viam.services.worldstatestore ============================= .. py:module:: viam.services.worldstatestore Submodules ---------- .. toctree:: :maxdepth: 1 /autoapi/viam/services/worldstatestore/client/index /autoapi/viam/services/worldstatestore/service/index /autoapi/viam/services/worldstatestore/worldstatestore/index Classes ------- .. autoapisummary:: viam.services.worldstatestore.StreamTransformChangesResponse viam.services.worldstatestore.TransformChangeType viam.services.worldstatestore.WorldStateStoreClient viam.services.worldstatestore.WorldStateStoreService viam.services.worldstatestore.WorldStateStore Package Contents ---------------- .. py:class:: StreamTransformChangesResponse(*, change_type: global___TransformChangeType = ..., transform: viam.gen.common.v1.common_pb2.Transform | None = ..., updated_fields: google.protobuf.field_mask_pb2.FieldMask | None = ...) Bases: :py:obj:`google.protobuf.message.Message` Abstract base class for protocol messages. Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below. .. py:attribute:: change_type :type: global___TransformChangeType .. py:property:: transform :type: viam.gen.common.v1.common_pb2.Transform .. py:property:: updated_fields :type: google.protobuf.field_mask_pb2.FieldMask The field mask of the transform that has changed, if any. For added transforms, this will be empty. For updated transforms, this will be the fields that have changed. For removed transforms, this will be the transform's UUID path. .. py:method:: HasField(field_name: Literal['transform', b'transform', 'updated_fields', b'updated_fields']) -> bool Checks if a certain field is set for the message. For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, :exc:`ValueError` will be raised. :param field_name: The name of the field to check for presence. :type field_name: str :returns: Whether a value has been set for the named field. :rtype: bool :raises ValueError: if the `field_name` is not a member of this message. .. py:class:: TransformChangeType Bases: :py:obj:`_TransformChangeType` .. py:class:: WorldStateStoreClient(name: str, channel: grpclib.client.Channel) Bases: :py:obj:`viam.services.worldstatestore.worldstatestore.WorldStateStore`, :py:obj:`viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase` gRPC client for the WorldStateStore service. .. py:attribute:: client :type: viam.proto.service.worldstatestore.WorldStateStoreServiceStub .. py:attribute:: channel .. py:method:: list_uuids(*, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[bytes] :async: List all world state transform UUIDs. :: worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin") uuids = await worldstatestore.list_uuids() :returns: A list of transform UUIDs :rtype: List[bytes] .. py:method:: get_transform(uuid: bytes, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> viam.proto.common.Transform :async: Get a world state transform by UUID. :: worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin") transform = await worldstatestore.get_transform(uuid=b"some-uuid") :param uuid: The UUID of the transform to retrieve :type uuid: bytes :returns: The requested transform :rtype: Transform .. py:method:: stream_transform_changes(*, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> AsyncGenerator[viam.proto.service.worldstatestore.StreamTransformChangesResponse, None] :async: Stream changes to world state transforms. :: worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin") async for change in worldstatestore.stream_transform_changes(): print(f"Transform {change.transform.uuid} {change.change_type}") :returns: A stream of transform changes :rtype: AsyncIterator[StreamTransformChangesResponse] .. py:method:: do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, viam.utils.ValueTypes] :async: Send/receive arbitrary commands. :: service = SERVICE.from_robot(robot=machine, "builtin") # replace SERVICE with the appropriate class my_command = { "cmnd": "dosomething", "someparameter": 52 } # Can be used with any resource, using the motion service as an example await service.do_command(command=my_command) :param command: The command to execute :type command: Dict[str, ValueTypes] :returns: Result of the executed command :rtype: Dict[str, ValueTypes] .. py:method:: from_robot(robot: viam.robot.client.RobotClient, name: str) -> typing_extensions.Self :classmethod: Get the service named ``name`` from the provided robot. :: async def connect() -> RobotClient: # Replace "" (including brackets) with your API key and "" with your API key ID options = RobotClient.Options.with_api_key("", "") # Replace "" (included brackets) with your machine's connection URL or FQDN return await RobotClient.at_address("", options) async def main(): robot = await connect() # Can be used with any resource, using the motion service as an example motion = MotionClient.from_robot(robot=machine, name="builtin") robot.close() :param robot: The robot :type robot: RobotClient :param name: The name of the service :type name: str :returns: The service, if it exists on the robot :rtype: Self .. py:method:: get_resource_name(name: str) -> viam.proto.common.ResourceName :classmethod: Get the ResourceName for this Resource with the given name :: # Can be used with any resource, using an arm as an example my_arm_name = Arm.get_resource_name("my_arm") :param name: The name of the Resource :type name: str :returns: The ResourceName of this Resource :rtype: ResourceName .. py:method:: get_operation(kwargs: Mapping[str, Any]) -> viam.operations.Operation Get the ``Operation`` associated with the currently running function. When writing custom resources, you should get the ``Operation`` by calling this function and check to see if it's cancelled. If the ``Operation`` is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ). :param kwargs: The kwargs object containing the operation :type kwargs: Mapping[str, Any] :returns: The operation associated with this function :rtype: viam.operations.Operation .. py:method:: close() :async: Safely shut down the resource and prevent