viam-sdk 0.25.2__py3-none-linux_armv7l.whl → 0.62.0__py3-none-linux_armv7l.whl

viam/gen/common/v1/common_pb2.pyi

@@ -122,7 +122,7 @@ global___Orientation = Orientation
 
 @typing.final
 class PoseInFrame(google.protobuf.message.Message):
-    """PoseInFrame contains a pose and the and the reference frame in which it was observed"""
+    """PoseInFrame contains a pose and the reference frame in which it was observed"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     REFERENCE_FRAME_FIELD_NUMBER: builtins.int
     POSE_FIELD_NUMBER: builtins.int
@@ -209,6 +209,36 @@ class RectangularPrism(google.protobuf.message.Message):
         ...
 global___RectangularPrism = RectangularPrism
 
+@typing.final
+class Mesh(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    CONTENT_TYPE_FIELD_NUMBER: builtins.int
+    MESH_FIELD_NUMBER: builtins.int
+    content_type: builtins.str
+    'Content type of mesh (e.g. ply)'
+    mesh: builtins.bytes
+    'Contents of mesh data in binary form defined by content_type'
+
+    def __init__(self, *, content_type: builtins.str=..., mesh: builtins.bytes=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['content_type', b'content_type', 'mesh', b'mesh']) -> None:
+        ...
+global___Mesh = Mesh
+
+@typing.final
+class PointCloud(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POINT_CLOUD_FIELD_NUMBER: builtins.int
+    point_cloud: builtins.bytes
+
+    def __init__(self, *, point_cloud: builtins.bytes=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['point_cloud', b'point_cloud']) -> None:
+        ...
+global___PointCloud = PointCloud
+
 @typing.final
 class Geometry(google.protobuf.message.Message):
     """Geometry contains the dimensions of a given geometry and the pose of its center. The geometry is one of either a sphere or a box."""
@@ -217,6 +247,8 @@ class Geometry(google.protobuf.message.Message):
     SPHERE_FIELD_NUMBER: builtins.int
     BOX_FIELD_NUMBER: builtins.int
     CAPSULE_FIELD_NUMBER: builtins.int
+    MESH_FIELD_NUMBER: builtins.int
+    POINTCLOUD_FIELD_NUMBER: builtins.int
     LABEL_FIELD_NUMBER: builtins.int
     label: builtins.str
     'Label of the geometry. If none supplied, will be an empty string.'
@@ -237,16 +269,24 @@ class Geometry(google.protobuf.message.Message):
     def capsule(self) -> global___Capsule:
         ...
 
-    def __init__(self, *, center: global___Pose | None=..., sphere: global___Sphere | None=..., box: global___RectangularPrism | None=..., capsule: global___Capsule | None=..., label: builtins.str=...) -> None:
+    @property
+    def mesh(self) -> global___Mesh:
         ...
 
-    def HasField(self, field_name: typing.Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'sphere', b'sphere']) -> builtins.bool:
+    @property
+    def pointcloud(self) -> global___PointCloud:
         ...
 
-    def ClearField(self, field_name: typing.Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'label', b'label', 'sphere', b'sphere']) -> None:
+    def __init__(self, *, center: global___Pose | None=..., sphere: global___Sphere | None=..., box: global___RectangularPrism | None=..., capsule: global___Capsule | None=..., mesh: global___Mesh | None=..., pointcloud: global___PointCloud | None=..., label: builtins.str=...) -> None:
         ...
 
-    def WhichOneof(self, oneof_group: typing.Literal['geometry_type', b'geometry_type']) -> typing.Literal['sphere', 'box', 'capsule'] | None:
+    def HasField(self, field_name: typing.Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'mesh', b'mesh', 'pointcloud', b'pointcloud', 'sphere', b'sphere']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['box', b'box', 'capsule', b'capsule', 'center', b'center', 'geometry_type', b'geometry_type', 'label', b'label', 'mesh', b'mesh', 'pointcloud', b'pointcloud', 'sphere', b'sphere']) -> None:
+        ...
+
+    def WhichOneof(self, oneof_group: typing.Literal['geometry_type', b'geometry_type']) -> typing.Literal['sphere', 'box', 'capsule', 'mesh', 'pointcloud'] | None:
         ...
 global___Geometry = Geometry
 
@@ -347,8 +387,12 @@ class Transform(google.protobuf.message.Message):
     REFERENCE_FRAME_FIELD_NUMBER: builtins.int
     POSE_IN_OBSERVER_FRAME_FIELD_NUMBER: builtins.int
     PHYSICAL_OBJECT_FIELD_NUMBER: builtins.int
+    UUID_FIELD_NUMBER: builtins.int
+    METADATA_FIELD_NUMBER: builtins.int
     reference_frame: builtins.str
     'the name of a given reference frame'
+    uuid: builtins.bytes
+    'The UUID of the transform'
 
     @property
     def pose_in_observer_frame(self) -> global___PoseInFrame:
@@ -358,15 +402,24 @@ class Transform(google.protobuf.message.Message):
     def physical_object(self) -> global___Geometry:
         ...
 
