Interface Arm

Represents a physical robot arm that exists in three-dimensional space.

interface Arm {
    get3DModels: (extra?: Struct) => Promise<Record<string, Mesh>>;
    getEndPosition: (extra?: Struct) => Promise<PlainMessage<commonApi.Pose>>;
    getGeometries: (extra?: Struct) => Promise<commonApi.Geometry[]>;
    getJointPositions: (
        extra?: Struct,
    ) => Promise<PlainMessage<JointPositions>>;
    getKinematics: (
        extra?: Struct,
    ) => Promise<
        {
            joints: {
                axis: PlainMessage;
                id: string;
                max: number;
                min: number;
                parent: string;
                type: string;
            }[];
            kinematic_param_type: "SVA"
            | "URDF"
            | "UNSPECIFIED";
            links: Frame[];
            name: string;
        },
    >;
    isMoving: () => Promise<boolean>;
    moveToJointPositions: (
        jointPositionsList: number[],
        extra?: Struct,
    ) => Promise<void>;
    moveToPosition: (pose: PlainMessage, extra?: Struct) => Promise<void>;
    name: string;
    stop: (extra?: Struct) => Promise<void>;
    doCommand(command: Struct): Promise<JsonValue>;
}

Hierarchy (View Summary)

Implemented by

Properties

get3DModels getEndPosition getGeometries getJointPositions getKinematics isMoving moveToJointPositions moveToPosition name stop

Methods

doCommand

Properties

get3DModels

get3DModels: (extra?: Struct) => Promise<Record<string, Mesh>>

Get the 3D models of the component

Example

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

getEndPosition

getEndPosition: (extra?: Struct) => Promise<PlainMessage<commonApi.Pose>>

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

Example

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

For more information, see Arm API.

getGeometries

getGeometries: (extra?: Struct) => Promise<commonApi.Geometry[]>

Get the geometries of the component in their current configuration

Example

const arm = new VIAM.ArmClient(machine, 'my_arm');
const geometries = await arm.getGeometries();
console.log(geometries);

For more information, see Arm API.

getJointPositions

getJointPositions: (extra?: Struct) => Promise<PlainMessage<JointPositions>>

Gets the current position of each joint.

Example

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

For more information, see Arm API.

getKinematics

getKinematics: (
    extra?: Struct,
) => 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.

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).

isMoving

isMoving: () => Promise<boolean>

Get if the arm is currently moving.

Example

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

For more information, see Arm API.

moveToJointPositions

moveToJointPositions: (
    jointPositionsList: number[],
    extra?: Struct,
) => Promise<void>

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

Type declaration

    • (jointPositionsList: number[], extra?: Struct): Promise<void>

    • Parameters

      • jointPositionsList: number[]

        List of angles (0-360) to move each joint to.

      • Optionalextra: Struct

      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.

moveToPosition

moveToPosition: (pose: PlainMessage, extra?: Struct) => Promise<void>

Move the end of the arm to the pose.

Type declaration

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.

Readonlyname

name: string

The name of the resource.

stop

stop: (extra?: Struct) => Promise<void>

Stop the motion of the arm.

Example

const arm = new VIAM.ArmClient(machine, 'my_arm');
await arm.stop();

For more information, see Arm API.

Methods

doCommand

  • doCommand(command: Struct): Promise<JsonValue>

    Send/Receive arbitrary commands to the resource.

    Parameters

    • command: Struct

      The command to execute.

    Returns Promise<JsonValue>

    Example

    import { Struct } from '@viamrobotics/sdk';

    const result = await resource.doCommand(
      Struct.fromJson({
        myCommand: { key: 'value' },
      })
    );

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