viam-sdk 0.45.2__py3-none-win_amd64.whl

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

@@ -0,0 +1,838 @@
+"""
+@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.internal.enum_type_wrapper
+import google.protobuf.message
+import google.protobuf.struct_pb2
+import google.protobuf.timestamp_pb2
+import sys
+import typing
+if sys.version_info >= (3, 10):
+    import typing as typing_extensions
+else:
+    import typing_extensions
+DESCRIPTOR: google.protobuf.descriptor.FileDescriptor
+
+class _PlanState:
+    ValueType = typing.NewType('ValueType', builtins.int)
+    V: typing_extensions.TypeAlias = ValueType
+
+class _PlanStateEnumTypeWrapper(google.protobuf.internal.enum_type_wrapper._EnumTypeWrapper[_PlanState.ValueType], builtins.type):
+    DESCRIPTOR: google.protobuf.descriptor.EnumDescriptor
+    PLAN_STATE_UNSPECIFIED: _PlanState.ValueType
+    PLAN_STATE_IN_PROGRESS: _PlanState.ValueType
+    PLAN_STATE_STOPPED: _PlanState.ValueType
+    PLAN_STATE_SUCCEEDED: _PlanState.ValueType
+    PLAN_STATE_FAILED: _PlanState.ValueType
+
+class PlanState(_PlanState, metaclass=_PlanStateEnumTypeWrapper):
+    """The states that a plan can be in.
+    InProgress if the plan is executing.
+    Stopped if the plan was stopped.
+    Suceeded if the robot reached its destination successfully.
+    Failed if the robot did not reach its destination.
+    """
+PLAN_STATE_UNSPECIFIED: PlanState.ValueType
+PLAN_STATE_IN_PROGRESS: PlanState.ValueType
+PLAN_STATE_STOPPED: PlanState.ValueType
+PLAN_STATE_SUCCEEDED: PlanState.ValueType
+PLAN_STATE_FAILED: PlanState.ValueType
+global___PlanState = PlanState
+
+@typing.final
+class MoveRequest(google.protobuf.message.Message):
+    """Moves any component on the robot to a specified destination which can be from the reference frame of any other component on the robot."""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    DESTINATION_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    WORLD_STATE_FIELD_NUMBER: builtins.int
+    CONSTRAINTS_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of the motion service'
+
+    @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"""
+
+    @property
+    def world_state(self) -> common.v1.common_pb2.WorldState:
+        """Avoid obstacles by specifying their geometries in the world state
+        Augment the frame system of the robot by specifying additional transforms to add to it for the duration of the Move
+        """
+
+    @property
+    def constraints(self) -> global___Constraints:
+        """Constrain the way the robot will move"""
+
+    @property
+    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 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 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:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_constraints', b'_constraints']) -> typing.Literal['constraints'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_world_state', b'_world_state']) -> typing.Literal['world_state'] | None:
+        ...
+global___MoveRequest = MoveRequest
+
+@typing.final
+class MoveResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    SUCCESS_FIELD_NUMBER: builtins.int
+    success: builtins.bool
+
+    def __init__(self, *, success: builtins.bool=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['success', b'success']) -> None:
+        ...
+global___MoveResponse = MoveResponse
+
+@typing.final
+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
+    MOTION_CONFIGURATION_FIELD_NUMBER: builtins.int
+    OBSTACLES_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'Name of the motion service'
+
+    @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"""
+
+    @property
+    def slam_service_name(self) -> common.v1.common_pb2.ResourceName:
+        """Name of the slam service from which the SLAM map is requested"""
+
+    @property
+    def motion_configuration(self) -> global___MotionConfiguration:
+        """Optional set of motion configuration options"""
+
+    @property
+    def obstacles(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.Geometry]:
+        """Obstacles to be considered for motion planning"""
+
+    @property
+    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 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 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 WhichOneof(self, oneof_group: typing.Literal['_motion_configuration', b'_motion_configuration']) -> typing.Literal['motion_configuration'] | None:
+        ...
