Services
This page lists every gRPC service and RPC defined in proto/flexiv/pdk/.
All RPCs are unary unless the response is marked stream. The .proto
files are the authoritative definition; message fields are summarized in
Messages.
Empty is google.protobuf.Empty (from google.protobuf.empty_pb2 import
Empty). common.Status is flexiv.pdk.common.Status, returned directly
by some RPCs instead of a wrapper response.
Request and response types without a package prefix are defined in the
service’s own module. Several modules define messages with the same short name,
so import each from the right module, or alias them:
NameRequest, ExistsResponse, RemoveResponse, RenameRequest,
RenameResponse: workcell_service and collision_service.
ListResponse: workcell_service, collision_service and
license_service.
SaveRequest, SaveResponse: collision_service and
license_service.
GetResponse: collision_service and surface_finish.service.
GetUrdfResponse: config_service and system_service.
ListComponentsResponse: collision_service and
components_service.
Path: surface_finish.path and point_to_point_path.path.
from flexiv.pdk.workcell.workcell_service_pb2 import NameRequest
from flexiv.pdk.scene.collision.collision_service_pb2 import (
NameRequest as CollisionNameRequest, SaveRequest as CollisionSaveRequest)
WorkcellService
gRPC name |
flexiv.pdk.workcell.WorkcellService
|
Proto file |
flexiv/pdk/workcell/workcell_service.proto
|
Python module |
flexiv.pdk.workcell.workcell_service_pb2 (stub in flexiv.pdk.workcell.workcell_service_pb2_grpc)
|
Python client |
client.workcell.stub
|
C++ client |
client.workcell().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
Create
|
CreateRequest
|
CreateResponse
|
Create an empty workcell. |
Load
|
NameRequest
|
WorkcellResponse
|
Make a workcell active. |
Remove
|
NameRequest
|
RemoveResponse
|
Delete a workcell and its contents. |
Rename
|
RenameRequest
|
RenameResponse
|
|
Exists
|
NameRequest
|
ExistsResponse
|
|
List
|
google.protobuf.Empty
|
ListResponse
|
All workcells (full Workcell messages). |
GetActive
|
google.protobuf.Empty
|
WorkcellResponse
|
The active workcell. |
SetDescription
|
SetDescriptionRequest
|
SetDescriptionResponse
|
|
ConfigService
Saved scene configuration in the active workcell. Every RPC needs an active
workcell; without one the server rejects the call with FAILED_PRECONDITION.
The parent and pose saved here are where an item starts each time the workcell
is loaded, and changing them also moves the item now. To read or move where an
item is right now without saving, use FrameService.
gRPC name |
flexiv.pdk.ConfigService
|
Proto file |
flexiv/pdk/config_service.proto
|
Python module |
flexiv.pdk.config_service_pb2 (stub in flexiv.pdk.config_service_pb2_grpc)
|
Python client |
client.config.stub
|
C++ client |
client.config().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
CheckReady
|
CheckReadyRequest
|
CheckReadyResponse
|
Whether a config type can be used now (for example, a workcell is
active). status.code is OK when ready, otherwise
FAILED_PRECONDITION with the reason in status.message. |
Exists
|
TypeNameConfigRequest
|
ExistsConfigResponse
|
|
Get
|
TypeNameConfigRequest
|
GetConfigResponse
|
|
List
|
ListConfigRequest
|
ListConfigResponse
|
Names of all configs of a type. |
Remove
|
TypeNameConfigRequest
|
RemoveConfigResponse
|
|
Rename
|
