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RSDK-11273: Modify Python motion wrappers to send strings #1003

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Merged
merged 3 commits into from
Sep 22, 2025
Merged

RSDK-11273: Modify Python motion wrappers to send strings #1003

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2b33eb4
changed all ResourceNames to strs. Fixed tests
dhritinaidu Sep 16, 2025
a8b972d
updated api version
dhritinaidu Sep 19, 2025
2759fe5
Merge remote-tracking branch 'upstream/main' into RSDK-11273
dhritinaidu Sep 22, 2025
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17 changes: 8 additions & 9 deletions src/viam/services/motion/client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,6 @@
GeoPoint,
Pose,
PoseInFrame,
ResourceName,
Transform,
WorldState,
)
Expand Down Expand Up @@ -54,7 +53,7 @@ def __init__(self, name: str, channel: Channel):

async def move(
self,
component_name: ResourceName,
component_name: str,
destination: PoseInFrame,
world_state: Optional[WorldState] = None,
constraints: Optional[Constraints] = None,
Expand All @@ -77,9 +76,9 @@ async def move(

async def move_on_globe(
self,
component_name: ResourceName,
component_name: str,
destination: GeoPoint,
movement_sensor_name: ResourceName,
movement_sensor_name: str,
obstacles: Optional[Sequence[GeoGeometry]] = None,
heading: Optional[float] = None,
configuration: Optional[MotionConfiguration] = None,
Expand All @@ -106,9 +105,9 @@ async def move_on_globe(

async def move_on_map(
self,
component_name: ResourceName,
component_name: str,
destination: Pose,
slam_service_name: ResourceName,
slam_service_name: str,
configuration: Optional[MotionConfiguration] = None,
obstacles: Optional[Sequence[Geometry]] = None,
*,
Expand All @@ -131,7 +130,7 @@ async def move_on_map(

async def stop_plan(
self,
component_name: ResourceName,
component_name: str,
*,
extra: Optional[Mapping[str, ValueTypes]] = None,
timeout: Optional[float] = None,
Expand All @@ -149,7 +148,7 @@ async def stop_plan(

async def get_plan(
self,
component_name: ResourceName,
component_name: str,
last_plan_only: bool = False,
execution_id: Optional[str] = None,
*,
Expand Down Expand Up @@ -189,7 +188,7 @@ async def list_plan_statuses(

async def get_pose(
self,
component_name: ResourceName,
component_name: str,
destination_frame: str,
supplemental_transforms: Optional[Sequence[Transform]] = None,
*,
Expand Down
74 changes: 36 additions & 38 deletions src/viam/services/motion/motion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
else:
from typing_extensions import TypeAlias

from viam.proto.common import GeoGeometry, Geometry, GeoPoint, Pose, PoseInFrame, ResourceName, Transform, WorldState
from viam.proto.common import GeoGeometry, Geometry, GeoPoint, Pose, PoseInFrame, Transform, WorldState
from viam.proto.service.motion import Constraints, GetPlanResponse, MotionConfiguration, PlanStatusWithID
from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_SERVICE
from viam.utils import ValueTypes
Expand All @@ -33,7 +33,7 @@ class Motion(ServiceBase):
@abc.abstractmethod
async def move(
self,
component_name: ResourceName,
component_name: str,
destination: PoseInFrame,
world_state: Optional[WorldState] = None,
constraints: Optional[Constraints] = None,
Expand All @@ -44,18 +44,17 @@ async def move(
"""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::
technique allows for planning and moving the frame itself to the ``destination``.
To do so, simply pass in a string into ``component_name``. Ex::

resource_name = Gripper.get_resource_name("externalFrame")
success = await MotionServiceClient.move(resource_name, ...)
success = await MotionServiceClient.move("externalFrame", ...)

::

motion = MotionClient.from_robot(robot=machine, name="builtin")

# Assumes a gripper configured with name "my_gripper" on the machine
gripper_name = Gripper.get_resource_name("my_gripper")
# Assumes "my_gripper" on the machine
gripper_name = "my_gripper"
my_frame = "my_gripper_offset"

goal_pose = Pose(x=0, y=0, z=300, o_x=0, o_y=0, o_z=1, theta=0)
Expand All @@ -69,7 +68,7 @@ async def move(
extra={})

Args:
component_name (viam.proto.common.ResourceName): Name of a component on a given robot.
component_name (str): Name of a component on a given robot.
destination (viam.proto.common.PoseInFrame): The destination to move to, expressed as a ``Pose`` and the frame in which it was
observed.
world_state (viam.proto.common.WorldState): When supplied, the motion service will create a plan that obeys any constraints
Expand All @@ -95,9 +94,9 @@ async def move(
@abc.abstractmethod
async def move_on_globe(
self,
component_name: ResourceName,
component_name: str,
destination: GeoPoint,
movement_sensor_name: ResourceName,
movement_sensor_name: str,
obstacles: Optional[Sequence[GeoGeometry]] = None,
heading: Optional[float] = None,
configuration: Optional[MotionConfiguration] = None,
Expand All @@ -120,24 +119,23 @@ async def move_on_globe(

motion = MotionClient.from_robot(robot=machine, name="builtin")

# Get the ResourceNames of the base and movement sensor
my_base_resource_name = Base.get_resource_name("my_base")
mvmnt_sensor_resource_name = MovementSensor.get_resource_name(
"my_movement_sensor")
# Get the names of the base and movement sensor
my_base_name = "my_base"
mvmnt_sensor_name = "my_movement_sensor"
# Define a destination GeoPoint at the GPS coordinates [0, 0]
my_destination = movement_sensor.GeoPoint(latitude=0, longitude=0)

