rainbow-rb-sdk 0.0.9.dev42__tar.gz → 0.0.9.dev44__tar.gz

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/PKG-INFO

@@ -1,15 +1,15 @@
 Metadata-Version: 2.4
 Name: rainbow-rb-sdk
-Version: 0.0.9.dev42
+Version: 0.0.9.dev44
 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.dev42
-Requires-Dist: rainbow-rb-zenoh==0.0.9.dev42
-Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev42
-Requires-Dist: rainbow-rb-schemas==0.0.9.dev42
-Requires-Dist: rainbow-rb-log==0.0.9.dev42
+Requires-Dist: rainbow-rb-utils==0.0.9.dev44
+Requires-Dist: rainbow-rb-zenoh==0.0.9.dev44
+Requires-Dist: rainbow-rb-flat-buffers==0.0.9.dev44
+Requires-Dist: rainbow-rb-schemas==0.0.9.dev44
+Requires-Dist: rainbow-rb-log==0.0.9.dev44
 Requires-Dist: python-socketio>=5.13.0
 Requires-Dist: rby1-sdk>=0.9.1
 
@@ -285,10 +285,13 @@ sdk.state.call_servocontrol(robot_model="C500920", control=1)
 ```python
 from rb_sdk import RBRby1SDK
 
-sdk = RBRby1SDK(endpoint="192.168.30.1:50051", model=None, auto_connect=True)
+sdk = RBRby1SDK()  # 내부: 127.0.0.1:50051 background probing
 
-print(sdk.connected)
-print(sdk.whoami())
+# 외부/다른 host 접근
+# 생성 직후 바로 호출하면 pending local probing 결과는 폐기된다.
+await sdk.connect(host="192.168.100.51")
+
+print(sdk.models)
 
 await sdk.control.power_on(robot_model="a")
 await sdk.control.servo_on(robot_model="a")

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/README.md

@@ -270,10 +270,13 @@ sdk.state.call_servocontrol(robot_model="C500920", control=1)
 ```python
 from rb_sdk import RBRby1SDK
 
-sdk = RBRby1SDK(endpoint="192.168.30.1:50051", model=None, auto_connect=True)
+sdk = RBRby1SDK()  # 내부: 127.0.0.1:50051 background probing
 
-print(sdk.connected)
-print(sdk.whoami())
+# 외부/다른 host 접근
+# 생성 직후 바로 호출하면 pending local probing 결과는 폐기된다.
+await sdk.connect(host="192.168.100.51")
+
+print(sdk.models)
 
 await sdk.control.power_on(robot_model="a")
 await sdk.control.servo_on(robot_model="a")

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "rainbow-rb-sdk"
-version = "0.0.9.dev42"
+version = "0.0.9.dev44"
 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.dev42",
-    "rainbow-rb-zenoh==0.0.9.dev42",
-    "rainbow-rb-flat-buffers==0.0.9.dev42",
-    "rainbow-rb-schemas==0.0.9.dev42",
-    "rainbow-rb-log==0.0.9.dev42",
+    "rainbow-rb-utils==0.0.9.dev44",
+    "rainbow-rb-zenoh==0.0.9.dev44",
+    "rainbow-rb-flat-buffers==0.0.9.dev44",
+    "rainbow-rb-schemas==0.0.9.dev44",
+    "rainbow-rb-log==0.0.9.dev44",
     "python-socketio>=5.13.0",
     "rby1-sdk>=0.9.1",
 ]

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/__init__.py

@@ -7,7 +7,7 @@ from __future__ import annotations
 
 from typing import TYPE_CHECKING
 
-__all__ = ["RBAmrSDK", "RBManipulateSDK", "RBBaseSDK", "RBRby1SDK", "RBPluginCall"]
+__all__ = ["RBAmrSDK", "RBManipulateSDK", "RBBaseSDK", "RBRby1SDK", "RBPluginCall", "PluginProgramContext"]
 
 # 타입체커/IDE(자동완성)용: 여기서는 import 해도 런타임에 실행되지 않음
 if TYPE_CHECKING:
@@ -15,6 +15,7 @@ if TYPE_CHECKING:
     from .base import RBBaseSDK
     from .manipulate import RBManipulateSDK
     from .plugin import RBPluginCall
+    from .program_sdk import PluginProgramContext
     from .rby1 import RBRby1SDK
 
