diff --git a/python/mujinplanningclient/mobilerobotplanningclient.py b/python/mujinplanningclient/mobilerobotplanningclient.py
index 3c7804d..e143ec3 100644
--- a/python/mujinplanningclient/mobilerobotplanningclient.py
+++ b/python/mujinplanningclient/mobilerobotplanningclient.py
@@ -15,6 +15,23 @@ def __init__(self, **kwargs):
         kwargs['tasktype'] = self.tasktype # override task type
         super(MobileRobotPlanningClient, self).__init__(**kwargs)
 
+    def GetState(self, timeout=10, fireandforget=False, **kwargs):
+        """
+        Args:
+            timeout (float, optional): Time in seconds after which the command is assumed to have failed. (Default: 10.0)
+            fireandforget (bool, optional): If True, does not wait for the command to finish and returns immediately. The command remains queued on the server. (Default: False)
+            unit (str, optional): The unit of the given values. (Default: 'mm')
+            robotname (str, optional): Name of the robot
+            toolname (str, optional): Name of the manipulator. Defaults to currently selected tool
+            robotBridgeConnectionInfo (dict, optional): Information to set up a client to the robot bridge.
+            locationCollisionInfos (dict, optional): List of external collision IOs to be computed and sent in realtime.
+        """
+        taskparameters = {
+            'command': 'GetState',
+        }
+        taskparameters.update(kwargs)
+        return self.ExecuteCommand(taskparameters, timeout=timeout, fireandforget=fireandforget)
+
     def ManageMobileRobotTasks(self, tasks, timeout=None, fireandforget=None, checkpreempt=True, blockwait=True, **kwargs):
         """
         This function will initialize the planning thread if it's not started.
diff --git a/python/mujinplanningclient/planningclient.py b/python/mujinplanningclient/planningclient.py
index 8197fea..f613bc8 100644
--- a/python/mujinplanningclient/planningclient.py
+++ b/python/mujinplanningclient/planningclient.py
@@ -284,6 +284,12 @@ def ExecuteCommand(self, taskparameters, slaverequestid=None, timeout=None, fire
             return None
         return self._ProcessCommandResponse(response, command=command)
 
+    def IsWaitingResponse(self):
+        # type: () -> bool
+        """Returns whether the client is waiting for response on the command socket, and caller should call WaitForCommandResponse().
+        """
+        return self._commandsocket.IsWaitingReply()
+
     def WaitForCommandResponse(self, timeout=None, command=None):
         """Waits for a response for a command sent on the RPC socket.