rainbow-rb-flat-buffers 0.0.9.dev42__tar.gz → 0.0.9.dev44__tar.gz

rainbow_rb_flat_buffers-0.0.9.dev44/PKG-INFO

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+Metadata-Version: 2.4
+Name: rainbow-rb-flat-buffers
+Version: 0.0.9.dev44
+Summary: Rainbow FlatBuffers Conveted to Python
+Author-email: Derek <dfd1123@rainbow-robotics.com>
+Requires-Python: >=3.11
+Description-Content-Type: text/markdown
+Requires-Dist: flatbuffers<26.0.0,>=25.2.10
+Requires-Dist: numpy>=2.3.3
+
+# rb_flat_buffers
+
+`rb_flat_buffers`는 `schemas/*.fbs`로부터 생성된 Python FlatBuffer 코드 패키지입니다.
+
+## 핵심 요약
+
+- 소스 스키마: `/schemas/**/*.fbs`
+- 생성 결과 1: `backend/packages/rb_flat_buffers/src/rb_flat_buffers/**` (FlatBuffer Python generated code)
+- 생성 결과 2: `backend/packages/rb_schemas/src/rb_schemas/fbs_models/**` (Pydantic 모델)
+
+즉, `make backend.flatc`를 실행하면:
+
+1. FlatBuffer Python 코드가 `rb_flat_buffers`에 생성되고
+2. 동일 스키마 기반 Pydantic 모델이 `rb_schemas`에 생성됩니다.
+
+## 생성 방법
+
+프로젝트 루트에서:
+
+```bash
+make backend.flatc
+```
+
+`backend.mk`의 `backend.flatc` 타깃은 내부적으로 아래를 순서대로 실행합니다.
+
+1. `scripts/backend/generate_flatbuffers.py`
+
+- `flatc --python --gen-object-api --gen-all` 기반 생성
+- 출력: `backend/packages/rb_flat_buffers/src/rb_flat_buffers`
+
+2. `backend/packages/rb_flat_buffers/scripts/patch_imports.py`
+
+- generated import 경로/누락 import 보정
+
+3. `scripts/backend/fbs_to_pydantic.py`
+
+- `.fbs`를 Pydantic 모델로 변환
+- 출력: `backend/packages/rb_schemas/src/rb_schemas/fbs_models`
+
+## 언제 실행해야 하나
+
+아래 케이스에서는 `make backend.flatc`를 다시 실행해야 합니다.
+
+- `schemas/*.fbs` 수정
+- 신규 `.fbs` 파일 추가/삭제
+- FlatBuffer 타입/필드 변경(table/struct/enum/union)
+
+## rb_flat_buffers 사용 예시
+
+예: 요청 객체 전송 + **값이 채워진 FlatBuffer 응답(`returnValue`)** 수신
+
+```python
+# server/queryable 쪽
+from rb_flat_buffers.IPC.Request_Move_SmoothJogStop import Request_Move_SmoothJogStopT
+from rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT
+from rb_zenoh.router import ZenohRouter
+
+router = ZenohRouter()
+
+@router.queryable(
+    "C500920/call_smoothjog_stop",
+    flatbuffer_req_t=Request_Move_SmoothJogStopT,
+    flatbuffer_res_buf_size=64,
+)
+def on_call_pause(req, params=None):
+    print(req.stoptime)  # 요청으로 전달된 값 사용 가능
+    res = Response_FunctionsT()
+    res.returnValue = 123  # 빈 payload가 아니라 실제 값 포함
+    return res
+```
+
+```python
+# client/query 쪽
+from rb_flat_buffers.IPC.Request_Move_SmoothJogStop import Request_Move_SmoothJogStopT
+from rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT
+from rb_zenoh.client import ZenohClient
+
+client = ZenohClient()
+req = Request_Move_SmoothJogStopT()
+req.stoptime = 0.7
+
+res = client.query_one(
+    "C500920/call_smoothjog_stop",
+    flatbuffer_req_obj=req,
+    flatbuffer_res_T_class=Response_FunctionsT,
+    flatbuffer_buf_size=64,
+)
+
+obj = res.get("obj_payload")
+print(obj.returnValue)  # 123
+```
+
+## rb_schemas(Pydantic) 사용 예시
+
+`query_one` 응답의 `obj_payload`를 Pydantic으로 validate한 뒤, `model_dump`에서 원하는 key case를 선택할 수 있습니다.
+
+```python
+from rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT
+from rb_schemas.fbs_models.nexus.v1.deploy_models import Response_Deploy_UploadPD
+from rb_utils.parser import t_to_dict
+from rb_zenoh.client import ZenohClient
+
+client = ZenohClient()
+
+res = client.query_one(
+    "deploy/call_upload",
+    flatbuffer_res_T_class=Response_FunctionsT,
+    timeout=0.3,
+)
+
+obj_payload = res.get("obj_payload")
+
+# 1) FlatBuffer T 객체 -> dict 변환
+raw_dict = t_to_dict(obj_payload) if obj_payload is not None else {}
+
+# 2) Pydantic validate
+pd_obj = Response_Deploy_UploadPD.model_validate(raw_dict)
+
+# 3) key case 선택
+snake_case = pd_obj.model_dump(by_alias=False)  # ex) return_value
+camel_case = pd_obj.model_dump(by_alias=True)   # ex) returnValue
+```
+
+## 주의사항
+
+- 패키지명은 `rb_flat_buffers`입니다. (`rb_flat_buffer` 아님)
+- generated 파일은 수동 수정하지 않는 것을 권장합니다.
+- `flatc`가 PATH에 없으면 `make backend.flatc`가 실패합니다.

