standardbots 2.0.1__tar.gz → 2.1.1__tar.gz

{standardbots-2.0.1 → standardbots-2.1.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: standardbots
-Version: 2.0.1
+Version: 2.1.1
 Summary: Standard Bots RO1 Robotics API
 Home-page: 
 Author: Standard Bots Support

{standardbots-2.0.1 → standardbots-2.1.1}/README.md

@@ -1,9 +1,11 @@
-You can test the API by using the playground, add your own file or use the existing python scripts.
-When a client has an issue, and they send their code. It's helpful to test their code to see possible issues
+You can test the API by using the playground, add your own file or use the
+existing python scripts. When a client has an issue, and they send their code.
+It's helpful to test their code to see possible issues
 
 # ENABLE API ON YOUR LOCAL MACHINE
 
-Follow the steps here https://www.notion.so/standardbots/Using-the-REST-API-b2c778d47969444dac61483f0117acad
+Follow the steps here
+https://www.notion.so/standardbots/Using-the-REST-API-b2c778d47969444dac61483f0117acad
 
 # CONFIG
 
@@ -11,7 +13,8 @@ At the top of the file, use your token
 
 # RUN
 
-To run a script move into the `sdks/python` folder and run `python playground/filename.py`
+To run a script move into the `sdks/python` folder and run
+`python playground/filename.py`
 
 # To create a test build
 
@@ -48,8 +51,8 @@ To set up tests:
 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
+Note: Make sure to select proper python interpreter. Sometimes there is an error
+related to missing "dotenv" module, to solve this install it separately
 
 ```
 python3 -m pip install python-dotenv
@@ -60,16 +63,18 @@ python3 -m pip install -r requirements-dev.txt
 
 #### Sample routine
 
-You need to add the sample routine in [sdks/python/tests/fixtures/test_public_api_routine.json](./tests/fixtures/test_public_api_routine.json) to your target test environment (i.e. upload the routine to ).
+You need to add the sample routine in
+[sdks/python/tests/fixtures/test_public_api_routine.json](./tests/fixtures/test_public_api_routine.json)
+to your target test environment (i.e. upload the routine to ).
 
 The name of routine should be "Test Public API"
 
 #### Sample globals
 
-- _Variable._ Add global variable called "test_public_api_global" with any value.
+- _Variable._ Add global variable called "test_public_api_global" with any
+  value.
 - _Space._ Create a global space called "Test global space" of any kind.
 
-
 ## Running
 
 Here is a basic test command:
@@ -81,7 +86,8 @@ SB_API_TOKEN=...
 python3 -m pytest ./tests --cov=standardbots --token=$SB_API_TOKEN --api-url=$SB_API_URL
 ```
 
-You may also set up a `.env` file at `sdks/python/.env` with the following contents:
+You may also set up a `.env` file at `sdks/python/.env` with the following
+contents:
 
 ```bash
 export SB_API_URL=http://34.162.0.32:3000
@@ -96,38 +102,43 @@ 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. Camera should be connected by default.
+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
+disconnected by default.
 
 At start of testing, robot should:
 
 - _NOT_ be e-stopped.
 
-
 The basic idea here is:
 
 - These special tests will not be run by default.
-- You may pass a flag (e.g. `--camera-disconnected`) when the bot is in the correct state to run the tests.
+- You may pass a flag (e.g. `--camera-connected`) when the bot is in the correct
+  state to run the tests.
 - Markers usage:
-- When `--gripper=<type>` flag is passed(`type` is value from `GripperKindEnum` enum):
+- 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:
+- When `--camera-connected` flag is passed:
   1. Tests with the flag are run.
   2. Tests without the flag are not run.
 
-We use [pytest markers](https://docs.pytest.org/en/7.1.x/example/markers.html) to do this.
+We use [pytest markers](https://docs.pytest.org/en/7.1.x/example/markers.html)
+to do this.
 
 #### Camera disconnected
 
 The wrist camera should be disabled. Then run:
 
