release: v0.2.10

Cargo.toml

@@ -5,7 +5,7 @@ edition = "2021"
 license-file = "LICENSE"
 name = "lebai_sdk"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "0.2.9"
+version = "0.2.10"
 
 [workspace]
 members = [

proto/Cargo.toml

@@ -6,7 +6,7 @@ keywords = ["protobuf"]
 license = "MIT"
 name = "lebai-proto"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "3.1.3"
+version = "3.1.4"
 
 [dependencies]
 jsonrpsee = {version = "0.21", features = ["client-core", "macros"]}

src/rpc/claw.rs

@@ -13,8 +13,8 @@ impl Robot {
     }
     pub(crate) async fn set_claw(&self, force: Option<f64>, amplitude: Option<f64>) -> Result<()> {
         let req = SetClawRequest {
-            force: force.map(|x| x.into()),
-            amplitude: amplitude.map(|x| x.into()),
+            force,
+            amplitude,
         };
         let _ = self.c.set_claw(Some(req)).await.map_err(|e| e.to_string())?;
         Ok(())

src/rpc/dynamic.rs

@@ -16,7 +16,7 @@ impl Robot {
     }
     pub(crate) async fn set_payload(&self, mass: Option<f64>, cog: Option<Position>) -> Result<()> {
         let req = SetPayloadRequest {
-            mass: mass.map(|x| x.into()),
+            mass,
             cog,
         };
         let _ = self.c.set_payload(Some(req)).await.map_err(|e| e.to_string())?;

src/rpc/motion.rs

@@ -101,7 +101,7 @@ impl Robot {
         for i in 0..p.0.len() {
             joints.push(JointMove {
                 pose: p.0[i],
-                velocity: Some(v.get(i).copied().unwrap_or_default().into()),
+                velocity: v.get(i).copied(),
                 acc: None,
             })
         }
@@ -114,8 +114,8 @@ impl Robot {
         for i in 0..p.0.len() {
             joints.push(JointMove {
                 pose: p.0[i],
-                velocity: Some(v.get(i).copied().unwrap_or_default().into()),
-                acc: Some(a.get(i).copied().unwrap_or_default().into()),
+                velocity: v.get(i).copied(),
+                acc: a.get(i).copied(),
             })
         }
         let req = MovePvatRequest { duration: t, joints };