Package com.viam.component.gripper.v1

Interface GripperServiceGrpc.AsyncService

All Known Implementing Classes:

GripperRPCService, GripperServiceGrpc.GripperServiceImplBase

Enclosing class:

GripperServiceGrpc

public static interface GripperServiceGrpc.AsyncService

 An GripperService services all grippers 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	getGeometries(Common.GetGeometriesRequest request, io.grpc.stub.StreamObserver<Common.GetGeometriesResponse> responseObserver)	GetGeometries returns the geometries of the component in their current configuration
default void	getKinematics(Common.GetKinematicsRequest request, io.grpc.stub.StreamObserver<Common.GetKinematicsResponse> responseObserver)	GetKinematics returns the kinematics file for the component
default void	grab(Gripper.GrabRequest request, io.grpc.stub.StreamObserver<Gripper.GrabResponse> responseObserver)	Grab requests a gripper of the underlying robot to grab.
default void	isHoldingSomething(Gripper.IsHoldingSomethingRequest request, io.grpc.stub.StreamObserver<Gripper.IsHoldingSomethingResponse> responseObserver)	IsHoldingSomething returns whether the gripper is currently holding onto an object
default void	isMoving(Gripper.IsMovingRequest request, io.grpc.stub.StreamObserver<Gripper.IsMovingResponse> responseObserver)	IsMoving reports if a component is in motion
default void	open(Gripper.OpenRequest request, io.grpc.stub.StreamObserver<Gripper.OpenResponse> responseObserver)	Open opens a gripper of the underlying robot.
default void	stop(Gripper.StopRequest request, io.grpc.stub.StreamObserver<Gripper.StopResponse> responseObserver)	Stop stops a robot's gripper

Method Details

open

default void open(Gripper.OpenRequest request,
 io.grpc.stub.StreamObserver<Gripper.OpenResponse> responseObserver)

 Open opens a gripper of the underlying robot.
 

grab

default void grab(Gripper.GrabRequest request,
 io.grpc.stub.StreamObserver<Gripper.GrabResponse> responseObserver)

 Grab requests a gripper of the underlying robot to grab.
 

stop

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

 Stop stops a robot's gripper
 

isMoving

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

 IsMoving reports if a component is in motion
 

isHoldingSomething

default void isHoldingSomething(Gripper.IsHoldingSomethingRequest request,
 io.grpc.stub.StreamObserver<Gripper.IsHoldingSomethingResponse> responseObserver)

 IsHoldingSomething returns whether the gripper is currently holding onto an object
 

doCommand

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

 DoCommand sends/receives arbitrary commands
 

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
 

getKinematics

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

 GetKinematics returns the kinematics file for the component