standardbots 2.0.0.dev1737492400__tar.gz → 2.0.0.dev1740502639__tar.gz

{standardbots-2.0.0.dev1737492400 → standardbots-2.0.0.dev1740502639}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: standardbots
-Version: 2.0.0.dev1737492400
+Version: 2.0.0.dev1740502639
 Summary: Standard Bots RO1 Robotics API
 Home-page: 
 Author: Standard Bots Support

{standardbots-2.0.0.dev1737492400 → standardbots-2.0.0.dev1740502639}/README.md

@@ -26,9 +26,14 @@ To set up tests:
 
 ```bash
 cd sdks/python
+```
+
+Note: Make sure to select proper python interpreter.
+Sometimes there is an error related to missing "dotenv" module, to solve this install it separately
 
-pip install -r requirements.txt
-pip install -r requirements-dev.txt
+```
+python3 -m pip install python-dotenv
+python3 -m pip install -r requirements-dev.txt
 ```
 
 ### Create sample data
@@ -71,7 +76,7 @@ python3 -m pytest ./tests --cov=standardbots
 
 ### Robot state and testing (Markers)
 
-We need the bot to be in a certain state to run certain tests. For example, we need a routine to be running in order to stop the routine.
+We need the bot to be in a certain state to run certain tests. For example, we need a routine to be running in order to stop the routine. Camera should be connected by default.
 
 At start of testing, robot should:
 
@@ -82,7 +87,14 @@ The basic idea here is:
 
 - These special tests will not be run by default.
 - You may pass a flag (e.g. `--routine-running`) when the bot is in the correct state to run the tests.
-- When the flag is passed:
+- Markers usage:
+- When `--routine-running` flag is passed:
+  1. Tests with the flag are run.
+  2. Tests without the flag are not run.
+- When `--gripper=<type>` flag is passed(`type` is value from `GripperKindEnum` enum):
+  1. Tests expect that this specific gripper is connected
+  2. Tests without the flag are not run.
+- When `--camera-disconnected` flag is passed:
   1. Tests with the flag are run.
   2. Tests without the flag are not run.
 

{standardbots-2.0.0.dev1737492400 → standardbots-2.0.0.dev1740502639}/setup.py

@@ -13,7 +13,7 @@
 from setuptools import setup, find_packages  # noqa: H301
 
 NAME = "standardbots"
-VERSION = "2.0.0-dev1737492400"
+VERSION = "2.0.0-dev1740502639"
 # To install the library, run the following
 #
 # python setup.py install

{standardbots-2.0.0.dev1737492400 → standardbots-2.0.0.dev1740502639}/standardbots/auto_generated/apis.py

@@ -76,6 +76,95 @@ class RequestManager:
 
 class Default:
     _request_manager: RequestManager
+    class Calibration:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def get_active_calibration(
+            self,
+        ) -> Response[
+            Union[
+                models.ActiveCalibrationContainer,
+                models.ErrorResponse,
+                None
+            ],
+            models.ActiveCalibrationContainer
+        ]:
+            """
+            Get the active calibration for the robot.
+
+            """
+            path = "/api/v1/calibration/active"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_active_calibration_container(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
+        def set_active_calibration(
+            self,
+            body: models.ActiveCalibrationContainer,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Set the active calibration for the robot.
+
+            """
+            path = "/api/v1/calibration/active"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_active_calibration_container(body)),
+                )
+                parsed = None
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
     class Equipment:
         def __init__(self, request_manager: RequestManager):
             self._request_manager = request_manager
@@ -83,7 +172,7 @@ class Default:
         def onrobot_2fg7_move(
           self,
           value: Union[int, float],
-          direction: Union[str, models.LinearGripDirectionEnum] = models.LinearGripDirectionEnum.Inward,
+          direction: Union[str, models.LinearGripDirectionEnum] = models.LinearGripDirectionEnum.Internal,
           unit_kind: Union[str, models.LinearUnitKind] = models.LinearUnitKind.Millimeters
         ):
           """Move the robot to the onrobot_2fg7 position.
@@ -105,7 +194,7 @@ class Default:
         def onrobot_2fg7_grip(
           self,
           value: Union[int, float],
-          direction: Union[str, models.LinearGripDirectionEnum] = models.LinearGripDirectionEnum.Inward,
+          direction: Union[str, models.LinearGripDirectionEnum] = models.LinearGripDirectionEnum.Internal,
           unit_kind: Union[str, models.LinearUnitKind] = models.LinearUnitKind.Millimeters,
           force: Union[int, float] = 0.0,
           force_unit: Union[str, models.ForceUnitKind] = models.ForceUnitKind.Newtons
@@ -382,12 +471,14 @@ class Default:
                     None
                 )
 
+    calibration: Calibration
     equipment: Equipment
     sensors: Sensors
     space: Space
 
     def __init__(self, request_manager: RequestManager):
         self._request_manager = request_manager
+        self.calibration = Default.Calibration(request_manager)
         self.equipment = Default.Equipment(request_manager)
         self.sensors = Default.Sensors(request_manager)
         self.space = Default.Space(request_manager)
@@ -425,6 +516,7 @@ class Movement:
             Union[
                 models.BrakesState,
                 models.ErrorResponse,
+                models.ErrorResponse,
                 None
             ],
             models.BrakesState
@@ -444,6 +536,8 @@ class Movement:
                 parsed = None
                 if response.status == 200:
                     parsed = models.parse_brakes_state(json.loads(response.data))
+                if response.status == 500:
+                    parsed = models.parse_error_response(json.loads(response.data))
 
