viam.gen.component.arm.v1.arm_pb2

@generated by mypy-protobuf. Do not edit manually! isort:skip_file

Attributes

`DESCRIPTOR`
`Global___GetEndPositionRequest`
`Global___GetEndPositionResponse`
`Global___JointPositions`
`Global___GetJointPositionsRequest`
`Global___GetJointPositionsResponse`
`Global___MoveToPositionRequest`
`Global___MoveToPositionResponse`
`Global___MoveToJointPositionsRequest`
`Global___MoveToJointPositionsResponse`
`Global___MoveThroughJointPositionsRequest`
`Global___MoveThroughJointPositionsResponse`
`Global___StopRequest`
`Global___StopResponse`
`Global___Status`
`Global___IsMovingRequest`
`Global___IsMovingResponse`
`Global___MoveOptions`

Classes

`GetEndPositionRequest`	Abstract base class for protocol messages.
`GetEndPositionResponse`	Abstract base class for protocol messages.
`JointPositions`	Abstract base class for protocol messages.
`GetJointPositionsRequest`	Abstract base class for protocol messages.
`GetJointPositionsResponse`	Abstract base class for protocol messages.
`MoveToPositionRequest`	Moves an arm to the specified pose that is within the reference frame of the arm.
`MoveToPositionResponse`	Abstract base class for protocol messages.
`MoveToJointPositionsRequest`	Abstract base class for protocol messages.
`MoveToJointPositionsResponse`	Abstract base class for protocol messages.
`MoveThroughJointPositionsRequest`	Abstract base class for protocol messages.
`MoveThroughJointPositionsResponse`	Abstract base class for protocol messages.
`StopRequest`	Abstract base class for protocol messages.
`StopResponse`	Abstract base class for protocol messages.
`Status`	Abstract base class for protocol messages.
`IsMovingRequest`	Abstract base class for protocol messages.
`IsMovingResponse`	Abstract base class for protocol messages.
`MoveOptions`	Abstract base class for protocol messages.

Module Contents

viam.gen.component.arm.v1.arm_pb2.DESCRIPTOR: google.protobuf.descriptor.FileDescriptor

class viam.gen.component.arm.v1.arm_pb2.GetEndPositionRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str: Name of an arm

extra() → google.protobuf.struct_pb2.Struct: Additional arguments to the method

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

type viam.gen.component.arm.v1.arm_pb2.Global___GetEndPositionRequest = GetEndPositionRequest

class viam.gen.component.arm.v1.arm_pb2.GetEndPositionResponse(*, pose: common.v1.common_pb2.Pose | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

pose() → common.v1.common_pb2.Pose: Returns 6d pose of the end effector relative to the base, represented by X,Y,Z coordinates which express millimeters and theta, ox, oy, oz coordinates which express an orientation vector

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

type viam.gen.component.arm.v1.arm_pb2.Global___GetEndPositionResponse = GetEndPositionResponse

class viam.gen.component.arm.v1.arm_pb2.JointPositions(*, values: collections.abc.Iterable[float] | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

values() → google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]: A list of joint positions. Rotations values are in degrees, translational values in mm. There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm

type viam.gen.component.arm.v1.arm_pb2.Global___JointPositions = JointPositions

class viam.gen.component.arm.v1.arm_pb2.GetJointPositionsRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str: Name of an arm

extra() → google.protobuf.struct_pb2.Struct: Additional arguments to the method

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

type viam.gen.component.arm.v1.arm_pb2.Global___GetJointPositionsRequest = GetJointPositionsRequest

class viam.gen.component.arm.v1.arm_pb2.GetJointPositionsResponse(*, positions: Global___JointPositions | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

positions() → Global___JointPositions: a list JointPositions

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

type viam.gen.component.arm.v1.arm_pb2.Global___GetJointPositionsResponse = GetJointPositionsResponse

class viam.gen.component.arm.v1.arm_pb2.MoveToPositionRequest(*, name: str = ..., to: common.v1.common_pb2.Pose | None = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Moves an arm to the specified pose that is within the reference frame of the arm. Move request in Motion API has the same behavior except that it performs obstacle avoidance when a world_state message is specified.

name: str: Name of an arm

to() → common.v1.common_pb2.Pose: The destination to move the arm to; this is from the reference frame of the arm.

