viam-sdk 0.45.2__py3-none-win_amd64.whl

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

@@ -0,0 +1,102 @@
+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 ArmServiceBase(abc.ABC):
+
+    @abc.abstractmethod
+    async def GetEndPosition(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def MoveToPosition(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def GetJointPositions(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    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
+
+    @abc.abstractmethod
+    async def IsMoving(self, stream: 'grpclib.server.Stream[component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse]') -> 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 GetKinematics(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def GetGeometries(self, stream: 'grpclib.server.Stream[common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse]') -> None:
+        pass
+
+    def __mapping__(self) -> typing.Dict[str, grpclib.const.Handler]:
+        return {'/viam.component.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)}
+
+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)
+
+class ArmServiceStub:
+
+    def __init__(self, channel: grpclib.client.Channel) -> None:
+        self.GetEndPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetEndPosition', component.arm.v1.arm_pb2.GetEndPositionRequest, component.arm.v1.arm_pb2.GetEndPositionResponse)
+        self.MoveToPosition = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/MoveToPosition', component.arm.v1.arm_pb2.MoveToPositionRequest, component.arm.v1.arm_pb2.MoveToPositionResponse)
+        self.GetJointPositions = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetJointPositions', component.arm.v1.arm_pb2.GetJointPositionsRequest, component.arm.v1.arm_pb2.GetJointPositionsResponse)
+        self.MoveToJointPositions = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/MoveToJointPositions', component.arm.v1.arm_pb2.MoveToJointPositionsRequest, component.arm.v1.arm_pb2.MoveToJointPositionsResponse)
+        self.MoveThroughJointPositions = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/MoveThroughJointPositions', component.arm.v1.arm_pb2.MoveThroughJointPositionsRequest, component.arm.v1.arm_pb2.MoveThroughJointPositionsResponse)
+        self.Stop = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/Stop', component.arm.v1.arm_pb2.StopRequest, component.arm.v1.arm_pb2.StopResponse)
+        self.IsMoving = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/IsMoving', component.arm.v1.arm_pb2.IsMovingRequest, component.arm.v1.arm_pb2.IsMovingResponse)
+        self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
+        self.GetKinematics = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetKinematics', common.v1.common_pb2.GetKinematicsRequest, common.v1.common_pb2.GetKinematicsResponse)
+        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.arm.v1.ArmService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)

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

@@ -0,0 +1,74 @@
+"""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, '', '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"\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\xf1\x0c\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}/geometriesB=\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['_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 = 3366

