Class ArmClient

A gRPC-web client for the Arm component.

Implements

Index

Constructors

Properties

Methods

doCommand get3DModels getEndPosition getGeometries getJointPositions getKinematics getManualMode getProperties getStatus isMoving moveToJointPositions moveToPosition setManualMode stop

Constructors

constructor

new ArmClient(client: Client, name: string, options?: Options): ArmClient
Parameters
- client: Client
- name: string
- options: Options = {}
Returns ArmClient

Properties

callOptions

callOptions: CallOptions = ...

`Readonly`name

name: string

The name of the resource.

Methods

doCommand

doCommand(
command: Struct | Record<string, JsonValue>,
callOptions?: CallOptions,
): Promise<JsonValue>
Send/Receive arbitrary commands to the resource.
Parameters
- command: Struct | Record<string, JsonValue>
  The command to execute. Accepts either a Struct or a plain object, which will be converted automatically.
- callOptions: CallOptions = ...
Returns Promise<JsonValue>
Example
```
// Plain object (recommended)
const result = await resource.doCommand({
  myCommand: { key: 'value' },
});

// Struct (still supported)
import { Struct } from '@viamrobotics/sdk';

const result = await resource.doCommand(Struct.fromJson({ myCommand: { key: 'value' } }));
```
Implementation of Arm.doCommand

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);
```
Implementation of Arm.get3DModels

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();
```
For more information, see Arm API.
Implementation of Arm.getEndPosition

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);
```
For more information, see Arm API.
Implementation of Arm.getGeometries

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();
```
For more information, see Arm API.
Implementation of Arm.getJointPositions

getKinematics

getKinematics(
extra?: {},
callOptions?: CallOptions,
): Promise<GetKinematicsResult>
Get the kinematics information associated with the arm.
Parameters
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<GetKinematicsResult>
The legacy kinematics data shape or the newer object containing kinematics data plus a map of URDF mesh file paths to mesh data.
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).
```
Implementation of Arm.getKinematics

getManualMode

getManualMode(extra?: {}, callOptions?: CallOptions): Promise<boolean>
Get whether the arm is currently in manual mode.
Parameters
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<boolean>
Example
```
const arm = new VIAM.ArmClient(machine, 'my_arm');
const manualMode = await arm.getManualMode();
console.log(manualMode);
```
Implementation of Arm.getManualMode

getProperties

getProperties(
extra?: {},
callOptions?: CallOptions,
): Promise<armApi.GetPropertiesResponse>
Get the optional features the arm supports.
Parameters
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<armApi.GetPropertiesResponse>
Example
```
const arm = new VIAM.ArmClient(machine, 'my_arm');
const properties = await arm.getProperties();
console.log(properties);
```
Implementation of Arm.getProperties

getStatus

getStatus(callOptions?: CallOptions): Promise<JsonValue>
Get the status of the resource.
Parameters
- callOptions: CallOptions = ...
Returns Promise<JsonValue>

Implementation of Arm.getStatus

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);
```
For more information, see Arm API.
Implementation of Arm.isMoving

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]);
```
For more information, see Arm API.
Implementation of Arm.moveToJointPositions

moveToPosition

moveToPosition(pose: Pose, extra?: {}, callOptions?: CallOptions): Promise<void>
Move the end of the arm to the pose.
Parameters
- pose: Pose
  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);
```
For more information, see Arm API.
Implementation of Arm.moveToPosition

setManualMode

setManualMode(
    manualMode: boolean,
    enabledFor?: number,
    extra?: {},
    callOptions?: CallOptions,
): Promise<void>
Enter or exit manual mode for an arm that supports it.
Parameters
- manualMode: boolean
  Whether to enter (true) or exit (false) manual mode.
- enabledFor: number = 0
  How long to stay in manual mode, in seconds. 0 or undefined means no time limit.
- extra: {} = {}
- callOptions: CallOptions = ...
Returns Promise<void>
Example
```
const arm = new VIAM.ArmClient(machine, 'my_arm');

// Enter manual mode for 60 seconds
await arm.setManualMode(true, 60);
```
Implementation of Arm.setManualMode

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();
```
For more information, see Arm API.
Implementation of Arm.stop

Class ArmClient

Implements

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

Returns ArmClient

Properties

callOptions

Readonlyname

Methods

doCommand

Parameters

Returns Promise<JsonValue>

Example

get3DModels

Parameters

Returns Promise<Record<string, Mesh>>

Example

getEndPosition

Parameters

Returns Promise<commonApi.Pose>

Example

getGeometries

Parameters

Returns Promise<commonApi.Geometry[]>

Example

getJointPositions

Parameters

Returns Promise<JointPositions>

Example

getKinematics

Parameters

Returns Promise<GetKinematicsResult>

Example

getManualMode

Parameters

Returns Promise<boolean>

Example

getProperties

Parameters

Returns Promise<armApi.GetPropertiesResponse>

Example

getStatus

Parameters

Returns Promise<JsonValue>

isMoving

Parameters

Returns Promise<boolean>

Example

moveToJointPositions

Parameters

Returns Promise<void>

Example

moveToPosition

Parameters

Returns Promise<void>

Example

setManualMode

Parameters

Returns Promise<void>

Example

stop

Parameters

Returns Promise<void>

Example

Settings

On This Page

`Readonly`name