+global___MoveOnMapRequest = MoveOnMapRequest
+
+@typing.final
+class MoveOnMapResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
+    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    '
+
+    def __init__(self, *, execution_id: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['execution_id', b'execution_id']) -> None:
+        ...
+global___MoveOnMapResponse = MoveOnMapResponse
+
+@typing.final
+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_FIELD_NUMBER: builtins.int
+    CAMERA_FIELD_NUMBER: builtins.int
+
+    @property
+    def vision_service(self) -> common.v1.common_pb2.ResourceName:
+        ...
+
+    @property
+    def camera(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 HasField(self, field_name: typing.Literal['camera', b'camera', 'vision_service', b'vision_service']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['camera', b'camera', 'vision_service', b'vision_service']) -> None:
+        ...
+global___ObstacleDetector = ObstacleDetector
+
+@typing.final
+class MotionConfiguration(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    OBSTACLE_DETECTORS_FIELD_NUMBER: builtins.int
+    POSITION_POLLING_FREQUENCY_HZ_FIELD_NUMBER: builtins.int
+    OBSTACLE_POLLING_FREQUENCY_HZ_FIELD_NUMBER: builtins.int
+    PLAN_DEVIATION_M_FIELD_NUMBER: builtins.int
+    LINEAR_M_PER_SEC_FIELD_NUMBER: builtins.int
+    ANGULAR_DEGS_PER_SEC_FIELD_NUMBER: builtins.int
+    position_polling_frequency_hz: builtins.float
+    'Sets the frequency to poll for the position of the robot'
+    obstacle_polling_frequency_hz: builtins.float
+    'Sets the frequency to poll the vision service(s) for new obstacles'
+    plan_deviation_m: builtins.float
+    'Sets the distance in meters that a robot is allowed to deviate from the motion plan'
+    linear_m_per_sec: builtins.float
+    'Optional linear velocity to target when moving'
+    angular_degs_per_sec: builtins.float
+    'Optional angular velocity to target when turning'
+
+    @property
+    def obstacle_detectors(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___ObstacleDetector]:
+        """The ObstacleDetectors that will be used for transient obstacle avoidance"""
+
+    def __init__(self, *, obstacle_detectors: collections.abc.Iterable[global___ObstacleDetector] | None=..., position_polling_frequency_hz: builtins.float | None=..., obstacle_polling_frequency_hz: builtins.float | None=..., plan_deviation_m: builtins.float | None=..., linear_m_per_sec: builtins.float | None=..., angular_degs_per_sec: builtins.float | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_angular_degs_per_sec', b'_angular_degs_per_sec', '_linear_m_per_sec', b'_linear_m_per_sec', '_obstacle_polling_frequency_hz', b'_obstacle_polling_frequency_hz', '_plan_deviation_m', b'_plan_deviation_m', '_position_polling_frequency_hz', b'_position_polling_frequency_hz', 'angular_degs_per_sec', b'angular_degs_per_sec', 'linear_m_per_sec', b'linear_m_per_sec', 'obstacle_polling_frequency_hz', b'obstacle_polling_frequency_hz', 'plan_deviation_m', b'plan_deviation_m', 'position_polling_frequency_hz', b'position_polling_frequency_hz']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_angular_degs_per_sec', b'_angular_degs_per_sec', '_linear_m_per_sec', b'_linear_m_per_sec', '_obstacle_polling_frequency_hz', b'_obstacle_polling_frequency_hz', '_plan_deviation_m', b'_plan_deviation_m', '_position_polling_frequency_hz', b'_position_polling_frequency_hz', 'angular_degs_per_sec', b'angular_degs_per_sec', 'linear_m_per_sec', b'linear_m_per_sec', 'obstacle_detectors', b'obstacle_detectors', 'obstacle_polling_frequency_hz', b'obstacle_polling_frequency_hz', 'plan_deviation_m', b'plan_deviation_m', 'position_polling_frequency_hz', b'position_polling_frequency_hz']) -> None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_angular_degs_per_sec', b'_angular_degs_per_sec']) -> typing.Literal['angular_degs_per_sec'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_linear_m_per_sec', b'_linear_m_per_sec']) -> typing.Literal['linear_m_per_sec'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_obstacle_polling_frequency_hz', b'_obstacle_polling_frequency_hz']) -> typing.Literal['obstacle_polling_frequency_hz'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_plan_deviation_m', b'_plan_deviation_m']) -> typing.Literal['plan_deviation_m'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_position_polling_frequency_hz', b'_position_polling_frequency_hz']) -> typing.Literal['position_polling_frequency_hz'] | None:
+        ...
