feat: save pose

lebai-robotics · Jan 24, 2024 · 3932afe · 3932afe
1 parent 8d7c8d1
commit 3932afe
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Showing 2 changed files with 14 additions and 0 deletions.
diff --git a/src/lib.rs b/src/lib.rs
@@ -100,6 +100,11 @@ pub mod lebai_sdk {
             self.0.pose_inverse(p).await
         }
         #[classmethod]
+        #[cmod::tags(args(pose))]
+        pub async fn save_pose(&self, name: String, pose: Pose, dir: Option<String>) -> Result<()> {
+            self.0.save_pose(name, pose, dir).await
+        }
+        #[classmethod]
         #[cmod::tags(ret)]
         pub async fn load_pose(&self, name: String, dir: Option<String>) -> Result<Pose> {
             self.0.load_pose(name, dir).await

diff --git a/src/rpc/posture.rs b/src/rpc/posture.rs
@@ -44,6 +44,15 @@ impl Robot {
         Ok(pose.into())
     }
 
+    pub async fn save_pose(&self, name: String, pose: Pose, dir: Option<String>) -> Result<()> {
+        let req = SavePoseRequest {
+            name,
+            dir: dir.unwrap_or_default(),
+            data: Some(pose.into()),
+        };
+        self.c.save_pose(Some(req)).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
     pub async fn load_pose(&self, name: String, dir: Option<String>) -> Result<Pose> {
         let req = LoadRequest {
             name,