viam.components.gantry.client

Attributes

ValueTypes

Types that can be encoded into a protobuf Value

Classes

DoCommandRequest

DoCommandRequest represents a generic DoCommand input

DoCommandResponse

DoCommandResponse represents a generic DoCommand output

Geometry

Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box.

GantryServiceStub

GetLengthsRequest

Abstract base class for protocol messages.

GetLengthsResponse

Abstract base class for protocol messages.

GetPositionRequest

Abstract base class for protocol messages.

GetPositionResponse

Abstract base class for protocol messages.

HomeRequest

Abstract base class for protocol messages.

HomeResponse

Abstract base class for protocol messages.

IsMovingRequest

Abstract base class for protocol messages.

IsMovingResponse

Abstract base class for protocol messages.

MoveToPositionRequest

Abstract base class for protocol messages.

StopRequest

Abstract base class for protocol messages.

ReconfigurableResourceRPCClientBase

A base RPC client that can reset its channel.

Gantry

Gantry represents a physical Gantry and can be used for controlling gantries of N axes.

GantryClient

gRPC client for the Gantry component.

Functions

dict_to_struct(→ google.protobuf.struct_pb2.Struct)

get_geometries(→ List[viam.proto.common.Geometry])

struct_to_dict(→ Dict[str, ValueTypes])

Module Contents

class viam.components.gantry.client.DoCommandRequest(*, name: str = ..., command: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

DoCommandRequest represents a generic DoCommand input

name: str
property command: google.protobuf.struct_pb2.Struct
HasField(field_name: Literal['command', b'command']) 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, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.gantry.client.DoCommandResponse(*, result: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

DoCommandResponse represents a generic DoCommand output

property result: google.protobuf.struct_pb2.Struct
HasField(field_name: Literal['result', b'result']) 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, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.gantry.client.Geometry(*, center: global___Pose | None = ..., sphere: global___Sphere | None = ..., box: global___RectangularPrism | None = ..., capsule: global___Capsule | None = ..., label: str = ...)

Bases: google.protobuf.message.Message

Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box.

label: str

Label of the geometry. If none supplied, will be an empty string.

property center: global___Pose

Pose of a geometries center point

property sphere: global___Sphere
property box: global___RectangularPrism
property capsule: global___Capsule
HasField(field_name: Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'sphere', b'sphere']) 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, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

WhichOneof(oneof_group: Literal['geometry_type', b'geometry_type']) Literal['sphere', 'box', 'capsule'] | None

Returns the name of the field that is set inside a oneof group.

If no field is set, returns None.

Parameters:

oneof_group (str) – the name of the oneof group to check.

Returns:

The name of the group that is set, or None.

Return type:

str or None

Raises:

ValueError – no group with the given name exists

class viam.components.gantry.client.GantryServiceStub(channel: grpclib.client.Channel)[source]
class viam.components.gantry.client.GetLengthsRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: 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.

name: str
property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) 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, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.gantry.client.GetLengthsResponse(*, lengths_mm: collections.abc.Iterable[float] | None = ...)

Bases: 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.

property lengths_mm: google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]
class viam.components.gantry.client.GetPositionRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: 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.

name: str
property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) 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, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.gantry.client.GetPositionResponse(*, positions_mm: collections.abc.Iterable[float] | None = ...)

Bases: 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.

property positions_mm: google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]
class viam.components.gantry.client.HomeRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: 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.

name: str
property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) 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, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.gantry.client.HomeResponse(*, homed: bool = ...)

Bases: 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.

homed: bool

A bool describing whether the gantry has completed homing

class viam.components.gantry.client.IsMovingRequest(*, name: str = ...)

Bases: 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.

name: str
class viam.components.gantry.client.IsMovingResponse(*, is_moving: bool = ...)

Bases: 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.

is_moving: bool
class viam.components.gantry.client.MoveToPositionRequest(*, name: str = ..., positions_mm: collections.abc.Iterable[float] | None = ..., speeds_mm_per_sec: collections.abc.Iterable[float] | None = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: 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.

name: str
property positions_mm: google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]

Number of millimeters to move the gantry by respective to each axis.

property speeds_mm_per_sec: google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]

Speeds to move each gantry axis must match length and order of positions_mm.

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) 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, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.gantry.client.StopRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: 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.

name: str

Name of a gantry

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

HasField(field_name: Literal['extra', b'extra']) 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, ValueError will be raised.