-    def __init__(self, *, reference_frame: builtins.str=..., pose_in_observer_frame: global___PoseInFrame | None=..., physical_object: global___Geometry | None=...) -> None:
+    @property
+    def metadata(self) -> google.protobuf.struct_pb2.Struct:
+        """Can hold information like color, opacity, points colors, collision_allowed, etc..."""
+
+    def __init__(self, *, reference_frame: builtins.str=..., pose_in_observer_frame: global___PoseInFrame | None=..., physical_object: global___Geometry | None=..., uuid: builtins.bytes=..., metadata: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_metadata', b'_metadata', '_physical_object', b'_physical_object', 'metadata', b'metadata', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame']) -> builtins.bool:
         ...
 
-    def HasField(self, field_name: typing.Literal['_physical_object', b'_physical_object', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame']) -> builtins.bool:
+    def ClearField(self, field_name: typing.Literal['_metadata', b'_metadata', '_physical_object', b'_physical_object', 'metadata', b'metadata', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame', 'reference_frame', b'reference_frame', 'uuid', b'uuid']) -> None:
         ...
 
-    def ClearField(self, field_name: typing.Literal['_physical_object', b'_physical_object', 'physical_object', b'physical_object', 'pose_in_observer_frame', b'pose_in_observer_frame', 'reference_frame', b'reference_frame']) -> None:
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_metadata', b'_metadata']) -> typing.Literal['metadata'] | None:
         ...
 
+    @typing.overload
     def WhichOneof(self, oneof_group: typing.Literal['_physical_object', b'_physical_object']) -> typing.Literal['physical_object'] | None:
         ...
 global___Transform = Transform
@@ -557,6 +610,64 @@ class GetGeometriesResponse(google.protobuf.message.Message):
         ...
 global___GetGeometriesResponse = GetGeometriesResponse
 