RenameConfigRequest
|
RenameConfigResponse
|
|
Save
|
SaveConfigRequest
|
SaveConfigResponse
|
Create or overwrite one config. Set one config field; see below. |
GetParent
|
TypeNameConfigRequest
|
GetParentResponse
|
|
SetParent
|
SetParentRequest
|
SetParentResponse
|
|
GetPose
|
TypeNameConfigRequest
|
GetPoseResponse
|
Pose in parent. |
SetPose
|
SetPoseRequest
|
SetPoseResponse
|
Persisted; emits a CONFIG scene event. |
GetUrdf
|
google.protobuf.Empty
|
GetUrdfResponse
|
URDF of the whole scene. |
HasParent
|
HasParentRequest
|
HasParentResponse
|
|
HasChild
|
HasChildRequest
|
HasChildResponse
|
|
SaveConfigRequest and GetConfigResponse hold one config field. Each
field matches a ConfigType for the type-and-name RPCs:
config field
|
Message |
ConfigType
|
|---|
coordinate
|
scene.Coordinate
|
CONFIG_TYPE_COORDINATE
|
camera
|
scene.Camera
|
CONFIG_TYPE_CAMERA
|
object
|
scene.Object
|
CONFIG_TYPE_OBJECT
|
system
|
system.System
|
CONFIG_TYPE_SYSTEM
|
surface_path
|
surface_finish.Path
|
CONFIG_TYPE_SURFACE_PATH
|
p2p_path
|
point_to_point_path.Path
|
CONFIG_TYPE_P2P_PATH
|
system_pose
|
scene.TargetWaypoint
|
CONFIG_TYPE_SYSTEM_POSE
|
object_pose
|
scene.Coordinate
|
CONFIG_TYPE_OBJECT_POSE
|
grasp_pose
|
scene.Coordinate
|
CONFIG_TYPE_GRASP_POSE
|
CONFIG_TYPE_ALL searches every type. See Messages for the enum.
FrameService
The scene as it is right now. Changes take effect immediately and are not
saved; reloading the workcell restores the saved state from ConfigService.
gRPC name |
flexiv.pdk.FrameService
|
Proto file |
flexiv/pdk/frame_service.proto
|
Python module |
flexiv.pdk.frame_service_pb2 (stub in flexiv.pdk.frame_service_pb2_grpc)
|
Python client |
client.frame.stub
|
C++ client |
client.frame().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
Exists
|
ExistsFrameRequest
|
ExistsFrameResponse
|
|
Get
|
GetFrameRequest
|
GetFrameResponse
|
|
List
|
ListFramesRequest
|
ListFramesResponse
|
|
Remove
|
RemoveFrameRequest
|
RemoveFrameResponse
|
|
Rename
|
RenameFrameRequest
|
RenameFrameResponse
|
|
GetParent
|
GetFrameParentRequest
|
GetFrameParentResponse
|
|
SetParent
|
SetFrameParentRequest
|
SetFrameParentResponse
|
Takes a ParentingPolicy. |
GetPose
|
GetFramePoseRequest
|
GetFramePoseResponse
|
Pose in WORLD, PARENT or a NAMED frame. |
UpdatePose
|
UpdateFramePoseRequest
|
UpdateFramePoseResponse
|
Transform layer only; not persisted. |
HasParent
|
HasFrameParentRequest
|
HasFrameParentResponse
|
|
HasChild
|
HasFrameChildRequest
|
HasFrameChildResponse
|
|
SceneEventService
gRPC name |
flexiv.pdk.SceneEventService
|
Proto file |
flexiv/pdk/scene_event_service.proto
|
Python module |
flexiv.pdk.scene_event_service_pb2 (stub in flexiv.pdk.scene_event_service_pb2_grpc)
|
Python client |
client.scene_event.stub
|
C++ client |
client.scene_event().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
WatchSceneEvents
|
WatchSceneEventsRequest
|
stream SceneEvent |
Server-streaming. Ordered scene changes. |
CollisionService
gRPC name |
flexiv.pdk.scene.collision.CollisionService
|
Proto file |
flexiv/pdk/scene/collision/collision_service.proto
|
Python module |
flexiv.pdk.scene.collision.collision_service_pb2 (stub in flexiv.pdk.scene.collision.collision_service_pb2_grpc)
|
Python client |
client.collision.stub
|
C++ client |
client.collision().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
