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.
`JointPositions`	Abstract base class for protocol messages.
`MoveOptions`	Abstract base class for protocol messages.
`MoveThroughJointPositionsRequest`	Abstract base class for protocol messages.
`MoveThroughJointPositionsResponse`	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.

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.

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

Async:

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

Async:

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

Async:

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

Async:

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

Async:

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

Async:

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

Async:

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

Async:

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

Async:

abstract GetGeometries(stream: grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]) → 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

Stop

IsMoving

DoCommand

GetKinematics

GetGeometries

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 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 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]

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

property extra: google.protobuf.struct_pb2.Struct: Additional arguments to the method

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.

name: str: Name of an arm

property extra: google.protobuf.struct_pb2.Struct: Additional arguments to the method

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. 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 = ...)

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

max_acc_degs_per_sec2: float: Maximum allowable acceleration of an arm joint, in degrees per second squared

HasField(field_name: Literal['_max_acc_degs_per_sec2', b'_max_acc_degs_per_sec2', '_max_vel_degs_per_sec', b'_max_vel_degs_per_sec', 'max_acc_degs_per_sec2', b'max_acc_degs_per_sec2', 'max_vel_degs_per_sec', b'max_vel_degs_per_sec']) → 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: Literal['_max_acc_degs_per_sec2', b'_max_acc_degs_per_sec2']) → Literal['max_acc_degs_per_sec2'] | None

WhichOneof(oneof_group: Literal['_max_vel_degs_per_sec', b'_max_vel_degs_per_sec']) → Literal['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

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

property options: global___MoveOptions: optional specifications to be obeyed during the motion

property extra: google.protobuf.struct_pb2.Struct: Additional arguments to the method

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

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

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.

name: str: Name of an arm

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

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.

is_moving: bool

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

property joint_positions: global___JointPositions

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.

name: str: Name of an arm

property extra: google.protobuf.struct_pb2.Struct: Additional arguments to the method

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.