 ```bash
-python3 -m pytest ./tests --cov=standardbots --camera-disconnected
+python3 -m pytest ./tests --cov=standardbots --camera-connected
 ```
 
 #### E-stop
 
-No marker needed for e-stop. However, we do rely on active recovery of e-stop and getting the failure state in order to do these tests.
+No marker needed for e-stop. However, we do rely on active recovery of e-stop
+and getting the failure state in order to do these tests.
 
 When e-stop test runs, cannot have bot in a failure state (pre-test will fail).
 
@@ -151,16 +162,19 @@ tests/test_apis.py
 Fixes:
 
 - _Make sure you can log into remote control._ Ensure that botman is connected.
-- _Ensure that the robot URL is up-to-date._ Botman url will often change when you reboot.
+- _Ensure that the robot URL is up-to-date._ Botman url will often change when
+  you reboot.
 
 ### Custom sensors
 
 To test custom sensors:
+
 - go to the menu on the left bottom corner;
 - Click on 'Equipment';
 - Add Gripper > Custom Gripper;
 - Go to the Sensors tab and click 'Add Sensor';
-- Keep the default values as they are (name: 'Sensor 1', kind: 'Control Box IO', sensor value: 'low');
+- Keep the default values as they are (name: 'Sensor 1', kind: 'Control Box IO',
+  sensor value: 'low');
 - Hit 'Save' and make sure the Custom Gripper is enabled.
 
 Then run:
@@ -173,11 +187,13 @@ python3 -m pytest ./tests --cov=standardbots --gripper=custom_sensors
 
 > See command: `botctl publicapi test:setup-bot`.
 
-We now have a common robot database state that can be used for testing. While this isn't necessary for use, it does provide a common state for testing.
+We now have a common robot database state that can be used for testing. While
+this isn't necessary for use, it does provide a common state for testing.
 
 ### How to create a new backup
 
-In the place where you are running the stack and want to create the backup (e.g. on the control box):
+In the place where you are running the stack and want to create the backup (e.g.
+on the control box):
 
 ```bash
 DB_USER=sb

{standardbots-2.0.1 → standardbots-2.1.1}/setup.py

@@ -13,7 +13,7 @@
 from setuptools import setup, find_packages  # noqa: H301
 
 NAME = "standardbots"
-VERSION = "2.0.1"
+VERSION = "2.1.1"
 # To install the library, run the following
 #
 # python setup.py install

{standardbots-2.0.1 → standardbots-2.1.1}/standardbots/auto_generated/models.py

@@ -2478,6 +2478,8 @@ class RecorderStatus(Enum):
   """Enum Error = `error`"""
   Complete = "complete"
   """Enum Complete = `complete`"""
+  Initializing = "initializing"
+  """Enum Initializing = `initializing`"""
 
 def parse_recorder_status(data: object) -> RecorderStatus:
   return RecorderStatus(data)
@@ -6445,7 +6447,7 @@ class RecorderBotDetails:
     if value is None:
       return [True, ""]
 
-    if not ((isinstance(value, str) and RecorderStatus in ['not_recording', 'recording', 'error', 'complete']) or isinstance(value, RecorderStatus)):
+    if not ((isinstance(value, str) and RecorderStatus in ['not_recording', 'recording', 'error', 'complete', 'initializing']) or isinstance(value, RecorderStatus)):
       return [False, "status must be of type RecorderStatus for RecorderBotDetails, got " + type(value).__name__]
 
     return [True, ""]
@@ -8780,7 +8782,7 @@ class RecorderState:
     if value is None:
       return [True, ""]
 
-    if not ((isinstance(value, str) and RecorderStatus in ['not_recording', 'recording', 'error', 'complete']) or isinstance(value, RecorderStatus)):
+    if not ((isinstance(value, str) and RecorderStatus in ['not_recording', 'recording', 'error', 'complete', 'initializing']) or isinstance(value, RecorderStatus)):
       return [False, "status must be of type RecorderStatus for RecorderState, got " + type(value).__name__]
 
     return [True, ""]

