viam-sdk 0.41.1__py3-none-linux_armv6l.whl → 0.66.0__py3-none-linux_armv6l.whl

viam/gen/service/motion/v1/motion_pb2.pyi

@@ -51,20 +51,23 @@ class MoveRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
     DESTINATION_FIELD_NUMBER: builtins.int
-    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
     WORLD_STATE_FIELD_NUMBER: builtins.int
     CONSTRAINTS_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
     'Name of the motion service'
+    component_name: builtins.str
+    'Component on the robot to move to the specified destination'
 
     @property
     def destination(self) -> common.v1.common_pb2.PoseInFrame:
         """Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system"""
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """Component on the robot to move to the specified destination"""
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
     def world_state(self) -> common.v1.common_pb2.WorldState:
@@ -80,13 +83,13 @@ class MoveRequest(google.protobuf.message.Message):
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.PoseInFrame | None=..., component_name: common.v1.common_pb2.ResourceName | None=..., world_state: common.v1.common_pb2.WorldState | None=..., constraints: global___Constraints | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.PoseInFrame | None=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., world_state: common.v1.common_pb2.WorldState | None=..., constraints: global___Constraints | None=..., component_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['_constraints', b'_constraints', '_world_state', b'_world_state', 'component_name', b'component_name', 'constraints', b'constraints', 'destination', b'destination', 'extra', b'extra', 'world_state', b'world_state']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_constraints', b'_constraints', '_world_state', b'_world_state', 'component_name_deprecated', b'component_name_deprecated', 'constraints', b'constraints', 'destination', b'destination', 'extra', b'extra', 'world_state', b'world_state']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['_constraints', b'_constraints', '_world_state', b'_world_state', 'component_name', b'component_name', 'constraints', b'constraints', 'destination', b'destination', 'extra', b'extra', 'name', b'name', 'world_state', b'world_state']) -> None:
+    def ClearField(self, field_name: typing.Literal['_constraints', b'_constraints', '_world_state', b'_world_state', 'component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'constraints', b'constraints', 'destination', b'destination', 'extra', b'extra', 'name', b'name', 'world_state', b'world_state']) -> None:
         ...
 
     @typing.overload
@@ -116,25 +119,31 @@ class MoveOnMapRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
     DESTINATION_FIELD_NUMBER: builtins.int
-    COMPONENT_NAME_FIELD_NUMBER: builtins.int
-    SLAM_SERVICE_NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    SLAM_SERVICE_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
     MOTION_CONFIGURATION_FIELD_NUMBER: builtins.int
     OBSTACLES_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    SLAM_SERVICE_NAME_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
     'Name of the motion service'
+    component_name: builtins.str
+    'Component on the robot to move to the specified destination'
+    slam_service_name: builtins.str
+    'Name of the slam service from which the SLAM map is requested'
 
     @property
     def destination(self) -> common.v1.common_pb2.Pose:
         """Specify a destination to, which can be any pose with respect to the SLAM map's origin"""
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """Component on the robot to move to the specified destination"""
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
-    def slam_service_name(self) -> common.v1.common_pb2.ResourceName:
-        """Name of the slam service from which the SLAM map is requested"""
+    def slam_service_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use slam_service_name field."""
 
