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Merged
rehira-pfr merged 5 commits into from
Apr 27, 2026
Merged

Create merge commit #228

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3dbb7a8
Merge pull request #223 from pf-robotics/main
rehira-pfr Apr 27, 2026
4991eb4
create merge commit for release 3.16
rehira-pfr Apr 27, 2026
90247f4
update version to 3.16
rehira-pfr Apr 27, 2026
1de1e26
Merge pull request #225 from pf-robotics/pre-release-for-3.16
rehira-pfr Apr 27, 2026
c1d1b93
Merge pull request #227 from pf-robotics/pre-release-for-3.16-tag
rehira-pfr Apr 27, 2026
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31 changes: 31 additions & 0 deletions protos/kachaka-api.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -106,6 +106,12 @@ message Location {
bool ignore_voice_recognition = 7;
}

message LocationDigest {
string id = 1;
string name = 2;
LocationType type = 3;
}

message ShelfSize {
double width = 1;
double depth = 2;
Expand Down Expand Up @@ -143,6 +149,11 @@ message Shelf {
bool ignore_voice_recognition = 10;
}

message ShelfDigest {
string id = 1;
string name = 2;
}

message RosImu {
RosHeader header = 1;
Quaternion orientation = 2;
Expand Down Expand Up @@ -256,6 +267,7 @@ message Command {
// DockAnyShelfWithRegistrationCommand is available only in Kachaka Pro.
DockAnyShelfWithRegistrationCommand dock_any_shelf_with_registration_command = 18;
LocalizeCommand localize_command = 19;
MoveByVelocityWithMutedSensorsCommand move_by_velocity_with_muted_sensors_command = 22;
}
}

Expand All @@ -278,6 +290,7 @@ message UndockShelfCommand {

message MoveToLocationCommand {
string target_location_id = 1;
string source_location_id = 2;
}

message ReturnHomeCommand {
Expand All @@ -303,6 +316,7 @@ message LockCommand {
message MoveForwardCommand {
double distance_meter = 1;
double speed = 2; // [m/s]
bool mute_sensors = 3;
}

message RotateInPlaceCommand {
Expand All @@ -317,6 +331,11 @@ message DockAnyShelfWithRegistrationCommand {
message LocalizeCommand {
}

message MoveByVelocityWithMutedSensorsCommand {
double signed_velocity = 1; // [m/s]
double move_duration_sec = 2;
}

enum CommandState {
COMMAND_STATE_UNSPECIFIED = 0;
COMMAND_STATE_PENDING = 1; // No command is running. Waiting for requests.
Expand Down Expand Up @@ -505,11 +524,21 @@ message GetLocationsResponse {
string default_location_id = 3;
}

message GetLocationsDigestResponse {
Metadata metadata = 1;
repeated LocationDigest locations = 2;
}

message GetShelvesResponse {
Metadata metadata = 1;
repeated Shelf shelves = 2;
}

message GetShelvesDigestResponse {
Metadata metadata = 1;
repeated ShelfDigest shelves = 2;
}

message GetMovingShelfIdResponse {
Metadata metadata = 1;
string shelf_id = 2; // Empty if no shelf
Expand Down Expand Up @@ -755,8 +784,10 @@ service KachakaApi {
rpc Proceed (EmptyRequest) returns (ProceedResponse);
// Locations
rpc GetLocations (GetRequest) returns (GetLocationsResponse);
rpc GetLocationsDigest (GetRequest) returns (GetLocationsDigestResponse);
// Shelves
rpc GetShelves (GetRequest) returns (GetShelvesResponse);
rpc GetShelvesDigest (GetRequest) returns (GetShelvesDigestResponse);
rpc GetMovingShelfId (GetRequest) returns (GetMovingShelfIdResponse);
rpc ResetShelfPose (ResetShelfPoseRequest) returns (ResetShelfPoseResponse);
// Auto homing
Expand Down
2 changes: 1 addition & 1 deletion pyproject.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[project]
name = "kachaka-api"
version = "3.15.1"
version = "3.16.1"
authors = [{name="Preferred Robotics inc."}]
dependencies = [
"grpcio==1.66.1",
Expand Down
472 changes: 241 additions & 231 deletions python/kachaka_api/generated/kachaka_api_pb2.py
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60 changes: 54 additions & 6 deletions python/kachaka_api/generated/kachaka_api_pb2.pyi
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Original file line number Diff line number Diff line change
Expand Up @@ -200,6 +200,16 @@ class Location(_message.Message):
ignore_voice_recognition: bool
def __init__(self, id: _Optional[str] = ..., name: _Optional[str] = ..., pose: _Optional[_Union[Pose, _Mapping]] = ..., type: _Optional[_Union[LocationType, str]] = ..., undock_shelf_aligning_to_wall: bool = ..., undock_shelf_avoiding_obstacles: bool = ..., ignore_voice_recognition: bool = ...) -> None: ...