{standardbots-2.0.1 → standardbots-2.1.1}/standardbots.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: standardbots
-Version: 2.0.1
+Version: 2.1.1
 Summary: Standard Bots RO1 Robotics API
 Home-page: 
 Author: Standard Bots Support

{standardbots-2.0.1 → standardbots-2.1.1}/tests/test_apis.py

@@ -285,17 +285,17 @@ class TestGetEquipment:
             assert isinstance(res.data, models.GetEquipmentConfigResponse)
             assert res.data.equipment is not None
             assert isinstance(res.data.equipment, list)
-            assert len(res.data.equipment) > 0
-            assert isinstance(res.data.equipment[0], models.EquipmentConfig)
+            if len(res.data.equipment) > 0:
+                assert isinstance(res.data.equipment[0], models.EquipmentConfig)
 
-            equipment = res.data.equipment[0]
-            assert equipment.id is not None
-            assert equipment.kind is not None
-            assert equipment.is_enabled is not None
-            assert equipment.config is not None
+                equipment = res.data.equipment[0]
+                assert equipment.id is not None
+                assert equipment.kind is not None
+                assert equipment.is_enabled is not None
+                assert equipment.config is not None
 
-            # Can be parsed as JSON
-            assert json.loads(equipment.config) is not None
+                # Can be parsed as JSON
+                assert json.loads(equipment.config) is not None
 
 
 class TestGetEquipmentEndEffectorConfiguration:
@@ -991,12 +991,12 @@ class TestPostMovementBrakesEmergencyStop:
                     break
                 assert data.failure.kind == "EStopTriggered"
 
-        # ######################################
-        # Recover from e-stop
-        # ######################################
+            # ######################################
+            # Recover from e-stop
+            # ######################################
 
-        with client.connection():
-            res_status = client.recovery.recover.recover()
+            with client.connection():
+                res_status = client.recovery.recover.recover()
 
     def test_estop_sim(self, client_sim: StandardBotsRobot) -> None:
         """Basic test: sim mode
@@ -1324,7 +1324,7 @@ class TestPostMovementPositionArm:
                 z=0.707,
                 w=0.707,
             )
-            initial_tooltip_position = models.Position(x=0.0, y=0.3687, z=1.4618)
+            initial_tooltip_position = models.Position(x=0.0, y=0.3687, z=1.3618)
             target_tooltip_position = models.Position(x=0.1, y=0.4, z=1.3)
             pose_body = models.ArmPositionUpdateRequest(
                 kind=models.ArmPositionUpdateRequestKindEnum.TooltipPosition,
@@ -1627,7 +1627,6 @@ class TestGetRecoveryStatus:
 class TestGetCameraStreamRGB:
     """Tests: [GET] `/api/v1/camera/stream/rgb`"""
 
-    @pytest.mark.camera_disconnected
     def test_camera_stream_rgb_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1639,6 +1638,7 @@ class TestGetCameraStreamRGB:
         assert res.isNotOk()
         assert res.status == 503
 
+    @pytest.mark.camera_connected
     def test_basic(self, client_live: StandardBotsRobot) -> None:
         """Basic test to get camera steam RGB"""
         client = client_live
@@ -1674,7 +1674,6 @@ class TestGetCameraStreamRGB:
 class TestPostCameraSettings:
     """Tests: [POST] `/api/v1/camera/settings`"""
 
-    @pytest.mark.camera_disconnected
     def test_post_camera_settings_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1694,6 +1693,7 @@ class TestPostCameraSettings:
         assert res.isNotOk()
         assert res.status == 503
 
