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

viam/gen/component/encoder/v1/encoder_pb2.py

@@ -1,41 +1,44 @@
 """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/encoder/v1/encoder.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"component/encoder/v1/encoder.proto\x12\x19viam.component.encoder.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"\xbc\x01\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12Q\n\rposition_type\x18\x02 \x01(\x0e2\'.viam.component.encoder.v1.PositionTypeH\x00R\x0cpositionType\x88\x01\x01\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extraB\x10\n\x0e_position_type"y\n\x13GetPositionResponse\x12\x14\n\x05value\x18\x01 \x01(\x02R\x05value\x12L\n\rposition_type\x18\x02 \x01(\x0e2\'.viam.component.encoder.v1.PositionTypeR\x0cpositionType"Y\n\x14ResetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x17\n\x15ResetPositionResponse"Y\n\x14GetPropertiesRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x83\x01\n\x15GetPropertiesResponse\x122\n\x15ticks_count_supported\x18\x01 \x01(\x08R\x13ticksCountSupported\x126\n\x17angle_degrees_supported\x18\x02 \x01(\x08R\x15angleDegreesSupported*m\n\x0cPositionType\x12\x1d\n\x19POSITION_TYPE_UNSPECIFIED\x10\x00\x12\x1d\n\x19POSITION_TYPE_TICKS_COUNT\x10\x01\x12\x1f\n\x1bPOSITION_TYPE_ANGLE_DEGREES\x10\x022\xc7\x06\n\x0eEncoderService\x12\xa8\x01\n\x0bGetPosition\x12-.viam.component.encoder.v1.GetPositionRequest\x1a..viam.component.encoder.v1.GetPositionResponse":\x82\xd3\xe4\x93\x024\x122/viam/api/v1/component/encoder/{name}/get_position\x12\xb0\x01\n\rResetPosition\x12/.viam.component.encoder.v1.ResetPositionRequest\x1a0.viam.component.encoder.v1.ResetPositionResponse"<\x82\xd3\xe4\x93\x026\x124/viam/api/v1/component/encoder/{name}/reset_position\x12\xb0\x01\n\rGetProperties\x12/.viam.component.encoder.v1.GetPropertiesRequest\x1a0.viam.component.encoder.v1.GetPropertiesResponse"<\x82\xd3\xe4\x93\x026"4/viam/api/v1/component/encoder/{name}/get_properties\x12\x8a\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"8\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/encoder/{name}/do_command\x12\x96\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/encoder/{name}/geometriesBE\n\x1dcom.viam.component.encoder.v1Z$go.viam.com/api/component/encoder/v1b\x06proto3')
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.encoder.v1.encoder_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
-    DESCRIPTOR._options = None
-    DESCRIPTOR._serialized_options = b'\n\x1dcom.viam.component.encoder.v1Z$go.viam.com/api/component/encoder/v1'
-    _ENCODERSERVICE.methods_by_name['GetPosition']._options = None
-    _ENCODERSERVICE.methods_by_name['GetPosition']._serialized_options = b'\x82\xd3\xe4\x93\x024\x122/viam/api/v1/component/encoder/{name}/get_position'
-    _ENCODERSERVICE.methods_by_name['ResetPosition']._options = None
-    _ENCODERSERVICE.methods_by_name['ResetPosition']._serialized_options = b'\x82\xd3\xe4\x93\x026\x124/viam/api/v1/component/encoder/{name}/reset_position'
-    _ENCODERSERVICE.methods_by_name['GetProperties']._options = None
-    _ENCODERSERVICE.methods_by_name['GetProperties']._serialized_options = b'\x82\xd3\xe4\x93\x026"4/viam/api/v1/component/encoder/{name}/get_properties'
-    _ENCODERSERVICE.methods_by_name['DoCommand']._options = None
-    _ENCODERSERVICE.methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/encoder/{name}/do_command'
-    _ENCODERSERVICE.methods_by_name['GetGeometries']._options = None
-    _ENCODERSERVICE.methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/encoder/{name}/geometries'
-    _POSITIONTYPE._serialized_start = 804
-    _POSITIONTYPE._serialized_end = 913
-    _GETPOSITIONREQUEST._serialized_start = 150
-    _GETPOSITIONREQUEST._serialized_end = 338
-    _GETPOSITIONRESPONSE._serialized_start = 340
-    _GETPOSITIONRESPONSE._serialized_end = 461
-    _RESETPOSITIONREQUEST._serialized_start = 463
-    _RESETPOSITIONREQUEST._serialized_end = 552
-    _RESETPOSITIONRESPONSE._serialized_start = 554
-    _RESETPOSITIONRESPONSE._serialized_end = 577
-    _GETPROPERTIESREQUEST._serialized_start = 579
-    _GETPROPERTIESREQUEST._serialized_end = 668
-    _GETPROPERTIESRESPONSE._serialized_start = 671
-    _GETPROPERTIESRESPONSE._serialized_end = 802
-    _ENCODERSERVICE._serialized_start = 916
-    _ENCODERSERVICE._serialized_end = 1755
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.encoder.v1.encoder_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'\n\x1dcom.viam.component.encoder.v1Z$go.viam.com/api/component/encoder/v1'
+    _globals['_ENCODERSERVICE'].methods_by_name['GetPosition']._loaded_options = None
+    _globals['_ENCODERSERVICE'].methods_by_name['GetPosition']._serialized_options = b'\x82\xd3\xe4\x93\x024\x122/viam/api/v1/component/encoder/{name}/get_position'
+    _globals['_ENCODERSERVICE'].methods_by_name['ResetPosition']._loaded_options = None
+    _globals['_ENCODERSERVICE'].methods_by_name['ResetPosition']._serialized_options = b'\x82\xd3\xe4\x93\x026\x124/viam/api/v1/component/encoder/{name}/reset_position'
+    _globals['_ENCODERSERVICE'].methods_by_name['GetProperties']._loaded_options = None
+    _globals['_ENCODERSERVICE'].methods_by_name['GetProperties']._serialized_options = b'\x82\xd3\xe4\x93\x026"4/viam/api/v1/component/encoder/{name}/get_properties'
+    _globals['_ENCODERSERVICE'].methods_by_name['DoCommand']._loaded_options = None
+    _globals['_ENCODERSERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/encoder/{name}/do_command'
+    _globals['_ENCODERSERVICE'].methods_by_name['GetGeometries']._loaded_options = None
+    _globals['_ENCODERSERVICE'].methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/encoder/{name}/geometries'
+    _globals['_POSITIONTYPE']._serialized_start = 804
+    _globals['_POSITIONTYPE']._serialized_end = 913
+    _globals['_GETPOSITIONREQUEST']._serialized_start = 150
+    _globals['_GETPOSITIONREQUEST']._serialized_end = 338
+    _globals['_GETPOSITIONRESPONSE']._serialized_start = 340
+    _globals['_GETPOSITIONRESPONSE']._serialized_end = 461
+    _globals['_RESETPOSITIONREQUEST']._serialized_start = 463
+    _globals['_RESETPOSITIONREQUEST']._serialized_end = 552
+    _globals['_RESETPOSITIONRESPONSE']._serialized_start = 554
+    _globals['_RESETPOSITIONRESPONSE']._serialized_end = 577
+    _globals['_GETPROPERTIESREQUEST']._serialized_start = 579
+    _globals['_GETPROPERTIESREQUEST']._serialized_end = 668
+    _globals['_GETPROPERTIESRESPONSE']._serialized_start = 671
+    _globals['_GETPROPERTIESRESPONSE']._serialized_end = 802
+    _globals['_ENCODERSERVICE']._serialized_start = 916
+    _globals['_ENCODERSERVICE']._serialized_end = 1755