Get
|
NameRequest
|
GetResponse
|
|
Save
|
SaveRequest
|
SaveResponse
|
|
Remove
|
NameRequest
|
RemoveResponse
|
|
Rename
|
RenameRequest
|
RenameResponse
|
|
Exists
|
NameRequest
|
ExistsResponse
|
|
List
|
google.protobuf.Empty
|
ListResponse
|
|
AddPair
|
AddPairRequest
|
AddPairResponse
|
Add one allowed (unchecked) pair to a saved config. |
RemovePair
|
RemovePairRequest
|
RemovePairResponse
|
Remove one allowed pair, so it is checked again. |
ListComponents
|
google.protobuf.Empty
|
ListComponentsResponse
|
Valid names for collision pairs. |
SystemService
gRPC name |
flexiv.pdk.system.SystemService
|
Proto file |
flexiv/pdk/system/system_service.proto
|
Python module |
flexiv.pdk.system.system_service_pb2 (stub in flexiv.pdk.system.system_service_pb2_grpc)
|
Python client |
client.system.stub
|
C++ client |
client.system().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
AddConnectedSystem
|
AddConnectedSystemRequest
|
AddConnectedSystemResponse
|
Read a real robot’s configuration and save it as a system. |
GetCalibrationStatus
|
GetCalibrationStatusRequest
|
GetCalibrationStatusResponse
|
Whether a calibration exists and was applied. |
GetUrdf
|
GetUrdfRequest
|
GetUrdfResponse
|
URDF of one system. |
GetArmSerialNumber
|
GetArmSerialNumberRequest
|
GetArmSerialNumberResponse
|
|
SystemService has no joint-position RPCs. A system’s default joint position is
the home_position of its components, saved in its System config through
ConfigService. Its current joint position is in StateService.
ComponentsService
gRPC name |
flexiv.pdk.system.ComponentsService
|
Proto file |
flexiv/pdk/system/components_service.proto
|
Python module |
flexiv.pdk.system.components_service_pb2 (stub in flexiv.pdk.system.components_service_pb2_grpc)
|
Python client |
client.system_config.stub
|
C++ client |
client.system_config().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
ListManipulators
|
google.protobuf.Empty
|
ListComponentsResponse
|
Returns names. |
ListToolAdapters
|
google.protobuf.Empty
|
ListManufacturerModelResponse
|
|
ListTools
|
google.protobuf.Empty
|
ListManufacturerModelResponse
|
|
ListCustomToolAdapters
|
google.protobuf.Empty
|
ListManufacturerModelResponse
|
|
ListCustomTools
|
google.protobuf.Empty
|
ListManufacturerModelResponse
|
|
ListExternalRobotAxes
|
google.protobuf.Empty
|
ListManufacturerModelResponse
|
|
ListExternalWorkpieceAxes
|
google.protobuf.Empty
|
ListManufacturerModelResponse
|
|
SaveCustomTool
|
SaveCustomToolRequest
|
SaveCustomToolResponse
|
Add to the custom tool catalogue. |
SaveCustomToolAdapter
|
SaveCustomToolAdapterRequest
|
SaveCustomToolAdapterResponse
|
Add to the custom adapter catalogue. |
RemoveCustomTool
|
ManufacturerModel
|
RemoveCustomToolResponse
|
|
RemoveCustomToolAdapter
|
ManufacturerModel
|
RemoveCustomToolAdapterResponse
|
|
StateService
gRPC name |
flexiv.pdk.system.StateService
|
Proto file |
flexiv/pdk/system/state_service.proto
|
Python module |
flexiv.pdk.system.state_service_pb2 (stub in flexiv.pdk.system.state_service_pb2_grpc)
|
Python client |
client.system_state.stub
|
C++ client |
client.system_state().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
GetJointPosition
|
GetJointPositionRequest
|
GetJointPositionResponse
|
Current joint position (scene model, not the real robot). |
SetJointPosition
|
SetJointPositionRequest
