`viam.proto.common`

@generated by Viam. Do not edit manually!

Package Contents

Classes

`ActuatorStatus`	ActuatorStatus is a generic status for resources that only need to return actuator status.
`AnalogStatus`	Abstract base class for protocol messages.
`BoardStatus`	Abstract base class for protocol messages.
`Capsule`	Abstract base class for protocol messages.
`DigitalInterruptStatus`	Abstract base class for protocol messages.
`DoCommandRequest`	DoCommandRequest represents a generic DoCommand input
`DoCommandResponse`	DoCommandResponse represents a generic DoCommand output
`GeometriesInFrame`	GeometriesinFrame contains the dimensions of a given geometry, pose of its center point, and the reference frame by which it was
`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.
`GeoObstacle`	GeoObstacle contains information about the geometric structure of an obstacle and the location of the obstacle,
`GeoPoint`	Abstract base class for protocol messages.
`GetGeometriesRequest`	Abstract base class for protocol messages.
`GetGeometriesResponse`	Abstract base class for protocol messages.
`GetKinematicsRequest`	Abstract base class for protocol messages.
`GetKinematicsResponse`	Abstract base class for protocol messages.
`GetReadingsRequest`	Abstract base class for protocol messages.
`GetReadingsResponse`	Abstract base class for protocol messages.
`KinematicsFileFormat`
`Orientation`	Abstract base class for protocol messages.
`PointCloudObject`	PointCloudObject contains an image in bytes with point cloud data of all of the objects captured by a given observer as well as a
`Pose`	Pose is a combination of location and orientation.
`PoseInFrame`	PoseInFrame contains a pose and the and the reference frame in which it was observed
`RectangularPrism`	RectangularPrism contains a Vector3 field corresponding to the X, Y, Z dimensions of the prism in mms
`ResourceName`	Abstract base class for protocol messages.
`ResponseMetadata`	Abstract base class for protocol messages.
`Sphere`	Abstract base class for protocol messages.
`Transform`	Transform contains a pose and two reference frames. The first reference frame is the starting reference frame, and the second reference
`Vector3`	Abstract base class for protocol messages.
`WorldState`	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[str, global___AnalogStatus] | None = ..., digital_interrupts: collections.abc.Mapping[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']) → 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.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.

property extra: google.protobuf.struct_pb2.Struct: Additional arguments to the method

name: str: The component name

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.proto.common.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.proto.common.GetKinematicsRequest(*, 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.

property extra: google.protobuf.struct_pb2.Struct: Additional arguments to the method

name: str: The component name

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.proto.common.GetKinematicsResponse(*, format: global___KinematicsFileFormat = ..., kinematics_data: bytes = ...)

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.

format: global___KinematicsFileFormat: The kinematics of the component, in either URDF format or in Viam’s kinematic parameter format (spatial vector algebra) https://docs.viam.com/internals/kinematic-chain-config/#kinematic-parameters

kinematics_data: bytes: The byte contents of the file

class viam.proto.common.GetReadingsRequest(*, 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.

property extra: google.protobuf.struct_pb2.Struct: Additional arguments to the method

name: str: Name of a sensor

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.proto.common.GetReadingsResponse(*, readings: collections.abc.Mapping[str, google.protobuf.struct_pb2.Value] | 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 ReadingsEntry(*, key: str = ..., value: google.protobuf.struct_pb2.Value | 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: google.protobuf.struct_pb2.Value

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 readings: google.protobuf.internal.containers.MessageMap[str, google.protobuf.struct_pb2.Value]

class viam.proto.common.KinematicsFileFormat: Bases: _KinematicsFileFormat

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.ResponseMetadata(*, captured_at: google.protobuf.timestamp_pb2.Timestamp | 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 captured_at: google.protobuf.timestamp_pb2.Timestamp: captured_at is the time at which the resource as close as physically possible, captured the data in the response. Note: If correlating between other resources, be sure that the means of measuring the capture are similar enough such that comparison can be made between them.

HasField(field_name: Literal[_captured_at, b'_captured_at', captured_at, b'captured_at']) → 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[_captured_at, b'_captured_at']) → Literal[captured_at] | 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.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']) → 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

viam.proto.common

Package Contents

Classes

`viam.proto.common`