rainbow-rb-sdk 0.0.9.dev22__tar.gz → 0.0.9.dev25__tar.gz

{rainbow_rb_sdk-0.0.9.dev22 → rainbow_rb_sdk-0.0.9.dev25}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev22
+Version: 0.0.9.dev25
 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.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: rainbow-rb-utils==0.0.9.dev25
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev25
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev25
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev25
+Requires-Dist: rainbow-rb-log==0.0.9.dev25
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

{rainbow_rb_sdk-0.0.9.dev22 → rainbow_rb_sdk-0.0.9.dev25}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev22"
+version = "0.0.9.dev25"
 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.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",
+    "rainbow-rb-utils==0.0.9.dev25",
+    "rainbow-rb-zenoh==0.0.9.dev25",
+    "rainbow-rb-flat-buffers==0.0.9.dev25",
+    "rainbow-rb-schemas==0.0.9.dev25",
+    "rainbow-rb-log==0.0.9.dev25",
     "rby1-sdk>=0.9.1",
 ]
 

{rainbow_rb_sdk-0.0.9.dev22 → rainbow_rb_sdk-0.0.9.dev25}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_move.py

@@ -54,10 +54,13 @@ from rainbow.rb_flat_buffers.IPC.Request_Wrapper_ArcSensing_On import Request_Wr
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_Conveyor_Off import Request_Wrapper_Conveyor_OffT
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_Conveyor_On import Request_Wrapper_Conveyor_OnT
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_Conveyor_Speed import Request_Wrapper_Conveyor_SpeedT
+from rainbow.rb_flat_buffers.IPC.Request_Wrapper_ServoL_Off import Request_Wrapper_ServoL_OffT
+from rainbow.rb_flat_buffers.IPC.Request_Wrapper_ServoL_On import Request_Wrapper_ServoL_OnT
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_TcpWeave_Off import Request_Wrapper_TcpWeave_OffT
 from rainbow.rb_flat_buffers.IPC.Request_Wrapper_TcpWeave_On import Request_Wrapper_TcpWeave_OnT
 from rainbow.rb_flat_buffers.IPC.Response_Functions import Response_FunctionsT
 from rainbow.rb_flat_buffers.IPC.State_Core import State_Core
+from rainbow.rb_schemas.fbs_models.manipulate.v1.common_struct_models import MoveInput_TargetPD
 from rainbow.rb_schemas.sdk import FlowManagerArgs
 from rainbow.rb_utils.flow_manager import eval_value
 from rainbow.rb_utils.manipulate import validate_single_return_value
@@ -2568,12 +2571,14 @@ class RBManipulateMoveSDK(RBBaseSDK):
         """
         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
+        if target is None:
+            raise ValueError("target cannot be None")
+        elif 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
 
@@ -2588,3 +2593,125 @@ class RBManipulateMoveSDK(RBBaseSDK):
         return self._apply_time_cheking(
             robot_model, "Servo T", res, "call_servo_t", flow_manager_args
         )
+
+    def pub_servo_t(
+        self,
+        *,
+        robot_model: str,
+        target: list[float],
+        time_out: float,
+        option: int,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ):
+        """
+        [ServoT Publish 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 None:
+            raise ValueError("target cannot be None")
+        elif 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
+
+        self.zenoh_client.publish(
+            f"{robot_model}/pub_servo_t",
+            flatbuffer_req_obj=req,
+            flatbuffer_buf_size=80,
+            congestion_control=CongestionControl.DROP,
+            priority=Priority.REAL_TIME,
+            express=True,
+        )
+
+        if flow_manager_args is not None:
+            flow_manager_args.done()
+
+    def call_wrapper_servo_l_on(
+        self,
+        robot_model: str,
+        target: MoveInput_TargetPD,
+        time_gap: float,
+        filter: float,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ) -> Response_FunctionsT:
+        """
+        [Wrapper ServoL On 호출 함수]
+        Args:
+            robot_model: 로봇 모델명
+            target: 목표 위치 및 프레임 정보
+            time_gap: 타임갭 값 (초)
+            filter: 필터 값 (0~1 사이)
+            flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
+        """
+        req = Request_Wrapper_ServoL_OnT()
+        req.target = MoveInput_TargetT()
+        req.target.tarValues = target.get("tar_values")
+        req.target.tarFrame = target.get("tar_frame", 0)
+        req.target.tarUnit = target.get("tar_unit", 0)
+        req.filter = filter
+        req.timeGap = time_gap
+
+        res = self.zenoh_client.query_one(
+            f"{robot_model}/call_wrapper_servo_l_on",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=8,
+            timeout=15,
+        )
+
+        if res["obj_payload"] is None:
+            raise RuntimeError("Wrapper ServoL On: obj_payload is None")
+
+        self.manipulate_return_value(
+            "call_wrapper_servo_l_on", res["obj_payload"], flow_manager_args
+        )
+
+        if flow_manager_args is not None:
+            flow_manager_args.done()
+
+        return res["obj_payload"]
+
+    def call_wrapper_servo_l_off(
+        self,
+        robot_model: str,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ) -> Response_FunctionsT:
+        """
+        [Wrapper ServoL Off 호출 함수]
+        Args:
+            robot_model: 로봇 모델명
+            flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
+        """
+        req = Request_Wrapper_ServoL_OffT()
+
+        res = self.zenoh_client.query_one(
+            f"{robot_model}/call_wrapper_servo_l_off",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=8,
+            timeout=15,
+        )
+
+        if res["obj_payload"] is None:
+            raise RuntimeError("Wrapper ServoL Off: obj_payload is None")
+
+        self.manipulate_return_value(
+            "call_wrapper_servo_l_off", res["obj_payload"], flow_manager_args
+        )
+
+        if flow_manager_args is not None:
+            flow_manager_args.done()
+
+        return res["obj_payload"]

{rainbow_rb_sdk-0.0.9.dev22 → rainbow_rb_sdk-0.0.9.dev25}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_program.py

@@ -416,7 +416,7 @@ class RBManipulateProgramSDK(RBBaseSDK):
 
         if variable_name is not None:
             flow_manager_args.ctx.update_local_variables(
-                {variable_name: calculated_value.tarValues.f}
+                {variable_name: calculated_value.tarValues}
             )
 
         flow_manager_args.done()

{rainbow_rb_sdk-0.0.9.dev22 → rainbow_rb_sdk-0.0.9.dev25}/src/rainbow_rb_sdk.egg-info/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev22
+Version: 0.0.9.dev25
 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.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: rainbow-rb-utils==0.0.9.dev25
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev25
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev25
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev25
+Requires-Dist: rainbow-rb-log==0.0.9.dev25
 Requires-Dist: rby1-sdk>=0.9.1
 
 # rb_sdk

rainbow_rb_sdk-0.0.9.dev25/src/rainbow_rb_sdk.egg-info/requires.txt

@@ -0,0 +1,6 @@
+rainbow-rb-utils==0.0.9.dev25
+rainbow-rb-zenoh==0.0.9.dev25
+rainbow-rb-flat-buffers==0.0.9.dev25
+rainbow-rb-schemas==0.0.9.dev25
+rainbow-rb-log==0.0.9.dev25
+rby1-sdk>=0.9.1

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

@@ -1,6 +0,0 @@
-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