extra() → google.protobuf.struct_pb2.Struct: Additional arguments to the method

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

type viam.gen.component.arm.v1.arm_pb2.Global___MoveToPositionRequest = MoveToPositionRequest

class viam.gen.component.arm.v1.arm_pb2.MoveToPositionResponse

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

type viam.gen.component.arm.v1.arm_pb2.Global___MoveToPositionResponse = MoveToPositionResponse

class viam.gen.component.arm.v1.arm_pb2.MoveToJointPositionsRequest(*, name: str = ..., positions: Global___JointPositions | None = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str: Name of an arm

positions() → Global___JointPositions: A list of joint positions There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector

extra() → google.protobuf.struct_pb2.Struct: Additional arguments to the method

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

type viam.gen.component.arm.v1.arm_pb2.Global___MoveToJointPositionsRequest = MoveToJointPositionsRequest

class viam.gen.component.arm.v1.arm_pb2.MoveToJointPositionsResponse

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

type viam.gen.component.arm.v1.arm_pb2.Global___MoveToJointPositionsResponse = MoveToJointPositionsResponse

class viam.gen.component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest(*, name: str = ..., positions: collections.abc.Iterable[Global___JointPositions] | None = ..., options: Global___MoveOptions | None = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str: Name of an arm

positions() → google.protobuf.internal.containers.RepeatedCompositeFieldContainer[Global___JointPositions]: A list of joint positions which will be moved to in the order they are specified

options() → Global___MoveOptions: optional specifications to be obeyed during the motion

extra() → google.protobuf.struct_pb2.Struct: Additional arguments to the method

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

WhichOneof(oneof_group: _WhichOneofArgType__options) → _WhichOneofReturnType__options | None

Returns the name of the field that is set inside a oneof group.

If no field is set, returns None.

Parameters:: oneof_group (str) – the name of the oneof group to check.
Returns:: The name of the group that is set, or None.
Return type:: str or None
Raises:: ValueError – no group with the given name exists

type viam.gen.component.arm.v1.arm_pb2.Global___MoveThroughJointPositionsRequest = MoveThroughJointPositionsRequest

class viam.gen.component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

type viam.gen.component.arm.v1.arm_pb2.Global___MoveThroughJointPositionsResponse = MoveThroughJointPositionsResponse

class viam.gen.component.arm.v1.arm_pb2.StopRequest(*, name: str = ..., extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str: Name of an arm

extra() → google.protobuf.struct_pb2.Struct: Additional arguments to the method

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

type viam.gen.component.arm.v1.arm_pb2.Global___StopRequest = StopRequest

class viam.gen.component.arm.v1.arm_pb2.StopResponse

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

type viam.gen.component.arm.v1.arm_pb2.Global___StopResponse = StopResponse

class viam.gen.component.arm.v1.arm_pb2.Status(*, end_position: common.v1.common_pb2.Pose | None = ..., joint_positions: Global___JointPositions | None = ..., is_moving: bool = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

is_moving: bool

end_position() → common.v1.common_pb2.Pose

joint_positions() → Global___JointPositions

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

type viam.gen.component.arm.v1.arm_pb2.Global___Status = Status

class viam.gen.component.arm.v1.arm_pb2.IsMovingRequest(*, name: str = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

name: str

type viam.gen.component.arm.v1.arm_pb2.Global___IsMovingRequest = IsMovingRequest

class viam.gen.component.arm.v1.arm_pb2.IsMovingResponse(*, is_moving: bool = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

is_moving: bool

type viam.gen.component.arm.v1.arm_pb2.Global___IsMovingResponse = IsMovingResponse

class viam.gen.component.arm.v1.arm_pb2.MoveOptions(*, max_vel_degs_per_sec: float | None = ..., max_acc_degs_per_sec2: float | None = ..., max_vel_degs_per_sec_joints: collections.abc.Iterable[float] | None = ..., max_acc_degs_per_sec2_joints: collections.abc.Iterable[float] | None = ...)

Bases: google.protobuf.message.Message

Abstract base class for protocol messages.

Protocol message classes are almost always generated by the protocol compiler. These generated types subclass Message and implement the methods shown below.

max_vel_degs_per_sec: float: Maximum allowable velocity of an arm joint, in degrees per second. Ignored when max_vel_degs_per_sec_joints is set.

max_acc_degs_per_sec2: float: Maximum allowable acceleration of an arm joint, in degrees per second squared. ignored when max_acc_degs_per_sec2_joints is set.

max_vel_degs_per_sec_joints() → google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]: Per-joint maximum velocity in degrees per second.

max_acc_degs_per_sec2_joints() → google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]: Per-joint maximum acceleration in degrees per second squared.

HasField(field_name: _HasFieldArgType) → bool

Checks if a certain field is set for the message.

For a oneof group, checks if any field inside is set. Note that if the field_name is not defined in the message descriptor, ValueError will be raised.

Parameters:: field_name (str) – The name of the field to check for presence.
Returns:: Whether a value has been set for the named field.
Return type:: bool
Raises:: ValueError – if the field_name is not a member of this message.

WhichOneof(oneof_group: _WhichOneofArgType__max_acc_degs_per_sec2) → _WhichOneofReturnType__max_acc_degs_per_sec2 | None

WhichOneof(oneof_group: _WhichOneofArgType__max_vel_degs_per_sec) → _WhichOneofReturnType__max_vel_degs_per_sec | None

Returns the name of the field that is set inside a oneof group.

If no field is set, returns None.

Parameters:: oneof_group (str) – the name of the oneof group to check.
Returns:: The name of the group that is set, or None.
Return type:: str or None
Raises:: ValueError – no group with the given name exists

type viam.gen.component.arm.v1.arm_pb2.Global___MoveOptions = MoveOptions