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

@@ -0,0 +1,344 @@
+"""
+@generated by mypy-protobuf.  Do not edit manually!
+isort:skip_file
+"""
+import builtins
+import collections.abc
+from .... import common
+import google.protobuf.descriptor
+import google.protobuf.internal.containers
+import google.protobuf.message
+import google.protobuf.struct_pb2
+import typing
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+@typing.final
+class GetEndPositionRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of an arm'
+
+    @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___GetEndPositionRequest = GetEndPositionRequest
+
+@typing.final
+class GetEndPositionResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POSE_FIELD_NUMBER: builtins.int
+
+    @property
+    def pose(self) -> common.v1.common_pb2.Pose:
+        """Returns 6d pose of the end effector relative to the base, represented by X,Y,Z coordinates which express
+        millimeters and theta, ox, oy, oz coordinates which express an orientation vector
+        """
+
+    def __init__(self, *, pose: common.v1.common_pb2.Pose | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['pose', b'pose']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['pose', b'pose']) -> None:
+        ...
+global___GetEndPositionResponse = GetEndPositionResponse
+
+@typing.final
+class JointPositions(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    VALUES_FIELD_NUMBER: builtins.int
+
+    @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.
+        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.Literal['values', b'values']) -> None:
+        ...
+global___JointPositions = JointPositions
+
+@typing.final
+class GetJointPositionsRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of an arm'
+
+    @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___GetJointPositionsRequest = GetJointPositionsRequest
+
+@typing.final
+class GetJointPositionsResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POSITIONS_FIELD_NUMBER: builtins.int
+
+    @property
+    def positions(self) -> global___JointPositions:
+        """a list JointPositions"""
+
+    def __init__(self, *, positions: global___JointPositions | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['positions', b'positions']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['positions', b'positions']) -> None:
+        ...
+global___GetJointPositionsResponse = GetJointPositionsResponse
+
+@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
+    message is specified.
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    TO_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of an arm'
+
+    @property
+    def to(self) -> common.v1.common_pb2.Pose:
+        """The destination to move the arm to; this is from the reference frame of the arm."""
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    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.Literal['extra', b'extra', 'to', b'to']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name', 'to', b'to']) -> None:
+        ...
+global___MoveToPositionRequest = MoveToPositionRequest
+
+@typing.final
+class MoveToPositionResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___MoveToPositionResponse = MoveToPositionResponse
+
+@typing.final
+class MoveToJointPositionsRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    POSITIONS_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of an arm'
+
+    @property
+    def positions(self) -> global___JointPositions:
+        """A list of joint positions
+        There should be 1 entry in the list per joint DOF, ordered spatially from the base toward the end effector
+        """
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., positions: global___JointPositions | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['extra', b'extra', 'positions', b'positions']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['extra', b'extra', 'name', b'name', 'positions', b'positions']) -> None:
+        ...
+global___MoveToJointPositionsRequest = MoveToJointPositionsRequest
+
+@typing.final
+class MoveToJointPositionsResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___MoveToJointPositionsResponse = MoveToJointPositionsResponse
+
+@typing.final
+class MoveThroughJointPositionsRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    POSITIONS_FIELD_NUMBER: builtins.int
+    OPTIONS_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of an arm'
+
+    @property
+    def positions(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___JointPositions]:
+        """A list of joint positions which will be moved to in the order they are specified"""
+
+    @property
+    def options(self) -> global___MoveOptions:
+        """optional specifications to be obeyed during the motion"""
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., positions: collections.abc.Iterable[global___JointPositions] | None=..., options: global___MoveOptions | None=..., extra: google.protobuf.struct_pb2.Struct | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_options', b'_options', 'extra', b'extra', 'options', b'options']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_options', b'_options', 'extra', b'extra', 'name', b'name', 'options', b'options', 'positions', b'positions']) -> None:
+        ...
+
+    def WhichOneof(self, oneof_group: typing.Literal['_options', b'_options']) -> typing.Literal['options'] | None:
+        ...
+global___MoveThroughJointPositionsRequest = MoveThroughJointPositionsRequest
+
+@typing.final
+class MoveThroughJointPositionsResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___MoveThroughJointPositionsResponse = MoveThroughJointPositionsResponse
+
+@typing.final
+class StopRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of an arm'
+
+    @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___StopRequest = StopRequest
+
+@typing.final
+class StopResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___StopResponse = StopResponse
+
+@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:
+        ...
+
+    @property
+    def joint_positions(self) -> global___JointPositions:
+        ...
+
+    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.Literal['end_position', b'end_position', 'joint_positions', b'joint_positions']) -> builtins.bool:
+        ...
+
+    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.final
+class IsMovingRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    name: builtins.str
+
+    def __init__(self, *, name: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['name', b'name']) -> None:
+        ...
+global___IsMovingRequest = IsMovingRequest
+
+@typing.final
+class IsMovingResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    IS_MOVING_FIELD_NUMBER: builtins.int
+    is_moving: builtins.bool
+
+    def __init__(self, *, is_moving: builtins.bool=...) -> 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___MoveOptions = MoveOptions