+@typing.final
+class Get3DModelsRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'The component name'
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___Get3DModelsRequest = Get3DModelsRequest
+
+@typing.final
+class Get3DModelsResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class ModelsEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+
+        @property
+        def value(self) -> global___Mesh:
+            ...
+
+        def __init__(self, *, key: builtins.str=..., value: global___Mesh | None=...) -> None:
+            ...
+
+        def HasField(self, field_name: typing.Literal['value', b'value']) -> builtins.bool:
+            ...
+
+        def ClearField(self, field_name: typing.Literal['key', b'key', 'value', b'value']) -> None:
+            ...
+    MODELS_FIELD_NUMBER: builtins.int
+
+    @property
+    def models(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___Mesh]:
+        """the 3D models associated with the component"""
+
+    def __init__(self, *, models: collections.abc.Mapping[builtins.str, global___Mesh] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['models', b'models']) -> None:
+        ...
+global___Get3DModelsResponse = Get3DModelsResponse
+
 @typing.final
 class GetReadingsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -653,6 +764,71 @@ class LogEntry(google.protobuf.message.Message):
     def ClearField(self, field_name: typing.Literal['caller', b'caller', 'fields', b'fields', 'host', b'host', 'level', b'level', 'logger_name', b'logger_name', 'message', b'message', 'stack', b'stack', 'time', b'time']) -> None:
         ...
 global___LogEntry = LogEntry
+
+@typing.final
+class AudioInfo(google.protobuf.message.Message):
+    """Information about an audio stream or device."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    CODEC_FIELD_NUMBER: builtins.int
+    SAMPLE_RATE_HZ_FIELD_NUMBER: builtins.int
+    NUM_CHANNELS_FIELD_NUMBER: builtins.int
+    codec: builtins.str
+    'Audio codec used for the stream or device (e.g., "pcm16", "pcm32float", "mp3")'
+    sample_rate_hz: builtins.int
+    'Sample rate of the audio in Hz'
+    num_channels: builtins.int
+    'Number of audio channels in the recording or playback'
+
+    def __init__(self, *, codec: builtins.str=..., sample_rate_hz: builtins.int=..., num_channels: builtins.int=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['codec', b'codec', 'num_channels', b'num_channels', 'sample_rate_hz', b'sample_rate_hz']) -> None:
+        ...
+global___AudioInfo = AudioInfo
+
+@typing.final
+class GetPropertiesRequest(google.protobuf.message.Message):
+    """Shared properties for AudioIn and AudioOut components."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        ...
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___GetPropertiesRequest = GetPropertiesRequest
+
+@typing.final
+class GetPropertiesResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    SUPPORTED_CODECS_FIELD_NUMBER: builtins.int
+    SAMPLE_RATE_HZ_FIELD_NUMBER: builtins.int
+    NUM_CHANNELS_FIELD_NUMBER: builtins.int
+    sample_rate_hz: builtins.int
+    'current sample rate in Hz'
+    num_channels: builtins.int
+    'Maximum number of audio channels supported (e.g., 1 for mono, 2 for stereo)'
+
+    @property
+    def supported_codecs(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.str]:
+        """List of audio codecs supported by the system (e.g., "mp3", "pcm16", "pcm32float")"""
+
+    def __init__(self, *, supported_codecs: collections.abc.Iterable[builtins.str] | None=..., sample_rate_hz: builtins.int=..., num_channels: builtins.int=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['num_channels', b'num_channels', 'sample_rate_hz', b'sample_rate_hz', 'supported_codecs', b'supported_codecs']) -> None:
+        ...
+global___GetPropertiesResponse = GetPropertiesResponse
 SAFETY_HEARTBEAT_MONITORED_FIELD_NUMBER: builtins.int
 safety_heartbeat_monitored: google.protobuf.internal.extension_dict._ExtensionFieldDescriptor[google.protobuf.descriptor_pb2.MethodOptions, builtins.bool]
 'safety_heartbeat_monitored is used on methods to signify that if a session is in use\nand the session was the last to call this method, the resource associated with the\nmethod will be stopped.\n'

viam/gen/component/arm/v1/arm_grpc.py

@@ -28,6 +28,10 @@ class ArmServiceBase(abc.ABC):
     async def MoveToJointPositions(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def MoveThroughJointPositions(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse]') -> None:
+        pass
+
     @abc.abstractmethod
     async def Stop(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse]') -> None:
         pass
@@ -48,8 +52,12 @@ class ArmServiceBase(abc.ABC):
     async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def Get3DModels(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse]') -> None:
+        pass
+
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/viam.component.arm.v1.ArmService/GetEndPosition': grpclib.const.Handler(self.GetEndPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse), '/viam.component.arm.v1.ArmService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse), '/viam.component.arm.v1.ArmService/GetJointPositions': grpclib.const.Handler(self.GetJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse), '/viam.component.arm.v1.ArmService/MoveToJointPositions': grpclib.const.Handler(self.MoveToJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse), '/viam.component.arm.v1.ArmService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse), '/viam.component.arm.v1.ArmService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse), '/viam.component.arm.v1.ArmService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.arm.v1.ArmService/GetKinematics': grpclib.const.Handler(self.GetKinematics, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse), '/viam.component.arm.v1.ArmService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
+        return {'/viam.component.arm.v1.ArmService/GetEndPosition': grpclib.const.Handler(self.GetEndPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse), '/viam.component.arm.v1.ArmService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse), '/viam.component.arm.v1.ArmService/GetJointPositions': grpclib.const.Handler(self.GetJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse), '/viam.component.arm.v1.ArmService/MoveToJointPositions': grpclib.const.Handler(self.MoveToJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse), '/viam.component.arm.v1.ArmService/MoveThroughJointPositions': grpclib.const.Handler(self.MoveThroughJointPositions, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse), '/viam.component.arm.v1.ArmService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse), '/viam.component.arm.v1.ArmService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse), '/viam.component.arm.v1.ArmService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.arm.v1.ArmService/GetKinematics': grpclib.const.Handler(self.GetKinematics, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse), '/viam.component.arm.v1.ArmService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse), '/viam.component.arm.v1.ArmService/Get3DModels': grpclib.const.Handler(self.Get3DModels, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse)}
 
 class UnimplementedArmServiceBase(ArmServiceBase):
 
