viam.proto.common
@generated by Viam. Do not edit manually!
Package Contents
Classes
ActuatorStatus is a generic status for resources that only need to return actuator status. |
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Abstract base class for protocol messages. |
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Abstract base class for protocol messages. |
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Abstract base class for protocol messages. |
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Abstract base class for protocol messages. |
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DoCommandRequest represents a generic DoCommand input |
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DoCommandResponse represents a generic DoCommand output |
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GeometriesinFrame contains the dimensions of a given geometry, pose of its center point, and the reference frame by which it was |
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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. |
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GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle, |
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Abstract base class for protocol messages. |
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Abstract base class for protocol messages. |
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PointCloudObject contains an image in bytes with point cloud data of all of the objects captured by a given observer as well as a |
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Pose is a combination of location and orientation. |
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PoseInFrame contains a pose and the and the reference frame in which it was observed |
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RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms |
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Abstract base class for protocol messages. |
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Abstract base class for protocol messages. |
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Transform contains a pose and two reference frames. The first reference frame is the starting reference frame, and the second reference |
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Abstract base class for protocol messages. |
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WorldState contains information about the physical environment around a given robot. All of the fields within this message are optional, |
- class viam.proto.common.ActuatorStatus(*, is_moving: bool = ...)
Bases:
google.protobuf.message.Message
ActuatorStatus is a generic status for resources that only need to return actuator status.
- is_moving: bool
- class viam.proto.common.AnalogStatus(*, value: int = ...)
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.
- value: int
Current value of the analog reader of a robot’s board
- class viam.proto.common.BoardStatus(*, analogs: collections.abc.Mapping[builtins.str, global___AnalogStatus] | None = ..., digital_interrupts: collections.abc.Mapping[builtins.str, global___DigitalInterruptStatus] | 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 AnalogsEntry(*, key: str = ..., value: global___AnalogStatus | 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 value: global___AnalogStatus
- key: str
- 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.
- class DigitalInterruptsEntry(*, key: str = ..., value: global___DigitalInterruptStatus | 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 value: global___DigitalInterruptStatus
- key: str
- 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 analogs: google.protobuf.internal.containers.MessageMap[str, global___AnalogStatus]
- property digital_interrupts: google.protobuf.internal.containers.MessageMap[str, global___DigitalInterruptStatus]
- class viam.proto.common.Capsule(*, radius_mm: float = ..., length_mm: float = ...)
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.
- radius_mm: float
- length_mm: float
- class viam.proto.common.DigitalInterruptStatus(*, value: int = ...)
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.
- value: int
Current value of the digital interrupt of a robot’s board
- class viam.proto.common.DoCommandRequest(*, name: str = ..., command: google.protobuf.struct_pb2.Struct | None = ...)
Bases:
google.protobuf.message.Message
DoCommandRequest represents a generic DoCommand input
- property command: google.protobuf.struct_pb2.Struct
- name: str
- 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.proto.common.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.proto.common.GeometriesInFrame(*, reference_frame: str = ..., geometries: collections.abc.Iterable[global___Geometry] | None = ...)
Bases:
google.protobuf.message.Message
GeometriesinFrame contains the dimensions of a given geometry, pose of its center point, and the reference frame by which it was observed.
- property geometries: google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Geometry]
Dimensional type
- reference_frame: str
Reference frame of the observer of the geometry
- class viam.proto.common.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.
- property center: global___Pose
Pose of a geometries center point
- property sphere: global___Sphere
- property box: global___RectangularPrism
- property capsule: global___Capsule
- label: str
Label of the geometry. If none supplied, will be an empty string.
- 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']) typing_extensions.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.proto.common.GeoObstacle(*, location: global___GeoPoint | None = ..., geometries: collections.abc.Iterable[global___Geometry] | None = ...)
Bases:
google.protobuf.message.Message
GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle, captured in latitude and longitude.
- property location: global___GeoPoint
Location of the obstacle
- property geometries: google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Geometry]
Geometries that describe the obstacle, where embedded Pose data is with respect to the specified location
- HasField(field_name: Literal[location, b'location']) 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.proto.common.GeoPoint(*, latitude: float = ..., longitude: float = ...)
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.
- latitude: float
- longitude: float
- class viam.proto.common.Orientation(*, o_x: float = ..., o_y: float = ..., o_z: float = ..., theta: float = ...)
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.
- o_x: float
x component of a vector defining axis of rotation
- o_y: float
y component of a vector defining axis of rotation
- o_z: float
z component of a vector defining axis of rotation
- theta: float
degrees
- class viam.proto.common.PointCloudObject(*, point_cloud: bytes = ..., geometries: global___GeometriesInFrame | None = ...)
