Interface Gripper

Represents a physical robotic gripper.

interface Gripper {
    getCurrentInputs: (extra?: Struct) => Promise<number[]>;
    getGeometries: (extra?: Struct) => Promise<commonApi.Geometry[]>;
    goToInputs: (values: number[], extra?: Struct) => Promise<void>;
    grab: (extra?: Struct) => Promise<void>;
    isHoldingSomething: (extra?: Struct) => Promise<boolean>;
    isMoving: () => Promise<boolean>;
    name: string;
    open: (extra?: Struct) => Promise<void>;
    stop: (extra?: Struct) => Promise<void>;
    doCommand(command: Struct | Record<string, JsonValue>): Promise<JsonValue>;
    getStatus(): Promise<JsonValue>;
}

Hierarchy (View Summary)

Implemented by

Properties

getCurrentInputs getGeometries goToInputs grab isHoldingSomething isMoving name open stop

Methods

doCommand getStatus

Properties

getCurrentInputs

getCurrentInputs: (extra?: Struct) => Promise<number[]>

Get the current input values of the gripper.

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);

getGeometries

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

Get the geometries of the component in their current configuration.

Example

const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Get the geometries of this component
const geometries = await gripper.getGeometries();
console.log('Geometries:', geometries);

For more information, see Gripper API.

goToInputs

goToInputs: (values: number[], extra?: Struct) => Promise<void>

Move the gripper to the given input values.

Type declaration

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

    • Parameters

      • values: number[]

        The input values to move the gripper to.

      • Optionalextra: Struct

      Returns Promise<void>

Example

const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Move the gripper to specific input values
await gripper.goToInputs([0.5]);

grab

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

Request a gripper of the underlying robot to grab.

Example

const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Close the gripper to grab
await gripper.grab();

For more information, see Gripper API.

isHoldingSomething

isHoldingSomething: (extra?: Struct) => Promise<boolean>

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

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);

For more information, see Gripper API.

isMoving

isMoving: () => Promise<boolean>

Report if the gripper is in motion.

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);

For more information, see Gripper API.

Readonlyname

name: string

The name of the resource.

open

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

Open a gripper of the underlying robot.

Example

const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Open the gripper
await gripper.open();

For more information, see Gripper API.

stop

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

Stop a robot's gripper.

Example

const gripper = new VIAM.GripperClient(machine, 'my_gripper');

// Stop the gripper's current motion
await gripper.stop();

For more information, see Gripper API.

Methods

doCommand

  • doCommand(command: Struct | Record<string, JsonValue>): 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.

    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' } })
    );

getStatus

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