@@ -65,6 +73,9 @@ class UnimplementedArmServiceBase(ArmServiceBase):
     async def MoveToJointPositions(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
+    async def MoveThroughJointPositions(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
     async def Stop(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
@@ -80,6 +91,9 @@ class UnimplementedArmServiceBase(ArmServiceBase):
     async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
+    async def Get3DModels(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
 class ArmServiceStub:
 
     def __init__(self, channel: grpclib.client.Channel) -> None:
@@ -87,8 +101,10 @@ class ArmServiceStub:
         self.MoveToPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/MoveToPosition', component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse)
         self.GetJointPositions = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetJointPositions', component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse)
         self.MoveToJointPositions = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/MoveToJointPositions', component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse)
+        self.MoveThroughJointPositions = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/MoveThroughJointPositions', component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse)
         self.Stop = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/Stop', component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse)
         self.IsMoving = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/IsMoving', component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse)
         self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
         self.GetKinematics = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetKinematics', common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse)
-        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)
+        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)
+        self.Get3DModels = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/Get3DModels', common.v1.common_pb2.Get3DModelsRequest, common.v1.common_pb2.Get3DModelsResponse)

viam/gen/component/arm/v1/arm_pb2.py

@@ -1,63 +1,76 @@
 """Generated protocol buffer code."""
-from google.protobuf.internal import builder as _builder
 from google.protobuf import descriptor as _descriptor
 from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
 from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'component/arm/v1/arm.proto')
 _sym_db = _symbol_database.Default()
 from ....common.v1 import common_pb2 as common_dot_v1_dot_common__pb2
 from google.api import annotations_pb2 as google_dot_api_dot_annotations__pb2
 from google.protobuf import struct_pb2 as google_dot_protobuf_dot_struct__pb2
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1acomponent/arm/v1/arm.proto\x12\x15viam.component.arm.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"Z\n\x15GetEndPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"B\n\x16GetEndPositionResponse\x12(\n\x04pose\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x04pose"(\n\x0eJointPositions\x12\x16\n\x06values\x18\x01 \x03(\x01R\x06values"]\n\x18GetJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"`\n\x19GetJointPositionsResponse\x12C\n\tpositions\x18\x01 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions"\x80\x01\n\x15MoveToPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12$\n\x02to\x18\x02 \x01(\x0b2\x14.viam.common.v1.PoseR\x02to\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x18\n\x16MoveToPositionResponse"\xa5\x01\n\x1bMoveToJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12C\n\tpositions\x18\x02 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x1e\n\x1cMoveToJointPositionsResponse"P\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cStopResponse"\xae\x01\n\x06Status\x127\n\x0cend_position\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x0bendPosition\x12N\n\x0fjoint_positions\x18\x02 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\x0ejointPositions\x12\x1b\n\tis_moving\x18\x03 \x01(\x08R\x08isMoving"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving2\x94\x0b\n\nArmService\x12\xa1\x01\n\x0eGetEndPosition\x12,.viam.component.arm.v1.GetEndPositionRequest\x1a-.viam.component.arm.v1.GetEndPositionResponse"2\x82\xd3\xe4\x93\x02,\x12*/viam/api/v1/component/arm/{name}/position\x12\xa5\x01\n\x0eMoveToPosition\x12,.viam.component.arm.v1.MoveToPositionRequest\x1a-.viam.component.arm.v1.MoveToPositionResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/arm/{name}/position\x12\xb1\x01\n\x11GetJointPositions\x12/.viam.component.arm.v1.GetJointPositionsRequest\x1a0.viam.component.arm.v1.GetJointPositionsResponse"9\x82\xd3\xe4\x93\x023\x121/viam/api/v1/component/arm/{name}/joint_positions\x12\xbe\x01\n\x14MoveToJointPositions\x122.viam.component.arm.v1.MoveToJointPositionsRequest\x1a3.viam.component.arm.v1.MoveToJointPositionsResponse"=\xa0\x92)\x01\x82\xd3\xe4\x93\x023\x1a1/viam/api/v1/component/arm/{name}/joint_positions\x12\x7f\n\x04Stop\x12".viam.component.arm.v1.StopRequest\x1a#.viam.component.arm.v1.StopResponse".