 
@@ -39,6 +40,10 @@ def __getattr__(name: str):
         from .plugin import RBPluginCall  # noqa: PLC0415
         return RBPluginCall
 
+    if name == "PluginProgramContext":
+        from .program_sdk import PluginProgramContext  # noqa: PLC0415
+        return PluginProgramContext
+
     raise AttributeError(name)
 
 

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/amr_sdk/amr_control.py

@@ -21,7 +21,7 @@ from rainbow.rb_flat_buffers.SLAMNAV.RequestSetObsBox import RequestSetObsBoxT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestSetSafetyField import RequestSetSafetyFieldT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestSetSafetyFlag import RequestSetSafetyFlagT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestSetSafetyIo import RequestSetSafetyIoT
-from rainbow.rb_flat_buffers.SLAMNAV.RequestStreamFrequency import RequestStreamFrequencyT
+from rainbow.rb_flat_buffers.SLAMNAV.RequestSetStreamFrequency import RequestSetStreamFrequencyT
 from rainbow.rb_flat_buffers.SLAMNAV.RequestUndock import RequestUndockT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseChargeTrigger import ResponseChargeTriggerT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseDock import ResponseDockT
@@ -38,7 +38,7 @@ from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetObsBox import ResponseSetObsBoxT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetSafetyField import ResponseSetSafetyFieldT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetSafetyFlag import ResponseSetSafetyFlagT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetSafetyIo import ResponseSetSafetyIoT
-from rainbow.rb_flat_buffers.SLAMNAV.ResponseStreamFrequency import ResponseStreamFrequencyT
+from rainbow.rb_flat_buffers.SLAMNAV.ResponseSetStreamFrequency import ResponseSetStreamFrequencyT
 from rainbow.rb_flat_buffers.SLAMNAV.ResponseUndock import ResponseUndockT
 from rainbow.rb_flat_buffers.SLAMNAV.ResultControlDock import ResultControlDockT
 from rainbow.rb_flat_buffers.SLAMNAV.SafetyFlag import SafetyFlagT
@@ -353,6 +353,7 @@ class RBAmrControlSDK(RBBaseSDK):
         # 1) RequestGetSafetyIoT 객체 생성
         req = RequestGetSafetyIoT()
         req.id = req_id
+
         # 2) 요청 전송
         result = self.zenoh_client.query_one(
             f"amr/{robot_model}/control/getSafetyIo",
@@ -850,7 +851,7 @@ class RBAmrControlSDK(RBBaseSDK):
         frequency: int,
         req_id: str | None = None,
         flow_manager_args: FlowManagerArgs | None = None,
-    ) -> ResponseStreamFrequencyT:
+    ) -> ResponseSetStreamFrequencyT:
         """
         [스트림 주파수 제어]
         - req_id: 요청 ID
@@ -863,16 +864,16 @@ class RBAmrControlSDK(RBBaseSDK):
             req_id = str(uuid.uuid4())
 
         # 1) RequestStreamFrequencyT 객체 생성
-        req = RequestStreamFrequencyT()
+        req = RequestSetStreamFrequencyT()
         req.id = req_id
         req.target = target
         req.frequency = frequency
 
         # 2) 요청 전송
         result = self.zenoh_client.query_one(
-            f"amr/{robot_model}/control/streamFrequency",
+            f"amr/{robot_model}/control/setStreamFrequency",
             flatbuffer_req_obj=req,
-            flatbuffer_res_T_class=ResponseStreamFrequencyT,
+            flatbuffer_res_T_class=ResponseSetStreamFrequencyT,
             flatbuffer_buf_size=125,
             timeout=3,
         )

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/amr_sdk/amr_move.py

@@ -4,6 +4,7 @@ import uuid
 from contextlib import suppress
 from typing import Any
 