+global___MotionConfiguration = MotionConfiguration
+
+@typing.final
+class MoveOnGlobeRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    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
+    OBSTACLES_FIELD_NUMBER: builtins.int
+    MOTION_CONFIGURATION_FIELD_NUMBER: builtins.int
+    BOUNDING_REGIONS_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)'
+
+    @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"""
+
+    @property
+    def movement_sensor_name(self) -> common.v1.common_pb2.ResourceName:
+        """Name of the movement sensor which will be used to check robot location"""
+
+    @property
+    def obstacles(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.GeoGeometry]:
+        """Obstacles to be considered for motion planning"""
+
+    @property
+    def motion_configuration(self) -> global___MotionConfiguration:
+        """Optional set of motion configuration options"""
+
+    @property
+    def bounding_regions(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.GeoGeometry]:
+        """Set of obstacles which the robot must remain within while navigating"""
+
+    @property
+    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 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 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:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_heading', b'_heading']) -> typing.Literal['heading'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_motion_configuration', b'_motion_configuration']) -> typing.Literal['motion_configuration'] | None:
+        ...
+global___MoveOnGlobeRequest = MoveOnGlobeRequest
+
+@typing.final
+class MoveOnGlobeResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
+    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    '
+
+    def __init__(self, *, execution_id: builtins.str=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['execution_id', b'execution_id']) -> None:
+        ...
+global___MoveOnGlobeResponse = MoveOnGlobeResponse
+
+@typing.final
+class GetPoseRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    DESTINATION_FRAME_FIELD_NUMBER: builtins.int
+    SUPPLEMENTAL_TRANSFORMS_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    '
+
+    @property
+    def component_name(self) -> common.v1.common_pb2.ResourceName:
+        """the component whose pose is being requested"""
+
+    @property
+    def supplemental_transforms(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[common.v1.common_pb2.Transform]:
+        """pose information on any additional reference frames that are needed
+        to compute the component's pose
+        """
+
+    @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=..., destination_frame: builtins.str=..., supplemental_transforms: collections.abc.Iterable[common.v1.common_pb2.Transform] | None=..., 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 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:
+        ...
+global___GetPoseRequest = GetPoseRequest
+
+@typing.final
+class GetPoseResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POSE_FIELD_NUMBER: builtins.int
+
+    @property
+    def pose(self) -> common.v1.common_pb2.PoseInFrame:
+        ...
+
+    def __init__(self, *, pose: common.v1.common_pb2.PoseInFrame | 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___GetPoseResponse = GetPoseResponse
+
+@typing.final
+class StopPlanRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'The name of the motion service'
+
+    @property
+    def component_name(self) -> common.v1.common_pb2.ResourceName:
+        """The component of the currently executing plan to stop"""
+
+    @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 HasField(self, field_name: typing.Literal['component_name', b'component_name', 'extra', b'extra']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['component_name', b'component_name', 'extra', b'extra', 'name', b'name']) -> None:
+        ...
+global___StopPlanRequest = StopPlanRequest
+
+@typing.final
+class StopPlanResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    def __init__(self) -> None:
+        ...
+global___StopPlanResponse = StopPlanResponse
+
+@typing.final
+class ListPlanStatusesRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    ONLY_ACTIVE_PLANS_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'The name of the motion service'
+    only_active_plans: builtins.bool
+    'If supplied, the response will filter the\n    plan results for the supplied state\n    '
+
+    @property
+    def extra(self) -> google.protobuf.struct_pb2.Struct:
+        """Additional arguments to the method"""
+
+    def __init__(self, *, name: builtins.str=..., only_active_plans: builtins.bool=..., 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', 'only_active_plans', b'only_active_plans']) -> None:
+        ...