\x82\xd3\xe4\x93\x02("&/viam/api/v1/component/arm/{name}/stop\x12\x90\x01\n\x08IsMoving\x12&.viam.component.arm.v1.IsMovingRequest\x1a\'.viam.component.arm.v1.IsMovingResponse"3\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/is_moving\x12\x86\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"4\x82\xd3\xe4\x93\x02.",/viam/api/v1/component/arm/{name}/do_command\x12\x92\x01\n\rGetKinematics\x12$.viam.common.v1.GetKinematicsRequest\x1a%.viam.common.v1.GetKinematicsResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/kinematics\x12\x92\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/geometriesB=\n\x19com.viam.component.arm.v1Z go.viam.com/api/component/arm/v1b\x06proto3')
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.arm.v1.arm_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
-    DESCRIPTOR._options = None
-    DESCRIPTOR._serialized_options = b'\n\x19com.viam.component.arm.v1Z go.viam.com/api/component/arm/v1'
-    _ARMSERVICE.methods_by_name['GetEndPosition']._options = None
-    _ARMSERVICE.methods_by_name['GetEndPosition']._serialized_options = b'\x82\xd3\xe4\x93\x02,\x12*/viam/api/v1/component/arm/{name}/position'
-    _ARMSERVICE.methods_by_name['MoveToPosition']._options = None
-    _ARMSERVICE.methods_by_name['MoveToPosition']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/arm/{name}/position'
-    _ARMSERVICE.methods_by_name['GetJointPositions']._options = None
-    _ARMSERVICE.methods_by_name['GetJointPositions']._serialized_options = b'\x82\xd3\xe4\x93\x023\x121/viam/api/v1/component/arm/{name}/joint_positions'
-    _ARMSERVICE.methods_by_name['MoveToJointPositions']._options = None
-    _ARMSERVICE.methods_by_name['MoveToJointPositions']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x023\x1a1/viam/api/v1/component/arm/{name}/joint_positions'
-    _ARMSERVICE.methods_by_name['Stop']._options = None
-    _ARMSERVICE.methods_by_name['Stop']._serialized_options = b'\x82\xd3\xe4\x93\x02("&/viam/api/v1/component/arm/{name}/stop'
-    _ARMSERVICE.methods_by_name['IsMoving']._options = None
-    _ARMSERVICE.methods_by_name['IsMoving']._serialized_options = b'\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/is_moving'
-    _ARMSERVICE.methods_by_name['DoCommand']._options = None
-    _ARMSERVICE.methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x02.",/viam/api/v1/component/arm/{name}/do_command'
-    _ARMSERVICE.methods_by_name['GetKinematics']._options = None
-    _ARMSERVICE.methods_by_name['GetKinematics']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/kinematics'
-    _ARMSERVICE.methods_by_name['GetGeometries']._options = None
-    _ARMSERVICE.methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/geometries'
-    _GETENDPOSITIONREQUEST._serialized_start = 137
-    _GETENDPOSITIONREQUEST._serialized_end = 227
-    _GETENDPOSITIONRESPONSE._serialized_start = 229
-    _GETENDPOSITIONRESPONSE._serialized_end = 295
-    _JOINTPOSITIONS._serialized_start = 297
-    _JOINTPOSITIONS._serialized_end = 337
-    _GETJOINTPOSITIONSREQUEST._serialized_start = 339
-    _GETJOINTPOSITIONSREQUEST._serialized_end = 432
-    _GETJOINTPOSITIONSRESPONSE._serialized_start = 434
-    _GETJOINTPOSITIONSRESPONSE._serialized_end = 530
-    _MOVETOPOSITIONREQUEST._serialized_start = 533
-    _MOVETOPOSITIONREQUEST._serialized_end = 661
-    _MOVETOPOSITIONRESPONSE._serialized_start = 663
-    _MOVETOPOSITIONRESPONSE._serialized_end = 687
-    _MOVETOJOINTPOSITIONSREQUEST._serialized_start = 690
-    _MOVETOJOINTPOSITIONSREQUEST._serialized_end = 855
-    _MOVETOJOINTPOSITIONSRESPONSE._serialized_start = 857
-    _MOVETOJOINTPOSITIONSRESPONSE._serialized_end = 887
-    _STOPREQUEST._serialized_start = 889
-    _STOPREQUEST._serialized_end = 969
-    _STOPRESPONSE._serialized_start = 971
-    _STOPRESPONSE._serialized_end = 985
-    _STATUS._serialized_start = 988
-    _STATUS._serialized_end = 1162
-    _ISMOVINGREQUEST._serialized_start = 1164
