standardbots 2.0.0.dev1790701403__tar.gz → 2.0.0.dev1791499643__tar.gz

{standardbots-2.0.0.dev1790701403 → standardbots-2.0.0.dev1791499643}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: standardbots
-Version: 2.0.0.dev1790701403
+Version: 2.0.0.dev1791499643
 Summary: Standard Bots RO1 Robotics API
 Home-page: 
 Author: Standard Bots Support

{standardbots-2.0.0.dev1790701403 → standardbots-2.0.0.dev1791499643}/setup.py

@@ -13,7 +13,7 @@
 from setuptools import setup, find_packages  # noqa: H301
 
 NAME = "standardbots"
-VERSION = "2.0.0-dev1790701403"
+VERSION = "2.0.0-dev1791499643"
 # To install the library, run the following
 #
 # python setup.py install

{standardbots-2.0.0.dev1790701403 → standardbots-2.0.0.dev1791499643}/standardbots/auto_generated/apis.py

@@ -717,6 +717,10 @@ anything else is rejected. Pass `equipment_id` alongside it to say whi
 equipment the tooltip belongs to — required only when more than one
 piece of equipment offers the same option.
 
+The robot must not be running a routine, paused runs included. The
+Active Tooltip repoints the frame a running routine's steps do their
+motion math against, so it is only settable between runs.
+
             """
             path = "/api/v1/equipment/tooltips/active"
             try:
@@ -730,6 +734,51 @@ piece of equipment offers the same option.
                 if response.status == 200:
                     parsed = models.parse_active_tooltip_response(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 tare_tactile_sensor(
+            self,
+            body: models.TactileSensorTareRequest,
+        ) -> Response[
+            None,
+            None
+        ]:
+            """
+            Zeroes the tactile sensor fingertips against their current unloaded
+state, so subsequent taxel and force readings are relative to it. A taxel
+at rest sits at a large offset, so readings are meaningless until a
+baseline has been captured.
+
+Succeeds while the robot is braked.
+
+            """
+            path = "/api/v1/equipment/tactile-sensor/tare"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_tactile_sensor_tare_request(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):
@@ -1288,6 +1337,96 @@ external-control session started through this API; a no-op otherwise.
                 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 get_map_artifact_url(
+            self,
+            body: models.MapArtifactUrlRequest,
+        ) -> Response[
+            Union[
+                models.MapArtifactUrlResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.MapArtifactUrlResponse
+        ]:
+            """
+            Mint a presigned download URL for one file inside a skills artifact, via echo-bot&#x27;s configured api-srv endpoint
+            """
+            path = "/api/v1/recorder/map-artifact-url"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_map_artifact_url_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_map_artifact_url_response(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 check_camera_calibration(
+            self,
+            body: models.CameraCalibrationCheckRequest,
+        ) -> Response[
+            Union[
+                models.CameraCalibrationCheckResponse,
+                models.ErrorResponse,
+                None
+            ],
+            models.CameraCalibrationCheckResponse
+        ]:
+            """
+            Report whether a handheld-camera calibration exists for a serial, via echo-bot&#x27;s configured api-srv endpoint
+            """
+            path = "/api/v1/recorder/camera-calibration"
+            try:
+                response = self._request_manager.request(
+                    "POST",
+                    path,
+                    headers=self._request_manager.json_headers(),
+                    body=json.dumps(models.serialize_camera_calibration_check_request(body)),
+                )
+                parsed = None
+                if response.status == 200:
+                    parsed = models.parse_camera_calibration_check_response(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,
@@ -4057,7 +4196,16 @@ class ROS:
             models.ROSControlStateResponse
         ]:
             """
-            Updates the state of ROS control based on the provided action (&#x27;enable&#x27; or &#x27;disable&#x27;).
+            Deprecated. Updates the state of direct ROS control based on the provided
+action (&#x27;enable&#x27; or &#x27;disable&#x27;).
+
+Superseded by the external-control API: start a streaming session with
+POST /api/v1/external-control/start (streamType &#x27;pose&#x27;, &#x27;joints&#x27; or
+&#x27;jointTrajectory&#x27;) and end it with POST /api/v1/external-control/stop.
+Every successful response carries a &#x60;deprecationWarning&#x60;. On robots where
+the deprecated ROS2 API has been turned off (Settings → External control →
+Developer API) this endpoint returns 410 &#x60;ros_control_deprecated&#x60;.
+
             """
             path = "/api/v1/movement/ros/state"
             try:
@@ -4106,7 +4254,13 @@ class ROS:
             models.ROSControlStateResponse
         ]:
             """
-            Retrieves the current state of ROS control.
+            Deprecated. Retrieves the current state of direct ROS control.
+
+Superseded by the external-control API (POST
+/api/v1/external-control/start). Every successful response carries a
+&#x60;deprecationWarning&#x60;. On robots where the deprecated ROS2 API has been
+turned off this endpoint returns 410 &#x60;ros_control_deprecated&#x60;.
+
             """
             path = "/api/v1/movement/ros/state"
             try:
@@ -4908,7 +5062,25 @@ class StandardBotsRobot(Default):
         pools: int = 10
     ):
         super().__init__(RequestManager(
-            urllib3.PoolManager(num_pools=2),
+            urllib3.PoolManager(
+                num_pools=2,
+                # A cold robot answers 503 with a Retry-After header while
+                # its tunnel wakes (worst case about 30s). Honoring it makes
+                # the first call against a cold robot run slower instead of
+                # failing. The 503 means the request never reached the
+                # robot, so retrying non-idempotent methods is safe here
+                # (allowed_methods=None retries every method).
+                retries=urllib3.util.Retry(
+                    connect=3,
+                    read=3,
+                    status=4,
+                    other=0,
+                    status_forcelist=[503],
+                    allowed_methods=None,
+                    respect_retry_after_header=True,
+                    backoff_factor=0.5,
+                ),
+            ),
             token=token,
             host=url,
             robot_kind=RobotKind(robot_kind),