rainbow_rb_flat_buffers-0.0.9.dev44/pyproject.toml

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+[build-system]
+requires = ["setuptools>=69", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "rainbow-rb-flat-buffers"
+version = "0.0.9.dev44"
+requires-python = ">=3.11"
+description = "Rainbow FlatBuffers Conveted to Python"
+authors = [
+    { name = "Derek", email = "dfd1123@rainbow-robotics.com" },
+]
+readme = "README.md"
+
+dependencies = [
+    "flatbuffers>=25.2.10,<26.0.0",
+    "numpy>=2.3.3",
+]
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+include-package-data = true
+
+[tool.setuptools.packages.find]
+where = ["src"]
+include = ["rainbow.rb_flat_buffers*"]
+
+[tool.setuptools.package-data]
+"*" = ["py.typed", "*.pyi", "_core*.so", "_core*.pyd"]
+"rainbow.rb_flat_buffers" = ["examples/**", "examples/**/*", ".claude/**", ".claude/**/*"]

rainbow_rb_flat_buffers-0.0.9.dev44/src/rainbow/rb_flat_buffers/ACS/Param.py

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+# automatically generated by the FlatBuffers compiler, do not modify
+
+# namespace: ACS
+
+import flatbuffers
+from flatbuffers.compat import import_numpy
+from typing import Any
+from typing import Optional
+np = import_numpy()
+
+class Param(object):
+    __slots__ = ['_tab']
+
+    @classmethod
+    def GetRootAs(cls, buf, offset: int = 0):
+        n = flatbuffers.encode.Get(flatbuffers.packer.uoffset, buf, offset)
+        x = Param()
+        x.Init(buf, n + offset)
+        return x
+
+    @classmethod
+    def GetRootAsParam(cls, buf, offset=0):
+        """This method is deprecated. Please switch to GetRootAs."""
+        return cls.GetRootAs(buf, offset)
+    # Param
+    def Init(self, buf: bytes, pos: int):
+        self._tab = flatbuffers.table.Table(buf, pos)
+
+    # Param
+    def Key(self) -> Optional[str]:
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(4))
+        if o != 0:
+            return self._tab.String(o + self._tab.Pos)
+        return None
+
+    # Param
+    def Value(self) -> Optional[str]:
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(6))
+        if o != 0:
+            return self._tab.String(o + self._tab.Pos)
+        return None
+
+def ParamStart(builder: flatbuffers.Builder):
+    builder.StartObject(2)
+
+def Start(builder: flatbuffers.Builder):
+    ParamStart(builder)
+
+def ParamAddKey(builder: flatbuffers.Builder, key: int):
+    builder.PrependUOffsetTRelativeSlot(0, flatbuffers.number_types.UOffsetTFlags.py_type(key), 0)
+
+def AddKey(builder: flatbuffers.Builder, key: int):
+    ParamAddKey(builder, key)
+
+def ParamAddValue(builder: flatbuffers.Builder, value: int):
+    builder.PrependUOffsetTRelativeSlot(1, flatbuffers.number_types.UOffsetTFlags.py_type(value), 0)
+
+def AddValue(builder: flatbuffers.Builder, value: int):
+    ParamAddValue(builder, value)
+
+def ParamEnd(builder: flatbuffers.Builder) -> int:
+    return builder.EndObject()
+
+def End(builder: flatbuffers.Builder) -> int:
+    return ParamEnd(builder)
+
+
+class ParamT(object):
+
+    # ParamT
+    def __init__(
+        self,
+        key = None,
+        value = None,
+    ):
+        self.key = key  # type: Optional[str]
+        self.value = value  # type: Optional[str]
+
+    @classmethod
+    def InitFromBuf(cls, buf, pos):
+        param = Param()
+        param.Init(buf, pos)
+        return cls.InitFromObj(param)
+
+    @classmethod
+    def InitFromPackedBuf(cls, buf, pos=0):
+        n = flatbuffers.encode.Get(flatbuffers.packer.uoffset, buf, pos)
+        return cls.InitFromBuf(buf, pos+n)
+
+    @classmethod
+    def InitFromObj(cls, param):
+        x = ParamT()
+        x._UnPack(param)
+        return x
+
+    # ParamT
+    def _UnPack(self, param):
+        if param is None:
+            return
+        self.key = param.Key()
+        self.value = param.Value()
+
+    # ParamT
+    def Pack(self, builder):
+        if self.key is not None:
+            key = builder.CreateString(self.key)
+        if self.value is not None:
+            value = builder.CreateString(self.value)
+        ParamStart(builder)
+        if self.key is not None:
+            ParamAddKey(builder, key)
+        if self.value is not None:
+            ParamAddValue(builder, value)
+        param = ParamEnd(builder)
+        return param