viam/gen/component/gantry/v1/gantry_grpc.py

@@ -40,12 +40,16 @@ class GantryServiceBase(abc.ABC):
     async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def GetKinematics(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse]') -> None:
+        pass
+
     @abc.abstractmethod
     async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
         pass
 
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/viam.component.gantry.v1.GantryService/GetPosition': grpclib.const.Handler(self.GetPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetPositionRequest, component.gantry.v1.gantry_pb2.GetPositionResponse), '/viam.component.gantry.v1.GantryService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse), '/viam.component.gantry.v1.GantryService/Home': grpclib.const.Handler(self.Home, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.HomeRequest, component.gantry.v1.gantry_pb2.HomeResponse), '/viam.component.gantry.v1.GantryService/GetLengths': grpclib.const.Handler(self.GetLengths, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse), '/viam.component.gantry.v1.GantryService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse), '/viam.component.gantry.v1.GantryService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse), '/viam.component.gantry.v1.GantryService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.gantry.v1.GantryService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
+        return {'/viam.component.gantry.v1.GantryService/GetPosition': grpclib.const.Handler(self.GetPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetPositionRequest, component.gantry.v1.gantry_pb2.GetPositionResponse), '/viam.component.gantry.v1.GantryService/MoveToPosition': grpclib.const.Handler(self.MoveToPosition, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.MoveToPositionRequest, component.gantry.v1.gantry_pb2.MoveToPositionResponse), '/viam.component.gantry.v1.GantryService/Home': grpclib.const.Handler(self.Home, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.HomeRequest, component.gantry.v1.gantry_pb2.HomeResponse), '/viam.component.gantry.v1.GantryService/GetLengths': grpclib.const.Handler(self.GetLengths, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.GetLengthsRequest, component.gantry.v1.gantry_pb2.GetLengthsResponse), '/viam.component.gantry.v1.GantryService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse), '/viam.component.gantry.v1.GantryService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse), '/viam.component.gantry.v1.GantryService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.gantry.v1.GantryService/GetKinematics': grpclib.const.Handler(self.GetKinematics, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse), '/viam.component.gantry.v1.GantryService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
 
 class UnimplementedGantryServiceBase(GantryServiceBase):
 
@@ -70,6 +74,9 @@ class UnimplementedGantryServiceBase(GantryServiceBase):
     async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
+    async def GetKinematics(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
     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)
 
