Spot Check¶
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exception
bosdyn.client.spot_check.
SpotCheckError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.exceptions.ResponseError
General class of errors for SpotCheck service.
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exception
bosdyn.client.spot_check.
SpotCheckResponseError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckError
General class of errors for spot check routines.
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exception
bosdyn.client.spot_check.
SpotCheckUnexpectedPowerChangeError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckResponseError
Power error occurred while running spot check.
-
exception
bosdyn.client.spot_check.
SpotCheckImuCheckError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckResponseError
IMU reports robot is not on flat round.
-
exception
bosdyn.client.spot_check.
SpotCheckNotSittingError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckResponseError
Robot not started in sitting configuration.
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exception
bosdyn.client.spot_check.
SpotCheckLoadcellTimeoutError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckResponseError
Internal time out during spot check loadcell cal.
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exception
bosdyn.client.spot_check.
SpotCheckPowerOnFailure
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckResponseError
Power on error occurred while running spot check.
-
exception
bosdyn.client.spot_check.
SpotCheckEndstopTimeoutError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckResponseError
Internal time out during spot check endstop cal.
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exception
bosdyn.client.spot_check.
SpotCheckStandFailureError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckResponseError
Robot failed to stand during spotcheck.
-
exception
bosdyn.client.spot_check.
SpotCheckCameraTimeoutError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckResponseError
Internal time out during spot check camera check.
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exception
bosdyn.client.spot_check.
SpotCheckGroundCheckError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckResponseError
Robot failed flat ground check.
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exception
bosdyn.client.spot_check.
SpotCheckTimedOutError
[source]¶ Bases:
Exception
Timed out waiting for SUCCESS response from spot check.
-
exception
bosdyn.client.spot_check.
CameraCalibrationResponseError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.SpotCheckError
General class of errors for camera calibration routines.
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exception
bosdyn.client.spot_check.
CameraCalibrationUserCanceledError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.CameraCalibrationResponseError
API client canceled calibration.
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exception
bosdyn.client.spot_check.
CameraCalibrationPowerError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.CameraCalibrationResponseError
The robot is not powered on.
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exception
bosdyn.client.spot_check.
CameraCalibrationTargetNotCenteredError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.CameraCalibrationResponseError
Invalid starting configuration of robot.
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exception
bosdyn.client.spot_check.
CameraCalibrationRobotCommandError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.CameraCalibrationResponseError
Robot command error occurred while running calibration.
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exception
bosdyn.client.spot_check.
CameraCalibrationCalibrationError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.CameraCalibrationResponseError
Calibration algorithm failure occurred.
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exception
bosdyn.client.spot_check.
CameraCalibrationInternalError
(response, error_message=None)[source]¶ Bases:
bosdyn.client.spot_check.CameraCalibrationResponseError
Internal error occurred .
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exception
bosdyn.client.spot_check.
CameraCalibrationTimedOutError
[source]¶ Bases:
Exception
Timed out waiting for SUCCESS response from calibration.
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class
bosdyn.client.spot_check.
SpotCheckClient
[source]¶ Bases:
bosdyn.client.common.BaseClient
A client for verifying robot health and running calibration routines.
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default_service_name
= 'spot-check'¶
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service_type
= 'bosdyn.api.spot.SpotCheckService'¶
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spot_check_command
(request, **kwargs)[source]¶ Issue a spot check command to the robot.
- Raises
Error on header error or lease use result error. –
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spot_check_feedback
(request, **kwargs)[source]¶ Check the current status of spot check.
- Raises
SpotCheckResponseError on any feedback error. –
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camera_calibration_command
(request, **kwargs)[source]¶ Issue a camera calibration command to the robot.
- Raises
Error on header error or lease use result error. –
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camera_calibration_command_async
(request, **kwargs)[source]¶ Async version of camera_calibration_command().
-
-
bosdyn.client.spot_check.
run_spot_check
(spot_check_client, lease, timeout_sec=180, update_frequency=0.25, verbose=False)[source]¶ Run full spot check routine. The robot should be sitting on flat ground when this routine is started. This routine calibrates robot joints and checks camera health.
- Parameters
client (SpotCheckClient) – client for calling calibration service.
lease (Lease) – A active lease. Spot check can be overridden at any time with another command.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – How often this function will query feedback.
verbose (bool) – Periodically print status.
- Returns
Joint and camera check and cal results.
- Return type
SpotCheckFeedbackResponse
- Raises
bosdyn.client.exceptions.Error – Throws on any error failure.
-
bosdyn.client.spot_check.
run_camera_calibration
(spot_check_client, lease, timeout_sec=1200, update_frequency=0.25, verbose=False)[source]¶ Run full camera calibration routine for robot. This function blocks until calibration has completed. This function should be called once the robot is powered on and standing in the configuration described in user documentation.
- Parameters
client (SpotCheckClient) – client for calling calibration service.
lease (Lease) – A active lease, used by calibration routine to issue robot commands. Lease keep alive internally managed by service. Revoke lease to end routine at any time.
timeout_sec (float) – Max time this function will block for.
update_frequency (float) – How often this function will query feedback.
verbose (bool) – Periodically print status.
- Raises
bosdyn.client.exceptions.Error – Throws on any calibration failure.