+global___ListPlanStatusesRequest = ListPlanStatusesRequest
+
+@typing.final
+class ListPlanStatusesResponse(google.protobuf.message.Message):
+    """Status of all executed / executing plan statuses with associated IDs within the 24 hour TTL"""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    PLAN_STATUSES_WITH_IDS_FIELD_NUMBER: builtins.int
+
+    @property
+    def plan_statuses_with_ids(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PlanStatusWithID]:
+        """List of last known statuses with the associated IDs of all plans within the TTL
+        ordered by timestamp in ascending order
+        """
+
+    def __init__(self, *, plan_statuses_with_ids: collections.abc.Iterable[global___PlanStatusWithID] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['plan_statuses_with_ids', b'plan_statuses_with_ids']) -> None:
+        ...
+global___ListPlanStatusesResponse = ListPlanStatusesResponse
+
+@typing.final
+class GetPlanRequest(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    NAME_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    LAST_PLAN_ONLY_FIELD_NUMBER: builtins.int
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
+    EXTRA_FIELD_NUMBER: builtins.int
+    name: builtins.str
+    'The name of the motion service'
+    last_plan_only: builtins.bool
+    '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'
+
+    @property
+    def component_name(self) -> common.v1.common_pb2.ResourceName:
+        """The name of the component which was requested to be moved."""
+
+    @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 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 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 WhichOneof(self, oneof_group: typing.Literal['_execution_id', b'_execution_id']) -> typing.Literal['execution_id'] | None:
+        ...
+global___GetPlanRequest = GetPlanRequest
+
+@typing.final
+class GetPlanResponse(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    CURRENT_PLAN_WITH_STATUS_FIELD_NUMBER: builtins.int
+    REPLAN_HISTORY_FIELD_NUMBER: builtins.int
+
+    @property
+    def current_plan_with_status(self) -> global___PlanWithStatus:
+        """The current plan and status that matches the request query"""
+
+    @property
+    def replan_history(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PlanWithStatus]:
+        """Returns the history of all previous plans that were
+        generated in ascending order.
+        This field will be empty if the motion service
+        did not need to re-plan.
+        """
+
+    def __init__(self, *, current_plan_with_status: global___PlanWithStatus | None=..., replan_history: collections.abc.Iterable[global___PlanWithStatus] | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['current_plan_with_status', b'current_plan_with_status']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['current_plan_with_status', b'current_plan_with_status', 'replan_history', b'replan_history']) -> None:
+        ...
+global___GetPlanResponse = GetPlanResponse
+
+@typing.final
+class Constraints(google.protobuf.message.Message):
+    """Constraints specifies all enumerated constraints to be passed to Viam's motion planning, along with any optional parameters"""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    LINEAR_CONSTRAINT_FIELD_NUMBER: builtins.int
+    ORIENTATION_CONSTRAINT_FIELD_NUMBER: builtins.int
+    COLLISION_SPECIFICATION_FIELD_NUMBER: builtins.int
+
+    @property
+    def linear_constraint(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___LinearConstraint]:
+        """Typed message for a specific constraint"""
+
+    @property
+    def orientation_constraint(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___OrientationConstraint]:
+        ...
+
+    @property
+    def collision_specification(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___CollisionSpecification]:
+        """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 ClearField(self, field_name: typing.Literal['collision_specification', b'collision_specification', 'linear_constraint', b'linear_constraint', 'orientation_constraint', b'orientation_constraint']) -> None:
+        ...
+global___Constraints = Constraints
+
+@typing.final
+class LinearConstraint(google.protobuf.message.Message):
+    """LinearConstraint specifies that the component being moved should move linearly relative to its goal.
+    It does not constrain the motion of components other than the `component_name` specified in motion.Move
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    LINE_TOLERANCE_MM_FIELD_NUMBER: builtins.int
+    ORIENTATION_TOLERANCE_DEGS_FIELD_NUMBER: builtins.int
+    line_tolerance_mm: builtins.float
+    'Max linear deviation from straight-line between start and goal, in mm.'
