viam.components.pose_tracker.service

Classes

DoCommandRequest

DoCommandRequest represents a generic DoCommand input

DoCommandResponse

DoCommandResponse represents a generic DoCommand output

GetGeometriesRequest

Abstract base class for protocol messages.

GetGeometriesResponse

Abstract base class for protocol messages.

GetPosesRequest

Abstract base class for protocol messages.

GetPosesResponse

Abstract base class for protocol messages.

PoseTrackerServiceBase

Helper class that provides a standard way to create an ABC using

ResourceRPCServiceBase

Base RPC service for a resource.

PoseTracker

PoseTracker represents a physical pose or motion tracking device.

PoseTrackerRPCService

gRPC service for a pose tracker

Functions

dict_to_struct(→ google.protobuf.struct_pb2.Struct)

struct_to_dict(→ Dict[str, ValueTypes])

Module Contents

class viam.components.pose_tracker.service.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.pose_tracker.service.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.pose_tracker.service.GetGeometriesRequest(*, 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

The component name

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.pose_tracker.service.GetGeometriesResponse(*, geometries: collections.abc.Iterable[global___Geometry] | 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 geometries: google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Geometry]

All geometries associated with the component, in their current configuration, in the frame of that component.

class viam.components.pose_tracker.service.GetPosesRequest(*, name: str = ..., body_names: collections.abc.Iterable[str] | 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

Name of the pose tracker

property body_names: google.protobuf.internal.containers.RepeatedScalarFieldContainer[str]

Names of the bodies whose poses are being requested. In the event this parameter is not supplied or is an empty list, all available poses are returned

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.pose_tracker.service.GetPosesResponse(*, body_poses: collections.abc.Mapping[str, viam.gen.common.v1.common_pb2.PoseInFrame] | 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.

class BodyPosesEntry(*, key: str = ..., value: viam.gen.common.v1.common_pb2.PoseInFrame | 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.

key: str
property value: viam.gen.common.v1.common_pb2.PoseInFrame
HasField(field_name: Literal['value', b'value']) 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.

property body_poses: google.protobuf.internal.containers.MessageMap[str, viam.gen.common.v1.common_pb2.PoseInFrame]

Mapping of each body name to the pose representing the center of the body.

class viam.components.pose_tracker.service.PoseTrackerServiceBase[source]

Bases: abc.ABC

Helper class that provides a standard way to create an ABC using inheritance.

abstract GetPoses(stream: grpclib.server.Stream[component.posetracker.v1.pose_tracker_pb2.GetPosesRequest, component.posetracker.v1.pose_tracker_pb2.GetPosesResponse]) None[source]
Async:

abstract DoCommand(stream: grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]) None[source]
Async:

abstract GetGeometries(stream: grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]) None[source]
Async:

__mapping__() Dict[str, grpclib.const.Handler][source]
class viam.components.pose_tracker.service.ResourceRPCServiceBase(manager: viam.resource.manager.ResourceManager)[source]

Bases: abc.ABC, viam.rpc.types.RPCServiceBase, Generic[viam.resource.manager.ResourceType]

Base RPC service for a resource. All resource RPC services must inherit from this class.

RESOURCE_TYPE
manager: viam.resource.manager.ResourceManager
get_resource(name: str) viam.resource.manager.ResourceType[source]

Return the resource with the given name if it exists in the registry. If the resource does not exist in the registry, this function will raise an error

Parameters:

name (str) – Name of the resource

Raises:

GRPCError with the status code Status.NOT_FOUND

Returns:

The resource

Return type:

ResourceType

viam.components.pose_tracker.service.dict_to_struct(obj: Mapping[str, ValueTypes]) google.protobuf.struct_pb2.Struct[source]
viam.components.pose_tracker.service.struct_to_dict(struct: google.protobuf.struct_pb2.Struct) Dict[str, ValueTypes][source]
class viam.components.pose_tracker.service.PoseTracker(name: str)[source]

Bases: viam.components.component_base.ComponentBase

PoseTracker represents a physical pose or motion tracking device.

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

SUBTYPE: Final
abstract get_poses(body_names: List[str], *, extra: Mapping[str, Any] | None = None, timeout: float | None = None, **kwargs) Dict[str, viam.proto.common.PoseInFrame][source]
Async:

Returns the current pose of each body tracked by the pose tracker.

Parameters:

body_names (List[str]) – Names of the bodies whose poses are being requested. In the event this parameter is not supplied or is an empty list, all available poses are returned.

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.pose_tracker.service.PoseTrackerRPCService(manager: viam.resource.manager.ResourceManager)[source]

Bases: viam.proto.component.posetracker.PoseTrackerServiceBase, viam.resource.rpc_service_base.ResourceRPCServiceBase[viam.components.pose_tracker.pose_tracker.PoseTracker]

gRPC service for a pose tracker

RESOURCE_TYPE
async GetPoses(stream: grpclib.server.Stream[viam.proto.component.posetracker.GetPosesRequest, viam.proto.component.posetracker.GetPosesResponse]) None[source]
async DoCommand(stream: grpclib.server.Stream[viam.proto.common.DoCommandRequest, viam.proto.common.DoCommandResponse]) None[source]
async GetGeometries(stream: grpclib.server.Stream[viam.proto.common.GetGeometriesRequest, viam.proto.common.GetGeometriesResponse]) None[source]