RSDK-6011 - Add Motion Expose Paths project RPC methods #500
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src/viam/services/motion/client.py
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| 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. |
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nit: in degrees [0-360) ends with ) instead of ].
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This might be on purpose -- I assume it's set notation? 0 is inclusive, 360 is not?
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nope, @purplenicole730 was right, was just a typo
src/viam/services/motion/client.py
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| 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. |
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What is the extra optional in Optional[float], optional for?
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I'm not sure, I was copying the pattern from move_on_globe which this is based on but which I didn't write. should this be just Optional[float]?
src/viam/services/motion/client.py
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| ) -> ListPlanStatusesResponse: | ||
| """**Experimental** | ||
| Returns the status of plans created by MoveOnGlobe requests that are executing | ||
| OR are part of an execution which changed it statewithin the a 24HR TTL OR until the robot reinitializes. |
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...which changed its state within a 24HR TTL...
src/viam/services/motion/client.py
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| extra = {} | ||
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| if only_active_plans is None: | ||
| only_active_plans = False |
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Why not default it to False instead of None?
Ticket
Note:
New methods are annotated as Experimental until the RPC definition of MoveOnGlobe is changed to be that of MoveOnGlobeNew.
Follow up PR will rename
move_on_globe_newtomove_on_globe& delete the oldmove_on_globe& remove the Experimental annotations.I'm making these changes now so I can confirm that the docs update links to the python documentation work as expected.
Changes:
move_on_globe_new, marked as Experimentalstop_plan, marked as Experimentalget_plan, marked as Experimentallist_plan_statuses, marked as Experimental