@@ -83,4 +90,5 @@ class GantryServiceStub:
         self.Stop = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/Stop', component.gantry.v1.gantry_pb2.StopRequest, component.gantry.v1.gantry_pb2.StopResponse)
         self.IsMoving = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/IsMoving', component.gantry.v1.gantry_pb2.IsMovingRequest, component.gantry.v1.gantry_pb2.IsMovingResponse)
         self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
+        self.GetKinematics = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/GetKinematics', common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse)
         self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gantry.v1.GantryService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)

viam/gen/component/gantry/v1/gantry_pb2.py

@@ -1,59 +1,64 @@
 """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/gantry/v1/gantry.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 component/gantry/v1/gantry.proto\x12\x18viam.component.gantry.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"W\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"8\n\x13GetPositionResponse\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm"\xa8\x01\n\x15MoveToPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12!\n\x0cpositions_mm\x18\x02 \x03(\x01R\x0bpositionsMm\x12)\n\x11speeds_mm_per_sec\x18\x03 \x03(\x01R\x0espeedsMmPerSec\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x18\n\x16MoveToPositionResponse"P\n\x0bHomeRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"$\n\x0cHomeResponse\x12\x14\n\x05homed\x18\x01 \x01(\x08R\x05homed"V\n\x11GetLengthsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"3\n\x12GetLengthsResponse\x12\x1d\n\nlengths_mm\x18\x01 \x03(\x01R\tlengthsMm"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"g\n\x06Status\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm\x12\x1d\n\nlengths_mm\x18\x02 \x03(\x01R\tlengthsMm\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\xda\t\n\rGantryService\x12\xa1\x01\n\x0bGetPosition\x12,.viam.component.gantry.v1.GetPositionRequest\x1a-.viam.component.gantry.v1.GetPositionResponse"5\x82\xd3\xe4\x93\x02/\x12-/viam/api/v1/component/gantry/{name}/position\x12\xae\x01\n\x0eMoveToPosition\x12/.viam.component.gantry.v1.MoveToPositionRequest\x1a0.viam.component.gantry.v1.MoveToPositionResponse"9\xa0\x92)\x01\x82\xd3\xe4\x93\x02/\x1a-/viam/api/v1/component/gantry/{name}/position\x12\x88\x01\n\x04Home\x12%.viam.component.gantry.v1.HomeRequest\x1a&.viam.component.gantry.v1.HomeResponse"1\x82\xd3\xe4\x93\x02+\x1a)/viam/api/v1/component/gantry/{name}/home\x12\x9d\x01\n\nGetLengths\x12+.viam.component.gantry.v1.GetLengthsRequest\x1a,.viam.component.gantry.v1.GetLengthsResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/gantry/{name}/lengths\x12\x88\x01\n\x04Stop\x12%.viam.component.gantry.v1.StopRequest\x1a&.viam.component.gantry.v1.StopResponse"1\x82\xd3\xe4\x93\x02+")/viam/api/v1/component/gantry/{name}/stop\x12\x99\x01\n\x08IsMoving\x12).viam.component.gantry.v1.IsMovingRequest\x1a*.viam.component.gantry.v1.IsMovingResponse"6\x82\xd3\xe4\x93\x020\x12./viam/api/v1/component/gantry/{name}/is_moving\x12\x89\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"7\x82\xd3\xe4\x93\x021"//viam/api/v1/component/gantry/{name}/do_command\x12\x95\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/geometriesBC\n\x1ccom.viam.component.gantry.v1Z#go.viam.com/api/component/gantry/v1b\x06proto3')
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.gantry.v1.gantry_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
-    DESCRIPTOR._options = None
-    DESCRIPTOR._serialized_options = b'\n\x1ccom.viam.component.gantry.v1Z#go.viam.com/api/component/gantry/v1'
-    _GANTRYSERVICE.methods_by_name['GetPosition']._options = None
-    _GANTRYSERVICE.methods_by_name['GetPosition']._serialized_options = b'\x82\xd3\xe4\x93\x02/\x12-/viam/api/v1/component/gantry/{name}/position'
-    _GANTRYSERVICE.methods_by_name['MoveToPosition']._options = None
-    _GANTRYSERVICE.methods_by_name['MoveToPosition']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02/\x1a-/viam/api/v1/component/gantry/{name}/position'
-    _GANTRYSERVICE.methods_by_name['Home']._options = None
-    _GANTRYSERVICE.methods_by_name['Home']._serialized_options = b'\x82\xd3\xe4\x93\x02+\x1a)/viam/api/v1/component/gantry/{name}/home'
-    _GANTRYSERVICE.methods_by_name['GetLengths']._options = None
-    _GANTRYSERVICE.methods_by_name['GetLengths']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/gantry/{name}/lengths'
-    _GANTRYSERVICE.methods_by_name['Stop']._options = None
-    _GANTRYSERVICE.methods_by_name['Stop']._serialized_options = b'\x82\xd3\xe4\x93\x02+")/viam/api/v1/component/gantry/{name}/stop'
-    _GANTRYSERVICE.methods_by_name['IsMoving']._options = None
-    _GANTRYSERVICE.methods_by_name['IsMoving']._serialized_options = b'\x82\xd3\xe4\x93\x020\x12./viam/api/v1/component/gantry/{name}/is_moving'
-    _GANTRYSERVICE.methods_by_name['DoCommand']._options = None
-    _GANTRYSERVICE.methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x021"//viam/api/v1/component/gantry/{name}/do_command'
-    _GANTRYSERVICE.methods_by_name['GetGeometries']._options = None
-    _GANTRYSERVICE.methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/geometries'
-    _GETPOSITIONREQUEST._serialized_start = 146
-    _GETPOSITIONREQUEST._serialized_end = 233
-    _GETPOSITIONRESPONSE._serialized_start = 235
-    _GETPOSITIONRESPONSE._serialized_end = 291
-    _MOVETOPOSITIONREQUEST._serialized_start = 294
-    _MOVETOPOSITIONREQUEST._serialized_end = 462
-    _MOVETOPOSITIONRESPONSE._serialized_start = 464
-    _MOVETOPOSITIONRESPONSE._serialized_end = 488
-    _HOMEREQUEST._serialized_start = 490
-    _HOMEREQUEST._serialized_end = 570
-    _HOMERESPONSE._serialized_start = 572
-    _HOMERESPONSE._serialized_end = 608
-    _GETLENGTHSREQUEST._serialized_start = 610
-    _GETLENGTHSREQUEST._serialized_end = 696
-    _GETLENGTHSRESPONSE._serialized_start = 698
-    _GETLENGTHSRESPONSE._serialized_end = 749
-    _STOPREQUEST._serialized_start = 751
-    _STOPREQUEST._serialized_end = 831
-    _STOPRESPONSE._serialized_start = 833
-    _STOPRESPONSE._serialized_end = 847
-    _STATUS._serialized_start = 849
-    _STATUS._serialized_end = 952
-    _ISMOVINGREQUEST._serialized_start = 954
-    _ISMOVINGREQUEST._serialized_end = 991
-    _ISMOVINGRESPONSE._serialized_start = 993
-    _ISMOVINGRESPONSE._serialized_end = 1040
-    _GANTRYSERVICE._serialized_start = 1043
