Class GripperClient

constructor

• new GripperClient(
      client: RobotClient,
      name: string,
      options?: Options,
  ): GripperClient

  Parameters

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

  Returns GripperClient

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

  const result = await resource.doCommand({
    name: 'myCommand',
    args: { key: 'value' },
  });
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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 gripper = new VIAM.GripperClient(machine, 'my_gripper');
  
  // Get the geometries of this component
  const geometries = await gripper.getGeometries();
  console.log('Geometries:', geometries);
  Copy

  For more information, see Gripper API.

grab

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

  Request a gripper of the underlying robot to grab.

  Parameters

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

  Returns Promise<void>

  Example

  const gripper = new VIAM.GripperClient(machine, 'my_gripper');
  
  // Close the gripper to grab
  await gripper.grab();
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  For more information, see Gripper API.

isMoving

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

  Report if the gripper is in motion.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<boolean>

  Example

  const gripper = new VIAM.GripperClient(machine, 'my_gripper');
  
  // Check if the gripper is currently moving
  const moving = await gripper.isMoving();
  console.log('Gripper is moving:', moving);
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  For more information, see Gripper API.

open

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

  Open a gripper of the underlying robot.

  Parameters

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

  Returns Promise<void>

  Example

  const gripper = new VIAM.GripperClient(machine, 'my_gripper');
  
  // Open the gripper
  await gripper.open();
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  For more information, see Gripper API.

stop

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

  Stop a robot's gripper.

  Parameters

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

  Returns Promise<void>

  Example

  const gripper = new VIAM.GripperClient(machine, 'my_gripper');
  
  // Stop the gripper's current motion
  await gripper.stop();
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  For more information, see Gripper API.