|
SetJointPositionResponse
|
Current joint position (scene model, not the real robot). Not saved;
a system starts at its saved home_position. |
KinematicsService
gRPC name |
flexiv.pdk.system.KinematicsService
|
Proto file |
flexiv/pdk/system/kinematics_service.proto
|
Python module |
flexiv.pdk.system.kinematics_service_pb2 (stub in flexiv.pdk.system.kinematics_service_pb2_grpc)
|
Python client |
client.kinematics.stub
|
C++ client |
client.kinematics().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
ComputeIK
|
IKRequest
|
IKResponse
|
Needs a collision config name. |
ComputeFK
|
FKRequest
|
FKResponse
|
|
PointToPointPathService
gRPC name |
flexiv.pdk.point_to_point_path.PointToPointPathService
|
Proto file |
flexiv/pdk/point_to_point_path/service.proto
|
Python module |
flexiv.pdk.point_to_point_path.service_pb2 (stub in flexiv.pdk.point_to_point_path.service_pb2_grpc)
|
Python client |
client.point_to_point_path.stub
|
C++ client |
client.point_to_point_path().stub
|
License |
required, license code point_to_point_path |
RPC |
Request |
Response |
Notes |
|---|
Plan
|
PointToPointPathRequest
|
PointToPointPathResponse
|
Result saved as a CONFIG_TYPE_P2P_PATH config. |
SurfaceFinishService
gRPC name |
flexiv.pdk.surface_finish.generator.SurfaceFinishService
|
Proto file |
flexiv/pdk/surface_finish/service.proto
|
Python module |
flexiv.pdk.surface_finish.service_pb2 (stub in flexiv.pdk.surface_finish.service_pb2_grpc)
|
Python client |
client.surface_finish.stub
|
C++ client |
client.surface_finish().stub
|
License |
required, license code surface_finish |
RPC |
Request |
Response |
Notes |
|---|
GenerateNominalPath
|
GenerateNominalPathRequest
|
GenerateNominalPathResponse
|
Stage 1. May create several paths. |
RefinePath
|
RefinePathRequest
|
RefinePathResponse
|
Stage 2. |
CreateRobotMotion
|
CreateRobotMotionRequest
|
CreateRobotMotionResponse
|
Stage 3. |
Get
|
GetRequest
|
GetResponse
|
All stages’ data. |
GenerateRCATrajectoryFile
|
GenerateRCATrajectoryFileRequest
|
GenerateRCATrajectoryFileResponse
|
Writes a .traj file on the server. |
MeshOperationService
gRPC name |
flexiv.pdk.MeshOperationService
|
Proto file |
flexiv/pdk/mesh_operation/service.proto
|
Python module |
flexiv.pdk.mesh_operation.service_pb2 (stub in flexiv.pdk.mesh_operation.service_pb2_grpc)
|
Python client |
client.mesh_operation.stub
|
C++ client |
client.mesh_operation().stub
|
License |
required, license code mesh_operation |
RPC |
Request |
Response |
Notes |
|---|
ExtractArea
|
AreaExtractionRequest
|
AreaExtractionResponse
|
Polygon cut-out saved as a new object. |
FilterMesh
|
FilterMeshRequest
|
FilterMeshResponse
|
One filter; results saved as new objects. |
CameraService
gRPC name |
flexiv.pdk.camera.CameraService
|
Proto file |
flexiv/pdk/camera/service.proto
|
Python module |
flexiv.pdk.camera.service_pb2 (stub in flexiv.pdk.camera.service_pb2_grpc)
|
Python client |
client.camera.stub
|
C++ client |
client.camera().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
IsCameraOnline
|
CameraNameRequest
|
CameraOnlineResponse
|
Whether the device responds. |
UpdateCameraIntrinsicFromDevice
|
CameraNameRequest
|
UpdateCameraIntrinsicFromDeviceResponse
|
Read and store fx, fy, cx, cy, distortion. |
GetCameraRGBDImage
|
CameraRGBDImageRequest
|
CameraRGBDImageResponse
|
Saved on the server if a file name is given. |