further use. Close must be idempotent. Later configuration may allow a resource to be "open" again. If a resource does not want or need a close function, it is assumed that the resource does not need to return errors when future non-Close methods are called. :: await component.close() .. py:class:: WorldStateStoreService(manager: viam.resource.manager.ResourceManager) Bases: :py:obj:`viam.proto.service.worldstatestore.UnimplementedWorldStateStoreServiceBase`, :py:obj:`viam.resource.rpc_service_base.ResourceRPCServiceBase`\ [\ :py:obj:`viam.services.worldstatestore.worldstatestore.WorldStateStore`\ ] Helper class that provides a standard way to create an ABC using inheritance. .. py:attribute:: RESOURCE_TYPE .. py:method:: ListUUIDs(stream: grpclib.server.Stream[viam.proto.service.worldstatestore.ListUUIDsRequest, viam.proto.service.worldstatestore.ListUUIDsResponse]) -> None :async: .. py:method:: GetTransform(stream: grpclib.server.Stream[viam.proto.service.worldstatestore.GetTransformRequest, viam.proto.service.worldstatestore.GetTransformResponse]) -> None :async: .. py:method:: StreamTransformChanges(stream: grpclib.server.Stream[viam.proto.service.worldstatestore.StreamTransformChangesRequest, viam.proto.service.worldstatestore.StreamTransformChangesResponse]) -> None :async: .. py:method:: DoCommand(stream: grpclib.server.Stream[viam.proto.common.DoCommandRequest, viam.proto.common.DoCommandResponse]) -> None :async: .. py:class:: WorldStateStore(name: str, *, logger: Optional[logging.Logger] = None) Bases: :py:obj:`viam.services.service_base.ServiceBase` WorldStateStore is a Viam service that manages world state transforms. The WorldStateStore service provides functionality to store, retrieve, and stream changes to world state transforms, which represent the pose of objects in different reference frames. This functionality can be used to create custom visualizations of the world state. For more information, see `WorldStateStore service `_. .. py:attribute:: API :type: Final The API of the Resource .. py:method:: list_uuids(*, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None) -> List[bytes] :abstractmethod: :async: List all world state transform UUIDs. :: worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin") uuids = await worldstatestore.list_uuids() :returns: A list of transform UUIDs :rtype: List[bytes] .. py:method:: get_transform(uuid: bytes, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None) -> viam.proto.common.Transform :abstractmethod: :async: Get a world state transform by UUID. :: worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin") transform = await worldstatestore.get_transform(uuid=b"some-uuid") :param uuid: The UUID of the transform to retrieve :type uuid: bytes :returns: The requested transform :rtype: Transform .. py:method:: stream_transform_changes(*, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None) -> AsyncGenerator[viam.proto.service.worldstatestore.StreamTransformChangesResponse, None] :abstractmethod: :async: Stream changes to world state transforms. :: worldstatestore = WorldStateStoreClient.from_robot(robot=machine, name="builtin") async for change in worldstatestore.stream_transform_changes(): print(f"Transform {change.transform.uuid} {change.change_type}") :returns: A stream of transform changes :rtype: AsyncIterator[StreamTransformChangesResponse] .. py:method:: from_robot(robot: viam.robot.client.RobotClient, name: str) -> typing_extensions.Self :classmethod: Get the service named ``name`` from the provided robot. :: async def connect() -> RobotClient: # Replace "" (including brackets) with your API key and "" with your API key ID options = RobotClient.Options.with_api_key("", "") # Replace "" (included brackets) with your machine's connection URL or FQDN return await RobotClient.at_address("", options) async def main(): robot = await connect() # Can be used with any resource, using the motion service as an example motion = MotionClient.from_robot(robot=machine, name="builtin") robot.close() :param robot: The robot :type robot: RobotClient :param name: The name of the service :type name: str :returns: The service, if it exists on the robot :rtype: Self .. py:method:: do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, viam.utils.ValueTypes] :abstractmethod: :async: Send/receive arbitrary commands. :: service = SERVICE.from_robot(robot=machine, "builtin") # replace SERVICE with the appropriate class my_command = { "cmnd": "dosomething", "someparameter": 52 } # Can be used with any resource, using the motion service as an example await service.do_command(command=my_command) :param command: The command to execute :type command: Dict[str, ValueTypes] :returns: Result of the executed command :rtype: Dict[str, ValueTypes] .. py:method:: get_resource_name(name: str) -> viam.proto.common.ResourceName :classmethod: Get the ResourceName for this Resource with the given name :: # Can be used with any resource, using an arm as an example my_arm_name = Arm.get_resource_name("my_arm") :param name: The name of the Resource :type name: str :returns: The ResourceName of this Resource :rtype: ResourceName .. py:method:: get_operation(kwargs: Mapping[str, Any]) -> viam.operations.Operation Get the ``Operation`` associated with the currently running function. When writing custom resources, you should get the ``Operation`` by calling this function and check to see if it's cancelled. If the ``Operation`` is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ). :param kwargs: The kwargs object containing the operation :type kwargs: Mapping[str, Any] :returns: The operation associated with this function :rtype: viam.operations.Operation .. py:method:: close() :async: Safely shut down the resource and prevent further use. Close must be idempotent. Later configuration may allow a resource to be "open" again. If a resource does not want or need a close function, it is assumed that the resource does not need to return errors when future non-Close methods are called. :: await component.close()