Vention Firmware gRPC Client

A Python gRPC client for calling Vention firmware endpoints. It is commonly referred to as Vention Robot Motion Control Stack (VRMCS)

Features

• Robot Management: Register and manage robots
• Motion Control: Execute movements, plan trajectories, and control robot motion
• Kinematics: Forward and inverse kinematics operations
• Real-time Streaming: Stream robot states, joint states, position data, and alarms
• Operating Modes: Control normal and freedrive modes
• TCP/Payload Configuration: Set tool center point and payload properties

Installation

Install the package using pip:

pip install vention-firmware-grpc-client

Quick Start

from vrmcs.client import VRMCSClient
from vention.robots.v1.move_request_pb2 import MoveRequest
from vention.robots.v1.joint_position_pb2 import JointPosition

# Connect to the VRMCS server
client = VRMCSClient("localhost:50550")

# List available robots
robots = client.list_robots()
for robot in robots.robots:
    print(f"Robot ID: {robot.id}")
    print(f"Name: {robot.name}")
    print(f"Type: {robot.robot_type}")

# Use types for type-safe requests
move_request = MoveRequest(
    robot_id="my_robot",
    joint_position=JointPosition(positions=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
)
response = client.move(move_request)

Requirements

• Python >= 3.10

License

Copyright © Vention