Bases:
google.protobuf.message.Message
PointCloudObject contains an image in bytes with point cloud data of all of the objects captured by a given observer as well as a repeated list of geometries which respresents the center point and geometry of each of the objects within the point cloud
- property geometries: global___GeometriesInFrame
volume of a given geometry
- point_cloud: bytes
image frame expressed in bytes
- HasField(field_name: Literal[geometries, b'geometries']) 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.proto.common.Pose(*, x: float = ..., y: float = ..., z: float = ..., o_x: float = ..., o_y: float = ..., o_z: float = ..., theta: float = ...)
Bases:
google.protobuf.message.Message
Pose is a combination of location and orientation. Location is expressed as distance which is represented by x , y, z coordinates. Orientation is expressed as an orientation vector which is represented by o_x, o_y, o_z and theta. The o_x, o_y, o_z coordinates represent the point on the cartesian unit sphere that the end of the arm is pointing to (with the origin as reference). That unit vector forms an axis around which theta rotates. This means that incrementing / decrementing theta will perform an inline rotation of the end effector. Theta is defined as rotation between two planes: the first being defined by the origin, the point (0,0,1), and the rx, ry, rz point, and the second being defined by the origin, the rx, ry, rz point and the local Z axis. Therefore, if theta is kept at zero as the north/south pole is circled, the Roll will correct itself to remain in-line.
- x: float
millimeters from the origin
- y: float
millimeters from the origin
- z: float
millimeters from the origin
- o_x: float
z component of a vector defining axis of rotation
- o_y: float
x component of a vector defining axis of rotation
- o_z: float
y component of a vector defining axis of rotation
- theta: float
degrees
- class viam.proto.common.PoseInFrame(*, reference_frame: str = ..., pose: global___Pose | None = ...)
Bases:
google.protobuf.message.Message
PoseInFrame contains a pose and the and the reference frame in which it was observed
- property pose: global___Pose
- reference_frame: str
- HasField(field_name: Literal[pose, b'pose']) 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.proto.common.RectangularPrism(*, dims_mm: global___Vector3 | None = ...)
Bases:
google.protobuf.message.Message
RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms These dimensions are with respect to the referenceframe in which the RectangularPrism is defined
- property dims_mm: global___Vector3
- HasField(field_name: Literal[dims_mm, b'dims_mm']) 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.proto.common.ResourceName(*, namespace: str = ..., type: str = ..., subtype: str = ..., 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.
- namespace: str
- type: str
- subtype: str
- name: str
- class viam.proto.common.Sphere(*, radius_mm: float = ...)
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.
- radius_mm: float
- class viam.proto.common.Transform(*, reference_frame: str = ..., pose_in_observer_frame: global___PoseInFrame | None = ..., physical_object: global___Geometry | None = ...)
Bases:
google.protobuf.message.Message
Transform contains a pose and two reference frames. The first reference frame is the starting reference frame, and the second reference frame is the observer reference frame. The second reference frame has a pose which represents the pose of an object in the first reference frame as observed within the second reference frame.
- property pose_in_observer_frame: global___PoseInFrame
the pose of the above reference frame with respect to a different observer reference frame
- property physical_object: global___Geometry
- reference_frame: str
the name of a given reference frame
- HasField(field_name: Literal[_physical_object, b'_physical_object', physical_object, b'physical_object', pose_in_observer_frame, b'pose_in_observer_frame']) 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[_physical_object, b'_physical_object']) typing_extensions.Literal['physical_object'] | 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.proto.common.Vector3(*, x: float = ..., y: float = ..., z: float = ...)
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.
- x: float
- y: float
- z: float
- class viam.proto.common.WorldState(*, obstacles: collections.abc.Iterable[global___GeometriesInFrame] | None = ..., transforms: collections.abc.Iterable[global___Transform] | None = ...)
Bases:
google.protobuf.message.Message
WorldState contains information about the physical environment around a given robot. All of the fields within this message are optional, they can include information about the physical dimensions of an obstacle, the freespace of a robot, and any desired transforms between a given reference frame and a new target reference frame.
- property obstacles: google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___GeometriesInFrame]
a list of obstacles expressed as a geometry and the reference frame in which it was observed; this field is optional
- property transforms: google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___Transform]
a list of Transforms, optionally with geometries. Used as supplemental transforms to transform a pose from one reference frame to another, or to attach moving geometries to the frame system. This field is optional