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DATA-940 add supplemental_transforms to get_pose #196

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Merged
merged 1 commit into from
Dec 16, 2022
Merged

DATA-940 add supplemental_transforms to get_pose #196

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7 changes: 5 additions & 2 deletions src/viam/services/motion.py
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
from typing import Any, Mapping, Optional
from typing import Any, List, Mapping, Optional

from grpclib.client import Channel

from viam.proto.common import PoseInFrame, ResourceName, WorldState
from viam.proto.common import PoseInFrame, ResourceName, WorldState, Transform
from viam.proto.service.motion import (
GetPoseRequest,
GetPoseResponse,
Expand Down Expand Up @@ -109,6 +109,7 @@ async def get_pose(
self,
component_name: ResourceName,
destination_frame: str,
supplemental_transforms: Optional[List[Transform]] = [],
*,
extra: Optional[Mapping[str, Any]] = None,
timeout: Optional[float] = None,
Expand All @@ -119,6 +120,7 @@ async def get_pose(
Args:
component_name (ResourceName): Name of a component on a robot.
destination_frame (str): Name of the desired reference frame.
supplemental_transforms (Optional[List[Transforms]]): Transforms used to augment the robot's frame while calculating pose.

Returns:
``Pose`` (PoseInFrame): Pose of the given component and the frame in which it was observed.
Expand All @@ -129,6 +131,7 @@ async def get_pose(
name=self.name,
component_name=component_name,
destination_frame=destination_frame,
supplemental_transforms=supplemental_transforms,
extra=dict_to_struct(extra),
)
response: GetPoseResponse = await self.client.GetPose(request, timeout=timeout)
Expand Down