-    _GANTRYSERVICE._serialized_end = 2285
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n component/gantry/v1/gantry.proto\x12\x18viam.component.gantry.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"W\n\x12GetPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"8\n\x13GetPositionResponse\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm"\xa8\x01\n\x15MoveToPositionRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12!\n\x0cpositions_mm\x18\x02 \x03(\x01R\x0bpositionsMm\x12)\n\x11speeds_mm_per_sec\x18\x03 \x03(\x01R\x0espeedsMmPerSec\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x18\n\x16MoveToPositionResponse"P\n\x0bHomeRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"$\n\x0cHomeResponse\x12\x14\n\x05homed\x18\x01 \x01(\x08R\x05homed"V\n\x11GetLengthsRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"3\n\x12GetLengthsResponse\x12\x1d\n\nlengths_mm\x18\x01 \x03(\x01R\tlengthsMm"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"g\n\x06Status\x12!\n\x0cpositions_mm\x18\x01 \x03(\x01R\x0bpositionsMm\x12\x1d\n\nlengths_mm\x18\x02 \x03(\x01R\tlengthsMm\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\xf2\n\n\rGantryService\x12\xa1\x01\n\x0bGetPosition\x12,.viam.component.gantry.v1.GetPositionRequest\x1a-.viam.component.gantry.v1.GetPositionResponse"5\x82\xd3\xe4\x93\x02/\x12-/viam/api/v1/component/gantry/{name}/position\x12\xae\x01\n\x0eMoveToPosition\x12/.viam.component.gantry.v1.MoveToPositionRequest\x1a0.viam.component.gantry.v1.MoveToPositionResponse"9\xa0\x92)\x01\x82\xd3\xe4\x93\x02/\x1a-/viam/api/v1/component/gantry/{name}/position\x12\x88\x01\n\x04Home\x12%.viam.component.gantry.v1.HomeRequest\x1a&.viam.component.gantry.v1.HomeResponse"1\x82\xd3\xe4\x93\x02+\x1a)/viam/api/v1/component/gantry/{name}/home\x12\x9d\x01\n\nGetLengths\x12+.viam.component.gantry.v1.GetLengthsRequest\x1a,.viam.component.gantry.v1.GetLengthsResponse"4\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/gantry/{name}/lengths\x12\x88\x01\n\x04Stop\x12%.viam.component.gantry.v1.StopRequest\x1a&.viam.component.gantry.v1.StopResponse"1\x82\xd3\xe4\x93\x02+")/viam/api/v1/component/gantry/{name}/stop\x12\x99\x01\n\x08IsMoving\x12).viam.component.gantry.v1.IsMovingRequest\x1a*.viam.component.gantry.v1.IsMovingResponse"6\x82\xd3\xe4\x93\x020\x12./viam/api/v1/component/gantry/{name}/is_moving\x12\x89\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"7\x82\xd3\xe4\x93\x021"//viam/api/v1/component/gantry/{name}/do_command\x12\x95\x01\n\rGetKinematics\x12$.viam.common.v1.GetKinematicsRequest\x1a%.viam.common.v1.GetKinematicsResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/kinematics\x12\x95\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/geometriesBC\n\x1ccom.viam.component.gantry.v1Z#go.viam.com/api/component/gantry/v1b\x06proto3')
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.gantry.v1.gantry_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'\n\x1ccom.viam.component.gantry.v1Z#go.viam.com/api/component/gantry/v1'
+    _globals['_GANTRYSERVICE'].methods_by_name['GetPosition']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['GetPosition']._serialized_options = b'\x82\xd3\xe4\x93\x02/\x12-/viam/api/v1/component/gantry/{name}/position'
+    _globals['_GANTRYSERVICE'].methods_by_name['MoveToPosition']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['MoveToPosition']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02/\x1a-/viam/api/v1/component/gantry/{name}/position'
+    _globals['_GANTRYSERVICE'].methods_by_name['Home']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['Home']._serialized_options = b'\x82\xd3\xe4\x93\x02+\x1a)/viam/api/v1/component/gantry/{name}/home'
+    _globals['_GANTRYSERVICE'].methods_by_name['GetLengths']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['GetLengths']._serialized_options = b'\x82\xd3\xe4\x93\x02.\x12,/viam/api/v1/component/gantry/{name}/lengths'
+    _globals['_GANTRYSERVICE'].methods_by_name['Stop']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['Stop']._serialized_options = b'\x82\xd3\xe4\x93\x02+")/viam/api/v1/component/gantry/{name}/stop'
+    _globals['_GANTRYSERVICE'].methods_by_name['IsMoving']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['IsMoving']._serialized_options = b'\x82\xd3\xe4\x93\x020\x12./viam/api/v1/component/gantry/{name}/is_moving'
+    _globals['_GANTRYSERVICE'].methods_by_name['DoCommand']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x021"//viam/api/v1/component/gantry/{name}/do_command'
+    _globals['_GANTRYSERVICE'].methods_by_name['GetKinematics']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['GetKinematics']._serialized_options = b'\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/kinematics'
+    _globals['_GANTRYSERVICE'].methods_by_name['GetGeometries']._loaded_options = None
+    _globals['_GANTRYSERVICE'].methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gantry/{name}/geometries'
+    _globals['_GETPOSITIONREQUEST']._serialized_start = 146
+    _globals['_GETPOSITIONREQUEST']._serialized_end = 233
+    _globals['_GETPOSITIONRESPONSE']._serialized_start = 235
+    _globals['_GETPOSITIONRESPONSE']._serialized_end = 291
+    _globals['_MOVETOPOSITIONREQUEST']._serialized_start = 294
+    _globals['_MOVETOPOSITIONREQUEST']._serialized_end = 462
+    _globals['_MOVETOPOSITIONRESPONSE']._serialized_start = 464
+    _globals['_MOVETOPOSITIONRESPONSE']._serialized_end = 488
+    _globals['_HOMEREQUEST']._serialized_start = 490
+    _globals['_HOMEREQUEST']._serialized_end = 570
+    _globals['_HOMERESPONSE']._serialized_start = 572
+    _globals['_HOMERESPONSE']._serialized_end = 608
+    _globals['_GETLENGTHSREQUEST']._serialized_start = 610
+    _globals['_GETLENGTHSREQUEST']._serialized_end = 696
+    _globals['_GETLENGTHSRESPONSE']._serialized_start = 698
+    _globals['_GETLENGTHSRESPONSE']._serialized_end = 749
+    _globals['_STOPREQUEST']._serialized_start = 751
+    _globals['_STOPREQUEST']._serialized_end = 831
+    _globals['_STOPRESPONSE']._serialized_start = 833
+    _globals['_STOPRESPONSE']._serialized_end = 847
+    _globals['_STATUS']._serialized_start = 849
+    _globals['_STATUS']._serialized_end = 952
+    _globals['_ISMOVINGREQUEST']._serialized_start = 954
+    _globals['_ISMOVINGREQUEST']._serialized_end = 991
+    _globals['_ISMOVINGRESPONSE']._serialized_start = 993
+    _globals['_ISMOVINGRESPONSE']._serialized_end = 1040
+    _globals['_GANTRYSERVICE']._serialized_start = 1043
+    _globals['_GANTRYSERVICE']._serialized_end = 2437

