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

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

@@ -8,14 +8,10 @@ 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 GetPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -29,14 +25,14 @@ class GetPositionRequest(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___GetPositionRequest = GetPositionRequest
 
-@typing_extensions.final
+@typing.final
 class GetPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POSITIONS_MM_FIELD_NUMBER: builtins.int
@@ -48,15 +44,16 @@ class GetPositionResponse(google.protobuf.message.Message):
     def __init__(self, *, positions_mm: collections.abc.Iterable[builtins.float] | None=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['positions_mm', b'positions_mm']) -> None:
+    def ClearField(self, field_name: typing.Literal['positions_mm', b'positions_mm']) -> None:
         ...
 global___GetPositionResponse = GetPositionResponse
 
-@typing_extensions.final
+@typing.final
 class MoveToPositionRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
     POSITIONS_MM_FIELD_NUMBER: builtins.int
+    SPEEDS_MM_PER_SEC_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
 
@@ -64,21 +61,25 @@ class MoveToPositionRequest(google.protobuf.message.Message):
     def positions_mm(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
         """Number of millimeters to move the gantry by respective to each axis."""
 
+    @property
+    def speeds_mm_per_sec(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
+        """Speeds to move each gantry axis must match length and order of positions_mm."""
+
     @property
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., positions_mm: collections.abc.Iterable[builtins.float] | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., positions_mm: collections.abc.Iterable[builtins.float] | None=..., speeds_mm_per_sec: collections.abc.Iterable[builtins.float] | None=..., 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', 'positions_mm', b'positions_mm']) -> None:
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name', 'positions_mm', b'positions_mm', 'speeds_mm_per_sec', b'speeds_mm_per_sec']) -> None:
         ...
 global___MoveToPositionRequest = MoveToPositionRequest
 
-@typing_extensions.final
+@typing.final
 class MoveToPositionResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
 
@@ -86,7 +87,42 @@ class MoveToPositionResponse(google.protobuf.message.Message):
         ...
 global___MoveToPositionResponse = MoveToPositionResponse
 
-@typing_extensions.final
+@typing.final
+class HomeRequest(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:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___HomeRequest = HomeRequest
+
+@typing.final
+class HomeResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    HOMED_FIELD_NUMBER: builtins.int
+    homed: builtins.bool
+    'A bool describing whether the gantry has completed homing'
+
+    def __init__(self, *, homed: builtins.bool=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['homed', b'homed']) -> None:
+        ...
+global___HomeResponse = HomeResponse
+
+@typing.final
 class GetLengthsRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -100,14 +136,14 @@ class GetLengthsRequest(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___GetLengthsRequest = GetLengthsRequest
 
-@typing_extensions.final
+@typing.final
 class GetLengthsResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     LENGTHS_MM_FIELD_NUMBER: builtins.int
@@ -119,11 +155,11 @@ class GetLengthsResponse(google.protobuf.message.Message):
     def __init__(self, *, lengths_mm: collections.abc.Iterable[builtins.float] | None=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['lengths_mm', b'lengths_mm']) -> None:
+    def ClearField(self, field_name: typing.Literal['lengths_mm', b'lengths_mm']) -> None:
         ...
 global___GetLengthsResponse = GetLengthsResponse
 
-@typing_extensions.final
+@typing.final
 class StopRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
@@ -138,14 +174,14 @@ 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
 
@@ -153,12 +189,13 @@ 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
     POSITIONS_MM_FIELD_NUMBER: builtins.int
     LENGTHS_MM_FIELD_NUMBER: builtins.int
     IS_MOVING_FIELD_NUMBER: builtins.int
+    is_moving: builtins.bool
 
     @property
     def positions_mm(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
@@ -167,16 +204,15 @@ class Status(google.protobuf.message.Message):
     @property
     def lengths_mm(self) -> google.protobuf.internal.containers.RepeatedScalarFieldContainer[builtins.float]:
         ...
-    is_moving: builtins.bool
 
     def __init__(self, *, positions_mm: collections.abc.Iterable[builtins.float] | None=..., lengths_mm: collections.abc.Iterable[builtins.float] | None=..., is_moving: builtins.bool=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing_extensions.Literal['is_moving', b'is_moving', 'lengths_mm', b'lengths_mm', 'positions_mm', b'positions_mm']) -> None:
+    def ClearField(self, field_name: typing.Literal['is_moving', b'is_moving', 'lengths_mm', b'lengths_mm', 'positions_mm', b'positions_mm']) -> 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
@@ -185,11 +221,11 @@ 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
@@ -198,6 +234,6 @@ 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

viam/gen/component/generic/v1/generic_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
@@ -14,10 +15,23 @@ class GenericServiceBase(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 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.generic.v1.GenericService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)}
+        return {'/viam.component.generic.v1.GenericService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.generic.v1.GenericService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
+
+class UnimplementedGenericServiceBase(GenericServiceBase):
+
+    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 GenericServiceStub:
 
     def __init__(self, channel: grpclib.client.Channel) -> None:
-        self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.generic.v1.GenericService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
+        self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.generic.v1.GenericService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
+        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.generic.v1.GenericService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)

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

@@ -1,18 +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\x9d\x01\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_commandBE\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._serialized_start = 120
-    _GENERICSERVICE._serialized_end = 277
+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')
+_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

@@ -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
@@ -27,12 +28,50 @@ 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
 
+    @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 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)}
+        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):
+
+    async def Open(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.OpenRequest, component.gripper.v1.gripper_pb2.OpenResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def Grab(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.GrabRequest, component.gripper.v1.gripper_pb2.GrabResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def Stop(self, stream: 'grpclib.server.Stream[component.gripper.v1.gripper_pb2.StopRequest, component.gripper.v1.gripper_pb2.StopResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    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:
 
@@ -41,4 +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.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.gripper.v1.GripperService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
+        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.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

@@ -1,43 +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\xee\x05\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_commandBE\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'
-    _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 = 1355
+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