Automated Protos Update (#253)

Co-authored-by: viambot <[email protected]>
Co-authored-by: Cheuk Tse <[email protected]>

Author: 3 people

docs/examples/example.ipynb

@@ -2,7 +2,7 @@
 
 import asyncio
 from typing import Any, Dict, Optional
-from viam.components.arm import Arm, JointPositions, Pose, WorldState
+from viam.components.arm import Arm, JointPositions, Pose
 from viam.operations import run_with_operation
 
 
@@ -33,7 +33,6 @@ async def get_end_position(self, extra: Optional[Dict[str, Any]] = None, **kwarg
     async def move_to_position(
         self,
         pose: Pose,
-        world_state: Optional[WorldState] = None,
         extra: Optional[Dict[str, Any]] = None,
         **kwargs,
     ):

docs/examples/my_cool_arm.py

@@ -4,15 +4,14 @@
 from viam.resource.registry import ResourceRegistration, Registry
 from viam.utils import message_to_struct
 
-from .arm import Arm, JointPositions, Pose, WorldState
+from .arm import Arm, JointPositions, Pose
 from .client import ArmClient
 from .service import ArmService
 
 __all__ = [
     "Arm",
     "JointPositions",
     "Pose",
-    "WorldState",
 ]
 
 

src/viam/components/arm/__init__.py

@@ -1,7 +1,7 @@
 import abc
 from typing import Any, Dict, Final, Optional
 
-from viam.proto.common import Pose, WorldState
+from viam.proto.common import Pose
 from viam.proto.component.arm import JointPositions
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
@@ -38,7 +38,6 @@ async def get_end_position(
     async def move_to_position(
         self,
         pose: Pose,
-        world_state: Optional[WorldState] = None,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,

src/viam/components/arm/arm.py

@@ -55,7 +55,7 @@ async def move_to_position(
     ):
         if extra is None:
             extra = {}
-        request = MoveToPositionRequest(name=self.name, to=pose, world_state=world_state, extra=dict_to_struct(extra))
+        request = MoveToPositionRequest(name=self.name, to=pose, extra=dict_to_struct(extra))
         await self.client.MoveToPosition(request, timeout=timeout)
 
     async def get_joint_positions(

src/viam/components/arm/client.py

@@ -52,9 +52,7 @@ async def MoveToPosition(self, stream: Stream[MoveToPositionRequest, MoveToPosit
         except ResourceNotFoundError as e:
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        await arm.move_to_position(
-            request.to, request.world_state, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata
-        )
+        await arm.move_to_position(request.to, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
         response = MoveToPositionResponse()
         await stream.send_message(response)
 

src/viam/components/arm/service.py

@@ -46,7 +46,7 @@ async def move_to_position(
     ):
         if extra is None:
             extra = {}
-        request = MoveToPositionRequest(name=self.name, positions_mm=positions, world_state=world_state, extra=dict_to_struct(extra))
+        request = MoveToPositionRequest(name=self.name, positions_mm=positions, extra=dict_to_struct(extra))
         await self.client.MoveToPosition(request, timeout=timeout)
 
     async def get_lengths(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[float]:

src/viam/components/gantry/client.py

@@ -1,7 +1,6 @@
 import abc
 from typing import Any, Dict, List, Optional, Final
 
-from viam.proto.common import WorldState
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
@@ -32,7 +31,6 @@ async def get_position(self, *, extra: Optional[Dict[str, Any]] = None, timeout:
     async def move_to_position(
         self,
         positions: List[float],
-        world_state: Optional[WorldState] = None,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,

src/viam/components/gantry/gantry.py

@@ -23,7 +23,7 @@
 
 class GantryService(GantryServiceBase, ResourceRPCServiceBase[Gantry]):
     """
-    gRPC Service for an Gantry
+    gRPC Service for a Gantry
     """
 
     RESOURCE_TYPE = Gantry
@@ -51,7 +51,7 @@ async def MoveToPosition(self, stream: Stream[MoveToPositionRequest, MoveToPosit
             raise e.grpc_error
         timeout = stream.deadline.time_remaining() if stream.deadline else None
         await gantry.move_to_position(
-            list(request.positions_mm), request.world_state, extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata
+            list(request.positions_mm), extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata
         )
         response = MoveToPositionResponse()
         await stream.send_message(response)