viam.services.motion.client

Module Contents

Classes

MotionClient

Motion is a Viam service that coordinates motion planning across all of the components in a given robot.
class viam.services.motion.client.MotionClient(name: str, channel: grpclib.client.Channel)[source]

Bases: viam.services.service_client_base.ServiceClientBase, viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase

Motion is a Viam service that coordinates motion planning across all of the components in a given robot.

The motion planning service calculates a valid path that avoids self collision by default. If additional constraints are supplied in the world_state message, the motion planning service will also account for those.

SUBTYPE: Final
client: viam.proto.service.motion.MotionServiceStub
async move(component_name: viam.proto.common.ResourceName, destination: viam.proto.common.PoseInFrame, world_state: Optional[viam.proto.common.WorldState] = None, constraints: Optional[viam.proto.service.motion.Constraints] = None, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None) → bool[source]

Plan and execute a movement to move the component specified to its goal destination.

Note: Frames designated with respect to components can also be used as the component_name when calling for a move. This technique allows for planning and moving the frame itself to the destination. To do so, simply create a resource name with originating ReferenceFrame’s name. Then pass in the resource name into component_name. Ex:

resource_name = Arm.get_resource_name("externalFrame")
success = await MotionServiceClient.move(resource_name, ...)
Parameters:
Returns:

Whether the move was successful

Return type:

bool

async move_on_globe(component_name: viam.proto.common.ResourceName, destination: viam.proto.common.GeoPoint, movement_sensor_name: viam.proto.common.ResourceName, obstacles: Optional[Sequence[viam.proto.common.GeoObstacle]] = None, heading: Optional[float] = None, configuration: Optional[viam.proto.service.motion.MotionConfiguration] = None, *, extra: Optional[Mapping[str, viam.utils.ValueTypes]] = None, timeout: Optional[float] = None) → bool[source]

Move a component to a specific latitude and longitude, using a MovementSensor to check the location.

Parameters:

  • component_name (ResourceName) – The component to move

  • destination (GeoPoint) – The destination point

  • movement_sensor_name (ResourceName) – The MovementSensor which will be used to check robot location

  • obstacles (Optional[Sequence[GeoObstacle]], optional) – Obstacles to be considered for motion planning. Defaults to None.

  • heading (Optional[float], optional) – Compass heading to achieve at the destination, in degrees [0-360). Defaults to None.

  • linear_meters_per_sec (Optional[float], optional) – Linear velocity to target when moving. Defaults to None.

  • angular_deg_per_sec (Optional[float], optional) – Angular velocity to target when turning. Defaults to None.

Returns:

Whether the request was successful

Return type:

bool

async move_on_map(component_name: viam.proto.common.ResourceName, destination: viam.proto.common.Pose, slam_service_name: viam.proto.common.ResourceName, *, extra: Optional[Mapping[str, viam.utils.ValueTypes]] = None, timeout: Optional[float] = None) → bool[source]

Move a component to a specific pose, using a SlamService for the SLAM map

Parameters:

  • component_name (ResourceName) – The component to move

  • destination (Pose) – The destination, which can be any pose with respect to the SLAM map’s origin

  • slam_service_name (ResourceName) – The slam service from which the SLAM map is requested

Returns:

Whether the request was successful

Return type:

bool

async get_pose(component_name: viam.proto.common.ResourceName, destination_frame: str, supplemental_transforms: Optional[List[viam.proto.common.Transform]] = None, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None) → viam.proto.common.PoseInFrame[source]

Get the Pose and observer frame for any given component on a robot. A component_name can be created like this:

component_name = Arm.get_resource_name("arm")

Note that the example uses the Arm class, but any component class that inherits from ComponentBase will work (Base, Gripper, etc).

Parameters:

  • component_name (viam.proto.common.ResourceName) – Name of a component on a robot.

  • destination_frame (str) – Name of the desired reference frame.

  • supplemental_transforms (Optional[List[viam.proto.common.Transform]]) – Transforms used to augment the robot’s frame while calculating pose.

Returns:

Pose of the given component and the frame in which it was observed.

Return type:

Pose (PoseInFrame)

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

Send/receive arbitrary commands

Parameters:

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

Returns:

Result of the executed command

Return type:

Dict[str, ValueTypes]

classmethod from_robot(robot: viam.robot.client.RobotClient, name: str = 'builtin') → typing_extensions.Self

Get the service client named name from the provided robot.

Parameters:

  • robot (RobotClient) – The robot

  • name (str) – The name of the service client

Returns:

The service client, 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

Parameters:

name (str) – The name of the Resource

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 retun errors when future non-Close methods are called.