viam/gen/component/generic/v1/generic_pb2.py

@@ -1,20 +1,23 @@
 """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/generic/v1/generic.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
 DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n"component/generic/v1/generic.proto\x12\x19viam.component.generic.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto2\xb6\x02\n\x0eGenericService\x12\x8a\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"8\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/generic/{name}/do_command\x12\x96\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/generic/{name}/geometriesBE\n\x1dcom.viam.component.generic.v1Z$go.viam.com/api/component/generic/v1b\x06proto3')
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.generic.v1.generic_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
-    DESCRIPTOR._options = None
-    DESCRIPTOR._serialized_options = b'\n\x1dcom.viam.component.generic.v1Z$go.viam.com/api/component/generic/v1'
-    _GENERICSERVICE.methods_by_name['DoCommand']._options = None
-    _GENERICSERVICE.methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/generic/{name}/do_command'
-    _GENERICSERVICE.methods_by_name['GetGeometries']._options = None
-    _GENERICSERVICE.methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/generic/{name}/geometries'
-    _GENERICSERVICE._serialized_start = 120
-    _GENERICSERVICE._serialized_end = 430
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.generic.v1.generic_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'\n\x1dcom.viam.component.generic.v1Z$go.viam.com/api/component/generic/v1'
+    _globals['_GENERICSERVICE'].methods_by_name['DoCommand']._loaded_options = None
+    _globals['_GENERICSERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/generic/{name}/do_command'
+    _globals['_GENERICSERVICE'].methods_by_name['GetGeometries']._loaded_options = None
+    _globals['_GENERICSERVICE'].methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/generic/{name}/geometries'
+    _globals['_GENERICSERVICE']._serialized_start = 120
+    _globals['_GENERICSERVICE']._serialized_end = 430

viam/gen/component/gripper/v1/gripper_grpc.py

@@ -28,6 +28,10 @@ class GripperServiceBase(abc.ABC):
     async def IsMoving(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse]') -> None:
         pass
 
