viam.components.arm.service

Module Contents

Classes

ArmRPCService

gRPC Service for an Arm

class viam.components.arm.service.ArmRPCService(manager: viam.resource.manager.ResourceManager)

Bases: viam.proto.component.arm.ArmServiceBase, viam.resource.rpc_service_base.ResourceRPCServiceBase[viam.components.arm.arm.Arm]

gRPC Service for an Arm

RESOURCE_TYPE

async GetEndPosition(stream: grpclib.server.Stream[viam.proto.component.arm.GetEndPositionRequest, viam.proto.component.arm.GetEndPositionResponse]) → None

async MoveToPosition(stream: grpclib.server.Stream[viam.proto.component.arm.MoveToPositionRequest, viam.proto.component.arm.MoveToPositionResponse]) → None

async GetJointPositions(stream: grpclib.server.Stream[viam.proto.component.arm.GetJointPositionsRequest, viam.proto.component.arm.GetJointPositionsResponse]) → None

async MoveToJointPositions(stream: grpclib.server.Stream[viam.proto.component.arm.MoveToJointPositionsRequest, viam.proto.component.arm.MoveToJointPositionsResponse]) → None

async Stop(stream: grpclib.server.Stream[viam.proto.component.arm.StopRequest, viam.proto.component.arm.StopResponse]) → None

async IsMoving(stream: grpclib.server.Stream[viam.proto.component.arm.IsMovingRequest, viam.proto.component.arm.IsMovingResponse]) → None

async DoCommand(stream: grpclib.server.Stream[viam.proto.common.DoCommandRequest, viam.proto.common.DoCommandResponse]) → None

async GetKinematics(stream: grpclib.server.Stream[viam.proto.common.GetKinematicsRequest, viam.proto.common.GetKinematicsResponse]) → None

async GetGeometries(stream: grpclib.server.Stream[viam.proto.common.GetGeometriesRequest, viam.proto.common.GetGeometriesResponse]) → None