Robot State

For clients to use the robot state service.

class bosdyn.client.robot_state.RobotStateClient[source]

Bases: bosdyn.client.common.BaseClient

Client for the RobotState service.

default_service_name = 'robot-state'
service_type = 'bosdyn.api.RobotStateService'
get_robot_state(**kwargs)[source]

Obtain current state of the robot.

Returns

The current robot state.

Raises

RpcError – Problem communicating with the robot.

get_robot_state_async(**kwargs)[source]

Async version of get_robot_state()

get_robot_metrics(**kwargs)[source]

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.

get_robot_metrics_async(**kwargs)[source]

Async version of get_robot_state()

get_robot_hardware_configuration(**kwargs)[source]

Obtain current hardware configuration of robot.

Returns

The hardware configuration, which includes the link names.

Raises

RpcError – Problem communicating with the robot.

get_robot_hardware_configuration_async(**kwargs)[source]

Async version of get_robot_hardware_configuration()

Obtain link model OBJ for a specific link.

Parameters

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.

Async version of get_robot_joint_model_async()

Convenience function which first requests a robots 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.