Parameters:

field_name (str) – The name of the field to check for presence.

Returns:

Whether a value has been set for the named field.

Return type:

bool

Raises:

ValueError – if the field_name is not a member of this message.

class viam.components.gantry.client.ReconfigurableResourceRPCClientBase[source]

Bases: ResourceRPCClientBase

A base RPC client that can reset its channel.

Useful if connection is lost and then regained.

reset_channel(channel: grpclib.client.Channel)[source]

Called when the RPC channel was reset. Passes in the new channel.

Parameters:

channel (Channel) – The new RPC Channel

viam.components.gantry.client.ValueTypes

Types that can be encoded into a protobuf Value

viam.components.gantry.client.dict_to_struct(obj: Mapping[str, ValueTypes]) google.protobuf.struct_pb2.Struct[source]
async viam.components.gantry.client.get_geometries(client: viam.resource.types.SupportsGetGeometries, name: str, extra: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry][source]
viam.components.gantry.client.struct_to_dict(struct: google.protobuf.struct_pb2.Struct) Dict[str, ValueTypes][source]
class viam.components.gantry.client.Gantry(name: str)[source]

Bases: viam.components.component_base.ComponentBase

Gantry represents a physical Gantry and can be used for controlling gantries of N axes.

This acts as an abstract base class for any drivers representing specific gantry implementations. This cannot be used on its own. If the __init__() function is overridden, it must call the super().__init__() function.

from viam.components.gantry import Gantry

For more information, see Gantry component.

SUBTYPE: Final
abstract get_position(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) List[float][source]
Async:

Get the positions of the axes of the gantry in millimeters.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Get the current positions of the axes of the gantry in millimeters.
positions = await my_gantry.get_position()
Returns:

A list of the position of the axes of the gantry in millimeters.

Return type:

List[float]

For more information, see Gantry component.

abstract move_to_position(positions: List[float], speeds: List[float], *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
Async:

Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Create a list of positions for the axes of the gantry to move to. Assume in
# this example that the gantry is multi-axis, with 3 axes.
examplePositions = [1, 2, 3]

exampleSpeeds = [3, 9, 12]

# Move the axes of the gantry to the positions specified.
await my_gantry.move_to_position(
    positions=examplePositions, speeds=exampleSpeeds)
Parameters:
  • positions (List[float]) – A list of positions for the axes of the gantry to move to, in millimeters.

  • speeds (List[float]) – A list of speeds in millimeters per second for the gantry to move at respective to each axis.

For more information, see Gantry component.

abstract home(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) bool[source]
Async:

Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

await my_gantry.home()
Returns:

Whether the gantry has run the homing sequence successfully.

Return type:

bool

For more information, see Gantry component.

abstract get_lengths(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs) List[float][source]
Async:

Get the lengths of the axes of the gantry in millimeters.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Get the lengths of the axes of the gantry in millimeters.
lengths_mm = await my_gantry.get_lengths()
Returns:

A list of the lengths of the axes of the gantry in millimeters.

Return type:

List[float]

For more information, see Gantry component.

abstract stop(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **kwargs)[source]
Async:

Stop all motion of the gantry. It is assumed that the gantry stops immediately.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Stop all motion of the gantry. It is assumed that the gantry stops
# immediately.
await my_gantry.stop()

For more information, see Gantry component.

abstract is_moving() bool[source]
Async:

Get if the gantry is currently moving.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Stop all motion of the gantry. It is assumed that the
# gantry stops immediately.
await my_gantry.stop()

# Print if the gantry is currently moving.
print(my_gantry.is_moving())
Returns:

Whether the gantry is moving.

Return type:

bool

For more information, see Gantry component.

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self

Get the component named name from the provided robot.

Parameters:
  • robot (RobotClient) – The robot

  • name (str) – The name of the component

Returns:

The component, if it exists on the robot

Return type:

Self

abstract do_command(command: Mapping[str, ValueTypes], *, timeout: float | None = None, **kwargs) Mapping[str, ValueTypes]
Async:

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result = component.do(command)
Parameters:

command (Mapping[str, ValueTypes]) – The command to execute

Raises:

NotImplementedError – Raised if the Resource does not support arbitrary commands

Returns:

Result of the executed command

Return type:

Mapping[str, ValueTypes]

async get_geometries(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry]

Get all geometries associated with the component, in their current configuration, in the frame of the component.

geometries = await component.get_geometries()

if geometries:
    # Get the center of the first geometry
    print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")
Returns:

The geometries associated with the Component.