     @property
     def motion_configuration(self) -> global___MotionConfiguration:
@@ -148,13 +157,13 @@ class MoveOnMapRequest(google.protobuf.message.Message):
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.Pose | None=..., component_name: common.v1.common_pb2.ResourceName | None=..., slam_service_name: common.v1.common_pb2.ResourceName | None=..., motion_configuration: global___MotionConfiguration | None=..., obstacles: collections.abc.Iterable[common.v1.common_pb2.Geometry] | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.Pose | None=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., slam_service_name_deprecated: common.v1.common_pb2.ResourceName | None=..., motion_configuration: global___MotionConfiguration | None=..., obstacles: collections.abc.Iterable[common.v1.common_pb2.Geometry] | None=..., component_name: builtins.str=..., slam_service_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['_motion_configuration', b'_motion_configuration', 'component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'motion_configuration', b'motion_configuration', 'slam_service_name', b'slam_service_name']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_motion_configuration', b'_motion_configuration', 'component_name_deprecated', b'component_name_deprecated', 'destination', b'destination', 'extra', b'extra', 'motion_configuration', b'motion_configuration', 'slam_service_name_deprecated', b'slam_service_name_deprecated']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['_motion_configuration', b'_motion_configuration', 'component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'motion_configuration', b'motion_configuration', 'name', b'name', 'obstacles', b'obstacles', 'slam_service_name', b'slam_service_name']) -> None:
+    def ClearField(self, field_name: typing.Literal['_motion_configuration', b'_motion_configuration', 'component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'destination', b'destination', 'extra', b'extra', 'motion_configuration', b'motion_configuration', 'name', b'name', 'obstacles', b'obstacles', 'slam_service_name', b'slam_service_name', 'slam_service_name_deprecated', b'slam_service_name_deprecated']) -> None:
         ...
 
     def WhichOneof(self, oneof_group: typing.Literal['_motion_configuration', b'_motion_configuration']) -> typing.Literal['motion_configuration'] | None:
@@ -179,24 +188,28 @@ global___MoveOnMapResponse = MoveOnMapResponse
 class ObstacleDetector(google.protobuf.message.Message):
     """Pairs a vision service with a camera, informing the service about which camera it may use"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    VISION_SERVICE_DEPRECATED_FIELD_NUMBER: builtins.int
+    CAMERA_DEPRECATED_FIELD_NUMBER: builtins.int
     VISION_SERVICE_FIELD_NUMBER: builtins.int
     CAMERA_FIELD_NUMBER: builtins.int
+    vision_service: builtins.str
+    camera: builtins.str
 
     @property
-    def vision_service(self) -> common.v1.common_pb2.ResourceName:
+    def vision_service_deprecated(self) -> common.v1.common_pb2.ResourceName:
         ...
 
     @property
-    def camera(self) -> common.v1.common_pb2.ResourceName:
+    def camera_deprecated(self) -> common.v1.common_pb2.ResourceName:
         ...
 
-    def __init__(self, *, vision_service: common.v1.common_pb2.ResourceName | None=..., camera: common.v1.common_pb2.ResourceName | None=...) -> None:
+    def __init__(self, *, vision_service_deprecated: common.v1.common_pb2.ResourceName | None=..., camera_deprecated: common.v1.common_pb2.ResourceName | None=..., vision_service: builtins.str=..., camera: builtins.str=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['camera', b'camera', 'vision_service', b'vision_service']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['camera_deprecated', b'camera_deprecated', 'vision_service_deprecated', b'vision_service_deprecated']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['camera', b'camera', 'vision_service', b'vision_service']) -> None:
+    def ClearField(self, field_name: typing.Literal['camera', b'camera', 'camera_deprecated', b'camera_deprecated', 'vision_service', b'vision_service', 'vision_service_deprecated', b'vision_service_deprecated']) -> None:
         ...
 global___ObstacleDetector = ObstacleDetector
 
@@ -260,28 +273,34 @@ class MoveOnGlobeRequest(google.protobuf.message.Message):
     NAME_FIELD_NUMBER: builtins.int
     DESTINATION_FIELD_NUMBER: builtins.int
     HEADING_FIELD_NUMBER: builtins.int
-    COMPONENT_NAME_FIELD_NUMBER: builtins.int
-    MOVEMENT_SENSOR_NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
+    MOVEMENT_SENSOR_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
     OBSTACLES_FIELD_NUMBER: builtins.int
     MOTION_CONFIGURATION_FIELD_NUMBER: builtins.int
     BOUNDING_REGIONS_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    MOVEMENT_SENSOR_NAME_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
     'Name of the motion service'
     heading: builtins.float
     'Optional compass heading to achieve at the destination, in degrees [0-360)'
+    component_name: builtins.str
+    'Component on the robot to move to the specified destination'
+    movement_sensor_name: builtins.str
+    'Name of the movement sensor which will be used to check robot location'
 
     @property
     def destination(self) -> common.v1.common_pb2.GeoPoint:
         """Destination, encoded as a GeoPoint"""
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """Component on the robot to move to the specified destination"""
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
-    def movement_sensor_name(self) -> common.v1.common_pb2.ResourceName:
-        """Name of the movement sensor which will be used to check robot location"""
+    def movement_sensor_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use movement_sensor_name field."""
 