class LocationDigest(_message.Message):
__slots__ = ("id", "name", "type")
ID_FIELD_NUMBER: _ClassVar[int]
NAME_FIELD_NUMBER: _ClassVar[int]
TYPE_FIELD_NUMBER: _ClassVar[int]
id: str
name: str
type: LocationType
def __init__(self, id: _Optional[str] = ..., name: _Optional[str] = ..., type: _Optional[_Union[LocationType, str]] = ...) -> None: ...

class ShelfSize(_message.Message):
__slots__ = ("width", "depth", "height")
WIDTH_FIELD_NUMBER: _ClassVar[int]
Expand Down Expand Up @@ -240,6 +250,14 @@ class Shelf(_message.Message):
ignore_voice_recognition: bool
def __init__(self, id: _Optional[str] = ..., name: _Optional[str] = ..., pose: _Optional[_Union[Pose, _Mapping]] = ..., size: _Optional[_Union[ShelfSize, _Mapping]] = ..., appearance: _Optional[_Union[ShelfAppearance, str]] = ..., recognizable_names: _Optional[_Iterable[_Union[RecognizableName, _Mapping]]] = ..., home_location_id: _Optional[str] = ..., speed_mode: _Optional[_Union[ShelfSpeedMode, str]] = ..., ignore_voice_recognition: bool = ...) -> None: ...

class ShelfDigest(_message.Message):
__slots__ = ("id", "name")
ID_FIELD_NUMBER: _ClassVar[int]
NAME_FIELD_NUMBER: _ClassVar[int]
id: str
name: str
def __init__(self, id: _Optional[str] = ..., name: _Optional[str] = ...) -> None: ...

class RosImu(_message.Message):
__slots__ = ("header", "orientation", "orientation_covariance", "angular_velocity", "angular_velocity_covariance", "linear_acceleration", "linear_acceleration_covariance")
HEADER_FIELD_NUMBER: _ClassVar[int]
Expand Down Expand Up @@ -397,7 +415,7 @@ class ObjectDetectionFeatures(_message.Message):
def __init__(self, name: _Optional[str] = ..., shape: _Optional[_Iterable[int]] = ..., data: _Optional[_Iterable[float]] = ...) -> None: ...