viam/gen/component/audioinput/v1/audioinput_grpc.py

@@ -0,0 +1,63 @@
+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.api.httpbody_pb2
+import google.protobuf.duration_pb2
+from .... import component
+
+class AudioInputServiceBase(abc.ABC):
+
+    @abc.abstractmethod
+    async def Chunks(self, stream: 'grpclib.server.Stream[component.audioinput.v1.audioinput_pb2.ChunksRequest, component.audioinput.v1.audioinput_pb2.ChunksResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def Properties(self, stream: 'grpclib.server.Stream[component.audioinput.v1.audioinput_pb2.PropertiesRequest, component.audioinput.v1.audioinput_pb2.PropertiesResponse]') -> None:
+        pass
+
+    @abc.abstractmethod
+    async def Record(self, stream: 'grpclib.server.Stream[component.audioinput.v1.audioinput_pb2.RecordRequest, google.api.httpbody_pb2.HttpBody]') -> 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.audioinput.v1.AudioInputService/Chunks': grpclib.const.Handler(self.Chunks, grpclib.const.Cardinality.UNARY_STREAM, component.audioinput.v1.audioinput_pb2.ChunksRequest, component.audioinput.v1.audioinput_pb2.ChunksResponse), '/viam.component.audioinput.v1.AudioInputService/Properties': grpclib.const.Handler(self.Properties, grpclib.const.Cardinality.UNARY_UNARY, component.audioinput.v1.audioinput_pb2.PropertiesRequest, component.audioinput.v1.audioinput_pb2.PropertiesResponse), '/viam.component.audioinput.v1.AudioInputService/Record': grpclib.const.Handler(self.Record, grpclib.const.Cardinality.UNARY_UNARY, component.audioinput.v1.audioinput_pb2.RecordRequest, google.api.httpbody_pb2.HttpBody), '/viam.component.audioinput.v1.AudioInputService/DoCommand': grpclib.const.Handler(self.DoCommand, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse), '/viam.component.audioinput.v1.AudioInputService/GetGeometries': grpclib.const.Handler(self.GetGeometries, grpclib.const.Cardinality.UNARY_UNARY, common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)}
+
+class UnimplementedAudioInputServiceBase(AudioInputServiceBase):
+
+    async def Chunks(self, stream: 'grpclib.server.Stream[component.audioinput.v1.audioinput_pb2.ChunksRequest, component.audioinput.v1.audioinput_pb2.ChunksResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def Properties(self, stream: 'grpclib.server.Stream[component.audioinput.v1.audioinput_pb2.PropertiesRequest, component.audioinput.v1.audioinput_pb2.PropertiesResponse]') -> None:
+        raise grpclib.exceptions.GRPCError(grpclib.const.Status.UNIMPLEMENTED)
+
+    async def Record(self, stream: 'grpclib.server.Stream[component.audioinput.v1.audioinput_pb2.RecordRequest, google.api.httpbody_pb2.HttpBody]') -> 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 AudioInputServiceStub:
+
+    def __init__(self, channel: grpclib.client.Channel) -> None:
+        self.Chunks = grpclib.client.UnaryStreamMethod(channel, '/viam.component.audioinput.v1.AudioInputService/Chunks', component.audioinput.v1.audioinput_pb2.ChunksRequest, component.audioinput.v1.audioinput_pb2.ChunksResponse)
+        self.Properties = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.audioinput.v1.AudioInputService/Properties', component.audioinput.v1.audioinput_pb2.PropertiesRequest, component.audioinput.v1.audioinput_pb2.PropertiesResponse)
+        self.Record = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.audioinput.v1.AudioInputService/Record', component.audioinput.v1.audioinput_pb2.RecordRequest, google.api.httpbody_pb2.HttpBody)
+        self.DoCommand = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.audioinput.v1.AudioInputService/DoCommand', common.v1.common_pb2.DoCommandRequest, common.v1.common_pb2.DoCommandResponse)
+        self.GetGeometries = grpclib.client.UnaryUnaryMethod(channel, '/viam.component.audioinput.v1.AudioInputService/GetGeometries', common.v1.common_pb2.GetGeometriesRequest, common.v1.common_pb2.GetGeometriesResponse)