     @property
     def obstacles(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.GeoGeometry]:
@@ -299,13 +318,13 @@ class MoveOnGlobeRequest(google.protobuf.message.Message):
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.GeoPoint | None=..., heading: builtins.float | None=..., component_name: common.v1.common_pb2.ResourceName | None=..., movement_sensor_name: common.v1.common_pb2.ResourceName | None=..., obstacles: collections.abc.Iterable[common.v1.common_pb2.GeoGeometry] | None=..., motion_configuration: global___MotionConfiguration | None=..., bounding_regions: collections.abc.Iterable[common.v1.common_pb2.GeoGeometry] | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., destination: common.v1.common_pb2.GeoPoint | None=..., heading: builtins.float | None=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., movement_sensor_name_deprecated: common.v1.common_pb2.ResourceName | None=..., obstacles: collections.abc.Iterable[common.v1.common_pb2.GeoGeometry] | None=..., motion_configuration: global___MotionConfiguration | None=..., bounding_regions: collections.abc.Iterable[common.v1.common_pb2.GeoGeometry] | None=..., component_name: builtins.str=..., movement_sensor_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['_heading', b'_heading', '_motion_configuration', b'_motion_configuration', 'component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'heading', b'heading', 'motion_configuration', b'motion_configuration', 'movement_sensor_name', b'movement_sensor_name']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_heading', b'_heading', '_motion_configuration', b'_motion_configuration', 'component_name_deprecated', b'component_name_deprecated', 'destination', b'destination', 'extra', b'extra', 'heading', b'heading', 'motion_configuration', b'motion_configuration', 'movement_sensor_name_deprecated', b'movement_sensor_name_deprecated']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['_heading', b'_heading', '_motion_configuration', b'_motion_configuration', 'bounding_regions', b'bounding_regions', 'component_name', b'component_name', 'destination', b'destination', 'extra', b'extra', 'heading', b'heading', 'motion_configuration', b'motion_configuration', 'movement_sensor_name', b'movement_sensor_name', 'name', b'name', 'obstacles', b'obstacles']) -> None:
+    def ClearField(self, field_name: typing.Literal['_heading', b'_heading', '_motion_configuration', b'_motion_configuration', 'bounding_regions', b'bounding_regions', 'component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'destination', b'destination', 'extra', b'extra', 'heading', b'heading', 'motion_configuration', b'motion_configuration', 'movement_sensor_name', b'movement_sensor_name', 'movement_sensor_name_deprecated', b'movement_sensor_name_deprecated', 'name', b'name', 'obstacles', b'obstacles']) -> None:
         ...
 
     @typing.overload
@@ -335,17 +354,20 @@ global___MoveOnGlobeResponse = MoveOnGlobeResponse
 class GetPoseRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
-    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
     DESTINATION_FRAME_FIELD_NUMBER: builtins.int
     SUPPLEMENTAL_TRANSFORMS_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
     destination_frame: builtins.str
     'the reference frame in which the component\'s pose\n    should be provided, if unset this defaults\n    to the "world" reference frame\n    '
+    component_name: builtins.str
+    'the component whose pose is being requested'
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """the component whose pose is being requested"""
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
     def supplemental_transforms(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.Transform]:
@@ -357,13 +379,13 @@ class GetPoseRequest(google.protobuf.message.Message):
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., component_name: common.v1.common_pb2.ResourceName | None=..., destination_frame: builtins.str=..., supplemental_transforms: collections.abc.Iterable[common.v1.common_pb2.Transform] | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., destination_frame: builtins.str=..., supplemental_transforms: collections.abc.Iterable[common.v1.common_pb2.Transform] | None=..., component_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['component_name', b'component_name', 'extra', b'extra']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['component_name_deprecated', b'component_name_deprecated', 'extra', b'extra']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'destination_frame', b'destination_frame', 'extra', b'extra', 'name', b'name', 'supplemental_transforms', b'supplemental_transforms']) -> None:
+    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'destination_frame', b'destination_frame', 'extra', b'extra', 'name', b'name', 'supplemental_transforms', b'supplemental_transforms']) -> None:
         ...
 global___GetPoseRequest = GetPoseRequest
 