+from rainbow.rb_flat_buffers.SLAMNAV.ActionEntry import ActionEntryT
 from rainbow.rb_flat_buffers.SLAMNAV.MoveJog import MoveJogT
 from rainbow.rb_flat_buffers.SLAMNAV.MovePose import MovePoseT
 from rainbow.rb_flat_buffers.SLAMNAV.MoveStatus import MoveStatusT
@@ -198,7 +199,11 @@ class RBAmrMoveSDK(RBBaseSDK):
         print("[AmrMoveSDK] Move Goal Response : ", result["dict_payload"].get("result"), result["dict_payload"].get("message"), flush=True)
 
         if flow_manager_args is not None:
-            print(result["dict_payload"].get("result"))
+            # variable_name = flow_manager_args.args.get("variable_name", None)
+            # print(">>>>>>> variable Name : ",variable_name,flush=True)
+            # print(result["dict_payload"].get("result"))
+            # flow_manager_args.ctx.update_local_variables({"AMR_TE33ST": result["dict_payload"].get("result")})
+            # flow_manager_args.done()
             if result["dict_payload"].get("result") == "reject":
                 raise RuntimeError(result["dict_payload"].get("message"))
 
@@ -731,6 +736,8 @@ class RBAmrMoveSDK(RBBaseSDK):
 
         return result["obj_payload"]
 
+    # def send_multi_arrival(self,)
+
     def send_multi_enqueue(self, robot_model: str, action_id: str, predecessor_id: str, from_node: str, to_node: str) -> ResponseEnqueueActionT:
         """
         [멀티 edgeAction을 추가]
@@ -742,12 +749,16 @@ class RBAmrMoveSDK(RBBaseSDK):
         - flow_manager_args: FlowManagerArgs 객체
         - ResponseMultiPathT 객체 반환
         """
+
+        print(f"SDK Multi Enqueue {robot_model}, {action_id}, {predecessor_id}",flush=True)
         # 1) RequestEnqueueActionT 객체 생성
         req = RequestEnqueueActionT()
-        req.action_id = action_id
-        req.predecessor_id = predecessor_id
-        req.from_node = from_node
-        req.to_node = to_node
+        action = ActionEntryT()
+        action.actionId = action_id
+        action.predecessorId = predecessor_id
+        action.fromNode = from_node
+        action.toNode = to_node
+        req.action = action
 
         # 2) 요청 전송
         result = self.zenoh_client.query_one(
@@ -757,6 +768,7 @@ class RBAmrMoveSDK(RBBaseSDK):
             flatbuffer_buf_size=125,
         )
 
+        print(f"SDK Multi Enqueue Response {robot_model}, {result.get("dict_payload")}",flush=True)
         # 3) 결과 처리 및 반환
         if result["obj_payload"] is None:
             raise RuntimeError("Call Multi Path failed: obj_payload is None")

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/amr_sdk/amr_status.py

@@ -3,6 +3,7 @@ from typing import Any
 from rainbow.rb_flat_buffers.SLAMNAV.LidarData import LidarDataT
 from rainbow.rb_flat_buffers.SLAMNAV.MoveStatus import MoveStatusT
 from rainbow.rb_flat_buffers.SLAMNAV.Path import PathT
+from rainbow.rb_flat_buffers.SLAMNAV.ResponseGetInfoCategory import ResponseGetInfoCategoryT
 from rainbow.rb_flat_buffers.SLAMNAV.Status import StatusT
 from rainbow.rb_schemas.sdk import FlowManagerArgs
 
@@ -56,6 +57,25 @@ class RBAmrStatusSDK(RBBaseSDK):
 
         return obj
 
+    def get_info_category(self, robot_model: str, flow_manager_args: FlowManagerArgs | None = None) -> ResponseGetInfoCategoryT:
+        result = self.zenoh_client.query_one(
+            f"amr/{robot_model}/info/category",
+            flatbuffer_res_T_class=ResponseGetInfoCategoryT,
+            flatbuffer_buf_size=2048
+        )
+
+        # 3) 결과 처리 및 반환
+        if result.get("obj_payload") is None:
+            raise RuntimeError("Call Info Category failed: obj_payload is None")
+
+        if flow_manager_args is not None:
+            if result.get("dict_payload").get("result") == "accept" or result.get("dict_payload").get("result") == "success":
+                flow_manager_args.done()
+            else:
+                raise RuntimeError(result.get("dict_payload").get("message"))
+
+        return result["obj_payload"]
+
     async def get_lidar2d(self, robot_model: str, flow_manager_args: FlowManagerArgs | None = None) -> dict[str, Any]:
         """
         [라이다 2D 조회]