+    @pytest.mark.camera_connected
     def test_post_camera_settings(self, client_live: StandardBotsRobot) -> None:
         """Basic test to update settings"""
         client = client_live
@@ -1715,7 +1715,6 @@ class TestPostCameraSettings:
 class TestGetCameraFrameRGB:
     """Tests: [GET] `/api/v1/camera/frame/rgb`"""
 
-    @pytest.mark.camera_disconnected
     def test_strem_rgb_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1737,6 +1736,7 @@ class TestGetCameraFrameRGB:
         assert res.isNotOk()
         assert res.status == 503
 
+    @pytest.mark.camera_connected
     def test_get_color_frame_invalid_payload(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1749,6 +1749,7 @@ class TestGetCameraFrameRGB:
         assert res.status == 400
         assert res.data.error == models.ErrorEnum.RequestFailedValidation
 
+    @pytest.mark.camera_connected
     def test_get_color_frame(self, client_live: StandardBotsRobot) -> None:
         """Test get color frame"""
         client = client_live
@@ -1778,7 +1779,6 @@ class TestGetCameraFrameRGB:
 class TestGetCameraIntrinsicsRGB:
     """Tests: [GET] `/api/v1/camera/intrinsics/rgb`"""
 
-    @pytest.mark.camera_disconnected
     def test_get_camera_intrinsics_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1789,6 +1789,7 @@ class TestGetCameraIntrinsicsRGB:
         assert res.isNotOk()
         assert res.status == 503
 
+    @pytest.mark.camera_connected
     def test_get_camera_intrinsics(self, client_live: StandardBotsRobot) -> None:
         """Test to get camera intrinsics"""
 
@@ -1804,7 +1805,6 @@ class TestGetCameraIntrinsicsRGB:
 class TestGetCameraStatus:
     """Tests: [GET] `/api/v1/camera/status`"""
 
-    @pytest.mark.camera_disconnected
     def test_get_camera_status_camera_disconnected(
         self, client_live: StandardBotsRobot
     ) -> None:
@@ -1817,6 +1817,7 @@ class TestGetCameraStatus:
         assert isinstance(res.data, models.CameraStatus)
         assert not res.data.connected
 
+    @pytest.mark.camera_connected
     def test_get_camera_status(self, client_live: StandardBotsRobot) -> None:
         """Test to get camera status"""
 
@@ -1832,6 +1833,7 @@ class TestGetCameraStatus:
 class TestGetConnectedCameras:
     """Tests: [GET] `/api/v1/cameras/connected`"""
 
+    @pytest.mark.camera_connected
     def test_get_connected_cameras(self, client_live: StandardBotsRobot) -> None:
         """Test case when camera is disconnected"""
 
@@ -2684,9 +2686,7 @@ class TestPostPosesJointPose:
         client = client_live
         with client.connection():
             body = models.JointPoseRequest(
-                pose=models.JointAngles(
-                    j0=20.0, j1=-30.0, j2=71.0, j3=-130.0, j4=-43.0, j5=60.0
-                )
+                pose=models.JointAngles(j0=1.0, j1=-1.0, j2=1.0, j3=1.0, j4=1.0, j5=1.0)
             )
             res = client.poses.construct_pose.joint_pose(body)
             assert not res.isNotOk()
@@ -3322,10 +3322,7 @@ class TestPostMovementPositionArmControlled:
             assert heartbeat_data.event is not None
             assert heartbeat_data.event.kind == models.ArmPositionUpdateKindEnum.Failure
             assert heartbeat_data.event.failure is not None
-            assert (
-                heartbeat_data.event.failure.reason
-                == "Failed to generate a motion plan"
-            )
+            assert heartbeat_data.event.failure.reason == "Error while running motion"
 
     def test_move_then_stop_heartbeat(
         self,
@@ -3393,7 +3390,7 @@ class TestPostMovementPositionArmControlled:
                 )
 
             assert movement_started > 0, "Movement never started"
-            time.sleep(0.25)
+            time.sleep(3)
 
             # Check that the arm has stopped
             res = client.recovery.recover.get_status()