Sport Client — Python Example

Source: rbq_sdk/python/example/sport/rbq_sport_client.py

Python port of the C++ rbq_sport_client.
An interactive terminal application that sends SportClient commands to the robot one at a time, looping at 50 Hz.

How it works

The program has a single main loop that:

Reads a line of input from stdin (list, a command name, or a command ID).
Updates the active TestOption.
Calls the matching SportClient method on every 20 ms tick.

Prerequisites

rbq_sdk_py installed — see Python SDK Overview.
Robot stack running (simulation or hardware) and reachable on the chosen network interface.

Run

From rbq_sdk/python/example/sport/:

bash

python3 rbq_sport_client.py [networkInterface]

# Simulator / on-robot stack — interface defaults to lo
python3 rbq_sport_client.py

# Real robot — pass the interface that reaches it
python3 rbq_sport_client.py eth0

Available commands

Type list at the prompt to print all commands.

ID	Name	SportClient method called
0	`damp`	`Damp()`
1	`balance_stand`	`BalanceStand()`
2	`stop_move`	`StopMove()`
3	`stand_down`	`StandDown()`
4	`recovery_stand`	`RecoveryStand()`
5	`move`	`Move(0.0, 0.0, 0.5)` — rotate in place
6	`switch_gait`	`SwitchGait(0)`
8	`get_state`	`GetState()` — prints FSM ID, name, speed level, auto-recovery, process state
11	`stand_up`	`StandUp()`
12	`enter_leftside_gait`	`LeftSideGait(1)`
13	`exit_leftside_gait`	`LeftSideGait(0)`

The example program's list also prints commands the robot does not implement; those return a "not implemented" error. Only the commands above are supported.

Usage example

$ python3 rbq_sport_client.py eth0
Input "list " to list all test option ...
balance_stand
Test: balance_stand, test_id: 1
Request successed: balance_stand, code: 0
move
Test: move, test_id: 5
Request successed: move, code: 0

Key implementation notes

SetTimeout(25.0): The Python SportClient sets a 25-second timeout — relevant for RPC-style calls like GetState.
50 Hz pacing: Uses time.sleep(max(0.0, next_tick - time.monotonic())) for accurate loop timing.
get_state response: Returns a dict with keys fsm_id, fsm_name, speed_level, auto_recovery_switch, process_state.

Differences from the C++ version

Aspect	C++	Python
Timeout	default	`SetTimeout(25.0)` set explicitly
`ConvertToInt` on failure	returns `-1`	returns `None` (no false match on ID 0)
Terminal input	`std::getline` blocking	`input()` blocking
Error message	prints count	prints count

Sport Client — Python Example ​

How it works ​

Prerequisites ​

Run ​

Available commands ​

Usage example ​

Key implementation notes ​

Differences from the C++ version ​

See also ​