+    orientation_tolerance_degs: builtins.float
+    'Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states'
+
+    def __init__(self, *, line_tolerance_mm: builtins.float | None=..., orientation_tolerance_degs: builtins.float | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_line_tolerance_mm', b'_line_tolerance_mm', '_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'line_tolerance_mm', b'line_tolerance_mm', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_line_tolerance_mm', b'_line_tolerance_mm', '_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'line_tolerance_mm', b'line_tolerance_mm', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_line_tolerance_mm', b'_line_tolerance_mm']) -> typing.Literal['line_tolerance_mm'] | None:
+        ...
+
+    @typing.overload
+    def WhichOneof(self, oneof_group: typing.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs']) -> typing.Literal['orientation_tolerance_degs'] | None:
+        ...
+global___LinearConstraint = LinearConstraint
+
+@typing.final
+class OrientationConstraint(google.protobuf.message.Message):
+    """OrientationConstraint specifies that the component being moved will not deviate its orientation beyond some threshold relative
+    to the goal. It does not constrain the motion of components other than the `component_name` specified in motion.Move
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    ORIENTATION_TOLERANCE_DEGS_FIELD_NUMBER: builtins.int
+    orientation_tolerance_degs: builtins.float
+    'Max allowable orientation deviation, in degrees, while on the shortest path between start / goal states'
+
+    def __init__(self, *, orientation_tolerance_degs: builtins.float | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs', 'orientation_tolerance_degs', b'orientation_tolerance_degs']) -> None:
+        ...
+
+    def WhichOneof(self, oneof_group: typing.Literal['_orientation_tolerance_degs', b'_orientation_tolerance_degs']) -> typing.Literal['orientation_tolerance_degs'] | None:
+        ...
+global___OrientationConstraint = OrientationConstraint
+
+@typing.final
+class CollisionSpecification(google.protobuf.message.Message):
+    """CollisionSpecification is used to selectively apply obstacle avoidance to specific parts of the robot"""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class AllowedFrameCollisions(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+        FRAME1_FIELD_NUMBER: builtins.int
+        FRAME2_FIELD_NUMBER: builtins.int
+        frame1: builtins.str
+        frame2: builtins.str
+
+        def __init__(self, *, frame1: builtins.str=..., frame2: builtins.str=...) -> None:
+            ...
+
+        def ClearField(self, field_name: typing.Literal['frame1', b'frame1', 'frame2', b'frame2']) -> None:
+            ...
+    ALLOWS_FIELD_NUMBER: builtins.int
+
+    @property
+    def allows(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___CollisionSpecification.AllowedFrameCollisions]:
+        """Pairs of frame which should be allowed to collide with one another"""
+
+    def __init__(self, *, allows: collections.abc.Iterable[global___CollisionSpecification.AllowedFrameCollisions] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['allows', b'allows']) -> None:
+        ...
+global___CollisionSpecification = CollisionSpecification
+
+@typing.final
+class PlanWithStatus(google.protobuf.message.Message):
+    """Describes a plan, its current status & all status changes
+    that have occured previously on that plan
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    PLAN_FIELD_NUMBER: builtins.int
+    STATUS_FIELD_NUMBER: builtins.int
+    STATUS_HISTORY_FIELD_NUMBER: builtins.int
+
+    @property
+    def plan(self) -> global___Plan:
+        """The plan"""
+
+    @property
+    def status(self) -> global___PlanStatus:
+        """The current status of the plan"""
+
+    @property
+    def status_history(self) -> google.protobuf.internal.containers.RepeatedCompositeFieldContainer[global___PlanStatus]:
+        """The prior status changes that have happened during plan execution"""
+
+    def __init__(self, *, plan: global___Plan | None=..., status: global___PlanStatus | None=..., status_history: collections.abc.Iterable[global___PlanStatus] | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['plan', b'plan', 'status', b'status']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['plan', b'plan', 'status', b'status', 'status_history', b'status_history']) -> None:
+        ...