class Command(_message.Message):
__slots__ = ("move_shelf_command", "return_shelf_command", "undock_shelf_command", "move_to_location_command", "return_home_command", "dock_shelf_command", "speak_command", "move_to_pose_command", "lock_command", "move_forward_command", "rotate_in_place_command", "dock_any_shelf_with_registration_command", "localize_command")
__slots__ = ("move_shelf_command", "return_shelf_command", "undock_shelf_command", "move_to_location_command", "return_home_command", "dock_shelf_command", "speak_command", "move_to_pose_command", "lock_command", "move_forward_command", "rotate_in_place_command", "dock_any_shelf_with_registration_command", "localize_command", "move_by_velocity_with_muted_sensors_command")
MOVE_SHELF_COMMAND_FIELD_NUMBER: _ClassVar[int]
RETURN_SHELF_COMMAND_FIELD_NUMBER: _ClassVar[int]
UNDOCK_SHELF_COMMAND_FIELD_NUMBER: _ClassVar[int]
Expand All @@ -411,6 +429,7 @@ class Command(_message.Message):
ROTATE_IN_PLACE_COMMAND_FIELD_NUMBER: _ClassVar[int]
DOCK_ANY_SHELF_WITH_REGISTRATION_COMMAND_FIELD_NUMBER: _ClassVar[int]
LOCALIZE_COMMAND_FIELD_NUMBER: _ClassVar[int]
MOVE_BY_VELOCITY_WITH_MUTED_SENSORS_COMMAND_FIELD_NUMBER: _ClassVar[int]
move_shelf_command: MoveShelfCommand
return_shelf_command: ReturnShelfCommand
undock_shelf_command: UndockShelfCommand
Expand All @@ -424,7 +443,8 @@ class Command(_message.Message):
rotate_in_place_command: RotateInPlaceCommand
dock_any_shelf_with_registration_command: DockAnyShelfWithRegistrationCommand
localize_command: LocalizeCommand
def __init__(self, move_shelf_command: _Optional[_Union[MoveShelfCommand, _Mapping]] = ..., return_shelf_command: _Optional[_Union[ReturnShelfCommand, _Mapping]] = ..., undock_shelf_command: _Optional[_Union[UndockShelfCommand, _Mapping]] = ..., move_to_location_command: _Optional[_Union[MoveToLocationCommand, _Mapping]] = ..., return_home_command: _Optional[_Union[ReturnHomeCommand, _Mapping]] = ..., dock_shelf_command: _Optional[_Union[DockShelfCommand, _Mapping]] = ..., speak_command: _Optional[_Union[SpeakCommand, _Mapping]] = ..., move_to_pose_command: _Optional[_Union[MoveToPoseCommand, _Mapping]] = ..., lock_command: _Optional[_Union[LockCommand, _Mapping]] = ..., move_forward_command: _Optional[_Union[MoveForwardCommand, _Mapping]] = ..., rotate_in_place_command: _Optional[_Union[RotateInPlaceCommand, _Mapping]] = ..., dock_any_shelf_with_registration_command: _Optional[_Union[DockAnyShelfWithRegistrationCommand, _Mapping]] = ..., localize_command: _Optional[_Union[LocalizeCommand, _Mapping]] = ...) -> None: ...
move_by_velocity_with_muted_sensors_command: MoveByVelocityWithMutedSensorsCommand
def __init__(self, move_shelf_command: _Optional[_Union[MoveShelfCommand, _Mapping]] = ..., return_shelf_command: _Optional[_Union[ReturnShelfCommand, _Mapping]] = ..., undock_shelf_command: _Optional[_Union[UndockShelfCommand, _Mapping]] = ..., move_to_location_command: _Optional[_Union[MoveToLocationCommand, _Mapping]] = ..., return_home_command: _Optional[_Union[ReturnHomeCommand, _Mapping]] = ..., dock_shelf_command: _Optional[_Union[DockShelfCommand, _Mapping]] = ..., speak_command: _Optional[_Union[SpeakCommand, _Mapping]] = ..., move_to_pose_command: _Optional[_Union[MoveToPoseCommand, _Mapping]] = ..., lock_command: _Optional[_Union[LockCommand, _Mapping]] = ..., move_forward_command: _Optional[_Union[MoveForwardCommand, _Mapping]] = ..., rotate_in_place_command: _Optional[_Union[RotateInPlaceCommand, _Mapping]] = ..., dock_any_shelf_with_registration_command: _Optional[_Union[DockAnyShelfWithRegistrationCommand, _Mapping]] = ..., localize_command: _Optional[_Union[LocalizeCommand, _Mapping]] = ..., move_by_velocity_with_muted_sensors_command: _Optional[_Union[MoveByVelocityWithMutedSensorsCommand, _Mapping]] = ...) -> None: ...

class MoveShelfCommand(_message.Message):
__slots__ = ("target_shelf_id", "destination_location_id", "undock_on_destination")
Expand All @@ -449,10 +469,12 @@ class UndockShelfCommand(_message.Message):
def __init__(self, target_shelf_id: _Optional[str] = ...) -> None: ...

class MoveToLocationCommand(_message.Message):
__slots__ = ("target_location_id",)
__slots__ = ("target_location_id", "source_location_id")
TARGET_LOCATION_ID_FIELD_NUMBER: _ClassVar[int]
SOURCE_LOCATION_ID_FIELD_NUMBER: _ClassVar[int]
target_location_id: str
def __init__(self, target_location_id: _Optional[str] = ...) -> None: ...
source_location_id: str
def __init__(self, target_location_id: _Optional[str] = ..., source_location_id: _Optional[str] = ...) -> None: ...