rainbow_rb_flat_buffers-0.0.9.dev44/src/rainbow/rb_flat_buffers/ACS/Param.pyi

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+from __future__ import annotations
+
+import flatbuffers
+import numpy as np
+
+import typing
+
+uoffset: typing.TypeAlias = flatbuffers.number_types.UOffsetTFlags.py_type
+
+class Param(object):
+  @classmethod
+  def GetRootAs(cls, buf: bytes, offset: int) -> Param: ...
+  @classmethod
+  def GetRootAsParam(cls, buf: bytes, offset: int) -> Param: ...
+  def Init(self, buf: bytes, pos: int) -> None: ...
+  def Key(self) -> str | None: ...
+  def Value(self) -> str | None: ...
+class ParamT(object):
+  key: str | None
+  value: str | None
+  def __init__(
+    self,
+    key: str | None = ...,
+    value: str | None = ...,
+  ) -> None: ...
+  @classmethod
+  def InitFromBuf(cls, buf: bytes, pos: int) -> ParamT: ...
+  @classmethod
+  def InitFromPackedBuf(cls, buf: bytes, pos: int = 0) -> ParamT: ...
+  @classmethod
+  def InitFromObj(cls, param: Param) -> ParamT: ...
+  def _UnPack(self, param: Param) -> None: ...
+  def Pack(self, builder: flatbuffers.Builder) -> None: ...
+def ParamStart(builder: flatbuffers.Builder) -> None: ...
+def Start(builder: flatbuffers.Builder) -> None: ...
+def ParamAddKey(builder: flatbuffers.Builder, key: uoffset) -> None: ...
+def ParamAddValue(builder: flatbuffers.Builder, value: uoffset) -> None: ...
+def ParamEnd(builder: flatbuffers.Builder) -> uoffset: ...
+def End(builder: flatbuffers.Builder) -> uoffset: ...
+