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/base.py

@@ -195,7 +195,7 @@ class RBBaseSDK:
                     # disconnect() 후 명시적 close 상태이면 auto-reconnect를 막는다.
                     # C++ manually_closed_ 플래그를 Python facade를 통해 확인.
                     zc = getattr(sdk_inst, "zenoh_client", None)
-                    if zc is not None and getattr(zc, "manually_closed", False):
+                    if zc is not None and getattr(zc, "manually_closed", False) is True:
                         raise RuntimeError(
                             "Zenoh session was explicitly closed via disconnect(). "
                             "Call connect() before using the SDK again."
@@ -239,7 +239,7 @@ class RBBaseSDK:
                 if args and isinstance(args[0], RBBaseSDK):
                     sdk_inst = args[0]
                     zc = getattr(sdk_inst, "zenoh_client", None)
-                    if zc is not None and getattr(zc, "manually_closed", False):
+                    if zc is not None and getattr(zc, "manually_closed", False) is True:
                         raise RuntimeError(
                             "Zenoh session was explicitly closed via disconnect(). "
                             "Call connect() before using the SDK again."

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/manipulate.py

@@ -10,6 +10,7 @@ from .manipulate_sdk.manipulate_maintenance import RBManipulateMaintenanceSDK
 from .manipulate_sdk.manipulate_move import RBManipulateMoveSDK
 from .manipulate_sdk.manipulate_point import RBManipulatePointSDK
 from .manipulate_sdk.manipulate_program import RBManipulateProgramSDK
+from .manipulate_sdk.manipulate_safety import RBManipulateSafetySDK
 from .manipulate_sdk.manipulate_service import RBManipulateServiceSDK
 
 
@@ -40,6 +41,9 @@ class RBManipulateSDK(RBBaseSDK):
     maintenance: RBManipulateMaintenanceSDK
     """관리자 페이지 설정 집합"""
 
+    safety: RBManipulateSafetySDK
+    """Safety 페이지 설정 집합"""
+
     state: RBManipulateStateSDK
 
     def __init__(self):
@@ -54,3 +58,4 @@ class RBManipulateSDK(RBBaseSDK):
         self.point = RBManipulatePointSDK()
         self.service = RBManipulateServiceSDK()
         self.maintenance = RBManipulateMaintenanceSDK()
+        self.safety = RBManipulateSafetySDK()

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_config.py

@@ -23,6 +23,7 @@ from rainbow.rb_flat_buffers.IPC.Request_Save_User_Frame import Request_Save_Use
 from rainbow.rb_flat_buffers.IPC.Request_Set_AsciiFunctionCall import Request_Set_AsciiFunctionCallT
 from rainbow.rb_flat_buffers.IPC.Request_Set_DinFunctionMask import Request_Set_DinFunctionMaskT
 from rainbow.rb_flat_buffers.IPC.Request_Set_DoutFunctionMask import Request_Set_DoutFunctionMaskT
+from rainbow.rb_flat_buffers.IPC.Request_Set_ExternalAxisSync import Request_Set_ExternalAxisSyncT
 from rainbow.rb_flat_buffers.IPC.Request_Set_Fixed_Speed_Mode import Request_Set_Fixed_Speed_ModeT
 from rainbow.rb_flat_buffers.IPC.Request_Set_Free_Drive import Request_Set_Free_DriveT
 from rainbow.rb_flat_buffers.IPC.Request_Set_JacobSpeedMode import Request_Set_JacobSpeedModeT
@@ -1630,3 +1631,41 @@ class RBManipulateConfigSDK(RBBaseSDK):
             flow_manager_args.done()
 
         return res["obj_payload"]
+
+    def set_external_axis_sync(
+        self,
+        *,
+        robot_model: str,
+        mode: int,
+        flow_manager_args: FlowManagerArgs | None = None,
+    ) -> Response_FunctionsT:
+        """
+        [Set External Axis Sync 호출 함수]
+
+        Args:
+            robot_model: 로봇 모델명
+            mode: 동기화 모드
+            flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
+        """
+        req = Request_Set_ExternalAxisSyncT()
+        req.mode = mode
+
+        res = self.zenoh_client.query_one(
+            f"{robot_model}/set_external_axis_sync",
+            flatbuffer_req_obj=req,
+            flatbuffer_res_T_class=Response_FunctionsT,
+            flatbuffer_buf_size=8,
+            timeout=3.0,
+        )
+
+        if res["obj_payload"] is None:
+            raise RuntimeError("Set External Axis Sync failed: obj_payload is None")
+
+        self.manipulate_return_value(
+            "set_external_axis_sync", 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.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_move.py

