Class ArmClient

constructor

• new ArmClient(client: Client, name: string, options?: Options): ArmClient

  Parameters

  • client: Client
  • name: string
  • options: Options = {}

  Returns ArmClient

callOptions

Readonlyname

doCommand

• doCommand(command: Struct, callOptions?: CallOptions): Promise<JsonValue>

  Send/Receive arbitrary commands to the resource.

  Parameters

  • command: Struct

    The command to execute.
  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

  Example

  import { Struct } from '@viamrobotics/sdk';
  
  const result = await resource.doCommand(
    Struct.fromJson({
      myCommand: { key: 'value' },
    })
  );
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get3DModels

• get3DModels(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<Record<string, Mesh>>

  Get the 3D models of the component

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<Record<string, Mesh>>

  Example

  const arm = new VIAM.ArmClient(machine, 'my_arm');
  const models = await arm.get3DModels();
  console.log(models);
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getEndPosition

• getEndPosition(extra?: {}, callOptions?: CallOptions): Promise<commonApi.Pose>

  Get the position of the end of the arm expressed as a pose

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<commonApi.Pose>

  Example

  const arm = new VIAM.ArmClient(machine, 'my_arm');
  const pose = await arm.getEndPosition();
  Copy

  For more information, see Arm API.

getGeometries

• getGeometries(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<commonApi.Geometry[]>

  Get the geometries of the component in their current configuration

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<commonApi.Geometry[]>

  Example

  const arm = new VIAM.ArmClient(machine, 'my_arm');
  const geometries = await arm.getGeometries();
  console.log(geometries);
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  For more information, see Arm API.

getJointPositions

• getJointPositions(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<JointPositions>

  Gets the current position of each joint.

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<JointPositions>

  Example

  const arm = new VIAM.ArmClient(machine, 'my_arm');
  const jointPositions = await arm.getJointPositions();
  Copy

  For more information, see Arm API.

getKinematics

• getKinematics(
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<
      {
          joints: {
              axis: PlainMessage;
              id: string;
              max: number;
              min: number;
              parent: string;
              type: string;
          }[];
          kinematic_param_type: "SVA"
          | "URDF"
          | "UNSPECIFIED";
          links: Frame[];
          name: string;
      },
  >

  Get the kinematics information associated with the arm.

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<
      {
          joints: {
              axis: PlainMessage;
              id: string;
              max: number;
              min: number;
              parent: string;
              type: string;
          }[];
          kinematic_param_type: "SVA"
          | "URDF"
          | "UNSPECIFIED";
          links: Frame[];
          name: string;
      },
  >

  Example

  const arm = new VIAM.ArmClient(machine, 'my_arm');
  const kinematics = await arm.getKinematics();
  console.log(kinematics);
  
  For more information, see [Arm
  API](https://docs.viam.com/dev/reference/apis/components/arm/#getkinematics).
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isMoving

• isMoving(callOptions?: CallOptions): Promise<boolean>

  Get if the arm is currently moving.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<boolean>

  Example

  const arm = new VIAM.ArmClient(machine, 'my_arm');
  const isMoving = await arm.isMoving();
  console.log(isMoving);
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  For more information, see Arm API.

moveToJointPositions

• moveToJointPositions(
      jointPositionsList: number[],
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Move each joint of the arm based on the angles on the joint positions.

  Parameters

  • jointPositionsList: number[]

    List of angles (0-360) to move each joint to.
  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const arm = new VIAM.ArmClient(machine, 'my_arm');
  
  // Move an arm with 6 joints (6 DoF)
  await arm.moveToJointPositions([90, 0, 0, 0, 15, 0]);
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  For more information, see Arm API.

moveToPosition

• moveToPosition(
      pose: PlainMessage,
      extra?: {},
      callOptions?: CallOptions,
  ): Promise<void>

  Move the end of the arm to the pose.

  Parameters

  • pose: PlainMessage

    The destination pose for the arm.
  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const arm = new VIAM.ArmClient(machine, 'my_arm');
  
  // Create a pose for the arm to move to
  const pose: Pose = {
    x: -500,
    y: -200,
    z: 62,
    oX: 1,
    oY: 0,
    oZ: 1,
    theta: 90,
  };
  
  // Move the arm to the pose
  await arm.moveToPosition(pose);
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  For more information, see Arm API.

stop

• stop(extra?: {}, callOptions?: CallOptions): Promise<void>

  Stop the motion of the arm.

  Parameters

  • extra: {} = {}
  • callOptions: CallOptions = ...

  Returns Promise<void>

  Example

  const arm = new VIAM.ArmClient(machine, 'my_arm');
  await arm.stop();
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  For more information, see Arm API.