rainbow_rb_flat_buffers-0.0.9.dev44/src/rainbow/rb_flat_buffers/ACS/Pose.py

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+# automatically generated by the FlatBuffers compiler, do not modify
+
+# namespace: ACS
+
+import flatbuffers
+from flatbuffers.compat import import_numpy
+from typing import Any
+from typing import Optional
+np = import_numpy()
+
+class Pose(object):
+    __slots__ = ['_tab']
+
+    @classmethod
+    def GetRootAs(cls, buf, offset: int = 0):
+        n = flatbuffers.encode.Get(flatbuffers.packer.uoffset, buf, offset)
+        x = Pose()
+        x.Init(buf, n + offset)
+        return x
+
+    @classmethod
+    def GetRootAsPose(cls, buf, offset=0):
+        """This method is deprecated. Please switch to GetRootAs."""
+        return cls.GetRootAs(buf, offset)
+    # Pose
+    def Init(self, buf: bytes, pos: int):
+        self._tab = flatbuffers.table.Table(buf, pos)
+
+    # Pose
+    def NodeId(self) -> Optional[str]:
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(4))
+        if o != 0:
+            return self._tab.String(o + self._tab.Pos)
+        return None
+
+    # Pose
+    def NameName(self) -> Optional[str]:
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(6))
+        if o != 0:
+            return self._tab.String(o + self._tab.Pos)
+        return None
+
+    # Pose
+    def X(self):
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(8))
+        if o != 0:
+            return self._tab.Get(flatbuffers.number_types.Float32Flags, o + self._tab.Pos)
+        return None
+
+    # Pose
+    def Y(self):
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(10))
+        if o != 0:
+            return self._tab.Get(flatbuffers.number_types.Float32Flags, o + self._tab.Pos)
+        return None
+
+    # Pose
+    def Rz(self):
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(12))
+        if o != 0:
+            return self._tab.Get(flatbuffers.number_types.Float32Flags, o + self._tab.Pos)
+        return None
+
+def PoseStart(builder: flatbuffers.Builder):
+    builder.StartObject(5)
+
+def Start(builder: flatbuffers.Builder):
+    PoseStart(builder)
+
+def PoseAddNodeId(builder: flatbuffers.Builder, nodeId: int):
+    builder.PrependUOffsetTRelativeSlot(0, flatbuffers.number_types.UOffsetTFlags.py_type(nodeId), 0)
+
+def AddNodeId(builder: flatbuffers.Builder, nodeId: int):
+    PoseAddNodeId(builder, nodeId)
+
+def PoseAddNameName(builder: flatbuffers.Builder, nameName: int):
+    builder.PrependUOffsetTRelativeSlot(1, flatbuffers.number_types.UOffsetTFlags.py_type(nameName), 0)
+
+def AddNameName(builder: flatbuffers.Builder, nameName: int):
+    PoseAddNameName(builder, nameName)
+
+def PoseAddX(builder: flatbuffers.Builder, x: float):
+    builder.PrependFloat32Slot(2, x, None)
+
+def AddX(builder: flatbuffers.Builder, x: float):
+    PoseAddX(builder, x)
+
+def PoseAddY(builder: flatbuffers.Builder, y: float):
+    builder.PrependFloat32Slot(3, y, None)
+
+def AddY(builder: flatbuffers.Builder, y: float):
+    PoseAddY(builder, y)
+
+def PoseAddRz(builder: flatbuffers.Builder, rz: float):
+    builder.PrependFloat32Slot(4, rz, None)
+
+def AddRz(builder: flatbuffers.Builder, rz: float):
+    PoseAddRz(builder, rz)
+
+def PoseEnd(builder: flatbuffers.Builder) -> int:
+    return builder.EndObject()
+
+def End(builder: flatbuffers.Builder) -> int:
+    return PoseEnd(builder)
+
+try:
+    from typing import Optional
+except:
+    pass
+
+class PoseT(object):
+
+    # PoseT
+    def __init__(
+        self,
+        nodeId = None,
+        nameName = None,
+        x = None,
+        y = None,
+        rz = None,
+    ):
+        self.nodeId = nodeId  # type: Optional[str]
+        self.nameName = nameName  # type: Optional[str]
+        self.x = x  # type: Optional[float]
+        self.y = y  # type: Optional[float]
+        self.rz = rz  # type: Optional[float]
+
+    @classmethod
+    def InitFromBuf(cls, buf, pos):
+        pose = Pose()
+        pose.Init(buf, pos)
+        return cls.InitFromObj(pose)
+
+    @classmethod
+    def InitFromPackedBuf(cls, buf, pos=0):
+        n = flatbuffers.encode.Get(flatbuffers.packer.uoffset, buf, pos)
+        return cls.InitFromBuf(buf, pos+n)
+
+    @classmethod
+    def InitFromObj(cls, pose):
+        x = PoseT()
+        x._UnPack(pose)
+        return x
+
+    # PoseT
+    def _UnPack(self, pose):
+        if pose is None:
+            return
+        self.nodeId = pose.NodeId()
+        self.nameName = pose.NameName()
+        self.x = pose.X()
+        self.y = pose.Y()
+        self.rz = pose.Rz()
+
+    # PoseT
+    def Pack(self, builder):
+        if self.nodeId is not None:
+            nodeId = builder.CreateString(self.nodeId)
+        if self.nameName is not None:
+            nameName = builder.CreateString(self.nameName)
+        PoseStart(builder)
+        if self.nodeId is not None:
+            PoseAddNodeId(builder, nodeId)
+        if self.nameName is not None:
+            PoseAddNameName(builder, nameName)
+        PoseAddX(builder, self.x)
+        PoseAddY(builder, self.y)
+        PoseAddRz(builder, self.rz)
+        pose = PoseEnd(builder)
+        return pose

