viam.robot.client

Attributes

LOGGER

Classes

RobotClient

gRPC client for a machine. This class should be used for all interactions with a machine.

Module Contents

viam.robot.client.LOGGER

class viam.robot.client.RobotClient[source]

gRPC client for a machine. This class should be used for all interactions with a machine.

There are 2 ways to instantiate a robot client:

RobotClient.at_address(...)
RobotClient.with_channel(...)

You can use the client standalone or within a context:

machine = await RobotClient.at_address(...)
async with await RobotClient.with_channel(...) as machine: ...

You must close() the machine to release resources.

Note: Machines used within a context are automatically closed UNLESS created with a channel. Machines created using with_channel are not automatically closed.

Establish a Connection:

import asyncio

from viam.rpc.dial import DialOptions, Credentials
from viam.robot.client import RobotClient


async def connect():
    opts = RobotClient.Options.with_api_key(
        # Replace "<API-KEY>" (including brackets) with your machine's API key
        api_key='<API-KEY>',
        # Replace "<API-KEY-ID>" (including brackets) with your machine's API key ID
        api_key_id='<API-KEY-ID>'
    )
    return await RobotClient.at_address('<ADDRESS-FROM-THE-VIAM-APP>', opts)


async def main():
    # Make a RobotClient
    machine = await connect()
    print('Resources:')
    print(machine.resource_names)
    await machine.close()

if __name__ == '__main__':
    asyncio.run(main())

For more information, see Machine Management API.

class Options[source]

refresh_interval: int = 0: How often to refresh the status of the parts of the machine in seconds. If not set, the machine will not be refreshed automatically

dial_options: viam.rpc.dial.DialOptions | None = None: Options used to connect clients to gRPC servers

log_level: int: The log level to output

check_connection_interval: int = 10: The frequency (in seconds) at which to check if the machine is still connected. 0 (zero) signifies no connection checks

attempt_reconnect_interval: int = 1: The frequency (in seconds) at which to attempt to reconnect a disconnected machine. 0 (zero) signifies no reconnection attempts

disable_sessions: bool = False: Whether sessions are disabled

classmethod with_api_key(api_key: str, api_key_id: str, **kwargs) → typing_extensions.Self[source]

Create RobotClient.Options with an API key for credentials and default values for other arguments.

# Replace "<API-KEY>" (including brackets) with your machine's API key
api_key = '<API-KEY>'
# Replace "<API-KEY-ID>" (including brackets) with your machine's API key ID
api_key_id = '<API-KEY-ID>'

opts = RobotClient.Options.with_api_key(api_key, api_key_id)

machine = await RobotClient.at_address('<ADDRESS-FROM-THE-VIAM-APP>', opts)

Parameters:

api_key (str) – your API key
api_key_id (str) – your API key ID. Must be a valid UUID

Raises:

ValueError – Raised if the api_key_id is not a valid UUID

Returns:

the RobotClient.Options

Return type:

Self

For more information, see Establish a connection.

classmethod at_address(address: str, options: Options) → typing_extensions.Self[source]

Async:

Create a robot client that is connected to the machine at the provided address.

async def connect():

    opts = RobotClient.Options.with_api_key(
        # Replace "<API-KEY>" (including brackets) with your machine's API key
        api_key='<API-KEY>',
        # Replace "<API-KEY-ID>" (including brackets) with your machine's API key ID
        api_key_id='<API-KEY-ID>'
    )
    return await RobotClient.at_address('ADDRESS FROM THE VIAM APP', opts)


async def main():
    # Make a RobotClient
    machine = await connect()

Parameters:

address (str) – Address of the machine (IP address, URL, etc.)
options (Options) – Options for connecting and refreshing

Returns:

the RobotClient

Return type:

Self

For more information, see Establish a connection.

classmethod with_channel(channel: grpclib.client.Channel | viam.rpc.dial.ViamChannel, options: Options) → typing_extensions.Self[source]

Async:

Create a machine that is connected to a machine over the given channel.

Any machines created using this method will NOT automatically close the channel upon exit.

from viam.robot.client import RobotClient
from viam.rpc.dial import DialOptions, dial


async def connect_with_channel() -> RobotClient:
    async with await dial('ADDRESS', DialOptions()) as channel:
        return await RobotClient.with_channel(channel, RobotClient.Options())

machine = await connect_with_channel()

Parameters:

channel (ViamChannel) – The channel that is connected to a machine, obtained by viam.rpc.dial
options (Options) – Options for refreshing. Any connection options will be ignored.