@@ -390,26 +412,29 @@ global___GetPoseResponse = GetPoseResponse
 class StopPlanRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
     COMPONENT_NAME_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
     'The name of the motion service'
+    component_name: builtins.str
+    'The component of the currently executing plan to stop'
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """The component of the currently executing plan to stop"""
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., component_name: common.v1.common_pb2.ResourceName | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., component_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['component_name', b'component_name', 'extra', b'extra']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['component_name_deprecated', b'component_name_deprecated', 'extra', b'extra']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'extra', b'extra', 'name', b'name']) -> None:
+    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'extra', b'extra', 'name', b'name']) -> None:
         ...
 global___StopPlanRequest = StopPlanRequest
 
@@ -469,9 +494,10 @@ global___ListPlanStatusesResponse = ListPlanStatusesResponse
 class GetPlanRequest(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     NAME_FIELD_NUMBER: builtins.int
-    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
     LAST_PLAN_ONLY_FIELD_NUMBER: builtins.int
     EXECUTION_ID_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
     EXTRA_FIELD_NUMBER: builtins.int
     name: builtins.str
     'The name of the motion service'
@@ -479,22 +505,24 @@ class GetPlanRequest(google.protobuf.message.Message):
     'If supplied, the response will only return\n    the the last plan for the component / execution\n    '
     execution_id: builtins.str
     'If you want to know about the plans of a previous execution'
+    component_name: builtins.str
+    'The name of the component which was requested to be moved.'
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """The name of the component which was requested to be moved."""
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
     def extra(self) -> google.protobuf.struct_pb2.Struct:
         """Additional arguments to the method"""
 
-    def __init__(self, *, name: builtins.str=..., component_name: common.v1.common_pb2.ResourceName | None=..., last_plan_only: builtins.bool=..., execution_id: builtins.str | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+    def __init__(self, *, name: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., last_plan_only: builtins.bool=..., execution_id: builtins.str | None=..., component_name: builtins.str=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['_execution_id', b'_execution_id', 'component_name', b'component_name', 'execution_id', b'execution_id', 'extra', b'extra']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['_execution_id', b'_execution_id', 'component_name_deprecated', b'component_name_deprecated', 'execution_id', b'execution_id', 'extra', b'extra']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['_execution_id', b'_execution_id', 'component_name', b'component_name', 'execution_id', b'execution_id', 'extra', b'extra', 'last_plan_only', b'last_plan_only', 'name', b'name']) -> None:
+    def ClearField(self, field_name: typing.Literal['_execution_id', b'_execution_id', 'component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'execution_id', b'execution_id', 'extra', b'extra', 'last_plan_only', b'last_plan_only', 'name', b'name']) -> None:
         ...
 
     def WhichOneof(self, oneof_group: typing.Literal['_execution_id', b'_execution_id']) -> typing.Literal['execution_id'] | None:
@@ -536,6 +564,7 @@ class Constraints(google.protobuf.message.Message):
     LINEAR_CONSTRAINT_FIELD_NUMBER: builtins.int
     ORIENTATION_CONSTRAINT_FIELD_NUMBER: builtins.int
     COLLISION_SPECIFICATION_FIELD_NUMBER: builtins.int
+    PSEUDOLINEAR_CONSTRAINT_FIELD_NUMBER: builtins.int
 
