Source code for bosdyn.client.arm_surface_contact

# Copyright (c) 2021 Boston Dynamics, Inc.  All rights reserved.
#
# Downloading, reproducing, distributing or otherwise using the SDK Software
# is subject to the terms and conditions of the Boston Dynamics Software
# Development Kit License (20191101-BDSDK-SL).

from bosdyn.client.common import BaseClient
from bosdyn.client.common import common_header_errors

from bosdyn.api import arm_surface_contact_pb2
from bosdyn.api import arm_surface_contact_service_pb2_grpc
from .lease import add_lease_wallet_processors
from bosdyn.client.robot_command import NoTimeSyncError, _TimeConverter, _edit_proto


[docs]class ArmSurfaceContactClient(BaseClient): """Client for the ArmSurfaceContact service.""" default_service_name = 'arm-surface-contact' service_type = 'bosdyn.api.ArmSurfaceContactService' def __init__(self): super(ArmSurfaceContactClient, self).__init__(arm_surface_contact_service_pb2_grpc.ArmSurfaceContactServiceStub) self._timesync_endpoint = None
[docs] def update_from(self, other): """Update instance from another object. Args: other: The object where to copy from. """ super(ArmSurfaceContactClient, self).update_from(other) if self.lease_wallet: add_lease_wallet_processors(self, self.lease_wallet) # Grab a timesync endpoint if it is available. try: self._timesync_endpoint = other.time_sync.endpoint except AttributeError: pass # other doesn't have a time_sync accessor
def _update_command_timestamps(self, command): """Set or convert fields of the command proto that need timestamps in the robot's clock. Args: command: Command message to update. """ if self._timesync_endpoint is None: raise NoTimeSyncError converter = _TimeConverter(self, self._timesync_endpoint) def _to_robot_time(key, proto): """If proto has a field named key with a timestamp, convert timestamp to robot time.""" if not (key in proto.DESCRIPTOR.fields_by_name and proto.HasField(key)): return # No such field in proto, or field does not contain a timestamp. timestamp = getattr(proto, key) converter.convert_timestamp_from_local_to_robot(timestamp) # Convert timestamps from local time to robot time. _edit_proto(command, EDIT_TREE_CONVERT_LOCAL_TIME_TO_ROBOT_TIME, _to_robot_time)
[docs] def arm_surface_contact_command(self, request, **kwargs): """Issue an arm surface contact command to the robot. Args: request (arm_surface_contact_pb2.ArmSurfaceContactRequest): The command request. Returns: The full arm surface contact response message. """ self._update_command_timestamps(request) return self.call(self._stub.ArmSurfaceContact, request, **kwargs)
[docs] def arm_surface_contact_command_async(self, request, **kwargs): """Async version of arm_surface_contact_command().""" self._update_command_timestamps(request) return self.call_async(self._stub.ArmSurfaceContact, request, **kwargs)
# Tree of proto fields leading to Timestamp protos which need to be converted from # client clock to robot clock values using timesync information from the robot. # Note, the "@" sign indicates a oneof field. The "None" indicates the field which # contains the timestamp to be updated. EDIT_TREE_CONVERT_LOCAL_TIME_TO_ROBOT_TIME = { 'request': { 'pose_trajectory_in_task': { 'reference_time': None }, 'gripper_command': { 'trajectory': { 'reference_time': None } } } }