboid",
+    "GraspProvider",
+    "GraspTarget",
+    "GripperMoveResult",
+    "list_available_parts",
+    "ParallelJawGripper",
+    "PartDefinition",
+    "SuctionGripper",
+    "ThreeFingerGripper",
+    "PickFailureReason",
+    "PickResult",
+    "SingleCyclePickAndPlaceManager",
+]
+
+
+# Calibration symbols are lazy-loaded so `import griip_sdk` stays usable
+# on installs without the optional `mmaivisionclient` runtime dependency
+# (the calibration verbs hit a real camera; the rest of the SDK does not).
+def __getattr__(name: str) -> object:
+    if name in ("CalibrationApp", "build_calibration_app"):
+        from griip_sdk.calibration import app as _app_module
+
+        return getattr(_app_module, name)
+    raise AttributeError(f"module 'griip_sdk' has no attribute {name!r}")