Source code for bosdyn.client.manipulation_api_client

# 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).

"""For clients to the Manipulation API service."""

from bosdyn.client.common import (BaseClient, handle_common_header_errors,
                                  handle_lease_use_result_errors)

from bosdyn.api import manipulation_api_service_pb2_grpc

from .lease import add_lease_wallet_processors


[docs]class ManipulationApiClient(BaseClient): """Client for the ManipulationAPI service.""" default_service_name = 'manipulation' service_type = 'bosdyn.api.ManipulationApiService' def __init__(self): super(ManipulationApiClient, self).__init__(manipulation_api_service_pb2_grpc.ManipulationApiServiceStub)
[docs] def update_from(self, other): """Update instance from another object. Args: other: The object where to copy from. """ super(ManipulationApiClient, self).update_from(other) if self.lease_wallet: add_lease_wallet_processors(self, self.lease_wallet)
[docs] def manipulation_api_command(self, manipulation_api_request, **kwargs): """Issue a manipulation api command to the robot. Args: manipulation_api_request (manipulation_api_pb2.ManipulationApiRequest): The command request for a manipulation task. Returns: The full ManipulationApiResponse message, which includes a command id for feedback. """ return self.call(self._stub.ManipulationApi, manipulation_api_request, error_from_response=_manipulation_api_command_error_from_response, **kwargs)
[docs] def manipulation_api_command_async(self, manipulation_api_request, **kwargs): """Async version of the manipulation_api_command().""" return self.call_async(self._stub.ManipulationApi, manipulation_api_request, **kwargs)
[docs] def manipulation_api_feedback_command(self, manipulation_api_feedback_request, **kwargs): """Issue a manipulation api feedback request to the robot. Args: manipulation_api_feedback_request (manipulation_api_pb2.ManipulationApiFeedbackRequest): The request for feedback for a specific manipulation command. Returns: The full ManipulationApiFeedbackResponse message. """ return self.call(self._stub.ManipulationApiFeedback, manipulation_api_feedback_request, error_from_response=_manipulation_api_feedback_error_from_response, **kwargs)
[docs] def manipulation_api_feedback_command_async(self, manipulation_api_feedback_request, **kwargs): """Async version of the manipulation_api_feedback_command().""" return self.call_async(self._stub.ManipulationApiFeedback, manipulation_api_feedback_request, **kwargs)
[docs] def grasp_override_command(self, grasp_override_request, **kwargs): """Issue a grasp override command to the robot. Args: grasp_override_request (manipulation_api_pb2.ApiGraspOverrideRequest): The command request for a grasp override. Returns: An ApiGraspOverrideResponse message. """ return self.call(self._stub.OverrideGrasp, grasp_override_request, error_from_response=_grasp_override_command_error_from_response, **kwargs)
[docs] def grasp_override_command_async(self, grasp_override_request, **kwargs): """Async version of the grasp_override_command().""" return self.call_async(self._stub.OverrideGrasp, grasp_override_request, **kwargs)
@handle_common_header_errors @handle_lease_use_result_errors def _manipulation_api_command_error_from_response(response): return None @handle_common_header_errors def _manipulation_api_feedback_error_from_response(response): return None @handle_common_header_errors def _grasp_override_command_error_from_response(response): return None