     @property
     def linear_constraint(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___LinearConstraint]:
@@ -547,12 +576,16 @@ class Constraints(google.protobuf.message.Message):
 
     @property
     def collision_specification(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___CollisionSpecification]:
+        ...
+
+    @property
+    def pseudolinear_constraint(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PseudolinearConstraint]:
         """Arc constraint, Time constraint, and others will be added here when they are supported"""
 
-    def __init__(self, *, linear_constraint: collections.abc.Iterable[global___LinearConstraint] | None=..., orientation_constraint: collections.abc.Iterable[global___OrientationConstraint] | None=..., collision_specification: collections.abc.Iterable[global___CollisionSpecification] | None=...) -> None:
+    def __init__(self, *, linear_constraint: collections.abc.Iterable[global___LinearConstraint] | None=..., orientation_constraint: collections.abc.Iterable[global___OrientationConstraint] | None=..., collision_specification: collections.abc.Iterable[global___CollisionSpecification] | None=..., pseudolinear_constraint: collections.abc.Iterable[global___PseudolinearConstraint] | None=...) -> None:
         ...
 
-    def ClearField(self, field_name: typing.Literal['collision_specification', b'collision_specification', 'linear_constraint', b'linear_constraint', 'orientation_constraint', b'orientation_constraint']) -> None:
+    def ClearField(self, field_name: typing.Literal['collision_specification', b'collision_specification', 'linear_constraint', b'linear_constraint', 'orientation_constraint', b'orientation_constraint', 'pseudolinear_constraint', b'pseudolinear_constraint']) -> None:
         ...
 global___Constraints = Constraints
 
@@ -587,6 +620,37 @@ class LinearConstraint(google.protobuf.message.Message):
         ...
 global___LinearConstraint = LinearConstraint
 
+@typing.final
+class PseudolinearConstraint(google.protobuf.message.Message):
+    """PseudolinearConstraint specifies that the component being moved should not deviate from the straight-line path to their goal by
+    more than a factor proportional to the distance from start to goal.
+    For example, if a component is moving 100mm, then a LineToleranceFactor of 1.0 means that the component will remain within a 100mm
+    radius of the straight-line start-goal path.
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    LINE_TOLERANCE_FACTOR_FIELD_NUMBER: builtins.int
+    ORIENTATION_TOLERANCE_FACTOR_FIELD_NUMBER: builtins.int
+    line_tolerance_factor: builtins.float
+    orientation_tolerance_factor: builtins.float
+
+    def __init__(self, *, line_tolerance_factor: builtins.float | None=..., orientation_tolerance_factor: builtins.float | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_line_tolerance_factor', b'_line_tolerance_factor', '_orientation_tolerance_factor', b'_orientation_tolerance_factor', 'line_tolerance_factor', b'line_tolerance_factor', 'orientation_tolerance_factor', b'orientation_tolerance_factor']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_line_tolerance_factor', b'_line_tolerance_factor', '_orientation_tolerance_factor', b'_orientation_tolerance_factor', 'line_tolerance_factor', b'line_tolerance_factor', 'orientation_tolerance_factor', b'orientation_tolerance_factor']) -> None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_line_tolerance_factor', b'_line_tolerance_factor']) -> typing.Literal['line_tolerance_factor'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_orientation_tolerance_factor', b'_orientation_tolerance_factor']) -> typing.Literal['orientation_tolerance_factor'] | None:
+        ...
+global___PseudolinearConstraint = PseudolinearConstraint
+
 @typing.final
 class OrientationConstraint(google.protobuf.message.Message):
     """OrientationConstraint specifies that the component being moved will not deviate its orientation beyond some threshold relative
@@ -681,33 +745,32 @@ class PlanStatusWithID(google.protobuf.message.Message):
     """
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     PLAN_ID_FIELD_NUMBER: builtins.int
-    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
     EXECUTION_ID_FIELD_NUMBER: builtins.int
     STATUS_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
     plan_id: builtins.str
     'The unique ID of the plan'
     execution_id: builtins.str
     'The unique ID which identifies the plan execution.\n    Multiple plans will share the same execution_id if they were\n    generated due to replanning.\n    '
+    component_name: builtins.str
+    'The component to be moved.\n    Used for tracking & stopping.\n    NOTE: A plan may move more components than just the\n    component_name.\n    '
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """The component to be moved.
-        Used for tracking & stopping.
-        NOTE: A plan may move more components than just the
-        component_name.
-        """
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
     def status(self) -> global___PlanStatus:
         ...
 