Returns:

the RobotClient

Return type:

Self

For more information, see Establish a connection.

async refresh()[source]

Manually refresh the underlying parts of this machine.

await machine.refresh()

For more information, see Machine Management API.

get_component(name: viam.proto.common.ResourceName) → viam.components.component_base.ComponentBase[source]

Get a component using its ResourceName.

This function should not be called directly except in specific cases. The method Component.from_robot(...) is the preferred method for obtaining components.

arm = Arm.from_robot(robot=machine, name="my_arm")

Because this function returns a generic ComponentBase rather than the specific component type, it will be necessary to cast the returned component to the desired component. This can be done using a few different methods:

Assertion:

arm = machine.get_component(Arm.get_resource_name("my_arm"))
assert isinstance(arm, Arm)
end_pos = await arm.get_end_position()

Explicit cast:

from typing import cast
arm = machine.get_component(Arm.get_resource_name("my_arm"))
arm = cast(Arm, arm)
end_pos = await arm.get_end_position()

Declare type on variable assignment.

Note: If using an IDE, a type error may be shown which can be ignored.
arm: Arm = machine.get_component(Arm.get_resource_name("my_arm"))  # type: ignore
end_pos = await arm.get_end_position()

Parameters:

name (viam.proto.common.ResourceName) – The component’s ResourceName

Raises:

ValueError – Raised if the requested resource is not a component
ComponentNotFoundError – Error if component with the given type and name does not exist in the registry

Returns:

The component

Return type:

ComponentBase

For more information, see Machine Management API.

get_service(name: viam.proto.common.ResourceName) → viam.services.service_base.ServiceBase[source]

Get a service using its ResourceName

This function should not be called directly except in specific cases. The method Service.from_robot(...) is the preferred method for obtaining services.

service = MyService.from_robot(robot=machine, name="my_service")

Because this function returns a generic ServiceBase rather than a specific service type, it will be necessary to cast the returned service to the desired service. This can be done using a few methods:

Assertion:

service = machine.get_service(MyService.get_resource_name("my_service"))
assert isinstance(service, MyService)

Explicit cast:

from typing import cast
service = machine.get_service(MyService.get_resource_name("my_service"))
service = cast(MyService, my_service)

Declare type on variable assignment

Note: If using an IDE, a type error may be shown which can be ignored.
service: MyService = machine.get_service(MyService.get_resource_name("my_service"))  # type: ignore

Parameters:

name (viam.proto.common.ResourceName) – The service’s ResourceName

Raises:

ValueError – Raised if the requested resource is not a component
ComponentNotFoundError – Error if component with the given type and name does not exist in the registry

Returns:

The service

Return type:

ServiceBase

For more information, see Machine Management API.

property resource_names: List[viam.proto.common.ResourceName]

Get a list of all resource names

resource_names = machine.resource_names

Returns:: The list of resource names
Return type:: List[viam.proto.common.ResourceName]

For more information, see Machine Management API.

async close()[source]

Cleanly close the underlying connections and stop any periodic tasks.

await machine.close()

For more information, see Machine Management API.

async __aenter__()[source]

async __aexit__(exc_type, exc_value, traceback)[source]

async get_operations() → List[viam.proto.robot.Operation][source]

Get the list of operations currently running on the machine.

operations = await machine.get_operations()

Returns:: The list of operations currently running on a given machine.
Return type:: List[viam.proto.robot.Operation]

For more information, see Machine Management API.

async cancel_operation(id: str)[source]

Cancels the specified operation on the machine.

await machine.cancel_operation("INSERT OPERATION ID")

Parameters:: id (str) – ID of operation to cancel.

For more information, see Machine Management API.

async block_for_operation(id: str)[source]

Blocks on the specified operation on the machine. This function will only return when the specific operation has finished or has been cancelled.

await machine.block_for_operation("INSERT OPERATION ID")

Parameters:: id (str) – ID of operation to block on.

For more information, see Machine Management API.

async get_frame_system_config(additional_transforms: List[viam.proto.common.Transform] | None = None) → List[viam.proto.robot.FrameSystemConfig][source]

Get the configuration of the frame system of a given machine.

