viam-sdk 0.3.0__py3-none-linux_armv6l.whl → 0.66.0__py3-none-linux_armv6l.whl

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

@@ -2,6 +2,7 @@ import abc
 import typing
 import grpclib.const
 import grpclib.client
+import grpclib.exceptions
 if typing.TYPE_CHECKING:
     import grpclib.server
 from .... import common
@@ -27,6 +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
@@ -39,8 +44,55 @@ class ArmServiceBase(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
+
+    @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)}
+        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):
+
+    async def GetEndPosition(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def MoveToPosition(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def GetJointPositions(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    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)
+
+    async def IsMoving(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse]') -> 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 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)
+
+    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:
 
@@ -49,6 +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.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.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

@@ -1,59 +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\xea\x08\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_commandB=\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'
-    _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 = 2383
+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

@@ -9,14 +9,10 @@ import google.protobuf.descriptor
 import google.protobuf.internal.containers
 import google.protobuf.message
 import google.protobuf.struct_pb2
-import sys
-if sys.version_info >= (3, 8):
-    import typing as typing_extensions
-else:
-    import typing_extensions
+import typing
 DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
 
-@typing_extensions.final
+@typing.final
 class GetEndPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -31,14 +27,14 @@ class GetEndPositionRequest(google.protobuf.message.Message):
     def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['extra', b'extra']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['extra', b'extra', 'name', b'name']) -> None:
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
         ...
 global___GetEndPositionRequest = GetEndPositionRequest
 
-@typing_extensions.final
+@typing.final
 class GetEndPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSE_FIELD_NUMBER: builtins.int
@@ -52,14 +48,14 @@ class GetEndPositionResponse(google.protobuf.message.Message):
     def __init__(self, *, pose: common.v1.common_pb2.Pose | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['pose', b'pose']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['pose', b'pose']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['pose', b'pose']) -> None:
+    def ClearField(self, field_name: typing.Literal['pose', b'pose']) -> None:
         ...
 global___GetEndPositionResponse = GetEndPositionResponse
 
-@typing_extensions.final
+@typing.final
 class JointPositions(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     VALUES_FIELD_NUMBER: builtins.int
@@ -67,18 +63,17 @@ 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:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['values', b'values']) -> None:
+    def ClearField(self, field_name: typing.Literal['values', b'values']) -> None:
         ...
 global___JointPositions = JointPositions
 
-@typing_extensions.final
+@typing.final
 class GetJointPositionsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -93,14 +88,14 @@ class GetJointPositionsRequest(google.protobuf.message.Message):
     def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['extra', b'extra']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['extra', b'extra', 'name', b'name']) -> None:
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
         ...
 global___GetJointPositionsRequest = GetJointPositionsRequest
 
-@typing_extensions.final
+@typing.final
 class GetJointPositionsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSITIONS_FIELD_NUMBER: builtins.int
@@ -112,14 +107,14 @@ class GetJointPositionsResponse(google.protobuf.message.Message):
     def __init__(self, *, positions: global___JointPositions | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['positions', b'positions']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['positions', b'positions']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['positions', b'positions']) -> None:
+    def ClearField(self, field_name: typing.Literal['positions', b'positions']) -> None:
         ...
 global___GetJointPositionsResponse = GetJointPositionsResponse
 
-@typing_extensions.final
+@typing.final
 class MoveToPositionRequest(google.protobuf.message.Message):
     """Moves an arm to the specified pose that is within the reference frame of the arm.
     Move request in Motion API has the same behavior except that it performs obstacle avoidance when a world_state
@@ -143,14 +138,14 @@ class MoveToPositionRequest(google.protobuf.message.Message):
     def __init__(self, *, name: builtins.str=..., to: common.v1.common_pb2.Pose | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['extra', b'extra', 'to', b'to']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['extra', b'extra', 'to', b'to']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['extra', b'extra', 'name', b'name', 'to', b'to']) -> None:
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name', 'to', b'to']) -> None:
         ...
 global___MoveToPositionRequest = MoveToPositionRequest
 
-@typing_extensions.final
+@typing.final
 class MoveToPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -158,7 +153,7 @@ class MoveToPositionResponse(google.protobuf.message.Message):
         ...
 global___MoveToPositionResponse = MoveToPositionResponse
 
-@typing_extensions.final
+@typing.final
 class MoveToJointPositionsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -180,14 +175,14 @@ class MoveToJointPositionsRequest(google.protobuf.message.Message):
     def __init__(self, *, name: builtins.str=..., positions: global___JointPositions | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['extra', b'extra', 'positions', b'positions']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['extra', b'extra', 'positions', b'positions']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['extra', b'extra', 'name', b'name', 'positions', b'positions']) -> None:
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name', 'positions', b'positions']) -> None:
         ...
 global___MoveToJointPositionsRequest = MoveToJointPositionsRequest
 
-@typing_extensions.final
+@typing.final
 class MoveToJointPositionsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -195,7 +190,50 @@ class MoveToJointPositionsResponse(google.protobuf.message.Message):
         ...
 global___MoveToJointPositionsResponse = MoveToJointPositionsResponse
 