-    _ISMOVINGREQUEST._serialized_end = 1201
-    _ISMOVINGRESPONSE._serialized_start = 1203
-    _ISMOVINGRESPONSE._serialized_end = 1250
-    _ARMSERVICE._serialized_start = 1253
-    _ARMSERVICE._serialized_end = 2681
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1acomponent/arm/v1/arm.proto\x12\x15viam.component.arm.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"Z\n\x15GetEndPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"B\n\x16GetEndPositionResponse\x12(\n\x04pose\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x04pose"(\n\x0eJointPositions\x12\x16\n\x06values\x18\x01 \x03(\x01R\x06values"]\n\x18GetJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"`\n\x19GetJointPositionsResponse\x12C\n\tpositions\x18\x01 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions"\x80\x01\n\x15MoveToPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12$\n\x02to\x18\x02 \x01(\x0b2\x14.viam.common.v1.PoseR\x02to\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x18\n\x16MoveToPositionResponse"\xa5\x01\n\x1bMoveToJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12C\n\tpositions\x18\x02 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x1e\n\x1cMoveToJointPositionsResponse"\xf9\x01\n MoveThroughJointPositionsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12C\n\tpositions\x18\x02 \x03(\x0b2%.viam.component.arm.v1.JointPositionsR\tpositions\x12A\n\x07options\x18\x03 \x01(\x0b2".viam.component.arm.v1.MoveOptionsH\x00R\x07options\x88\x01\x01\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extraB\n\n\x08_options"#\n!MoveThroughJointPositionsResponse"P\n\x0bStopRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cStopResponse"\xae\x01\n\x06Status\x127\n\x0cend_position\x18\x01 \x01(\x0b2\x14.viam.common.v1.PoseR\x0bendPosition\x12N\n\x0fjoint_positions\x18\x02 \x01(\x0b2%.viam.component.arm.v1.JointPositionsR\x0ejointPositions\x12\x1b\n\tis_moving\x18\x03 \x01(\x08R\x08isMoving"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving"\xac\x01\n\x0bMoveOptions\x123\n\x14max_vel_degs_per_sec\x18\x01 \x01(\x01H\x00R\x10maxVelDegsPerSec\x88\x01\x01\x125\n\x15max_acc_degs_per_sec2\x18\x02 \x01(\x01H\x01R\x11maxAccDegsPerSec2\x88\x01\x01B\x17\n\x15_max_vel_degs_per_secB\x18\n\x16_max_acc_degs_per_sec22\xff\r\n\nArmService\x12\xa1\x01\n\x0eGetEndPosition\x12,.viam.component.arm.v1.GetEndPositionRequest\x1a-.viam.component.arm.v1.GetEndPositionResponse"2\x82\xd3\xe4\x93\x02,\x12*/viam/api/v1/component/arm/{name}/position\x12\xa5\x01\n\x0eMoveToPosition\x12,.viam.component.arm.v1.MoveToPositionRequest\x1a-.viam.component.arm.v1.MoveToPositionResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/arm/{name}/position\x12\xb1\x01\n\x11GetJointPositions\x12/.viam.component.arm.v1.GetJointPositionsRequest\x1a0.viam.component.arm.v1.GetJointPositionsResponse"9\x82\xd3\xe4\x93\x023\x121/viam/api/v1/component/arm/{name}/joint_positions\x12\xbe\x01\n\x14MoveToJointPositions\x122.viam.component.arm.v1.MoveToJointPositionsRequest\x1a3.viam.component.arm.v1.MoveToJointPositionsResponse"=\xa0\x92)\x01\x82\xd3\xe4\x93\x023\x1a1/viam/api/v1/component/arm/{name}/joint_positions\x12\xda\x01\n\x19MoveThroughJointPositions\x127.viam.component.arm.v1.MoveThroughJointPositionsRequest\x1a8.viam.component.arm.v1.MoveThroughJointPositionsResponse"J\xa0\x92)\x01\x82\xd3\xe4\x93\x02@">/viam/api/v1/component/arm/{name}/move_through_joint_positions\x12\x7f\n\x04Stop\x12".viam.component.arm.v1.StopRequest\x1a#.viam.component.arm.v1.StopResponse".\x82\xd3\xe4\x93\x02("&/viam/api/v1/component/arm/{name}/stop\x12\x90\x01\n\x08IsMoving\x12&.viam.component.arm.v1.IsMovingRequest\x1a\'.viam.component.arm.v1.IsMovingResponse"3\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/is_moving\x12\x86\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"4\x82\xd3\xe4\x93\x02.",/viam/api/v1/component/arm/{name}/do_command\x12\x92\x01\n\rGetKinematics\x12$.viam.common.v1.GetKinematicsRequest\x1a%.viam.common.v1.GetKinematicsResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/kinematics\x12\x92\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/geometries\x12\x8b\x01\n\x0bGet3DModels\x12".viam.common.v1.Get3DModelsRequest\x1a#.viam.common.v1.Get3DModelsResponse"3\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/3d_modelsB=\n\x19com.viam.component.arm.v1Z go.viam.com/api/component/arm/v1b\x06proto3')
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.arm.v1.arm_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'\n\x19com.viam.component.arm.v1Z go.viam.com/api/component/arm/v1'