+global___PlanWithStatus = PlanWithStatus
+
+@typing.final
+class PlanStatusWithID(google.protobuf.message.Message):
+    """PlanStatusWithID describes the state of a given plan at a
+    point in time plus the plan_id, component_name and execution_id
+    the status is associated with
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    PLAN_ID_FIELD_NUMBER: builtins.int
+    COMPONENT_NAME_FIELD_NUMBER: builtins.int
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
+    STATUS_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    '
+
+    @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.
+        """
+
+    @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 HasField(self, field_name: typing.Literal['component_name', b'component_name', '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:
+        ...
+global___PlanStatusWithID = PlanStatusWithID
+
+@typing.final
+class PlanStatus(google.protobuf.message.Message):
+    """Plan status describes the state of a given plan at a
+    point in time
+    """
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    STATE_FIELD_NUMBER: builtins.int
+    TIMESTAMP_FIELD_NUMBER: builtins.int
+    REASON_FIELD_NUMBER: builtins.int
+    state: global___PlanState.ValueType
+    'The state of the plan execution'
+    reason: builtins.str
+    'The reason for the state change. If motion plan failed\n    this will return the error message.\n    If motion needed to re-plan, this will return\n    the re-plan reason.\n    '
+
+    @property
+    def timestamp(self) -> google.protobuf.timestamp_pb2.Timestamp:
+        """The time the executing plan transtioned to the state"""
+
+    def __init__(self, *, state: global___PlanState.ValueType=..., timestamp: google.protobuf.timestamp_pb2.Timestamp | None=..., reason: builtins.str | None=...) -> None:
+        ...
+
+    def HasField(self, field_name: typing.Literal['_reason', b'_reason', 'reason', b'reason', 'timestamp', b'timestamp']) -> builtins.bool:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['_reason', b'_reason', 'reason', b'reason', 'state', b'state', 'timestamp', b'timestamp']) -> None:
+        ...
+
+    def WhichOneof(self, oneof_group: typing.Literal['_reason', b'_reason']) -> typing.Literal['reason'] | None:
+        ...
+global___PlanStatus = PlanStatus
+
+@typing.final
+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
+    EXECUTION_ID_FIELD_NUMBER: builtins.int
+    STEPS_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    '
+
+    @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.
+        """
+
+    @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 HasField(self, field_name: typing.Literal['component_name', b'component_name']) -> 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:
+        ...
+global___Plan = Plan
+
+@typing.final
+class PlanStep(google.protobuf.message.Message):
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+
+    @typing.final
+    class StepEntry(google.protobuf.message.Message):
+        DESCRIPTOR: google.protobuf.descriptor.Descriptor
+        KEY_FIELD_NUMBER: builtins.int
+        VALUE_FIELD_NUMBER: builtins.int
+        key: builtins.str
+
+        @property
+        def value(self) -> global___ComponentState:
+            ...
+
+        def __init__(self, *, key: builtins.str=..., value: global___ComponentState | None=...) -> None:
+            ...
+
+        def HasField(self, field_name: typing.Literal['value', b'value']) -> builtins.bool:
+            ...
+
+        def ClearField(self, field_name: typing.Literal['key', b'key', 'value', b'value']) -> None:
+            ...
+    STEP_FIELD_NUMBER: builtins.int
+
+    @property
+    def step(self) -> google.protobuf.internal.containers.MessageMap[builtins.str, global___ComponentState]:
+        """A step is the component state each
+        component resource should reach while executing
+        that step of the plan.
+        Keys are the fully qualified component name.
+        """
+
+    def __init__(self, *, step: collections.abc.Mapping[builtins.str, global___ComponentState] | None=...) -> None:
+        ...
+
+    def ClearField(self, field_name: typing.Literal['step', b'step']) -> None:
+        ...
+global___PlanStep = PlanStep
+
+@typing.final
+class ComponentState(google.protobuf.message.Message):
+    """A pose"""
+    DESCRIPTOR: google.protobuf.descriptor.Descriptor
+    POSE_FIELD_NUMBER: builtins.int
+
+    @property
+    def pose(self) -> common.v1.common_pb2.Pose:
+        ...
+
+    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___ComponentState = ComponentState