@@ -63,7 +63,6 @@ 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
 from rainbow.rb_zenoh.client import CongestionControl, Priority, QueryResult
 from rainbow.rb_zenoh.schema import OverflowPolicy, SubscribeOptions
@@ -142,12 +141,10 @@ class RBManipulateMoveSDK(RBBaseSDK):
         async def _on_state(*, mv=None, unsubscribe=None, **_):
             nonlocal start_timestamp_u_sec_mono
 
-            # print("awdawdaw adaw dawd aw awd awd awda awdadwa ad", flush=True)
-
             if state["finished"] or mv is None:
                 return
 
-            obj_payload = State_Core.GetRootAs(mv, 0)
+            obj_payload = State_Core.GetRootAs(mv, 0)  # state_core의 flatbuffer payload 파싱
 
             # timestampUsecMono가 없으면 int의 최대값으로 비교
             timestamp_u_sec_mono = obj_payload.TimestampUsecMono()
@@ -173,18 +170,10 @@ class RBManipulateMoveSDK(RBBaseSDK):
                     flow_manager_args.ctx.update_local_variables({variable_name: carte_x_ref})
 
                 if finish_at is not None:
-                    parsed_finish_at = eval_value(
-                        finish_at,
-                        variables=flow_manager_args.ctx.variables,
-                        get_global_variable=flow_manager_args.ctx.get_global_variable,
-                    )
+                    parsed_finish_at = flow_manager_args.ctx.eval_value(finish_at)
 
                     if parsed_finish_at:
-                        parsed_stop_time = eval_value(
-                            stop_time,
-                            variables=flow_manager_args.ctx.variables,
-                            get_global_variable=flow_manager_args.ctx.get_global_variable,
-                        )
+                        parsed_stop_time = flow_manager_args.ctx.eval_value(stop_time)
 
                         if not isinstance(parsed_stop_time, float | int):
                             raise RuntimeError("stop_time must be a number")
@@ -239,6 +228,7 @@ class RBManipulateMoveSDK(RBBaseSDK):
         target: MoveInputTargetSchema,
         reference_value: list[float | int] | None = None,
         speed: MoveInputSpeedSchema | None = None,
+        ext_axis: list[float] | None = None,
         flow_manager_args: FlowManagerArgs | None = None,
     ) -> Response_FunctionsT:
         """
@@ -299,6 +289,9 @@ class RBManipulateMoveSDK(RBBaseSDK):
         req.target = move_input_target
         req.speed = move_input_speed
 
+        if ext_axis is not None:
+            req.extAxis = ext_axis
+
         # 명령 전송
         res = self.zenoh_client.query_one(
             f"{robot_model}/call_move_j",
@@ -319,10 +312,13 @@ class RBManipulateMoveSDK(RBBaseSDK):
         target: MoveInputTargetSchema,
         reference_value: list[float | int] | None = None,
         speed: MoveInputSpeedSchema | None = None,
+        ext_axis: list[float] | None = None,
         flow_manager_args: FlowManagerArgs | None = None,
     ) -> Response_FunctionsT | None:
         """
         [협동로봇이 직선 공간 이동을 시작하는 명령 전송 함수]
+        7축 모델일 경우 target["tar_values"]에 마지막 7번째 값으로 aa(ArmAngle)이 들어간다.
+
 
         Args:
             robot_model: 로봇 모델명
@@ -376,6 +372,9 @@ class RBManipulateMoveSDK(RBBaseSDK):
         req.speed.spdVelPara = speed.get("spd_vel_para", 250)
         req.speed.spdAccPara = speed.get("spd_acc_para", 1000)
 