-    def __init__(self, *, plan_id: builtins.str=..., component_name: common.v1.common_pb2.ResourceName | None=..., execution_id: builtins.str=..., status: global___PlanStatus | None=...) -> None:
+    def __init__(self, *, plan_id: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., execution_id: builtins.str=..., status: global___PlanStatus | None=..., component_name: builtins.str=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['component_name', b'component_name', 'status', b'status']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['component_name_deprecated', b'component_name_deprecated', 'status', b'status']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'execution_id', b'execution_id', 'plan_id', b'plan_id', 'status', b'status']) -> None:
+    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'execution_id', b'execution_id', 'plan_id', b'plan_id', 'status', b'status']) -> None:
         ...
 global___PlanStatusWithID = PlanStatusWithID
 
@@ -747,33 +810,32 @@ class Plan(google.protobuf.message.Message):
     """A plan describes a motion plan"""
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     ID_FIELD_NUMBER: builtins.int
-    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_DEPRECATED_FIELD_NUMBER: builtins.int
     EXECUTION_ID_FIELD_NUMBER: builtins.int
     STEPS_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
     id: builtins.str
     "The plan's unique ID"
     execution_id: builtins.str
     'The unique ID which identifies the execution.\n    Multiple plans will share the same execution_id if they were\n    generated due to replanning\n    '
+    component_name: builtins.str
+    'The component requested to be moved.\n    Used for tracking & stopping.\n    NOTE: A plan may move more components than just the\n    root component.\n    '
 
     @property
-    def component_name(self) -> common.v1.common_pb2.ResourceName:
-        """The component requested to be moved.
-        Used for tracking & stopping.
-        NOTE: A plan may move more components than just the
-        root component.
-        """
+    def component_name_deprecated(self) -> common.v1.common_pb2.ResourceName:
+        """Deprecated, use component_name field."""
 
     @property
     def steps(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PlanStep]:
         """The steps of a plan is an ordered list of plan steps"""
 
-    def __init__(self, *, id: builtins.str=..., component_name: common.v1.common_pb2.ResourceName | None=..., execution_id: builtins.str=..., steps: collections.abc.Iterable[global___PlanStep] | None=...) -> None:
+    def __init__(self, *, id: builtins.str=..., component_name_deprecated: common.v1.common_pb2.ResourceName | None=..., execution_id: builtins.str=..., steps: collections.abc.Iterable[global___PlanStep] | None=..., component_name: builtins.str=...) -> None:
         ...
 
-    def HasField(self, field_name: typing.Literal['component_name', b'component_name']) -> builtins.bool:
+    def HasField(self, field_name: typing.Literal['component_name_deprecated', b'component_name_deprecated']) -> builtins.bool:
         ...
 
-    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'execution_id', b'execution_id', 'id', b'id', 'steps', b'steps']) -> None:
+    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'component_name_deprecated', b'component_name_deprecated', 'execution_id', b'execution_id', 'id', b'id', 'steps', b'steps']) -> None:
         ...
 global___Plan = Plan
 

viam/gen/service/navigation/v1/navigation_pb2.py

@@ -4,7 +4,7 @@ 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, 1, '', 'service/navigation/v1/navigation.proto')
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'service/navigation/v1/navigation.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

viam/gen/service/sensors/v1/sensors_pb2.py

@@ -4,7 +4,7 @@ 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, 1, '', 'service/sensors/v1/sensors.proto')
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'service/sensors/v1/sensors.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

