rainbow-rb-sdk 0.0.9.dev20__tar.gz → 0.0.9.dev22__tar.gz

{rainbow_rb_sdk-0.0.9.dev20 → rainbow_rb_sdk-0.0.9.dev22}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev20
+Version: 0.0.9.dev22
 Summary: Rainbow Robotics 통합 Python SDK — AMR, 매니퓰레이터, RB-Y1 휴머노이드와 Rainbow Robot Service(common) 연동
 Author-email: Derek <dfd1123@rainbow-robotics.com>
 Requires-Python: >=3.11
 Description-Content-Type: text/markdown
-Requires-Dist: rainbow-rb-utils==0.0.9.dev20
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev20
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev20
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev20
-Requires-Dist: rainbow-rb-log==0.0.9.dev20
+Requires-Dist: rainbow-rb-utils==0.0.9.dev22
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev22
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev22
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev22
+Requires-Dist: rainbow-rb-log==0.0.9.dev22
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev20 → rainbow_rb_sdk-0.0.9.dev22}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev20"
+version = "0.0.9.dev22"
 requires-python = ">=3.11"
 description = "Rainbow Robotics 통합 Python SDK — AMR, 매니퓰레이터, RB-Y1 휴머노이드와 Rainbow Robot Service(common) 연동"
 authors = [
@@ -13,11 +13,11 @@ authors = [
 readme = "README.md"
 
 dependencies = [
-    "rainbow-rb-utils==0.0.9.dev20",
-    "rainbow-rb-zenoh==0.0.9.dev20",
-    "rainbow-rb-flat-buffers==0.0.9.dev20",
-    "rainbow-rb-schemas==0.0.9.dev20",
-    "rainbow-rb-log==0.0.9.dev20",
+    "rainbow-rb-utils==0.0.9.dev22",
+    "rainbow-rb-zenoh==0.0.9.dev22",
+    "rainbow-rb-flat-buffers==0.0.9.dev22",
+    "rainbow-rb-schemas==0.0.9.dev22",
+    "rainbow-rb-log==0.0.9.dev22",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev20 → rainbow_rb_sdk-0.0.9.dev22}/src/rainbow/rb_sdk/base.py

@@ -503,7 +503,7 @@ class RBBaseSDK:
         self.zenoh_client = zenoh_client
         with contextlib.suppress(Exception):
             zenoh_client.close()
-        zenoh_client.connect()  # C++ connect_with_pairs clears manually_closed_
+        zenoh_client.connect()  # C++ connect() resets manually_closed_
 
     async def _wait_for_zenoh_echo(
         self,

{rainbow_rb_sdk-0.0.9.dev20 → rainbow_rb_sdk-0.0.9.dev22}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_move.py

@@ -32,6 +32,7 @@ from rainbow.rb_flat_buffers.IPC.Request_Online_J import Request_Online_JT
 from rainbow.rb_flat_buffers.IPC.Request_Online_L import Request_Online_LT
 from rainbow.rb_flat_buffers.IPC.Request_Servo_J import Request_Servo_JT
 from rainbow.rb_flat_buffers.IPC.Request_Servo_L import Request_Servo_LT
+from rainbow.rb_flat_buffers.IPC.Request_Servo_T import Request_Servo_TT
 from rainbow.rb_flat_buffers.IPC.Request_TimeStamp_J import Request_TimeStamp_JT
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_AdmittanceForce_Change import (
     Request_Wrapper_AdmittanceForce_ChangeT,
@@ -2545,3 +2546,45 @@ class RBManipulateMoveSDK(RBBaseSDK):
 