+        if ext_axis is not None:
+            req.extAxis = ext_axis
+
         res = self.zenoh_client.query_one(
             f"{robot_model}/call_move_l",
             flatbuffer_req_obj=req,
@@ -422,6 +421,7 @@ class RBManipulateMoveSDK(RBBaseSDK):
         reference_value: list[float | int] | None = None,
         speed: MoveInputSpeedSchema | None = None,
         blend_type: MoveInputTypeSchema,
+        ext_axis: list[float] | None = None,
         flow_manager_args: FlowManagerArgs | None = None,
     ) -> Response_FunctionsT:
         """
@@ -489,6 +489,9 @@ class RBManipulateMoveSDK(RBBaseSDK):
         req.speed = move_input_speed
         req.type = move_input_type
 
+        if ext_axis is not None:
+            req.extAxis = ext_axis
+
         res = self.zenoh_client.query_one(
             f"{robot_model}/call_move_jb_add",
             flatbuffer_req_obj=req,
@@ -563,6 +566,7 @@ class RBManipulateMoveSDK(RBBaseSDK):
         reference_value: list[float | int] | None = None,
         speed: MoveInputSpeedSchema | None = None,
         blend_type: MoveInputTypeSchema,
+        ext_axis: list[float] | None = None,
         flow_manager_args: FlowManagerArgs | None = None,
     ) -> Response_FunctionsT:
         """
@@ -628,6 +632,9 @@ class RBManipulateMoveSDK(RBBaseSDK):
         req.speed = move_input_speed
         req.type = move_input_type
 
+        if ext_axis is not None:
+            req.extAxis = ext_axis
+
         res = self.zenoh_client.query_one(
             f"{robot_model}/call_move_lb_add",
             flatbuffer_req_obj=req,
@@ -781,6 +788,7 @@ class RBManipulateMoveSDK(RBBaseSDK):
         *,
         robot_model: str,
         target: MoveInputTargetSchema,
+        ext_axis: list[float] | None = None,
         flow_manager_args: FlowManagerArgs | None = None,
     ) -> Response_FunctionsT:
         """
@@ -798,6 +806,9 @@ class RBManipulateMoveSDK(RBBaseSDK):
         req.target.tarFrame = target["tar_frame"]
         req.target.tarUnit = target["tar_unit"]
 
+        if ext_axis is not None:
+            req.extAxis = ext_axis
+
         res = self.zenoh_client.query_one(
             f"{robot_model}/call_smoothjog_j",
             flatbuffer_req_obj=req,
@@ -890,6 +901,7 @@ class RBManipulateMoveSDK(RBBaseSDK):
         robot_model: str,
         target: MoveInputTargetSchema,
         speed: MoveInputSpeedSchema,
+        ext_axis: list[float] | None = None,
         flow_manager_args: FlowManagerArgs | None = None,
     ) -> Response_FunctionsT:
         """
@@ -909,12 +921,13 @@ class RBManipulateMoveSDK(RBBaseSDK):
         req.target.tarFrame = target["tar_frame"]
         req.target.tarUnit = target["tar_unit"]
 
-        req.speed = MoveInput_SpeedT()
-
         req.speed.spdMode = speed.get("spd_mode", 1)
         req.speed.spdVelPara = speed.get("spd_vel_para", 60)
         req.speed.spdAccPara = speed.get("spd_acc_para", 120)
 
+        if ext_axis is not None:
+            req.extAxis = ext_axis
+
         res = self.zenoh_client.query_one(
             f"{robot_model}/call_tickjog_j",
             flatbuffer_req_obj=req,
@@ -1292,7 +1305,7 @@ class RBManipulateMoveSDK(RBBaseSDK):
         conv_type: int,
         conv_speed: float,
         conv_acc_time_sec: float,
-        conv_ref_points: list[str],
+        conv_ref_points: list[list[float]],
         flow_manager_args: FlowManagerArgs | None = None,
     ) -> Response_FunctionsT:
         """