+    @abc.abstractmethod
+    async def IsHoldingSomething(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.IsHoldingSomethingRequest, component.gripper.v1.gripper_pb2.IsHoldingSomethingResponse]') -> None:
+        pass
+
     @abc.abstractmethod
     async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
         pass
@@ -36,8 +40,12 @@ class GripperServiceBase(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 GetKinematics(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse]') -> None:
+        pass
+
     def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
-        return {'/viam.component.gripper.v1.GripperService/Open': grpclib.const.Handler(self.Open, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.OpenRequest, component.gripper.v1.gripper_pb2.OpenResponse), '/viam.component.gripper.v1.GripperService/Grab': grpclib.const.Handler(self.Grab, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.GrabRequest, component.gripper.v1.gripper_pb2.GrabResponse), '/viam.component.gripper.v1.GripperService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.StopRequest, component.gripper.v1.gripper_pb2.StopResponse), '/viam.component.gripper.v1.GripperService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse), '/viam.component.gripper.v1.GripperService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.gripper.v1.GripperService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
+        return {'/viam.component.gripper.v1.GripperService/Open': grpclib.const.Handler(self.Open, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.OpenRequest, component.gripper.v1.gripper_pb2.OpenResponse), '/viam.component.gripper.v1.GripperService/Grab': grpclib.const.Handler(self.Grab, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.GrabRequest, component.gripper.v1.gripper_pb2.GrabResponse), '/viam.component.gripper.v1.GripperService/Stop': grpclib.const.Handler(self.Stop, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.StopRequest, component.gripper.v1.gripper_pb2.StopResponse), '/viam.component.gripper.v1.GripperService/IsMoving': grpclib.const.Handler(self.IsMoving, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse), '/viam.component.gripper.v1.GripperService/IsHoldingSomething': grpclib.const.Handler(self.IsHoldingSomething, grpclib.const.Cardinality.UNARY_UNARY, component.gripper.v1.gripper_pb2.IsHoldingSomethingRequest, component.gripper.v1.gripper_pb2.IsHoldingSomethingResponse), '/viam.component.gripper.v1.GripperService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.gripper.v1.GripperService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse), '/viam.component.gripper.v1.GripperService/GetKinematics': grpclib.const.Handler(self.GetKinematics, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse)}
 
 class UnimplementedGripperServiceBase(GripperServiceBase):
 
@@ -53,12 +61,18 @@ class UnimplementedGripperServiceBase(GripperServiceBase):
     async def IsMoving(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
+    async def IsHoldingSomething(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.IsHoldingSomethingRequest, component.gripper.v1.gripper_pb2.IsHoldingSomethingResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
     async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
         raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
 
     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 GetKinematics(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
 class GripperServiceStub:
 
     def __init__(self, channel: grpclib.client.Channel) -> None:
@@ -66,5 +80,7 @@ class GripperServiceStub:
         self.Grab = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/Grab', component.gripper.v1.gripper_pb2.GrabRequest, component.gripper.v1.gripper_pb2.GrabResponse)
         self.Stop = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/Stop', component.gripper.v1.gripper_pb2.StopRequest, component.gripper.v1.gripper_pb2.StopResponse)
         self.IsMoving = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/IsMoving', component.gripper.v1.gripper_pb2.IsMovingRequest, component.gripper.v1.gripper_pb2.IsMovingResponse)
+        self.IsHoldingSomething = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/IsHoldingSomething', component.gripper.v1.gripper_pb2.IsHoldingSomethingRequest, component.gripper.v1.gripper_pb2.IsHoldingSomethingResponse)
         self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
-        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)
+        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)
+        self.GetKinematics = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/GetKinematics', common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse)

