Manipulation Api Client

For clients to the Manipulation API service.

class bosdyn.client.manipulation_api_client.ManipulationApiClient

Bases: BaseClient

Client for the ManipulationAPI service.

default_service_name = 'manipulation'

service_type = 'bosdyn.api.ManipulationApiService'

update_from(other)

Update instance from another object.

Parameters:

other – The object where to copy from.

manipulation_api_command(manipulation_api_request, **kwargs)

Issue a manipulation api command to the robot.

Parameters:

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.

manipulation_api_command_async(manipulation_api_request, **kwargs)

Async version of the manipulation_api_command().

manipulation_api_feedback_command(manipulation_api_feedback_request, **kwargs)

Issue a manipulation api feedback request to the robot.

Parameters:

manipulation_api_feedback_request (manipulation_api_pb2.ManipulationApiFeedbackRequest) – The request for feedback for a specific manipulation command.

Returns:

The full ManipulationApiFeedbackResponse message.

manipulation_api_feedback_command_async(manipulation_api_feedback_request, **kwargs)

Async version of the manipulation_api_feedback_command().

grasp_override_command(grasp_override_request, **kwargs)

Issue a grasp override command to the robot.

Parameters:

grasp_override_request (manipulation_api_pb2.ApiGraspOverrideRequest) – The command request for a grasp override.

Returns:

An ApiGraspOverrideResponse message.

grasp_override_command_async(grasp_override_request, **kwargs)

Async version of the grasp_override_command().