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:

1. Reads a line of input from stdin (list, a command name, or a command ID).
2. Updates the active TestOption.
3. 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/:

python3 rbq_sport_client.py <networkInterface>
# e.g.
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)
7	speed_level	SpeedLevel(1)
8	get_state	GetState() — prints FSM ID, name, speed level, auto-recovery, process state
9	recovery_switch	SetAutoRecovery(0)
10	body_height	BodyHeight(0.3)
11	stand_up	StandUp()
12	enter_leftside_gait	LeftSideGait(1)
13	exit_leftside_gait	LeftSideGait(0)
14	enter_handstand	HandStand(1)
15	exit_handstand	HandStand(0)
16	front_flip	FrontFlip() ⚠️
17	back_flip	BackFlip() ⚠️
18	pose	BodyPosition(0.2, 0.2, -0.2, 0.2)
19	euler	Euler(0.2, 0.3, 0.3)

⚠️ Caution — front_flip and back_flip require a clear open area.

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

See also

• Sport Client Joystick (Python)
• Sport Client (C++)
• Python SDK Overview