viam.components.gripper.service

Classes

GripperRPCService

gRPC Service for a Gripper

Module Contents

class viam.components.gripper.service.GripperRPCService(manager: viam.resource.manager.ResourceManager)[source]

Bases: viam.proto.component.gripper.GripperServiceBase, viam.resource.rpc_service_base.ResourceRPCServiceBase[viam.components.gripper.gripper.Gripper]

gRPC Service for a Gripper

RESOURCE_TYPE

async Open(stream: grpclib.server.Stream[viam.proto.component.gripper.OpenRequest, viam.proto.component.gripper.OpenResponse]) → None[source]

async Grab(stream: grpclib.server.Stream[viam.proto.component.gripper.GrabRequest, viam.proto.component.gripper.GrabResponse]) → None[source]

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

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

async IsHoldingSomething(stream: grpclib.server.Stream[viam.proto.component.gripper.IsHoldingSomethingRequest, viam.proto.component.gripper.IsHoldingSomethingResponse]) → None[source]

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

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

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