viam/gen/service/shell/v1/shell_pb2.py

@@ -4,7 +4,7 @@ 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, 1, '', 'service/shell/v1/shell.proto')
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'service/shell/v1/shell.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

viam/gen/service/slam/v1/slam_pb2.py

@@ -4,7 +4,7 @@ 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, 1, '', 'service/slam/v1/slam.proto')
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 5, 29, 2, '', 'service/slam/v1/slam.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

viam/gen/service/slam/v1/slam_pb2.pyi

@@ -117,7 +117,7 @@ class GetPointCloudMapResponse(google.protobuf.message.Message):
     DESCRIPTOR: google.protobuf.descriptor.Descriptor
     POINT_CLOUD_PCD_CHUNK_FIELD_NUMBER: builtins.int
     point_cloud_pcd_chunk: builtins.bytes
-    'One chunk of the PointCloud.\n    For a given GetPointCloudMap request, concatenating all\n    GetPointCloudMapResponse.point_cloud_pcd_chunk values in the\n    order received result in the complete pointcloud in standard PCD\n    format where XY is the ground plane and positive Z is up, following\n    the Right Hand Rule.\n\n    Read more about the pointcloud format here:\n    https://pointclouds.org/documentation/tutorials/pcd_file_format.html\n\n    Viam expects pointcloud data with fields "x y z" or "x y z rgb", and for\n    this to be specified in the pointcloud header in the FIELDS entry. If color\n    data is included in the pointcloud, Viam\'s services assume that the color\n    value encodes a confidence score for that data point. Viam expects the\n    confidence score to be encoded in the blue parameter of the RGB value, on a\n    scale from 1-100.\n\n    Pointclouds are little endian encoded.\n    '
+    'One chunk of the PointCloud.\n    For a given GetPointCloudMap request, concatenating all\n    GetPointCloudMapResponse.point_cloud_pcd_chunk values in the\n    order received result in the complete pointcloud in standard PCD\n    format where XY is the ground plane and positive Z is up, following\n    the Right Hand Rule.\n\n    Read more about the pointcloud format\n    [in the docs](https://pointclouds.org/documentation/tutorials/pcd_file_format.html)\n\n    Viam expects pointcloud data with fields "x y z" or "x y z rgb", and for\n    this to be specified in the pointcloud header in the FIELDS entry. If color\n    data is included in the pointcloud, Viam\'s services assume that the color\n    value encodes a confidence score for that data point. Viam expects the\n    confidence score to be encoded in the blue parameter of the RGB value, on a\n    scale from 1-100.\n\n    Pointclouds are little endian encoded.\n    '
 
     def __init__(self, *, point_cloud_pcd_chunk: builtins.bytes=...) -> None:
         ...

viam/gen/service/video/v1/video_grpc.py

@@ -0,0 +1,39 @@
+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
+import google.protobuf.timestamp_pb2
+from .... import service
+
+class VideoServiceBase(abc.ABC):
+
+    @abc.abstractmethod
+    async def GetVideo(self, stream: 'grpclib.server.Stream[service.video.v1.video_pb2.GetVideoRequest, service.video.v1.video_pb2.GetVideoResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def DoCommand(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse]') -> None:
+        pass
+
+    def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
+        return {'/viam.service.video.v1.VideoService/GetVideo': grpclib.const.Handler(self.GetVideo, grpclib.const.Cardinality.UNARY_STREAM, service.video.v1.video_pb2.GetVideoRequest, service.video.v1.video_pb2.GetVideoResponse), '/viam.service.video.v1.VideoService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)}
+
+class UnimplementedVideoServiceBase(VideoServiceBase):
+
+    async def GetVideo(self, stream: 'grpclib.server.Stream[service.video.v1.video_pb2.GetVideoRequest, service.video.v1.video_pb2.GetVideoResponse]') -> 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)
+
+class VideoServiceStub:
+
+    def __init__(self, channel: grpclib.client.Channel) -> None:
+        self.GetVideo = grpclib.client.UnaryStreamMethod(channel, '/viam.service.video.v1.VideoService/GetVideo', service.video.v1.video_pb2.GetVideoRequest, service.video.v1.video_pb2.GetVideoResponse)
+        self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.service.video.v1.VideoService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)