# Get a list of each of the reference frames configured on the machine.
frame_system = await machine.get_frame_system_config()
print(f"frame system configuration: {frame_system}")

Returns:: The configuration of a given machine’s frame system.
Return type:: List[viam.proto.robot.FrameSystemConfig]

For more information, see Machine Management API.

async transform_pose(query: viam.proto.common.PoseInFrame, destination: str, additional_transforms: List[viam.proto.common.Transform] | None = None) → viam.proto.common.PoseInFrame[source]

Transform a given source Pose from the reference frame to a new specified destination which is a reference frame.

from viam.proto.common import Pose, PoseInFrame

pose = Pose(
    x=1.0,    # X coordinate in mm
    y=2.0,    # Y coordinate in mm
    z=3.0,    # Z coordinate in mm
    o_x=0.0,  # X component of orientation vector
    o_y=0.0,  # Y component of orientation vector
    o_z=0.0,  # Z component of orientation vector
    theta=0.0 # Orientation angle in degrees
)

pose_in_frame = PoseInFrame(
    reference_frame="world",
    pose=pose
)

transformed_pose = await machine.transform_pose(pose_in_frame, "world")

Parameters:

query (viam.proto.common.PoseInFrame) – The pose that should be transformed.
destination (str) – The name of the reference frame to transform the given pose to.

Returns:

The pose and the reference frame for the new destination.

Return type:

PoseInFrame

For more information, see Machine Management API.

abstract transform_point_cloud()[source]

Async:

async get_models_from_modules() → List[viam.proto.robot.ModuleModel][source]

Get a list of all models provided by local and registry modules on the machine. This includes models that are not currently configured on the machine.

# Get module models
module_models = await machine.get_models_from_modules(qs)

Args:

Returns:: A list of discovered models.
Return type:: List[ModuleModel]

async stop_all(extra: Dict[viam.proto.common.ResourceName, Dict[str, Any]] = {})[source]

Cancel all current and outstanding operations for the machine and stop all actuators and movement.

# Cancel all current and outstanding operations for the machine and stop all actuators and movement.
await machine.stop_all()

Parameters:: extra (Dict[viam.proto.common.ResourceName, Dict[str, Any]]) – Any extra parameters to pass to the resources’ stop methods, keyed on the resource’s ResourceName.

For more information, see Machine Management API.

async log(name: str, level: str, time: datetime.datetime, message: str, stack: str)[source]

Send log from Python module over gRPC.

Create a LogEntry object from the log to send to RDK.

Parameters:

name (str) – The logger’s name.
level (str) – The level of the log.
time (datetime) – The log creation time.
message (str) – The log message.
stack (str) – The stack information of the log.

For more information, see Machine Management API.

async get_cloud_metadata() → viam.proto.robot.GetCloudMetadataResponse[source]

Get app-related information about the machine.

metadata = await machine.get_cloud_metadata()
print(metadata.machine_id)
print(metadata.machine_part_id)
print(metadata.primary_org_id)
print(metadata.location_id)

Returns:: App-related metadata.
Return type:: viam.proto.robot.GetCloudMetadataResponse

For more information, see Machine Management API.

async shutdown()[source]

Shutdown shuts down the machine.

await machine.shutdown()

Raises:: GRPCError – Raised with DeadlineExceeded status if shutdown request times out, or if the machine server shuts down before having a chance to send a response. Raised with status Unavailable if server is unavailable, or if machine server is in the process of shutting down when response is ready.

For more information, see Machine Management API.

async get_version() → viam.proto.robot.GetVersionResponse[source]

Get version information about the machine.

result = await machine.get_version()
print(result.platform)
print(result.version)
print(result.api_version)

Returns:: Machine version related information.
Return type:: viam.proto.robot.GetVersionResponse

For more information, see Machine Management API.

async get_machine_status() → viam.proto.robot.GetMachineStatusResponse[source]

Get status information about the machine’s resources and configuration.

machine_status = await machine.get_machine_status()
machine_state = machine_status.state
resource_statuses = machine_status.resources
cloud_metadata = machine_status.resources[0].cloud_metadata
config_status = machine_status.config

Returns:: current status of the machine (initializing or running), resources (List[ResourceStatus]) and config of the machine.
Return type:: viam.proto.robot.GetMachineStatusResponse

For more information, see Machine Management API.