class ReturnHomeCommand(_message.Message):
__slots__ = ()
Expand Down Expand Up @@ -485,12 +507,14 @@ class LockCommand(_message.Message):
def __init__(self, duration_sec: _Optional[float] = ...) -> None: ...

class MoveForwardCommand(_message.Message):
__slots__ = ("distance_meter", "speed")
__slots__ = ("distance_meter", "speed", "mute_sensors")
DISTANCE_METER_FIELD_NUMBER: _ClassVar[int]
SPEED_FIELD_NUMBER: _ClassVar[int]
MUTE_SENSORS_FIELD_NUMBER: _ClassVar[int]
distance_meter: float
speed: float
def __init__(self, distance_meter: _Optional[float] = ..., speed: _Optional[float] = ...) -> None: ...
mute_sensors: bool
def __init__(self, distance_meter: _Optional[float] = ..., speed: _Optional[float] = ..., mute_sensors: bool = ...) -> None: ...

class RotateInPlaceCommand(_message.Message):
__slots__ = ("angle_radian",)
Expand All @@ -510,6 +534,14 @@ class LocalizeCommand(_message.Message):
__slots__ = ()
def __init__(self) -> None: ...

class MoveByVelocityWithMutedSensorsCommand(_message.Message):
__slots__ = ("signed_velocity", "move_duration_sec")
SIGNED_VELOCITY_FIELD_NUMBER: _ClassVar[int]
MOVE_DURATION_SEC_FIELD_NUMBER: _ClassVar[int]
signed_velocity: float
move_duration_sec: float
def __init__(self, signed_velocity: _Optional[float] = ..., move_duration_sec: _Optional[float] = ...) -> None: ...

class EmptyRequest(_message.Message):
__slots__ = ()
def __init__(self) -> None: ...
Expand Down Expand Up @@ -802,6 +834,14 @@ class GetLocationsResponse(_message.Message):
default_location_id: str
def __init__(self, metadata: _Optional[_Union[Metadata, _Mapping]] = ..., locations: _Optional[_Iterable[_Union[Location, _Mapping]]] = ..., default_location_id: _Optional[str] = ...) -> None: ...

class GetLocationsDigestResponse(_message.Message):
__slots__ = ("metadata", "locations")
METADATA_FIELD_NUMBER: _ClassVar[int]
LOCATIONS_FIELD_NUMBER: _ClassVar[int]
metadata: Metadata
locations: _containers.RepeatedCompositeFieldContainer[LocationDigest]
def __init__(self, metadata: _Optional[_Union[Metadata, _Mapping]] = ..., locations: _Optional[_Iterable[_Union[LocationDigest, _Mapping]]] = ...) -> None: ...

class GetShelvesResponse(_message.Message):
__slots__ = ("metadata", "shelves")
METADATA_FIELD_NUMBER: _ClassVar[int]
Expand All @@ -810,6 +850,14 @@ class GetShelvesResponse(_message.Message):
shelves: _containers.RepeatedCompositeFieldContainer[Shelf]
def __init__(self, metadata: _Optional[_Union[Metadata, _Mapping]] = ..., shelves: _Optional[_Iterable[_Union[Shelf, _Mapping]]] = ...) -> None: ...

class GetShelvesDigestResponse(_message.Message):
__slots__ = ("metadata", "shelves")
METADATA_FIELD_NUMBER: _ClassVar[int]
SHELVES_FIELD_NUMBER: _ClassVar[int]
metadata: Metadata
shelves: _containers.RepeatedCompositeFieldContainer[ShelfDigest]
def __init__(self, metadata: _Optional[_Union[Metadata, _Mapping]] = ..., shelves: _Optional[_Iterable[_Union[ShelfDigest, _Mapping]]] = ...) -> None: ...