+    _globals['_ARMSERVICE'].methods_by_name['GetEndPosition']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['GetEndPosition']._serialized_options = b'\x82\xd3\xe4\x93\x02,\x12*/viam/api/v1/component/arm/{name}/position'
+    _globals['_ARMSERVICE'].methods_by_name['MoveToPosition']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['MoveToPosition']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/arm/{name}/position'
+    _globals['_ARMSERVICE'].methods_by_name['GetJointPositions']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['GetJointPositions']._serialized_options = b'\x82\xd3\xe4\x93\x023\x121/viam/api/v1/component/arm/{name}/joint_positions'
+    _globals['_ARMSERVICE'].methods_by_name['MoveToJointPositions']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['MoveToJointPositions']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x023\x1a1/viam/api/v1/component/arm/{name}/joint_positions'
+    _globals['_ARMSERVICE'].methods_by_name['MoveThroughJointPositions']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['MoveThroughJointPositions']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02@">/viam/api/v1/component/arm/{name}/move_through_joint_positions'
+    _globals['_ARMSERVICE'].methods_by_name['Stop']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['Stop']._serialized_options = b'\x82\xd3\xe4\x93\x02("&/viam/api/v1/component/arm/{name}/stop'
+    _globals['_ARMSERVICE'].methods_by_name['IsMoving']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['IsMoving']._serialized_options = b'\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/is_moving'
+    _globals['_ARMSERVICE'].methods_by_name['DoCommand']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x02.",/viam/api/v1/component/arm/{name}/do_command'
+    _globals['_ARMSERVICE'].methods_by_name['GetKinematics']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['GetKinematics']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/kinematics'
+    _globals['_ARMSERVICE'].methods_by_name['GetGeometries']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/arm/{name}/geometries'
+    _globals['_ARMSERVICE'].methods_by_name['Get3DModels']._loaded_options = None
+    _globals['_ARMSERVICE'].methods_by_name['Get3DModels']._serialized_options = b'\x82\xd3\xe4\x93\x02-\x12+/viam/api/v1/component/arm/{name}/3d_models'
+    _globals['_GETENDPOSITIONREQUEST']._serialized_start = 137
+    _globals['_GETENDPOSITIONREQUEST']._serialized_end = 227
+    _globals['_GETENDPOSITIONRESPONSE']._serialized_start = 229
+    _globals['_GETENDPOSITIONRESPONSE']._serialized_end = 295
+    _globals['_JOINTPOSITIONS']._serialized_start = 297
+    _globals['_JOINTPOSITIONS']._serialized_end = 337
+    _globals['_GETJOINTPOSITIONSREQUEST']._serialized_start = 339
+    _globals['_GETJOINTPOSITIONSREQUEST']._serialized_end = 432
+    _globals['_GETJOINTPOSITIONSRESPONSE']._serialized_start = 434
+    _globals['_GETJOINTPOSITIONSRESPONSE']._serialized_end = 530
+    _globals['_MOVETOPOSITIONREQUEST']._serialized_start = 533
+    _globals['_MOVETOPOSITIONREQUEST']._serialized_end = 661
+    _globals['_MOVETOPOSITIONRESPONSE']._serialized_start = 663
+    _globals['_MOVETOPOSITIONRESPONSE']._serialized_end = 687
+    _globals['_MOVETOJOINTPOSITIONSREQUEST']._serialized_start = 690
+    _globals['_MOVETOJOINTPOSITIONSREQUEST']._serialized_end = 855
+    _globals['_MOVETOJOINTPOSITIONSRESPONSE']._serialized_start = 857
+    _globals['_MOVETOJOINTPOSITIONSRESPONSE']._serialized_end = 887
+    _globals['_MOVETHROUGHJOINTPOSITIONSREQUEST']._serialized_start = 890
+    _globals['_MOVETHROUGHJOINTPOSITIONSREQUEST']._serialized_end = 1139
+    _globals['_MOVETHROUGHJOINTPOSITIONSRESPONSE']._serialized_start = 1141
+    _globals['_MOVETHROUGHJOINTPOSITIONSRESPONSE']._serialized_end = 1176
+    _globals['_STOPREQUEST']._serialized_start = 1178
+    _globals['_STOPREQUEST']._serialized_end = 1258
+    _globals['_STOPRESPONSE']._serialized_start = 1260
+    _globals['_STOPRESPONSE']._serialized_end = 1274
+    _globals['_STATUS']._serialized_start = 1277
+    _globals['_STATUS']._serialized_end = 1451
+    _globals['_ISMOVINGREQUEST']._serialized_start = 1453
+    _globals['_ISMOVINGREQUEST']._serialized_end = 1490
+    _globals['_ISMOVINGRESPONSE']._serialized_start = 1492
+    _globals['_ISMOVINGRESPONSE']._serialized_end = 1539
+    _globals['_MOVEOPTIONS']._serialized_start = 1542
+    _globals['_MOVEOPTIONS']._serialized_end = 1714
+    _globals['_ARMSERVICE']._serialized_start = 1717
+    _globals['_ARMSERVICE']._serialized_end = 3508