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_point.py

@@ -38,6 +38,7 @@ class RBManipulatePointSDK(RBBaseSDK):
         spd_mode: int,
         spd_vel_para: float,
         spd_acc_para: float,
+        ext_axis: list[float] | None = None,
         method: int | None = None,
         tcp_num: int = -1,
         flow_manager_args: FlowManagerArgs | None = None,
@@ -57,6 +58,7 @@ class RBManipulatePointSDK(RBBaseSDK):
             spd_mode: 속도 측정 설정 방식 (0: %기반 설정, 1: 절대값(물리값))
             spd_vel_para: 속도
             spd_acc_para: 가속도
+            ext_axis: 부가축 좌표 정보 (기본값: None)
             method: 메서드 (0: 기본값, 1: 툴 좌표계 사용)
             tcp_num: TCP 번호 (-1: 기본값)
             flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
@@ -81,6 +83,7 @@ class RBManipulatePointSDK(RBBaseSDK):
                 target=target,
                 reference_value=tar_frame_reference_point,
                 speed=speed,
+                ext_axis=ext_axis,
                 flow_manager_args=flow_manager_args,
             )
         elif move_type == "L":
@@ -89,6 +92,7 @@ class RBManipulatePointSDK(RBBaseSDK):
                 target=target,
                 reference_value=tar_frame_reference_point,
                 speed=speed,
+                ext_axis=ext_axis,
                 flow_manager_args=flow_manager_args,
             )
         elif move_type == "JB":
@@ -104,6 +108,7 @@ class RBManipulatePointSDK(RBBaseSDK):
                     pnt_type=pnt_type,
                     pnt_para=pnt_para,
                 ),
+                ext_axis=ext_axis,
                 flow_manager_args=flow_manager_args,
             )
         elif move_type == "LB":
@@ -119,6 +124,7 @@ class RBManipulatePointSDK(RBBaseSDK):
                     pnt_type=pnt_type,
                     pnt_para=pnt_para,
                 ),
+                ext_axis=ext_axis,
                 flow_manager_args=flow_manager_args,
             )
         elif move_type == "XB":

{rainbow_rb_sdk-0.0.9.dev42 → rainbow_rb_sdk-0.0.9.dev44}/src/rainbow/rb_sdk/manipulate_sdk/manipulate_program.py

@@ -24,6 +24,7 @@ from rainbow.rb_schemas.fbs_models.manipulate.v1.func_set_models import (
     Request_Set_AsciiFunctionCallPD,
     Request_Set_DinFunctionMaskPD,
     Request_Set_DoutFunctionMaskPD,
+    Request_Set_ExternalAxisSyncPD,
     Request_Set_Free_DrivePD,
     Request_Set_JacobSpeedModePD,
     Request_Set_Joint_ImpedancePD,
@@ -179,7 +180,9 @@ class RBManipulateProgramSDK(RBBaseSDK):
             )
 
             if res["obj_payload"] is None:
-                raise RuntimeError(f"Call Program After failed: obj_payload is None => {robot_model}")
+                raise RuntimeError(
+                    f"Call Program After failed: obj_payload is None => {robot_model}"
+                )
 
             return res["obj_payload"]
         except (ZenohNoReply, ZenohReplyError) as e:
@@ -513,6 +516,7 @@ class RBManipulateProgramSDK(RBBaseSDK):
         vibration_motion_based: Request_Wrapper_VibrationMotion_OnPD
         | Request_Wrapper_VibrationMotion_OffPD
         | None = None,
+        external_axis_sync: Request_Set_ExternalAxisSyncPD | None = None,
         flow_manager_args: FlowManagerArgs | None = None,
     ) -> Response_FunctionsT:
         """
@@ -541,6 +545,7 @@ class RBManipulateProgramSDK(RBBaseSDK):
             jacobian_based_speed_control: 자코비안 기반 속도 제어
             self_vibration_mode: 토크 기반 진동 제어
             vibration_motion_based: 모션 기반 진동 제어
+            external_axis_sync: 부가 축 동기화
             flow_manager_args: RB PFM을 쓸때 전달된 Flow Manager 인자 (done 콜백 등)
         """
 
@@ -852,6 +857,16 @@ class RBManipulateProgramSDK(RBBaseSDK):
             else:
                 raise RuntimeError("Unknown vibration motion type")
 
+        elif option == "EXTERNAL_AXIS_SYNC":
+            if external_axis_sync is None:
+                raise RuntimeError("External Axis Sync failed: external_axis_sync is required")
+
+            self._manipulate_config_sdk.set_external_axis_sync(
+                robot_model=robot_model,
+                mode=external_axis_sync["mode"],
+                flow_manager_args=flow_manager_args,
+            )
+
     def call_coredata_pub_frequency(
         self, *, robot_model: str, frequency: int
     ) -> Response_FunctionsT: