viam.proto.component.arm

@generated by Viam. Do not edit manually!

Classes

`ArmServiceBase`	Helper class that provides a standard way to create an ABC using
`ArmServiceStub`
`UnimplementedArmServiceBase`	Helper class that provides a standard way to create an ABC using
`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.
`JointAccelerations`	Abstract base class for protocol messages.
`JointPositions`	Abstract base class for protocol messages.
`JointVelocities`	Abstract base class for protocol messages.
`MoveOptions`	MoveOptions specifies kinematic constraints for an arm motion. All fields
`MoveThroughJointPositionsRequest`	Abstract base class for protocol messages.
`MoveThroughJointPositionsResponse`	Abstract base class for protocol messages.
`MoveThroughJointPositionsStreamedRequest`	Abstract base class for protocol messages.
`MoveThroughJointPositionsStreamedResponse`	Streamed back to the client while an arm is performing a streaming move.
`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.
`TrajectoryPoint`	One waypoint in a streamed joint-space trajectory.

Package Contents

class viam.proto.component.arm.ArmServiceBase[source]

Bases: abc.ABC

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

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

Async:

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

Async:

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

Async:

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

Async:

abstractmethod MoveThroughJointPositions(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse]) → None[source]

Async:

abstractmethod MoveThroughJointPositionsStreamed(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.MoveThroughJointPositionsStreamedRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsStreamedResponse]) → None[source]

Async:

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

Async:

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

Async:

abstractmethod DoCommand(stream: grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]) → None[source]

Async:

abstractmethod GetStatus(stream: grpclib.server.Stream[common.v1.common_pb2.GetStatusRequest, common.v1.common_pb2.GetStatusResponse]) → None[source]

Async:

abstractmethod GetKinematics(stream: grpclib.server.Stream[common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse]) → None[source]

Async:

abstractmethod GetGeometries(stream: grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]) → None[source]

Async:

abstractmethod Get3DModels(stream: grpclib.server.Stream[common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse]) → None[source]

Async:

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

class viam.proto.component.arm.ArmServiceStub(channel: grpclib.client.Channel)[source]

GetEndPosition

MoveToPosition

GetJointPositions

MoveToJointPositions

MoveThroughJointPositions

MoveThroughJointPositionsStreamed

Stop

IsMoving

DoCommand

GetStatus

GetKinematics

GetGeometries

Get3DModels

class viam.proto.component.arm.UnimplementedArmServiceBase[source]

Bases: ArmServiceBase

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

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

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

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

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

async MoveThroughJointPositions(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse]) → None[source]

async MoveThroughJointPositionsStreamed(stream: grpclib.server.Stream[component.arm.v1.arm_pb2.MoveThroughJointPositionsStreamedRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsStreamedResponse]) → None[source]

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

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

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

async GetStatus(stream: grpclib.server.Stream[common.v1.common_pb2.GetStatusRequest, common.v1.common_pb2.GetStatusResponse]) → None[source]

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

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

async Get3DModels(stream: grpclib.server.Stream[common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse]) → None[source]

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.

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.

class viam.proto.component.arm.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.

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.

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.

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.

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.

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.JointAccelerations(*, 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 accelerations. Rotational values are in degrees per second squared, translational values in mm per second squared. There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.

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.

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

class viam.proto.component.arm.JointVelocities(*, 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 velocities. Rotational values are in degrees per second, translational values in mm per second. There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm.

class viam.proto.component.arm.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 = ..., max_tcp_speed: float | None = ...)

Bases: google.protobuf.message.Message

MoveOptions specifies kinematic constraints for an arm motion. All fields are optional ceilings; any combination may be set. Every constraint that is set is respected at every point along the executed trajectory. The limiting constraint may change throughout execution.

max_vel_degs_per_sec: float: Maximum allowable velocity of an arm joint, in degrees per second. The arm driver will move as fast as possible up to the set value. 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. The arm driver will accelerate as fast as possible up to the set value. ignored when max_acc_degs_per_sec2_joints is set.

max_tcp_speed: float: Maximum allowable speed of an arm’s tool center point in meters per second. The arm driver will move the tool center point as fast as possible up to this set value.

max_vel_degs_per_sec_joints() → google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]: Per-joint maximum velocity in degrees per second. The arm driver will move each joint as fast as possible up to its respective set value.

max_acc_degs_per_sec2_joints() → google.protobuf.internal.containers.RepeatedScalarFieldContainer[float]: Per-joint maximum acceleration in degrees per second squared. The arm driver will accelerate each joint as fast as possible up to its respective set value.

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_tcp_speed) → _WhichOneofReturnType__max_tcp_speed | 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

class viam.proto.component.arm.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

class viam.proto.component.arm.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.

class viam.proto.component.arm.MoveThroughJointPositionsStreamedRequest(*, name: str = ..., init: Global___MoveThroughJointPositionsStreamedRequest | None = ..., batch: Global___MoveThroughJointPositionsStreamedRequest | 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.

class Init(*, 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.

extra() → google.protobuf.struct_pb2.Struct: Additional sticky 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.

class TrajectoryBatch(*, points: collections.abc.Iterable[Global___TrajectoryPoint] | 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.

points() → google.protobuf.internal.containers.RepeatedCompositeFieldContainer[Global___TrajectoryPoint]: Trajectory points to append to the motion, in order. Append-only; points cannot be replaced or revoked.

name: str: Name of the arm to control.

init() → Global___MoveThroughJointPositionsStreamedRequest: Stream initiation. Sent exactly once and must be the first message on the stream.

batch() → Global___MoveThroughJointPositionsStreamedRequest: A batch of trajectory points to append to the running motion. Sent N times after init.

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_message) → _WhichOneofReturnType_message | 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

class viam.proto.component.arm.MoveThroughJointPositionsStreamedResponse(*, ack: Global___MoveThroughJointPositionsStreamedResponse | None = ...)

Bases: google.protobuf.message.Message

Streamed back to the client while an arm is performing a streaming move.

class BatchAck(*, extra: google.protobuf.struct_pb2.Struct | None = ...)

Bases: google.protobuf.message.Message

BatchAck is returned by arm implementations to ack a TrajectoryBatch. Due to the lack of actionable payload in BatchAck, Arm implementations are not currently obligated to ack every batch, or even any batch. It is currently unspecified whether ack’ing a batch indicates its acceptance, issue to the arm, or completion. These very relaxed requirements may become tighter if and when BatchAck messages begin carrying meaningful payloads back to the client. For now, the recommended practice for arm implementors is to ack each batch that has been successfully issued/enqueued to the arm.

extra() → google.protobuf.struct_pb2.Struct: Additional reply data

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.

ack() → Global___MoveThroughJointPositionsStreamedResponse

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_message) → _WhichOneofReturnType_message | 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

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.

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.

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: 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.

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: 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.

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.

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.

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.

class viam.proto.component.arm.TrajectoryPoint(*, time: google.protobuf.duration_pb2.Duration | None = ..., positions: Global___JointPositions | None = ..., constraints: Global___TrajectoryPoint | None = ...)

Bases: google.protobuf.message.Message

One waypoint in a streamed joint-space trajectory.

class KinematicConstraints(*, velocities: Global___JointVelocities | None = ..., accelerations: Global___JointAccelerations | 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.

velocities() → Global___JointVelocities: Target joint velocities at this waypoint. If provided, the first point of the stream (the t=0 sample) must have zero velocity. Server implementations should validate this constraint.

accelerations() → Global___JointAccelerations: Optional target joint accelerations at this waypoint.

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__accelerations) → _WhichOneofReturnType__accelerations | 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

time() → google.protobuf.duration_pb2.Duration: Time from the start of the motion at which this waypoint should be reached. Must be zero for the first point of the stream and strictly increasing thereafter. Server implementations should validate these constraints.

positions() → Global___JointPositions: Joint positions at this waypoint.

constraints() → Global___TrajectoryPoint: Optional target kinematic constraints at this waypoint.

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__constraints) → _WhichOneofReturnType__constraints | 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