Robot model, joints, and pose

Resolve the default robot namespace with Client.robot() and inspect model metadata, joint state, and the current tool pose via olo.Robot.kinematics.

Python

from olo import Client

with Client() as client:
    robot = client.robot()
    arm = robot.kinematics

    # Inspect robot model metadata loaded from MoveIt.
    model = arm.model
    print(f"Robot default planning group: {model.default_group}")

    # Read the current joint state.
    joints = arm.joints()
    print(f"Joint count: {len(joints.names)}")

    # Read the current end-effector pose.
    current_pose = arm.pose()
    print(current_pose.position)

TypeScript

import { connect } from "olo/web";

const client = connect();
const robot = await client.robot();
const arm = robot.kinematics;

// Inspect robot model metadata loaded from MoveIt.
const model = await arm.getModel();
console.log(`Robot default planning group: ${model.defaultGroup}`);

// Read the current joint state.
const joints = await arm.joints();
console.log(`Joint count: ${joints.names.length}`);

// Read the current end-effector pose.
const currentPose = await arm.pose();
console.log(`${currentPose.position}`);