[Question] Is Flexiv.Robot threadsafe?

[skyrimax]

I am working with the RDK for a project and I had a small question. We would like to have an "introspection" thread, basically checking the state and position of the robot arm to inform a PLC. We would like this introspection to be done in a separate thread from the one sending commands to the robot for simplicity and separation of concerns. So basically, I was wondering if that was possible or if I needed to wrap the fleiv.Robot class in a threadsafety class that would implement a lock acquisition and release mechanism. We are using python version 3.10.

[pzhu-flexiv]

@skyrimax In RDK v1.4, flexiv::rdk::Robot::states() is non-blocking and thread safe, the whole data accessing operation is lock protected.

[skyrimax]

Thank you!