rc-0.5.0

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "viam-sdk"
-version = "0.4.8"
+version = "0.5.0"
 description = "Viam Robotics Python SDK"
 authors = [ "Naveed <[email protected]>" ]
 license = "Apache-2.0"

src/viam/components/arm/__init__.py

@@ -1,6 +1,6 @@
 import asyncio
 
-from viam.proto.common import Geometry, KinematicsFileFormat, Pose
+from viam.proto.common import KinematicsFileFormat, Pose
 from viam.proto.component.arm import JointPositions
 from viam.proto.component.arm import Status as ArmStatus
 from viam.proto.robot import Status
@@ -13,7 +13,6 @@
 
 __all__ = [
     "Arm",
-    "Geometry",
     "JointPositions",
     "KinematicsFileFormat",
     "Pose",

src/viam/components/arm/arm.py

@@ -1,10 +1,10 @@
 import abc
-from typing import Any, Dict, Final, List, Optional, Tuple
+from typing import Any, Dict, Final, Optional, Tuple
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import Geometry, JointPositions, KinematicsFileFormat, Pose
+from . import JointPositions, KinematicsFileFormat, Pose
 
 
 class Arm(ComponentBase):
@@ -122,13 +122,3 @@ async def get_kinematics(
                 - bytes: The byte contents of the file.
         """
         ...
-
-    @abc.abstractmethod
-    async def get_geometries(self) -> List[Geometry]:
-        """
-        Get all geometries associated with the arm, in their current configuration, in the frame of the arm.
-
-        Returns:
-            List[Geometry]: The geometries associated with the arm.
-        """
-        ...

src/viam/components/arm/client.py

@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetKinematicsRequest, GetKinematicsResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetKinematicsRequest, GetKinematicsResponse
 from viam.proto.component.arm import (
     ArmServiceStub,
     GetEndPositionRequest,
@@ -19,7 +19,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Arm, Geometry, KinematicsFileFormat, Pose
+from . import Arm, KinematicsFileFormat, Pose
 
 
 class ArmClient(Arm, ReconfigurableResourceRPCClientBase):

src/viam/components/audio_input/__init__.py

@@ -1,4 +1,3 @@
-from viam.proto.common import Geometry
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .audio_input import AudioInput
@@ -7,7 +6,6 @@
 
 __all__ = [
     "AudioInput",
-    "Geometry",
 ]
 
 

src/viam/components/audio_input/audio_input.py

@@ -1,7 +1,7 @@
 import abc
 from dataclasses import dataclass
 from datetime import timedelta
-from typing import Final, List, Optional
+from typing import Final, Optional
 
 from google.protobuf.duration_pb2 import Duration
 from typing_extensions import Self
@@ -12,7 +12,6 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import Geometry
 
 
 class AudioInput(ComponentBase, MediaSource[Audio]):
@@ -78,13 +77,3 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
             Properties: The audio input properties
         """
         ...
-
-    @abc.abstractmethod
-    async def get_geometries(self) -> List[Geometry]:
-        """
-        Get all geometries associated with the audio input, in their current configuration, in the frame of the audio input.
-
-        Returns:
-            List[Geometry]: The geometries associated with the audio input.
-        """
-        ...

src/viam/components/audio_input/client.py

@@ -4,7 +4,7 @@
 
 from viam.media import MediaStream, MediaStreamWithIterator
 from viam.media.audio import Audio
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.audioinput import (
     AudioInputServiceStub,
     ChunksRequest,
@@ -16,7 +16,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from .audio_input import AudioInput, Geometry
+from .audio_input import AudioInput
 
 
 class AudioInputClient(AudioInput, ReconfigurableResourceRPCClientBase):

src/viam/components/base/__init__.py

@@ -1,4 +1,4 @@
-from viam.proto.common import ActuatorStatus, Geometry, Vector3
+from viam.proto.common import ActuatorStatus, Vector3
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
@@ -9,7 +9,6 @@
 
 __all__ = [
     "Base",
-    "Geometry",
     "Vector3",
 ]
 

src/viam/components/base/base.py

@@ -1,11 +1,11 @@
 import abc
 from dataclasses import dataclass
-from typing import Any, Dict, Final, List, Optional
+from typing import Any, Dict, Final, Optional
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import Geometry, Vector3
+from . import Vector3
 
 
 class Base(ComponentBase):
@@ -149,13 +149,3 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
             Properties: The properties of the base
         """
         ...
-
-    @abc.abstractmethod
-    async def get_geometries(self) -> List[Geometry]:
-        """
-        Get all geometries associated with the base, in their current configuration, in the frame of the base.
-
-        Returns:
-            List[Geometry]: The geometries associated with the base.
-        """
-        ...

src/viam/components/base/client.py

@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.base import (
     BaseServiceStub,
     GetPropertiesRequest,
@@ -18,7 +18,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Base, Geometry, Vector3
+from . import Base, Vector3
 
 
 class BaseClient(Base, ReconfigurableResourceRPCClientBase):

src/viam/components/board/__init__.py

@@ -1,4 +1,3 @@
-from viam.proto.common import Geometry
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
@@ -9,7 +8,6 @@
 