viam/gen/component/arm/v1/arm_pb2.pyi

@@ -63,8 +63,7 @@ class JointPositions(google.protobuf.message.Message):
     @property
     def values(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.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
+        There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector of the arm
         """
 
     def __init__(self, *, values: collections.abc.Iterable[builtins.float] | None=...) -> None:
@@ -191,6 +190,49 @@ class MoveToJointPositionsResponse(google.protobuf.message.Message):
         ...
 global___MoveToJointPositionsResponse = MoveToJointPositionsResponse
 
+@typing.final
+class MoveThroughJointPositionsRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    POSITIONS_FIELD_NUMBER: builtins.int
+    OPTIONS_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of an arm'
+
+    @property
+    def positions(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___JointPositions]:
+        """A list of joint positions which will be moved to in the order they are specified"""
+
+    @property
+    def options(self) -> global___MoveOptions:
+        """optional specifications to be obeyed during the motion"""
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., positions: collections.abc.Iterable[global___JointPositions] | None=..., options: global___MoveOptions | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_options', b'_options', 'extra', b'extra', 'options', b'options']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_options', b'_options', 'extra', b'extra', 'name', b'name', 'options', b'options', 'positions', b'positions']) -> None:
+        ...
+
+    def WhichOneof(self, oneof_group: typing.Literal['_options', b'_options']) -> typing.Literal['options'] | None:
+        ...
+global___MoveThroughJointPositionsRequest = MoveThroughJointPositionsRequest
+
+@typing.final
+class MoveThroughJointPositionsResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___MoveThroughJointPositionsResponse = MoveThroughJointPositionsResponse
+
 @typing.final
 class StopRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
@@ -271,4 +313,32 @@ class IsMovingResponse(google.protobuf.message.Message):
 
     def ClearField(self, field_name: typing.Literal['is_moving', b'is_moving']) -> None:
         ...
-global___IsMovingResponse = IsMovingResponse
+global___IsMovingResponse = IsMovingResponse
+
+@typing.final
+class MoveOptions(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    MAX_VEL_DEGS_PER_SEC_FIELD_NUMBER: builtins.int
+    MAX_ACC_DEGS_PER_SEC2_FIELD_NUMBER: builtins.int
+    max_vel_degs_per_sec: builtins.float
+    'Maximum allowable velocity of an arm joint, in degrees per second'
+    max_acc_degs_per_sec2: builtins.float
+    'Maximum allowable acceleration of an arm joint, in degrees per second squared'
+
+    def __init__(self, *, max_vel_degs_per_sec: builtins.float | None=..., max_acc_degs_per_sec2: builtins.float | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.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']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.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']) -> None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_max_acc_degs_per_sec2', b'_max_acc_degs_per_sec2']) -> typing.Literal['max_acc_degs_per_sec2'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_max_vel_degs_per_sec', b'_max_vel_degs_per_sec']) -> typing.Literal['max_vel_degs_per_sec'] | None:
+        ...
+global___MoveOptions = MoveOptions