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Wrap the robot service GetPose RPC next to the other frame system calls so every frame system RPC is reachable from RobotClient. An empty destination frame is passed through unchanged, since the server defaults it to world. Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
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Problem
RobotClientwraps three of the four frame system RPCs onrobot.v1.RobotService(get_frame_system_config,transform_pose,transform_pcd) but notGetPose, even thoughGetPoseRequestandGetPoseResponseare already generated. The Go client forwardsGetPosestraight to the RPC. The Python FrameSystem service client (RSDK-14588) needs all four RPCs reachable, so this fills the gap first.Change
RobotClient.get_pose(component_name, destination_frame="", supplemental_transforms=None, *, extra=None, timeout=None) -> PoseInFrame, placed betweenget_frame_system_configandtransform_pose. An empty destination frame is passed through unchanged, since the server defaults it toworld.transform_pose, since docs.viam.com is generated from these.GetPoseadded to the mock robot service intests/mocks/robot.py, matching its siblings.Motion.get_poseon the motion service is untouched. This is the robot level equivalent.Tests
tests/test_robot.py: aGetPosehandler on the sharedRobotServicefixture, plustest_get_pose, which captures the requests and asserts that component name, destination frame, supplemental transforms andextraall reach the wire, and that an omitted destination frame goes out as an empty string.make lint,pyrightandmake testpass (898 passed, 5 skipped).Jira: RSDK-14587
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