feat(robot/client): add support for transform_pcd method

src/viam/robot/client.py

@@ -40,13 +40,18 @@
     ShutdownRequest,
     StopAllRequest,
     StopExtraParameters,
+    TransformPCDRequest,
+    TransformPCDResponse,
     TransformPoseRequest,
     TransformPoseResponse,
 )
 from viam.resource.base import ResourceBase
 from viam.resource.manager import ResourceManager
 from viam.resource.registry import Registry
-from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase, ResourceRPCClientBase
+from viam.resource.rpc_client_base import (
+    ReconfigurableResourceRPCClientBase,
+    ResourceRPCClientBase,
+)
 from viam.resource.types import API, RESOURCE_TYPE_COMPONENT, RESOURCE_TYPE_SERVICE
 from viam.rpc.dial import DialOptions, ViamChannel, _dial_inner, dial
 from viam.services.service_base import ServiceBase
@@ -239,7 +244,11 @@ async def connect_with_channel() -> RobotClient:
 
     @classmethod
     async def _with_channel(
-        cls, channel: Union[Channel, ViamChannel], options: Options, close_channel: bool, robot_addr: Optional[str] = None
+        cls,
+        channel: Union[Channel, ViamChannel],
+        options: Options,
+        close_channel: bool,
+        robot_addr: Optional[str] = None,
     ):
         """INTERNAL USE ONLY"""
 
@@ -261,7 +270,11 @@ async def _with_channel(
         self._options = options
         self._address = self._channel._path if self._channel._path else f"{self._channel._host}:{self._channel._port}"
         self._sessions_client = SessionsClient(
-            self._channel, self._address, self._options.dial_options, disabled=self._options.disable_sessions, robot_addr=robot_addr
+            self._channel,
+            self._address,
+            self._options.dial_options,
+            disabled=self._options.disable_sessions,
+            robot_addr=robot_addr,
         )
 
         try:
@@ -273,12 +286,16 @@ async def _with_channel(
 
         if options.refresh_interval > 0:
             self._refresh_task = asyncio.create_task(
-                self._refresh_every(options.refresh_interval), name=f"{viam._TASK_PREFIX}-robot_refresh_metadata"
+                self._refresh_every(options.refresh_interval),
+                name=f"{viam._TASK_PREFIX}-robot_refresh_metadata",
             )
 
         if options.check_connection_interval > 0 or options.attempt_reconnect_interval > 0:
             self._check_connection_task = asyncio.create_task(
-                self._check_connection(options.check_connection_interval, options.attempt_reconnect_interval),
+                self._check_connection(
+                    options.check_connection_interval,
+                    options.attempt_reconnect_interval,
+                ),
                 name=f"{viam._TASK_PREFIX}-robot_check_connection",
             )
 
@@ -431,7 +448,10 @@ async def _check_connection(self, check_every: int, reconnect_every: int):
                     LOGGER.debug("Successfully reconnected machine")
                     break
                 except Exception as e:
-                    LOGGER.error(f"Failed to reconnect, trying again in {reconnect_every}sec", exc_info=e)
+                    LOGGER.error(
+                        f"Failed to reconnect, trying again in {reconnect_every}sec",
+                        exc_info=e,
+                    )
                     self._sessions_client.reset()
                     self._close_channel()
                     await asyncio.sleep(reconnect_every)
@@ -683,7 +703,10 @@ async def get_frame_system_config(self, additional_transforms: Optional[List[Tra
         return list(response.frame_system_configs)
 
     async def transform_pose(
-        self, query: PoseInFrame, destination: str, additional_transforms: Optional[List[Transform]] = None
+        self,
+        query: PoseInFrame,
+        destination: str,
+        additional_transforms: Optional[List[Transform]] = None,
     ) -> PoseInFrame:
         """
         Transform a given source Pose from the reference frame to a new specified destination which is a reference frame.
@@ -719,12 +742,39 @@ async def transform_pose(
 
         For more information, see `Machine Management API <https://docs.viam.com/appendix/apis/robot/>`_.
         """
-        request = TransformPoseRequest(source=query, destination=destination, supplemental_transforms=additional_transforms)
+        request = TransformPoseRequest(
+            source=query,
+            destination=destination,
+            supplemental_transforms=additional_transforms,
+        )
         response: TransformPoseResponse = await self._client.TransformPose(request)
         return response.pose
 
-    async def transform_point_cloud(self):
-        raise NotImplementedError()
+    async def transform_pcd(self, point_cloud_pcd: bytes, source: str, destination: str) -> bytes:
+        """
+        Transform given pointcloud data from the source reference frame to a new specified destination which is a reference frame.
+
+        ::
+
+            my_camera = Camera.from_robot(robot=machine, name="my_camera")
+            data, _ = await my_camera.get_point_cloud()
+
+            transformed_pcd = await machine.transform_pcd(pcd, "my_camera", "world")
+
+        Args:
+
+            point_cloud_pcd (bytes): The point cloud data to transform
+            source (str) : The name of the reference frame the point cloud data came from, i.e. camera resource.
+            destination (str) : The name of the reference frame to transform the given data to, i.e. world.
+
+        Returns:
+            bytes: The point cloud data relative to the destination reference frame
+
+        For more information, see `Machine Management API <https://docs.viam.com/appendix/apis/robot/>`_.
+        """
+        request = TransformPCDRequest(point_cloud_pcd=point_cloud_pcd, source=source, destination=destination)
+        response: TransformPCDResponse = await self._client.TransformPCD(request)
+        return response.point_cloud_pcd
 
     #################
     # MODULE MODELS #
@@ -795,7 +845,13 @@ async def log(self, name: str, level: str, time: datetime, message: str, stack:
 
         For more information, see `Machine Management API <https://docs.viam.com/appendix/apis/robot/>`_.
         """
-        entry = LogEntry(level=level, time=datetime_to_timestamp(time), logger_name=name, message=message, stack=stack)
+        entry = LogEntry(
+            level=level,
+            time=datetime_to_timestamp(time),
+            logger_name=name,
+            message=message,
+            stack=stack,
+        )
         request = LogRequest(logs=[entry])
         await self._client.Log(request)