measure_manipulation

Cargo.toml

@@ -5,7 +5,7 @@ edition = "2021"
 license-file = "LICENSE"
 name = "lebai_sdk"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "0.2.21"
+version = "0.2.22"
 
 [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 = "3.2.3"
+version = "3.2.4"
 
 [dependencies]
 jsonrpsee = {version = "0.24", features = ["client-core", "macros"]}

src/lib.rs

@@ -84,6 +84,11 @@ mod lebai_sdk {
 
         // Posture
         #[classmethod]
+        #[cmod::tags(args(p))]
+        pub async fn measure_manipulation(&self, p: JointPose) -> Result<f64> {
+            self.0.measure_manipulation(p).await
+        }
+        #[classmethod]
         #[cmod::tags(args(p), ret)]
         pub async fn kinematics_forward(&self, p: Pose) -> Result<CartesianPose> {
             self.0.kinematics_forward(p).await

src/rpc/posture.rs

@@ -5,6 +5,10 @@ use proto::lebai::posture::{self, *};
 use proto::serde::posture::{CartesianPose, JointPose, Pose};
 
 impl Robot {
+    pub async fn measure_manipulation(&self, p: JointPose) -> Result<f64> {
+        let ret = self.c.measure_manipulation(Some(p.into())).await.map_err(|e| e.to_string())?;
+        Ok(ret.manipulation)
+    }
     pub async fn kinematics_forward(&self, p: Pose) -> Result<CartesianPose> {
         let req = PoseRequest { pose: Some(p.into()) };
         let pose = self.c.get_forward_kin(Some(req)).await.map_err(|e| e.to_string())?;