viam/gen/component/gripper/v1/gripper_pb2.py

@@ -1,45 +1,56 @@
 """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/gripper/v1/gripper.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"component/gripper/v1/gripper.proto\x12\x19viam.component.gripper.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"P\n\x0bOpenRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cOpenResponse"P\n\x0bGrabRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"W\n\x0cGrabResponse\x12\x18\n\x07success\x18\x01 \x01(\x08R\x07success\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"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"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving2\x87\x07\n\x0eGripperService\x12\x8f\x01\n\x04Open\x12&.viam.component.gripper.v1.OpenRequest\x1a\'.viam.component.gripper.v1.OpenResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/open\x12\x8f\x01\n\x04Grab\x12&.viam.component.gripper.v1.GrabRequest\x1a\'.viam.component.gripper.v1.GrabResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/grab\x12\x8b\x01\n\x04Stop\x12&.viam.component.gripper.v1.StopRequest\x1a\'.viam.component.gripper.v1.StopResponse"2\x82\xd3\xe4\x93\x02,"*/viam/api/v1/component/gripper/{name}/stop\x12\x9c\x01\n\x08IsMoving\x12*.viam.component.gripper.v1.IsMovingRequest\x1a+.viam.component.gripper.v1.IsMovingResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gripper/{name}/is_moving\x12\x8a\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"8\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/gripper/{name}/do_command\x12\x96\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/geometriesBE\n\x1dcom.viam.component.gripper.v1Z$go.viam.com/api/component/gripper/v1b\x06proto3')
-_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
-_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.gripper.v1.gripper_pb2', globals())
-if _descriptor._USE_C_DESCRIPTORS == False:
-    DESCRIPTOR._options = None
-    DESCRIPTOR._serialized_options = b'\n\x1dcom.viam.component.gripper.v1Z$go.viam.com/api/component/gripper/v1'
-    _GRIPPERSERVICE.methods_by_name['Open']._options = None
-    _GRIPPERSERVICE.methods_by_name['Open']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/open'
-    _GRIPPERSERVICE.methods_by_name['Grab']._options = None
-    _GRIPPERSERVICE.methods_by_name['Grab']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/grab'
-    _GRIPPERSERVICE.methods_by_name['Stop']._options = None
-    _GRIPPERSERVICE.methods_by_name['Stop']._serialized_options = b'\x82\xd3\xe4\x93\x02,"*/viam/api/v1/component/gripper/{name}/stop'
-    _GRIPPERSERVICE.methods_by_name['IsMoving']._options = None
-    _GRIPPERSERVICE.methods_by_name['IsMoving']._serialized_options = b'\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gripper/{name}/is_moving'
-    _GRIPPERSERVICE.methods_by_name['DoCommand']._options = None
-    _GRIPPERSERVICE.methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/gripper/{name}/do_command'
-    _GRIPPERSERVICE.methods_by_name['GetGeometries']._options = None
-    _GRIPPERSERVICE.methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/geometries'
-    _OPENREQUEST._serialized_start = 149
-    _OPENREQUEST._serialized_end = 229
-    _OPENRESPONSE._serialized_start = 231
-    _OPENRESPONSE._serialized_end = 245
-    _GRABREQUEST._serialized_start = 247
-    _GRABREQUEST._serialized_end = 327
-    _GRABRESPONSE._serialized_start = 329
-    _GRABRESPONSE._serialized_end = 416
-    _STOPREQUEST._serialized_start = 418
-    _STOPREQUEST._serialized_end = 498
-    _STOPRESPONSE._serialized_start = 500
-    _STOPRESPONSE._serialized_end = 514
-    _ISMOVINGREQUEST._serialized_start = 516
-    _ISMOVINGREQUEST._serialized_end = 553
-    _ISMOVINGRESPONSE._serialized_start = 555
-    _ISMOVINGRESPONSE._serialized_end = 602
-    _GRIPPERSERVICE._serialized_start = 605
-    _GRIPPERSERVICE._serialized_end = 1508
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n"component/gripper/v1/gripper.proto\x12\x19viam.component.gripper.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto"P\n\x0bOpenRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"\x0e\n\x0cOpenResponse"P\n\x0bGrabRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"W\n\x0cGrabResponse\x12\x18\n\x07success\x18\x01 \x01(\x08R\x07success\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"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"%\n\x0fIsMovingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name"/\n\x10IsMovingResponse\x12\x1b\n\tis_moving\x18\x01 \x01(\x08R\x08isMoving"^\n\x19IsHoldingSomethingRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"{\n\x1aIsHoldingSomethingResponse\x120\n\x14is_holding_something\x18\x01 \x01(\x08R\x12isHoldingSomething\x12+\n\x04meta\x18c \x01(\x0b2\x17.google.protobuf.StructR\x04meta2\xe8\t\n\x0eGripperService\x12\x8f\x01\n\x04Open\x12&.viam.component.gripper.v1.OpenRequest\x1a\'.viam.component.gripper.v1.OpenResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/open\x12\x8f\x01\n\x04Grab\x12&.viam.component.gripper.v1.GrabRequest\x1a\'.viam.component.gripper.v1.GrabResponse"6\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/grab\x12\x8b\x01\n\x04Stop\x12&.viam.component.gripper.v1.StopRequest\x1a\'.viam.component.gripper.v1.StopResponse"2\x82\xd3\xe4\x93\x02,"*/viam/api/v1/component/gripper/{name}/stop\x12\x9c\x01\n\x08IsMoving\x12*.viam.component.gripper.v1.IsMovingRequest\x1a+.viam.component.gripper.v1.IsMovingResponse"7\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gripper/{name}/is_moving\x12\xc5\x01\n\x12IsHoldingSomething\x124.viam.component.gripper.v1.IsHoldingSomethingRequest\x1a5.viam.component.gripper.v1.IsHoldingSomethingResponse"B\x82\xd3\xe4\x93\x02<\x12:/viam/api/v1/component/gripper/{name}/is_holding_something\x12\x8a\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"8\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/gripper/{name}/do_command\x12\x96\x01\n\rGetGeometries\x12$.viam.common.v1.GetGeometriesRequest\x1a%.viam.common.v1.GetGeometriesResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/geometries\x12\x96\x01\n\rGetKinematics\x12$.viam.common.v1.GetKinematicsRequest\x1a%.viam.common.v1.GetKinematicsResponse"8\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/kinematicsBE\n\x1dcom.viam.component.gripper.v1Z$go.viam.com/api/component/gripper/v1b\x06proto3')
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'component.gripper.v1.gripper_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'\n\x1dcom.viam.component.gripper.v1Z$go.viam.com/api/component/gripper/v1'
+    _globals['_GRIPPERSERVICE'].methods_by_name['Open']._loaded_options = None
+    _globals['_GRIPPERSERVICE'].methods_by_name['Open']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/open'
+    _globals['_GRIPPERSERVICE'].methods_by_name['Grab']._loaded_options = None
+    _globals['_GRIPPERSERVICE'].methods_by_name['Grab']._serialized_options = b'\xa0\x92)\x01\x82\xd3\xe4\x93\x02,\x1a*/viam/api/v1/component/gripper/{name}/grab'
+    _globals['_GRIPPERSERVICE'].methods_by_name['Stop']._loaded_options = None
+    _globals['_GRIPPERSERVICE'].methods_by_name['Stop']._serialized_options = b'\x82\xd3\xe4\x93\x02,"*/viam/api/v1/component/gripper/{name}/stop'
+    _globals['_GRIPPERSERVICE'].methods_by_name['IsMoving']._loaded_options = None
+    _globals['_GRIPPERSERVICE'].methods_by_name['IsMoving']._serialized_options = b'\x82\xd3\xe4\x93\x021\x12//viam/api/v1/component/gripper/{name}/is_moving'
+    _globals['_GRIPPERSERVICE'].methods_by_name['IsHoldingSomething']._loaded_options = None
+    _globals['_GRIPPERSERVICE'].methods_by_name['IsHoldingSomething']._serialized_options = b'\x82\xd3\xe4\x93\x02<\x12:/viam/api/v1/component/gripper/{name}/is_holding_something'
+    _globals['_GRIPPERSERVICE'].methods_by_name['DoCommand']._loaded_options = None
+    _globals['_GRIPPERSERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x022"0/viam/api/v1/component/gripper/{name}/do_command'
+    _globals['_GRIPPERSERVICE'].methods_by_name['GetGeometries']._loaded_options = None
+    _globals['_GRIPPERSERVICE'].methods_by_name['GetGeometries']._serialized_options = b'\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/geometries'
+    _globals['_GRIPPERSERVICE'].methods_by_name['GetKinematics']._loaded_options = None
+    _globals['_GRIPPERSERVICE'].methods_by_name['GetKinematics']._serialized_options = b'\x82\xd3\xe4\x93\x022\x120/viam/api/v1/component/gripper/{name}/kinematics'
+    _globals['_OPENREQUEST']._serialized_start = 149
+    _globals['_OPENREQUEST']._serialized_end = 229
+    _globals['_OPENRESPONSE']._serialized_start = 231
+    _globals['_OPENRESPONSE']._serialized_end = 245
+    _globals['_GRABREQUEST']._serialized_start = 247
+    _globals['_GRABREQUEST']._serialized_end = 327
+    _globals['_GRABRESPONSE']._serialized_start = 329
+    _globals['_GRABRESPONSE']._serialized_end = 416
+    _globals['_STOPREQUEST']._serialized_start = 418
+    _globals['_STOPREQUEST']._serialized_end = 498
+    _globals['_STOPRESPONSE']._serialized_start = 500
+    _globals['_STOPRESPONSE']._serialized_end = 514
+    _globals['_ISMOVINGREQUEST']._serialized_start = 516
+    _globals['_ISMOVINGREQUEST']._serialized_end = 553
+    _globals['_ISMOVINGRESPONSE']._serialized_start = 555
+    _globals['_ISMOVINGRESPONSE']._serialized_end = 602
+    _globals['_ISHOLDINGSOMETHINGREQUEST']._serialized_start = 604
+    _globals['_ISHOLDINGSOMETHINGREQUEST']._serialized_end = 698
+    _globals['_ISHOLDINGSOMETHINGRESPONSE']._serialized_start = 700
+    _globals['_ISHOLDINGSOMETHINGRESPONSE']._serialized_end = 823
+    _globals['_GRIPPERSERVICE']._serialized_start = 826
+    _globals['_GRIPPERSERVICE']._serialized_end = 2082

viam/gen/component/gripper/v1/gripper_pb2.pyi

@@ -134,4 +134,46 @@ 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 IsHoldingSomethingRequest(google.protobuf.message.Message):
+    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___IsHoldingSomethingRequest = IsHoldingSomethingRequest
+
+@typing.final
+class IsHoldingSomethingResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    IS_HOLDING_SOMETHING_FIELD_NUMBER: builtins.int
+    META_FIELD_NUMBER: builtins.int
+    is_holding_something: builtins.bool
+
+    @property
+    def meta(self) -> google.protobuf.struct_pb2.Struct:
+        ...
+
+    def __init__(self, *, is_holding_something: builtins.bool=..., meta: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['meta', b'meta']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['is_holding_something', b'is_holding_something', 'meta', b'meta']) -> None:
+        ...
+global___IsHoldingSomethingResponse = IsHoldingSomethingResponse