                 is_user_error = response.status >= 400 and response.status <= 500
                 is_unavailable = response.status == 503
@@ -713,7 +807,7 @@ class Camera:
             None
         ]:
             """
-            Retrieve the latest RGB frame from the camera. In JPEG format.
+            Retrieve the latest RGB frame from the camera as base64 string. In JPEG format.
             """
             path = "/api/v1/camera/frame/rgb"
             try:
@@ -747,8 +841,12 @@ class Camera:
         def get_camera_intrinsics_color(
             self,
         ) -> Response[
-            None,
-            None
+            Union[
+                models.CameraIntrinsics,
+                models.ErrorResponse,
+                None
+            ],
+            models.CameraIntrinsics
         ]:
             """
             Retrieve the intrinsic parameters for the color camera.
@@ -761,6 +859,8 @@ class Camera:
                     headers=self._request_manager.json_headers(),
                 )
                 parsed = None
+                if response.status == 200:
+                    parsed = models.parse_camera_intrinsics(json.loads(response.data))
 
                 is_user_error = response.status >= 400 and response.status <= 500
                 is_unavailable = response.status == 503
@@ -788,7 +888,7 @@ class Camera:
             None
         ]:
             """
-            Retrieve the latest RGB frame from the camera.
+            Retrieve the latest RGB frame from the camera as base64 string. In JPEG format.
             """
             path = "/api/v1/camera/stream/rgb"
             try:
@@ -863,14 +963,64 @@ class Camera:
                     503,
                     None
                 )
+    class Status:
+        def __init__(self, request_manager: RequestManager):
+            self._request_manager = request_manager
+
+
+        def get_camera_status(
+            self,
+        ) -> Response[
+            Union[
+                models.CameraStatus,
+                models.ErrorResponse,
+                None
+            ],
+            models.CameraStatus
+        ]:
+            """
+            Retrieve the current status of the camera.
+            """
+            path = "/api/v1/camera/status"
+            try:
+                response = self._request_manager.request(
+                    "GET",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_camera_status(json.loads(response.data))
+
+                is_user_error = response.status >= 400 and response.status <= 500
+                is_unavailable = response.status == 503
+                if parsed is None and (is_user_error or is_unavailable):
+                    parsed = models.parse_error_response(json.loads(response.data))
+
+                return Response(
+                    parsed,
+                    response.status,
+                    response
+                )
+            except urllib3.exceptions.MaxRetryError:
+                return Response(
+                    models.ErrorResponse(
+                        error=models.ErrorEnum.InternalServerError,
+                        message="Connection Refused"
+                    ),
+                    503,
+                    None
+                )
 
     data: Data
     settings: Settings
+    status: Status
 
     def __init__(self, request_manager: RequestManager):
         self._request_manager = request_manager
         self.data = Camera.Data(request_manager)
         self.settings = Camera.Settings(request_manager)
+        self.status = Camera.Status(request_manager)
 
 class Faults:
     _request_manager: RequestManager
@@ -1927,8 +2077,13 @@ class RoutineEditor:
             body: models.PlayRoutineRequest,
             routine_id: str,
         ) -> Response[
-            None,
-            None
+            Union[
+                models.PlayRoutineResponse,
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.PlayRoutineResponse
         ]:
             """
             Play a routine
@@ -1943,6 +2098,10 @@ class RoutineEditor:
                     body=json.dumps(models.serialize_play_routine_request(body)),
                 )
                 parsed = None
+                if response.status == 200:
+                    parsed = models.parse_play_routine_response(json.loads(response.data))
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
 
                 is_user_error = response.status >= 400 and response.status <= 500
                 is_unavailable = response.status == 503
@@ -1967,11 +2126,15 @@ class RoutineEditor:
             self,
             routine_id: str,
         ) -> Response[
-            None,
+            Union[
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
             None
         ]:
             """
-            Pause a routine
+            Pause a routine. Routine must be running.
             """
             path = "/api/v1/routine-editor/routines/{routine_id}/pause"
             path = path.replace("{routine_id}", str(routine_id))
@@ -1982,6 +2145,8 @@ class RoutineEditor:
                     headers=self._request_manager.json_headers(),
                 )
                 parsed = None
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
 
                 is_user_error = response.status >= 400 and response.status <= 500
                 is_unavailable = response.status == 503
@@ -2005,11 +2170,15 @@ class RoutineEditor:
         def stop(
             self,
         ) -> Response[
-            None,
+            Union[
+                models.ErrorResponse,
+                models.ErrorResponse,
+                None
+            ],
             None
         ]:
             """
-            Stop running routine and all ongoing motions
+            Stop running routine and all ongoing motions. Routine must be running.
             """
             path = "/api/v1/routine-editor/stop"
             try:
@@ -2019,6 +2188,8 @@ class RoutineEditor:
                     headers=self._request_manager.json_headers(),
                 )
                 parsed = None
+                if response.status == 400:
+                    parsed = models.parse_error_response(json.loads(response.data))
 
                 is_user_error = response.status >= 400 and response.status <= 500
                 is_unavailable = response.status == 503
@@ -2293,7 +2464,7 @@ class RoutineEditor:
             models.RuntimeVariable
         ]:
             """
-            Returns current state of a variable
+            Returns current state of a variable. Routine must be running.
             """
             path = "/api/v1/routine-editor/variables/{variable_name}"
             path = path.replace("{variable_name}", str(variable_name))
@@ -2339,7 +2510,7 @@ class RoutineEditor:
             models.RuntimeVariable
         ]:
             """
-            Update the value of a variable
+            Update the value of a variable. Routine must be running.
             """
             path = "/api/v1/routine-editor/variables/{variable_name}"
             path = path.replace("{variable_name}", str(variable_name))