viam/gen/service/video/v1/video_pb2.py

@@ -0,0 +1,29 @@
+"""Generated protocol buffer code."""
+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, '', 'service/video/v1/video.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
+from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1cservice/video/v1/video.proto\x12\x15viam.service.video.v1\x1a\x16common/v1/common.proto\x1a\x1cgoogle/api/annotations.proto\x1a\x1cgoogle/protobuf/struct.proto\x1a\x1fgoogle/protobuf/timestamp.proto"\xc3\x02\n\x0fGetVideoRequest\x12\x12\n\x04name\x18\x01 \x01(\tR\x04name\x12C\n\x0fstart_timestamp\x18\x02 \x01(\x0b2\x1a.google.protobuf.TimestampR\x0estartTimestamp\x12?\n\rend_timestamp\x18\x03 \x01(\x0b2\x1a.google.protobuf.TimestampR\x0cendTimestamp\x12\x1f\n\x0bvideo_codec\x18\x04 \x01(\tR\nvideoCodec\x12\'\n\x0fvideo_container\x18\x05 \x01(\tR\x0evideoContainer\x12\x1d\n\nrequest_id\x18\x06 \x01(\tR\trequestId\x12-\n\x05extra\x18c \x01(\x0b2\x17.google.protobuf.StructR\x05extra"y\n\x10GetVideoResponse\x12\x1d\n\nvideo_data\x18\x01 \x01(\x0cR\tvideoData\x12\'\n\x0fvideo_container\x18\x02 \x01(\tR\x0evideoContainer\x12\x1d\n\nrequest_id\x18\x03 \x01(\tR\trequestId2\xb3\x02\n\x0cVideoService\x12\x99\x01\n\x08GetVideo\x12&.viam.service.video.v1.GetVideoRequest\x1a\'.viam.service.video.v1.GetVideoResponse":\x82\xd3\xe4\x93\x024"2/viam/api/v1/service/video/{name}/get_video_stream0\x01\x12\x86\x01\n\tDoCommand\x12 .viam.common.v1.DoCommandRequest\x1a!.viam.common.v1.DoCommandResponse"4\x82\xd3\xe4\x93\x02.",/viam/api/v1/service/video/{name}/do_commandB=\n\x19com.viam.service.video.v1Z go.viam.com/api/service/video/v1b\x06proto3')
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'service.video.v1.video_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+    _globals['DESCRIPTOR']._loaded_options = None
+    _globals['DESCRIPTOR']._serialized_options = b'\n\x19com.viam.service.video.v1Z go.viam.com/api/service/video/v1'
+    _globals['_VIDEOSERVICE'].methods_by_name['GetVideo']._loaded_options = None
+    _globals['_VIDEOSERVICE'].methods_by_name['GetVideo']._serialized_options = b'\x82\xd3\xe4\x93\x024"2/viam/api/v1/service/video/{name}/get_video_stream'
+    _globals['_VIDEOSERVICE'].methods_by_name['DoCommand']._loaded_options = None
+    _globals['_VIDEOSERVICE'].methods_by_name['DoCommand']._serialized_options = b'\x82\xd3\xe4\x93\x02.",/viam/api/v1/service/video/{name}/do_command'
+    _globals['_GETVIDEOREQUEST']._serialized_start = 173
+    _globals['_GETVIDEOREQUEST']._serialized_end = 496
+    _globals['_GETVIDEORESPONSE']._serialized_start = 498
+    _globals['_GETVIDEORESPONSE']._serialized_end = 619
+    _globals['_VIDEOSERVICE']._serialized_start = 622
+    _globals['_VIDEOSERVICE']._serialized_end = 929