rainbow_rb_flat_buffers-0.0.9.dev44/src/rainbow/rb_flat_buffers/ACS/Pose.pyi

@@ -0,0 +1,52 @@
+from __future__ import annotations
+
+import flatbuffers
+import numpy as np
+
+import typing
+
+uoffset: typing.TypeAlias = flatbuffers.number_types.UOffsetTFlags.py_type
+
+class Pose(object):
+  @classmethod
+  def GetRootAs(cls, buf: bytes, offset: int) -> Pose: ...
+  @classmethod
+  def GetRootAsPose(cls, buf: bytes, offset: int) -> Pose: ...
+  def Init(self, buf: bytes, pos: int) -> None: ...
+  def NodeId(self) -> str | None: ...
+  def NameName(self) -> str | None: ...
+  def X(self) -> float | None: ...
+  def Y(self) -> float | None: ...
+  def Rz(self) -> float | None: ...
+class PoseT(object):
+  nodeId: str | None
+  nameName: str | None
+  x: float | None
+  y: float | None
+  rz: float | None
+  def __init__(
+    self,
+    nodeId: str | None = ...,
+    nameName: str | None = ...,
+    x: float | None = ...,
+    y: float | None = ...,
+    rz: float | None = ...,
+  ) -> None: ...
+  @classmethod
+  def InitFromBuf(cls, buf: bytes, pos: int) -> PoseT: ...
+  @classmethod
+  def InitFromPackedBuf(cls, buf: bytes, pos: int = 0) -> PoseT: ...
+  @classmethod
+  def InitFromObj(cls, pose: Pose) -> PoseT: ...
+  def _UnPack(self, pose: Pose) -> None: ...
+  def Pack(self, builder: flatbuffers.Builder) -> None: ...
+def PoseStart(builder: flatbuffers.Builder) -> None: ...
+def Start(builder: flatbuffers.Builder) -> None: ...
+def PoseAddNodeId(builder: flatbuffers.Builder, nodeId: uoffset) -> None: ...
+def PoseAddNameName(builder: flatbuffers.Builder, nameName: uoffset) -> None: ...
+def PoseAddX(builder: flatbuffers.Builder, x: float) -> None: ...
+def PoseAddY(builder: flatbuffers.Builder, y: float) -> None: ...
+def PoseAddRz(builder: flatbuffers.Builder, rz: float) -> None: ...
+def PoseEnd(builder: flatbuffers.Builder) -> uoffset: ...
+def End(builder: flatbuffers.Builder) -> uoffset: ...
+

rainbow_rb_flat_buffers-0.0.9.dev44/src/rainbow/rb_flat_buffers/ACS/RequestGetOptimalRobot.py

