# Copyright (c) 2023 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 use the robot state service."""
from bosdyn.api import robot_state_pb2, robot_state_service_pb2_grpc
from bosdyn.client.common import BaseClient, common_header_errors
[docs]class RobotStateClient(BaseClient):
"""Client for the RobotState service."""
default_service_name = 'robot-state'
service_type = 'bosdyn.api.RobotStateService'
def __init__(self):
super(RobotStateClient, self).__init__(robot_state_service_pb2_grpc.RobotStateServiceStub)
[docs] def get_robot_state(self, **kwargs):
"""Obtain current state of the robot.
Returns:
RobotState: The current robot state.
Raises:
RpcError: Problem communicating with the robot.
"""
req = self._get_robot_state_request()
return self.call(self._stub.GetRobotState, req, _get_robot_state_value,
common_header_errors, copy_request=False, **kwargs)
[docs] def get_robot_state_async(self, **kwargs):
"""Async version of get_robot_state()"""
req = self._get_robot_state_request()
return self.call_async(self._stub.GetRobotState, req, _get_robot_state_value,
common_header_errors, copy_request=False, **kwargs)
[docs] def get_robot_metrics(self, **kwargs):
"""Obtain robot metrics, such as distance traveled or time powered on.
Returns:
All of the current robot metrics.
Raises:
RpcError: Problem communicating with the robot.
"""
req = self._get_robot_metrics_request()
return self.call(self._stub.GetRobotMetrics, req, _get_robot_metrics_value,
common_header_errors, copy_request=False, **kwargs)
[docs] def get_robot_metrics_async(self, **kwargs):
"""Async version of get_robot_state()"""
req = self._get_robot_metrics_request()
return self.call_async(self._stub.GetRobotMetrics, req, _get_robot_metrics_value,
common_header_errors, copy_request=False, **kwargs)
[docs] def get_robot_hardware_configuration(self, **kwargs):
"""Obtain current hardware configuration of robot.
Returns:
The hardware configuration, which includes the link names.
Raises:
RpcError: Problem communicating with the robot.
"""
req = self._get_robot_hardware_configuration_request()
return self.call(self._stub.GetRobotHardwareConfiguration, req,
_get_robot_hardware_configuration_value, common_header_errors,
copy_request=False, **kwargs)
[docs] def get_robot_hardware_configuration_async(self, **kwargs):
"""Async version of get_robot_hardware_configuration()"""
req = self._get_robot_hardware_configuration_request()
return self.call_async(self._stub.GetRobotHardwareConfiguration, req,
_get_robot_hardware_configuration_value, common_header_errors,
copy_request=False, **kwargs)
[docs] def get_robot_link_model(self, link_name, **kwargs):
"""Obtain link model OBJ for a specific link.
Args:
link_name (string): Name of the link to get the model.
Returns:
The bosdyn.api.Skeleton.Link.ObjModel for the specified link.
Raises:
RpcError: Problem communicating with the robot.
"""
req = self._get_robot_link_model_request(link_name)
return self.call(self._stub.GetRobotLinkModel, req, _get_robot_link_model_value,
common_header_errors, copy_request=False, **kwargs)
[docs] def get_robot_link_model_async(self, link_name, **kwargs):
"""Async version of get_robot_joint_model_async()"""
req = self._get_robot_link_model_request(link_name)
return self.call_async(self._stub.GetRobotLinkModel, req, _get_robot_link_model_value,
common_header_errors, copy_request=False, **kwargs)
[docs] def get_hardware_config_with_link_info(self):
"""Convenience function which first requests a robot's hardware configuration followed by
requests to get link models for all robot links.
Returns:
bosdyn.api.robot_state_pb2.HardwareConfiguration with all link models filled out.
"""
hardware_configuration = self.get_robot_hardware_configuration()
for link in hardware_configuration.skeleton.links:
obj_model = self.get_robot_link_model(link.name)
link.obj_model.CopyFrom(obj_model)
return hardware_configuration
@staticmethod
def _get_robot_state_request():
return robot_state_pb2.RobotStateRequest()
@staticmethod
def _get_robot_metrics_request():
return robot_state_pb2.RobotMetricsRequest()
@staticmethod
def _get_robot_hardware_configuration_request():
return robot_state_pb2.RobotHardwareConfigurationRequest()
@staticmethod
def _get_robot_link_model_request(link_name):
return robot_state_pb2.RobotLinkModelRequest(link_name=link_name)
def _get_robot_state_value(response):
return response.robot_state
def _get_robot_state_stream_value(response):
return response
def _get_robot_metrics_value(response):
return response.robot_metrics
def _get_robot_hardware_configuration_value(response):
return response.hardware_configuration
def _get_robot_link_model_value(response):
return response.link_model
[docs]def has_arm(state_client, timeout=None):
"""Check if the robot has an arm attached.
Args:
state_client: RobotStateClient to query for robot state.
timeout: Number of seconds to wait for RPC response.
Returns:
bool: Returns True if robot has an arm, False otherwise.
Raises:
RpcError: A problem occurred trying to communicate with the robot.
"""
state = state_client.get_robot_state(timeout=timeout)
return state.HasField("manipulator_state")