 __all__ = [
     "Board",
-    "Geometry",
 ]
 
 

src/viam/components/board/board.py

@@ -9,7 +9,6 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import Geometry
 
 PostProcessor = Callable[[int], int]
 
@@ -263,13 +262,4 @@ async def set_power_mode(
         Args:
             mode: the desired power mode
         """
-
-    @abc.abstractmethod
-    async def get_geometries(self) -> List[Geometry]:
-        """
-        Get all geometries associated with the board, in their current configuration, in the frame of the board.
-
-        Returns:
-            List[Geometry]: The geometries associated with the board.
-        """
         ...

src/viam/components/board/client.py

@@ -5,7 +5,7 @@
 from google.protobuf.duration_pb2 import Duration
 from grpclib.client import Channel
 
-from viam.proto.common import BoardStatus, DoCommandRequest, DoCommandResponse
+from viam.proto.common import BoardStatus, DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.board import (
     BoardServiceStub,
     GetDigitalInterruptValueRequest,
@@ -29,7 +29,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Board, Geometry
+from . import Board
 from .board import PostProcessor
 
 

src/viam/components/camera/__init__.py

@@ -1,5 +1,4 @@
 from viam.media.video import RawImage
-from viam.proto.common import Geometry
 from viam.proto.component.camera import DistortionParameters, IntrinsicParameters
 from viam.resource.registry import Registry, ResourceRegistration
 
@@ -9,7 +8,6 @@
 
 __all__ = [
     "Camera",
-    "Geometry",
     "IntrinsicParameters",
     "DistortionParameters",
     "RawImage",

src/viam/components/camera/camera.py

@@ -8,7 +8,7 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import DistortionParameters, Geometry, IntrinsicParameters, RawImage
+from . import DistortionParameters, IntrinsicParameters, RawImage
 
 
 class Camera(ComponentBase):
@@ -103,13 +103,3 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
             Properties: The properties of the camera
         """
         ...
-
-    @abc.abstractmethod
-    async def get_geometries(self) -> List[Geometry]:
-        """
-        Get all geometries associated with the camera, in their current configuration, in the frame of the camera.
-
-        Returns:
-            List[Geometry]: The geometries associated with the camera.
-        """
-        ...

src/viam/components/camera/client.py

@@ -5,7 +5,7 @@
 from PIL import Image
 
 from viam.media.video import LIBRARY_SUPPORTED_FORMATS, CameraMimeType, NamedImage
-from viam.proto.common import DoCommandRequest, DoCommandResponse, ResponseMetadata
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, ResponseMetadata
 from viam.proto.component.camera import (
     CameraServiceStub,
     GetImageRequest,
@@ -20,7 +20,7 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Camera, Geometry, RawImage
+from . import Camera, RawImage
 
 
 def get_image_from_response(data: bytes, response_mime_type: str, request_mime_type: Optional[str] = None) -> Union[Image.Image, RawImage]:

src/viam/components/component_base.py

@@ -3,6 +3,7 @@
 
 from typing_extensions import Self
 
+from viam.errors import MethodNotImplementedError
 from viam.proto.common import Geometry
 from viam.resource.base import ResourceBase
 
@@ -43,4 +44,10 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         raise NotImplementedError()
 
     async def get_geometries(self) -> List[Geometry]:
-        raise NotImplementedError()
+        """
+        Get all geometries associated with the Component, in their current configuration, in the frame of the Component.
+
+        Returns:
+            List[Geometry]: The geometries associated with the Component.
+        """
+        raise MethodNotImplementedError("get_geometries")

src/viam/components/encoder/__init__.py

@@ -1,4 +1,3 @@
-from viam.proto.common import Geometry
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import EncoderClient
@@ -7,7 +6,6 @@
 
 __all__ = [
     "Encoder",
-    "Geometry",
 ]
 
 

src/viam/components/encoder/client.py

@@ -2,7 +2,7 @@
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.encoder import (
     EncoderServiceStub,
     GetPositionRequest,
@@ -15,7 +15,6 @@
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
-from . import Geometry
 from .encoder import Encoder
 
 

src/viam/components/encoder/encoder.py

@@ -1,12 +1,11 @@
 import abc
 from dataclasses import dataclass
-from typing import Any, Dict, Final, List, Optional, Tuple
+from typing import Any, Dict, Final, Optional, Tuple
 
 from viam.proto.component.encoder import PositionType
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import Geometry
 
 
 class Encoder(ComponentBase):
@@ -78,13 +77,3 @@ async def get_properties(
             Encoder.Properties: Map of position types to supported status.
         """
         ...
-
-    @abc.abstractmethod
-    async def get_geometries(self) -> List[Geometry]:
-        """
-        Get all geometries associated with the encoder, in their current configuration, in the frame of the encoder.
-
-        Returns:
-            List[Geometry]: The geometries associated with the encoder.
-        """
-        ...

src/viam/components/gantry/__init__.py

@@ -1,6 +1,5 @@
 import asyncio
 
-from viam.proto.common import Geometry
 from viam.proto.component.gantry import Status as GantryStatus
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
@@ -12,7 +11,6 @@
 
 __all__ = [
     "Gantry",
-    "Geometry",
 ]