GetCameraPointCloud
|
CameraPointCloudRequest
|
CameraPointCloudResponse
|
Camera or world frame; saved on the server. |
ListSavedCameraImages
|
CameraNameRequest
|
CameraImageListResponse
|
|
ListSavedCameraPointClouds
|
CameraNameRequest
|
CameraPointCloudListResponse
|
|
DeleteSavedCameraImage
|
CameraImageDeleteRequest
|
common.Status
|
|
DeleteSavedCameraPointCloud
|
CameraPointCloudDeleteRequest
|
common.Status
|
|
ReconstructionService
gRPC name |
flexiv.pdk.scene.reconstruction.ReconstructionService
|
Proto file |
flexiv/pdk/scene/reconstruction/service.proto
|
Python module |
flexiv.pdk.scene.reconstruction.service_pb2 (stub in flexiv.pdk.scene.reconstruction.service_pb2_grpc)
|
Python client |
client.reconstruction.stub
|
C++ client |
client.reconstruction().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
StartReconstruction
|
StartReconstructionRequest
|
common.Status
|
|
AddCameraToReconstruction
|
CameraNamesRequest
|
common.Status
|
|
RemoveCameraFromReconstruction
|
CameraNamesRequest
|
common.Status
|
|
StopReconstruction
|
google.protobuf.Empty
|
common.Status
|
|
GetReconstructionResult
|
ReconstructionResultRequest
|
ReconstructionResultResponse
|
Optionally adds the result to the scene. |
ListReconstructionObjects
|
google.protobuf.Empty
|
ListReconstructionObjectsResponse
|
|
AddReconstructionConfig
|
ReconstructionConfig
|
common.Status
|
|
RemoveReconstructionConfig
|
ReconstructionConfig
|
common.Status
|
|
GetReconstructionConfig
|
GetReconstructionConfigRequest
|
GetReconstructionConfigResponse
|
|
ListReconstructionConfigs
|
google.protobuf.Empty
|
ListReconstructionConfigsResponse
|
|
LicenseService
gRPC name |
flexiv.pdk.license.LicenseService
|
Proto file |
flexiv/pdk/license/license_service.proto
|
Python module |
flexiv.pdk.license.license_service_pb2 (stub in flexiv.pdk.license.license_service_pb2_grpc)
|
Python client |
client.license.stub
|
C++ client |
client.license().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
List
|
ListRequest
|
ListResponse
|
Every licensable service and its state. |
Save
|
SaveRequest
|
SaveResponse
|
Install a license; effective immediately. |
GetDeviceIdentifier
|
GetDeviceIdentifierRequest
|
GetDeviceIdentifierResponse
|
Identifier to send to Flexiv. |
VersionService
gRPC name |
flexiv.pdk.common.VersionService
|
Proto file |
flexiv/pdk/common/version_service.proto
|
Python module |
flexiv.pdk.common.version_service_pb2 (stub in flexiv.pdk.common.version_service_pb2_grpc)
|
Python client |
client.version.stub
|
C++ client |
client.version().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
GetVersion
|
GetVersionRequest
|
GetVersionResponse
|
Server version and compatible flag. |
LogService
gRPC name |
flexiv.pdk.common.LogService
|
Proto file |
flexiv/pdk/common/log_service.proto
|
Python module |
flexiv.pdk.common.log_service_pb2 (stub in flexiv.pdk.common.log_service_pb2_grpc)
|
Python client |
client.log.stub
|
C++ client |
client.log().stub
|
License |
not required |
RPC |
Request |
Response |
Notes |
|---|
SetLogLevel
|
SetLogLevelRequest
|
SetLogLevelResponse
|
Minimum server log level. |
GetLogHistory
|
GetLogHistoryRequest
|
GetLogHistoryResponse
|
Recent entries, oldest first. Filter by level, count and time. |
StreamLogEntries
|
StreamLogEntriesRequest
|
stream LogEntry |
Server-streaming log entries. |