Class GripperClient

constructor

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

  Parameters

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

  Returns GripperClient

callOptions

Readonlyname

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' } }));
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getCurrentInputs

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

  Get the current input values of the gripper.

  Parameters

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

  Returns Promise<number[]>

  Example

  const gripper = new VIAM.GripperClient(machine, 'my_gripper');
  
  // Get the current inputs of the gripper
  const inputs = await gripper.getCurrentInputs();
  console.log('Current inputs:', inputs);
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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);
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  For more information, see Gripper API.

getStatus

• getStatus(callOptions?: CallOptions): Promise<JsonValue>

  Get the status of the resource.

  Parameters

  • callOptions: CallOptions = ...

  Returns Promise<JsonValue>

goToInputs

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

  Move the gripper to the given input values.

  Parameters

  • values: number[]

    The input values to move the gripper to.

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

  Returns Promise<void>

  Example

  const gripper = new VIAM.GripperClient(machine, 'my_gripper');
  
  // Move the gripper to specific input values
  await gripper.goToInputs([0.5]);
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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.

isHoldingSomething

• isHoldingSomething(extra?: {}, callOptions?: CallOptions): Promise<boolean>

  Get information about whether the gripper is currently holding onto an object.

  Parameters

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

  Returns Promise<boolean>

  Example

  const gripper = new VIAM.GripperClient(machine, 'my_gripper');
  
  // Check if the gripper is holding something
  const holding = await gripper.isHoldingSomething();
  console.log('Gripper is holding something:', holding);
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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.