# Move the base component to the designated geographic location, as reported by the movement sensor
execution_id = await motion.move_on_globe(
component_name=my_base_resource_name,
component_name=my_base_name,
destination=my_destination,
movement_sensor_name=mvmnt_sensor_resource_name)
movement_sensor_name=mvmnt_sensor_name)

Args:
component_name (ResourceName): The ResourceName of the base to move.
component_name (str): The name of the base to move.
destination (GeoPoint): The location of the component's destination, represented in geographic notation as a
GeoPoint (lat, lng).
movement_sensor_name (ResourceName): The ResourceName of the movement sensor that you want to use to check
movement_sensor_name (str): The name of the movement sensor that you want to use to check
the machine's location.
obstacles (Optional[Sequence[GeoGeometry]]): Obstacles to consider when planning the motion of the component,
with each represented as a GeoGeometry. Default: None
Expand Down Expand Up @@ -170,9 +168,9 @@ async def move_on_globe(
@abc.abstractmethod
async def move_on_map(
self,
component_name: ResourceName,
component_name: str,
destination: Pose,
slam_service_name: ResourceName,
slam_service_name: str,
configuration: Optional[MotionConfiguration] = None,
obstacles: Optional[Sequence[Geometry]] = None,
*,
Expand All @@ -194,23 +192,23 @@ async def move_on_map(

motion = MotionClient.from_robot(robot=machine, name="builtin")

# Get the ResourceNames of the base component and SLAM service
my_base_resource_name = Base.get_resource_name("my_base")
my_slam_service_name = SLAMClient.get_resource_name("my_slam_service")
# Get the names of the base component and SLAM service
my_base_name = "my_base"
my_slam_service_name = "my_slam_service"

# Define a destination pose with respect to the origin of the map from the SLAM service "my_slam_service"
my_pose = Pose(y=10)

# Move the base component to the destination pose of Y=10, a location of
# (0, 10, 0) in respect to the origin of the map
execution_id = await motion.move_on_map(component_name=my_base_resource_name,
execution_id = await motion.move_on_map(component_name=my_base_name,
destination=my_pose,
slam_service_name=my_slam_service_name)

Args:
component_name (ResourceName): The ResourceName of the base to move.
component_name (str): The name of the base to move.
destination (Pose): The destination, which can be any Pose with respect to the SLAM map's origin.
slam_service_name (ResourceName): The ResourceName of the SLAM service from which the SLAM map is requested.
slam_service_name (str): The name of the SLAM service from which the SLAM map is requested.
configuration (Optional[MotionConfiguration]): The configuration you want to set across this machine for this motion service.
This parameter and each of its fields are optional.

Expand All @@ -237,7 +235,7 @@ async def move_on_map(
@abc.abstractmethod
async def stop_plan(
self,
component_name: ResourceName,
component_name: str,
*,
extra: Optional[Mapping[str, ValueTypes]] = None,
timeout: Optional[float] = None,
Expand All @@ -251,11 +249,11 @@ async def stop_plan(
# Assuming a `move_on_globe()` started the execution
# Stop the base component which was instructed to move by `move_on_globe()`
# or `move_on_map()`
my_base_resource_name = Base.get_resource_name("my_base")
my_base_name = "my_base"
await motion.stop_plan(component_name=mvmnt_sensor)

Args:
component_name (ResourceName): The component to stop
component_name (str): The component to stop

For more information, see `Motion service <https://docs.viam.com/dev/reference/apis/services/motion/#stopplan>`_.
"""
Expand All @@ -264,7 +262,7 @@ async def stop_plan(
@abc.abstractmethod
async def get_plan(
self,
component_name: ResourceName,
component_name: str,
last_plan_only: bool = False,
execution_id: Optional[str] = None,
*,
Expand All @@ -291,12 +289,12 @@ async def get_plan(
::

motion = MotionClient.from_robot(robot=machine, name="builtin")
my_base_resource_name = Base.get_resource_name("my_base")
my_base_name = "my_base"
# Get the plan(s) of the base component which was instructed to move by `MoveOnGlobe()` or `MoveOnMap()`
resp = await motion.get_plan(component_name=my_base_resource_name)
resp = await motion.get_plan(component_name=my_base_name)

Args:
component_name (ResourceName): The component to stop
component_name (str): The component to stop
last_plan_only (Optional[bool]): If supplied, the response will only return the last plan for the component / execution.
execution_id (Optional[str]): If supplied, the response will only return plans with the provided execution_id.

Expand Down Expand Up @@ -343,7 +341,7 @@ async def list_plan_statuses(
@abc.abstractmethod
async def get_pose(
self,
component_name: ResourceName,
component_name: str,
destination_frame: str,
supplemental_transforms: Optional[Sequence[Transform]] = None,
*,
Expand All @@ -359,7 +357,7 @@ async def get_pose(
# (``Arm``, ``Base``, etc).

# Create a `component_name`:
component_name = Gripper.get_resource_name("my_gripper")
component_name = "my_gripper"

from viam.components.gripper import Gripper
from viam.services.motion import MotionClient
Expand All @@ -368,12 +366,12 @@ async def get_pose(
robot = await connect()

motion = MotionClient.from_robot(robot=machine, name="builtin")
gripperName = Gripper.get_resource_name("my_gripper")
gripperName = "my_gripper"
gripperPoseInWorld = await motion.get_pose(component_name=gripperName,
destination_frame="world")

Args:
component_name (viam.proto.common.ResourceName): Name of a component on a robot.
component_name (str): 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.
Expand Down
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