@@ -0,0 +1,152 @@
+# automatically generated by the FlatBuffers compiler, do not modify
+
+# namespace: ACS
+
+import flatbuffers
+from flatbuffers.compat import import_numpy
+from typing import Any
+from rainbow.rb_flat_buffers.ACS.Pose import Pose, PoseT
+from typing import Optional
+np = import_numpy()
+
+class RequestGetOptimalRobot(object):
+    __slots__ = ['_tab']
+
+    @classmethod
+    def GetRootAs(cls, buf, offset: int = 0):
+        n = flatbuffers.encode.Get(flatbuffers.packer.uoffset, buf, offset)
+        x = RequestGetOptimalRobot()
+        x.Init(buf, n + offset)
+        return x
+
+    @classmethod
+    def GetRootAsRequestGetOptimalRobot(cls, buf, offset=0):
+        """This method is deprecated. Please switch to GetRootAs."""
+        return cls.GetRootAs(buf, offset)
+    # RequestGetOptimalRobot
+    def Init(self, buf: bytes, pos: int):
+        self._tab = flatbuffers.table.Table(buf, pos)
+
+    # RequestGetOptimalRobot
+    def Pose(self) -> Optional[Pose]:
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(4))
+        if o != 0:
+            x = self._tab.Indirect(o + self._tab.Pos)
+            obj = Pose()
+            obj.Init(self._tab.Bytes, x)
+            return obj
+        return None
+
+    # RequestGetOptimalRobot
+    def Options(self, j: int):
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(6))
+        if o != 0:
+            a = self._tab.Vector(o)
+            return self._tab.String(a + flatbuffers.number_types.UOffsetTFlags.py_type(j * 4))
+        return ""
+
+    # RequestGetOptimalRobot
+    def OptionsLength(self) -> int:
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(6))
+        if o != 0:
+            return self._tab.VectorLen(o)
+        return 0
+
+    # RequestGetOptimalRobot
+    def OptionsIsNone(self) -> bool:
+        o = flatbuffers.number_types.UOffsetTFlags.py_type(self._tab.Offset(6))
+        return o == 0
+
+def RequestGetOptimalRobotStart(builder: flatbuffers.Builder):
+    builder.StartObject(2)
+
+def Start(builder: flatbuffers.Builder):
+    RequestGetOptimalRobotStart(builder)
+
+def RequestGetOptimalRobotAddPose(builder: flatbuffers.Builder, pose: int):
+    builder.PrependUOffsetTRelativeSlot(0, flatbuffers.number_types.UOffsetTFlags.py_type(pose), 0)
+
+def AddPose(builder: flatbuffers.Builder, pose: int):
+    RequestGetOptimalRobotAddPose(builder, pose)
+
+def RequestGetOptimalRobotAddOptions(builder: flatbuffers.Builder, options: int):
+    builder.PrependUOffsetTRelativeSlot(1, flatbuffers.number_types.UOffsetTFlags.py_type(options), 0)
+
+def AddOptions(builder: flatbuffers.Builder, options: int):
+    RequestGetOptimalRobotAddOptions(builder, options)
+
+def RequestGetOptimalRobotStartOptionsVector(builder, numElems: int) -> int:
+    return builder.StartVector(4, numElems, 4)
+
+def StartOptionsVector(builder, numElems: int) -> int:
+    return RequestGetOptimalRobotStartOptionsVector(builder, numElems)
+
+def RequestGetOptimalRobotEnd(builder: flatbuffers.Builder) -> int:
+    return builder.EndObject()
+
+def End(builder: flatbuffers.Builder) -> int:
+    return RequestGetOptimalRobotEnd(builder)
+
+try:
+    from typing import List, Optional
+except:
+    pass
+
+class RequestGetOptimalRobotT(object):
+
+    # RequestGetOptimalRobotT
+    def __init__(
+        self,
+        pose = None,
+        options = None,
+    ):
+        self.pose = pose  # type: Optional[PoseT]
+        self.options = options  # type: Optional[List[Optional[str]]]
+
+    @classmethod
+    def InitFromBuf(cls, buf, pos):
+        requestGetOptimalRobot = RequestGetOptimalRobot()
+        requestGetOptimalRobot.Init(buf, pos)
+        return cls.InitFromObj(requestGetOptimalRobot)
+
+    @classmethod
+    def InitFromPackedBuf(cls, buf, pos=0):
+        n = flatbuffers.encode.Get(flatbuffers.packer.uoffset, buf, pos)
+        return cls.InitFromBuf(buf, pos+n)
+
+    @classmethod
+    def InitFromObj(cls, requestGetOptimalRobot):
+        x = RequestGetOptimalRobotT()
+        x._UnPack(requestGetOptimalRobot)
+        return x
+
+    # RequestGetOptimalRobotT
+    def _UnPack(self, requestGetOptimalRobot):
+        if requestGetOptimalRobot is None:
+            return
+        if requestGetOptimalRobot.Pose() is not None:
+            self.pose = PoseT.InitFromObj(requestGetOptimalRobot.Pose())
+        if not requestGetOptimalRobot.OptionsIsNone():
+            self.options = []
+            for i in range(requestGetOptimalRobot.OptionsLength()):
+                self.options.append(requestGetOptimalRobot.Options(i))
+
+    # RequestGetOptimalRobotT
+    def Pack(self, builder):
+        if self.pose is not None:
+            pose = self.pose.Pack(builder)
+        if self.options is not None:
+            optionslist = []
+            for i in range(len(self.options)):
+                optionslist.append(builder.CreateString(self.options[i]))
+            RequestGetOptimalRobotStartOptionsVector(builder, len(self.options))
+            for i in reversed(range(len(self.options))):
+                builder.PrependUOffsetTRelative(optionslist[i])
+            options = builder.EndVector()
+        RequestGetOptimalRobotStart(builder)
+        if self.pose is not None:
+            RequestGetOptimalRobotAddPose(builder, pose)
+        if self.options is not None:
+            RequestGetOptimalRobotAddOptions(builder, options)
+        requestGetOptimalRobot = RequestGetOptimalRobotEnd(builder)
+        return requestGetOptimalRobot