Return type:

List[Geometry]

classmethod get_resource_name(name: str) viam.proto.common.ResourceName

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 = my_arm.get_resource_name("my_arm")
Parameters:

name (str) – The name of the Resource

Returns:

The ResourceName of this Resource

Return type:

ResourceName

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. ).

Parameters:

kwargs (Mapping[str, Any]) – The kwargs object containing the operation

Returns:

The operation associated with this function

Return type:

viam.operations.Operation

async close()

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()
class viam.components.gantry.client.GantryClient(name: str, channel: grpclib.client.Channel)[source]

Bases: viam.components.gantry.gantry.Gantry, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

gRPC client for the Gantry component.

async get_position(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__) List[float][source]

Get the positions of the axes of the gantry in millimeters.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Get the current positions of the axes of the gantry in millimeters.
positions = await my_gantry.get_position()
Returns:

A list of the position of the axes of the gantry in millimeters.

Return type:

List[float]

For more information, see Gantry component.

async move_to_position(positions: List[float], speeds: List[float], *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__)[source]

Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec).

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Create a list of positions for the axes of the gantry to move to. Assume in
# this example that the gantry is multi-axis, with 3 axes.
examplePositions = [1, 2, 3]

exampleSpeeds = [3, 9, 12]

# Move the axes of the gantry to the positions specified.
await my_gantry.move_to_position(
    positions=examplePositions, speeds=exampleSpeeds)
Parameters:
  • positions (List[float]) – A list of positions for the axes of the gantry to move to, in millimeters.

  • speeds (List[float]) – A list of speeds in millimeters per second for the gantry to move at respective to each axis.

For more information, see Gantry component.

async home(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__) bool[source]

Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

await my_gantry.home()
Returns:

Whether the gantry has run the homing sequence successfully.

Return type:

bool

For more information, see Gantry component.

async get_lengths(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__) List[float][source]

Get the lengths of the axes of the gantry in millimeters.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Get the lengths of the axes of the gantry in millimeters.
lengths_mm = await my_gantry.get_lengths()
Returns:

A list of the lengths of the axes of the gantry in millimeters.

Return type:

List[float]

For more information, see Gantry component.

async stop(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__)[source]

Stop all motion of the gantry. It is assumed that the gantry stops immediately.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Stop all motion of the gantry. It is assumed that the gantry stops
# immediately.
await my_gantry.stop()

For more information, see Gantry component.

async is_moving(*, timeout: float | None = None) bool[source]

Get if the gantry is currently moving.

my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")

# Stop all motion of the gantry. It is assumed that the
# gantry stops immediately.
await my_gantry.stop()

# Print if the gantry is currently moving.
print(my_gantry.is_moving())
Returns:

Whether the gantry is moving.

Return type:

bool

For more information, see Gantry component.

async do_command(command: Mapping[str, viam.utils.ValueTypes], *, timeout: float | None = None, **__) Mapping[str, viam.utils.ValueTypes][source]

Send/Receive arbitrary commands to the Resource

command = {"cmd": "test", "data1": 500}
result = component.do(command)
Parameters:

command (Mapping[str, ValueTypes]) – The command to execute

Raises:

NotImplementedError – Raised if the Resource does not support arbitrary commands

Returns:

Result of the executed command

Return type:

Mapping[str, ValueTypes]

async get_geometries(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry][source]

Get all geometries associated with the component, in their current configuration, in the frame of the component.

geometries = await component.get_geometries()

if geometries:
    # Get the center of the first geometry
    print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")
Returns:

The geometries associated with the Component.

Return type:

List[Geometry]

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self

Get the component named name from the provided robot.

Parameters:
  • robot (RobotClient) – The robot

  • name (str) – The name of the component

Returns:

The component, if it exists on the robot

Return type:

Self

classmethod get_resource_name(name: str) viam.proto.common.ResourceName

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 = my_arm.get_resource_name("my_arm")
Parameters:

name (str) – The name of the Resource

Returns:

The ResourceName of this Resource

Return type:

ResourceName

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. ).

Parameters:

kwargs (Mapping[str, Any]) – The kwargs object containing the operation

Returns:

The operation associated with this function

Return type:

viam.operations.Operation

async close()

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()