viam.proto.component.arm

@generated by Viam. Do not edit manually!

Package Contents

Classes

ArmServiceBase	Helper class that provides a standard way to create an ABC using
ArmServiceStub
GetEndPositionRequest	Abstract base class for protocol messages.
GetEndPositionResponse	Abstract base class for protocol messages.
GetJointPositionsRequest	Abstract base class for protocol messages.
GetJointPositionsResponse	Abstract base class for protocol messages.
IsMovingRequest	Abstract base class for protocol messages.
IsMovingResponse	Abstract base class for protocol messages.
JointPositions	Abstract base class for protocol messages.
MoveToJointPositionsRequest	Abstract base class for protocol messages.
MoveToJointPositionsResponse	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.
Status	Abstract base class for protocol messages.
StopRequest	Abstract base class for protocol messages.
StopResponse	Abstract base class for protocol messages.

class viam.proto.component.arm.ArmServiceBase

Bases: abc.ABC

Helper class that provides a standard way to create an ABC using inheritance.

abstract async GetEndPosition(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse]) → None

abstract async MoveToPosition(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse]) → None

abstract async GetJointPositions(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse]) → None

abstract async MoveToJointPositions(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse]) → None

abstract async Stop(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse]) → None

abstract async IsMoving(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse]) → None

abstract async DoCommand(stream: grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]) → None

abstract async GetKinematics(stream: grpclib.server.Stream[common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse]) → None

abstract async GetGeometries(stream: grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]) → None

__mapping__() → Dict[str, grpclib.const.Handler]

class viam.proto.component.arm.ArmServiceStub(channel: grpclib.client.Channel)

class viam.proto.component.arm.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.

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

name: str

Name of an arm

HasField(field_name: Literal[extra, b'extra']) → 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.

class viam.proto.component.arm.GetEndPositionResponse(*, pose: viam.gen.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.

property pose: viam.gen.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: Literal[pose, b'pose']) → 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.

class viam.proto.component.arm.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.

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

name: str

Name of an arm

HasField(field_name: Literal[extra, b'extra']) → 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.

class viam.proto.component.arm.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.

property positions: global___JointPositions

a list JointPositions

HasField(field_name: Literal[positions, b'positions']) → 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.

class viam.proto.component.arm.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

class viam.proto.component.arm.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

class viam.proto.component.arm.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.

property values: google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]

A list of joint positions. Rotations values are in degrees, translational values in mm. The numbers are ordered spatially from the base toward the end effector This is used in GetJointPositionsResponse and MoveToJointPositionsRequest

class viam.proto.component.arm.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.

property 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

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

name: str

Name of an arm

HasField(field_name: Literal[extra, b'extra', positions, b'positions']) → 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.

class viam.proto.component.arm.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.

class viam.proto.component.arm.MoveToPositionRequest(*, name: str = ..., to: viam.gen.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.

property to: viam.gen.common.v1.common_pb2.Pose

The destination to move the arm to; this is from the reference frame of the arm.

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

name: str

Name of an arm

HasField(field_name: Literal[extra, b'extra', to, b'to']) → 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.

class viam.proto.component.arm.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.

class viam.proto.component.arm.Status(*, end_position: viam.gen.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.

property end_position: viam.gen.common.v1.common_pb2.Pose

property joint_positions: global___JointPositions

is_moving: bool

HasField(field_name: Literal[end_position, b'end_position', joint_positions, b'joint_positions']) → 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.

class viam.proto.component.arm.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.

property extra: google.protobuf.struct_pb2.Struct

Additional arguments to the method

name: str

Name of an arm

HasField(field_name: Literal[extra, b'extra']) → 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.

class viam.proto.component.arm.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.