-@typing_extensions.final
+@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
     NAME_FIELD_NUMBER: builtins.int
@@ -210,14 +248,14 @@ class StopRequest(google.protobuf.message.Message):
     def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['extra', b'extra']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['extra', b'extra', 'name', b'name']) -> None:
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
         ...
 global___StopRequest = StopRequest
 
-@typing_extensions.final
+@typing.final
 class StopResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -225,12 +263,13 @@ class StopResponse(google.protobuf.message.Message):
         ...
 global___StopResponse = StopResponse
 
-@typing_extensions.final
+@typing.final
 class Status(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     END_POSITION_FIELD_NUMBER: builtins.int
     JOINT_POSITIONS_FIELD_NUMBER: builtins.int
     IS_MOVING_FIELD_NUMBER: builtins.int
+    is_moving: builtins.bool
 
     @property
     def end_position(self) -> common.v1.common_pb2.Pose:
@@ -239,19 +278,18 @@ class Status(google.protobuf.message.Message):
     @property
     def joint_positions(self) -> global___JointPositions:
         ...
-    is_moving: builtins.bool
 
     def __init__(self, *, end_position: common.v1.common_pb2.Pose | None=..., joint_positions: global___JointPositions | None=..., is_moving: builtins.bool=...) -> None:
         ...
 
-    def HasField(self, field_name: typing_extensions.Literal['end_position', b'end_position', 'joint_positions', b'joint_positions']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['end_position', b'end_position', 'joint_positions', b'joint_positions']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['end_position', b'end_position', 'is_moving', b'is_moving', 'joint_positions', b'joint_positions']) -> None:
+    def ClearField(self, field_name: typing.Literal['end_position', b'end_position', 'is_moving', b'is_moving', 'joint_positions', b'joint_positions']) -> None:
         ...
 global___Status = Status
 
-@typing_extensions.final
+@typing.final
 class IsMovingRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -260,11 +298,11 @@ class IsMovingRequest(google.protobuf.message.Message):
     def __init__(self, *, name: builtins.str=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['name', b'name']) -> None:
+    def ClearField(self, field_name: typing.Literal['name', b'name']) -> None:
         ...
 global___IsMovingRequest = IsMovingRequest
 
-@typing_extensions.final
+@typing.final
 class IsMovingResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     IS_MOVING_FIELD_NUMBER: builtins.int
@@ -273,6 +311,34 @@ class IsMovingResponse(google.protobuf.message.Message):
     def __init__(self, *, is_moving: builtins.bool=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['is_moving', b'is_moving']) -> None:
+    def ClearField(self, field_name: typing.Literal['is_moving', b'is_moving']) -> None:
+        ...
+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___IsMovingResponse = IsMovingResponse
+global___MoveOptions = MoveOptions

viam/gen/component/audioin/v1/audioin_grpc.py

@@ -0,0 +1,54 @@
+import abc
+import typing
+import grpclib.const
+import grpclib.client
+import grpclib.exceptions
+if typing.TYPE_CHECKING:
+    import grpclib.server
+from .... import common
+import google.api.annotations_pb2
+import google.protobuf.struct_pb2
+from .... import component
+
+class AudioInServiceBase(abc.ABC):
+
+    @abc.abstractmethod
+    async def GetAudio(self, stream: 'grpclib.server.Stream[component.audioin.v1.audioin_pb2.GetAudioRequest, component.audioin.v1.audioin_pb2.GetAudioResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def GetProperties(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetPropertiesRequest, common.v1.common_pb2.GetPropertiesResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> 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.audioin.v1.AudioInService/GetAudio': grpclib.const.Handler(self.GetAudio, grpclib.const.Cardinality.UNARY_STREAM, component.audioin.v1.audioin_pb2.GetAudioRequest, component.audioin.v1.audioin_pb2.GetAudioResponse), '/viam.component.audioin.v1.AudioInService/GetProperties': grpclib.const.Handler(self.GetProperties, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetPropertiesRequest, common.v1.common_pb2.GetPropertiesResponse), '/viam.component.audioin.v1.AudioInService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.audioin.v1.AudioInService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
+
+class UnimplementedAudioInServiceBase(AudioInServiceBase):
+
+    async def GetAudio(self, stream: 'grpclib.server.Stream[component.audioin.v1.audioin_pb2.GetAudioRequest, component.audioin.v1.audioin_pb2.GetAudioResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def GetProperties(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetPropertiesRequest, common.v1.common_pb2.GetPropertiesResponse]') -> 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)
+
+class AudioInServiceStub:
+
+    def __init__(self, channel: grpclib.client.Channel) -> None:
+        self.GetAudio = grpclib.client.UnaryStreamMethod(channel, '/viam.component.audioin.v1.AudioInService/GetAudio', component.audioin.v1.audioin_pb2.GetAudioRequest, component.audioin.v1.audioin_pb2.GetAudioResponse)
+        self.GetProperties = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.audioin.v1.AudioInService/GetProperties', common.v1.common_pb2.GetPropertiesRequest, common.v1.common_pb2.GetPropertiesResponse)
+        self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.audioin.v1.AudioInService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
+        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.audioin.v1.AudioInService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)