Package com.viam.component.arm.v1

Interface ArmServiceGrpc.AsyncService

All Known Implementing Classes:

ArmServiceGrpc.ArmServiceImplBase

Enclosing class:

ArmServiceGrpc

public static interface ArmServiceGrpc.AsyncService

 An ArmService services all arms associated with a robot
 

Method Summary

Modifier and Type	Method	Description
default void	doCommand(Common.DoCommandRequest request, io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)	DoCommand sends/receives arbitrary commands
default void	getEndPosition(Arm.GetEndPositionRequest request, io.grpc.stub.StreamObserver<Arm.GetEndPositionResponse> responseObserver)	GetEndPosition gets the current position the end of the robot's arm expressed as X,Y,Z,ox,oy,oz,theta
default void	getGeometries(Common.GetGeometriesRequest request, io.grpc.stub.StreamObserver<Common.GetGeometriesResponse> responseObserver)	GetGeometries returns the geometries of the component in their current configuration
default void	getJointPositions(Arm.GetJointPositionsRequest request, io.grpc.stub.StreamObserver<Arm.GetJointPositionsResponse> responseObserver)	GetJointPositions lists the joint positions (in degrees) of every joint on a robot
default void	getKinematics(Common.GetKinematicsRequest request, io.grpc.stub.StreamObserver<Common.GetKinematicsResponse> responseObserver)	GetKinematics returns the kinematics file for the component
default void	isMoving(Arm.IsMovingRequest request, io.grpc.stub.StreamObserver<Arm.IsMovingResponse> responseObserver)	IsMoving reports if a component is in motion
default void	moveThroughJointPositions(Arm.MoveThroughJointPositionsRequest request, io.grpc.stub.StreamObserver<Arm.MoveThroughJointPositionsResponse> responseObserver)	MoveThroughJointPositions moves every joint on a robot's arm to the specified JointPositions in the order they are specified, obeying the specified velocity and acceleration limits.
default void	moveToJointPositions(Arm.MoveToJointPositionsRequest request, io.grpc.stub.StreamObserver<Arm.MoveToJointPositionsResponse> responseObserver)	MoveToJointPositions moves every joint on a robot's arm to specified angles which are expressed in degrees This will block until done or a new operation cancels this one
default void	moveToPosition(Arm.MoveToPositionRequest request, io.grpc.stub.StreamObserver<Arm.MoveToPositionResponse> responseObserver)	MoveToPosition moves the mount point of the robot's end effector to the requested position.
default void	stop(Arm.StopRequest request, io.grpc.stub.StreamObserver<Arm.StopResponse> responseObserver)	Stop stops a robot's arm

Method Details

getEndPosition

default void getEndPosition(Arm.GetEndPositionRequest request,
 io.grpc.stub.StreamObserver<Arm.GetEndPositionResponse> responseObserver)

 GetEndPosition gets the current position the end of the robot's arm expressed as X,Y,Z,ox,oy,oz,theta
 

moveToPosition

default void moveToPosition(Arm.MoveToPositionRequest request,
 io.grpc.stub.StreamObserver<Arm.MoveToPositionResponse> responseObserver)

 MoveToPosition moves the mount point of the robot's end effector to the requested position.
 This will block until done or a new operation cancels this one
 

getJointPositions

default void getJointPositions(Arm.GetJointPositionsRequest request,
 io.grpc.stub.StreamObserver<Arm.GetJointPositionsResponse> responseObserver)

 GetJointPositions lists the joint positions (in degrees) of every joint on a robot
 

moveToJointPositions

default void moveToJointPositions(Arm.MoveToJointPositionsRequest request,
 io.grpc.stub.StreamObserver<Arm.MoveToJointPositionsResponse> responseObserver)

 MoveToJointPositions moves every joint on a robot's arm to specified angles which are expressed in degrees
 This will block until done or a new operation cancels this one
 

moveThroughJointPositions

default void moveThroughJointPositions(Arm.MoveThroughJointPositionsRequest request,
 io.grpc.stub.StreamObserver<Arm.MoveThroughJointPositionsResponse> responseObserver)

 MoveThroughJointPositions moves every joint on a robot's arm to the specified JointPositions in the order they are specified,
 obeying the specified velocity and acceleration limits.
 This will block until done or a new operation cancels this one
 

stop

default void stop(Arm.StopRequest request,
 io.grpc.stub.StreamObserver<Arm.StopResponse> responseObserver)

 Stop stops a robot's arm
 

isMoving

default void isMoving(Arm.IsMovingRequest request,
 io.grpc.stub.StreamObserver<Arm.IsMovingResponse> responseObserver)

 IsMoving reports if a component is in motion
 

doCommand

default void doCommand(Common.DoCommandRequest request,
 io.grpc.stub.StreamObserver<Common.DoCommandResponse> responseObserver)

 DoCommand sends/receives arbitrary commands
 

getKinematics

default void getKinematics(Common.GetKinematicsRequest request,
 io.grpc.stub.StreamObserver<Common.GetKinematicsResponse> responseObserver)

 GetKinematics returns the kinematics file for the component
 

getGeometries

default void getGeometries(Common.GetGeometriesRequest request,
 io.grpc.stub.StreamObserver<Common.GetGeometriesResponse> responseObserver)

 GetGeometries returns the geometries of the component in their current configuration