         if flow_manager_args is not None:
             flow_manager_args.done()
+
+    def call_servo_t(
+        self,
+        *,
+        robot_model: str,
+        target: list[float],
+        time_out: float,
+        option: int,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ) -> Response_FunctionsT:
+        """
+        [ServoT 명령 전송 함수]
+
+        Args:
+            robot_model: 로봇 모델명
+            target: 목표 위치 및 프레임 정보
+            time_out: 타임아웃 값
+            option: 동작 옵션 (예: 0: Gravity + FF + User, 1: Gravity + User, 2: FF + User, 3: User)
+            flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
+        """
+        req = Request_Servo_TT()
+
+        if target is not None:
+            if not isinstance(target, list | tuple) or len(target) != 7:
+                raise ValueError(
+                    f"target must be a list or tuple of 7 elements, got {type(target).__name__} with length {len(target) if isinstance(target, list | tuple) else 'N/A'}"
+                )
+            req.target = target
+        req.timeOut = time_out
+        req.option = option
+
+        res = self.zenoh_client.query_one(
+            f"{robot_model}/call_servo_t",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=8,
+            timeout=3,
+        )
+
+        return self._apply_time_cheking(
+            robot_model, "Servo T", res, "call_servo_t", flow_manager_args
+        )

{rainbow_rb_sdk-0.0.9.dev20 → rainbow_rb_sdk-0.0.9.dev22}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_program.py

@@ -3,6 +3,7 @@
 from typing import Literal
 
 from rainbow.rb_flat_buffers.IPC.MoveInput_Target import MoveInput_TargetT
+from rainbow.rb_flat_buffers.IPC.Request_CoredataPubFrequency import Request_CoredataPubFrequencyT
 from rainbow.rb_flat_buffers.IPC.Request_MotionHalt import Request_MotionHaltT
 from rainbow.rb_flat_buffers.IPC.Request_MotionPause import Request_MotionPauseT
 from rainbow.rb_flat_buffers.IPC.Request_MotionResume import Request_MotionResumeT
@@ -850,3 +851,30 @@ class RBManipulateProgramSDK(RBBaseSDK):
                 )
             else:
                 raise RuntimeError("Unknown vibration motion type")
+
+    def call_coredata_pub_frequency(
+        self, *, robot_model: str, frequency: int
+    ) -> Response_FunctionsT:
+        """
+        [CoreData Publish Frequency 설정 함수]
+
+        Args:
+            robot_model: 로봇 모델명
+            frequency: 주파수 (Hz)
+        """
+
+        req = Request_CoredataPubFrequencyT()
+        req.frequencyHz = frequency
+
+        res = self.zenoh_client.query_one(
+            f"{robot_model}/call_coredata_pub_frequency",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=2,
+            timeout=5.0,
+        )
+
+        if res["obj_payload"] is None:
+            raise RuntimeError("Call CoreData Publish Frequency failed: obj_payload is None")
+
+        return res["obj_payload"]

{rainbow_rb_sdk-0.0.9.dev20 → rainbow_rb_sdk-0.0.9.dev22}/src/rainbow_rb_sdk.egg-info/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev20
+Version: 0.0.9.dev22
 Summary: Rainbow Robotics 통합 Python SDK — AMR, 매니퓰레이터, RB-Y1 휴머노이드와 Rainbow Robot Service(common) 연동
 Author-email: Derek <dfd1123@rainbow-robotics.com>
 Requires-Python: >=3.11
 Description-Content-Type: text/markdown
-Requires-Dist: rainbow-rb-utils==0.0.9.dev20
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev20
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev20
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev20
-Requires-Dist: rainbow-rb-log==0.0.9.dev20
+Requires-Dist: rainbow-rb-utils==0.0.9.dev22
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev22
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev22
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev22
+Requires-Dist: rainbow-rb-log==0.0.9.dev22
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

rainbow_rb_sdk-0.0.9.dev22/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev22
+rainbow-rb-zenoh==0.0.9.dev22
+rainbow-rb-flat-buffers==0.0.9.dev22
+rainbow-rb-schemas==0.0.9.dev22
+rainbow-rb-log==0.0.9.dev22
+rby1-sdk>=0.9.1

rainbow_rb_sdk-0.0.9.dev20/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -1,6 +0,0 @@
-rainbow-rb-utils==0.0.9.dev20
-rainbow-rb-zenoh==0.0.9.dev20
-rainbow-rb-flat-buffers==0.0.9.dev20
-rainbow-rb-schemas==0.0.9.dev20
-rainbow-rb-log==0.0.9.dev20
-rby1-sdk>=0.9.1