class GetMovingShelfIdResponse(_message.Message):
__slots__ = ("metadata", "shelf_id")
METADATA_FIELD_NUMBER: _ClassVar[int]
Expand Down
86 changes: 86 additions & 0 deletions python/kachaka_api/generated/kachaka_api_pb2_grpc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -185,11 +185,21 @@ def __init__(self, channel: grpc.Channel):
request_serializer=kachaka__api__pb2.GetRequest.SerializeToString,
response_deserializer=kachaka__api__pb2.GetLocationsResponse.FromString,
_registered_method=True)
self.GetLocationsDigest = channel.unary_unary(
'/kachaka_api.KachakaApi/GetLocationsDigest',
request_serializer=kachaka__api__pb2.GetRequest.SerializeToString,
response_deserializer=kachaka__api__pb2.GetLocationsDigestResponse.FromString,
_registered_method=True)
self.GetShelves = channel.unary_unary(
'/kachaka_api.KachakaApi/GetShelves',
request_serializer=kachaka__api__pb2.GetRequest.SerializeToString,
response_deserializer=kachaka__api__pb2.GetShelvesResponse.FromString,
_registered_method=True)
self.GetShelvesDigest = channel.unary_unary(
'/kachaka_api.KachakaApi/GetShelvesDigest',
request_serializer=kachaka__api__pb2.GetRequest.SerializeToString,
response_deserializer=kachaka__api__pb2.GetShelvesDigestResponse.FromString,
_registered_method=True)
self.GetMovingShelfId = channel.unary_unary(
'/kachaka_api.KachakaApi/GetMovingShelfId',
request_serializer=kachaka__api__pb2.GetRequest.SerializeToString,
Expand Down Expand Up @@ -509,13 +519,25 @@ def GetLocations(self, request, context):
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')

def GetLocationsDigest(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')

def GetShelves(self, request, context):
"""Shelves
"""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')

def GetShelvesDigest(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
context.set_details('Method not implemented!')
raise NotImplementedError('Method not implemented!')

def GetMovingShelfId(self, request, context):
"""Missing associated documentation comment in .proto file."""
context.set_code(grpc.StatusCode.UNIMPLEMENTED)
Expand Down Expand Up @@ -832,11 +854,21 @@ def add_KachakaApiServicer_to_server(servicer, server):
request_deserializer=kachaka__api__pb2.GetRequest.FromString,
response_serializer=kachaka__api__pb2.GetLocationsResponse.SerializeToString,
),
'GetLocationsDigest': grpc.unary_unary_rpc_method_handler(
servicer.GetLocationsDigest,
request_deserializer=kachaka__api__pb2.GetRequest.FromString,
response_serializer=kachaka__api__pb2.GetLocationsDigestResponse.SerializeToString,
),
'GetShelves': grpc.unary_unary_rpc_method_handler(
servicer.GetShelves,
request_deserializer=kachaka__api__pb2.GetRequest.FromString,
response_serializer=kachaka__api__pb2.GetShelvesResponse.SerializeToString,
),
'GetShelvesDigest': grpc.unary_unary_rpc_method_handler(
servicer.GetShelvesDigest,
request_deserializer=kachaka__api__pb2.GetRequest.FromString,
response_serializer=kachaka__api__pb2.GetShelvesDigestResponse.SerializeToString,
),
'GetMovingShelfId': grpc.unary_unary_rpc_method_handler(
servicer.GetMovingShelfId,
request_deserializer=kachaka__api__pb2.GetRequest.FromString,
Expand Down Expand Up @@ -1789,6 +1821,33 @@ def GetLocations(request,
metadata,
_registered_method=True)

@staticmethod
def GetLocationsDigest(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_unary(
request,
target,
'/kachaka_api.KachakaApi/GetLocationsDigest',
kachaka__api__pb2.GetRequest.SerializeToString,
kachaka__api__pb2.GetLocationsDigestResponse.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)

@staticmethod
def GetShelves(request,
target,
Expand Down Expand Up @@ -1816,6 +1875,33 @@ def GetShelves(request,
metadata,
_registered_method=True)

@staticmethod
def GetShelvesDigest(request,
target,
options=(),
channel_credentials=None,
call_credentials=None,
insecure=False,
compression=None,
wait_for_ready=None,
timeout=None,
metadata=None):
return grpc.experimental.unary_unary(
request,
target,
'/kachaka_api.KachakaApi/GetShelvesDigest',
kachaka__api__pb2.GetRequest.SerializeToString,
kachaka__api__pb2.GetShelvesDigestResponse.FromString,
options,
channel_credentials,
insecure,
call_credentials,
compression,
wait_for_ready,
timeout,
metadata,
_registered_method=True)

@staticmethod
def GetMovingShelfId(request,
target,
Expand Down
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