Arm API

from viam.components.arm import Arm
# To use move_to_position:
from viam.proto.common import Pose
# To use move_to_joint_positions:
from viam.proto.component.arm import JointPositions

Parameters:

• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (viam.components.arm.Pose): A representation of the arm’s current position as a 6 DOF (six degrees of freedom) pose. The Pose is composed of values for location and orientation with respect to the origin. Location is expressed as distance, which is represented by x, y, and z coordinate values. Orientation is expressed as an orientation vector, which is represented by o_x, o_y, o_z, and theta values.

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")

# Get the end position of the arm as a Pose.
pos = await my_arm.get_end_position()

For more information, see the Python SDK Docs.

Parameters:

• pose (viam.components.arm.Pose) (required): The destination Pose for the arm. The Pose is composed of values for location and orientation with respect to the origin. Location is expressed as distance, which is represented by x, y, and z coordinate values. Orientation is expressed as an orientation vector, which is represented by o_x, o_y, o_z, and theta values.
• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None.

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")

# Create a Pose for the arm.
examplePose = Pose(x=5, y=5, z=5, o_x=5, o_y=5, o_z=5, theta=20)

# Move your arm to the Pose.
await my_arm.move_to_position(pose=examplePose)

For more information, see the Python SDK Docs.

Parameters:

• positions (viam.proto.component.arm.JointPositions) (required): The destination JointPositions for the arm.
• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None.

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")

# Declare a list of values with your desired rotational value for each joint on
# the arm. This example is for a 5dof arm.
degrees = [0.0, 45.0, 0.0, 0.0, 0.0]

# Declare a new JointPositions with these values.
jointPos = JointPositions(values=degrees)

# Move each joint of the arm to the position these values specify.
await my_arm.move_to_joint_positions(positions=jointPos)

For more information, see the Python SDK Docs.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• positions ([][]referenceframe.Input)
• options (*MoveOptions)
• extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

• (error): An error, if one occurred.

Example:

myArm, err := arm.FromRobot(machine, "my_arm")

// Declare a 2D array of values with your desired rotational value (in radians) for each joint on the arm.
inputs := [][]referenceframe.Input{
  referenceframe.FloatsToInputs([]float64{0, math.Pi/2, math.Pi})
  referenceframe.FloatsToInputs([]float64{0, 0, 0})
}

// Move each joint of the arm through the positions in the slice defined above
err = myArm.MoveThroughJointPositions(context.Background(), inputs, nil, nil)

For more information, see the Go SDK Docs.

Parameters:

• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (viam.proto.component.arm.JointPositions): The current JointPositions for the arm. JointPositions can have one attribute, values, a list of joint positions with rotational values (degrees) and translational values (mm).

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")

# Get the current position of each joint on the arm as JointPositions.
pos = await my_arm.get_joint_positions()

For more information, see the Python SDK Docs.

Parameters:

• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (Tuple[KinematicsFileFormat.ValueType, bytes]): A tuple containing two values; the first [0] value represents the format of the file, either in URDF format (KinematicsFileFormat.KINEMATICS_FILE_FORMAT_URDF) or Viam’s kinematic parameter format (spatial vector algebra) (KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA), and the second [1] value represents the byte contents of the file.

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")

# Get the kinematics information associated with the arm.
kinematics = await my_arm.get_kinematics()

# Get the format of the kinematics file.
k_file = kinematics[0]

# Get the byte contents of the file.
k_bytes = kinematics[1]

For more information, see the Python SDK Docs.

Parameters:

• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (bool): Whether the arm is moving.

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")

# Stop all motion of the arm. It is assumed that the arm stops immediately.
await my_arm.stop()

# Print if the arm is currently moving.
print(await my_arm.is_moving())

For more information, see the Python SDK Docs.

Parameters:

• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• None.

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")

# Stop all motion of the arm. It is assumed that the arm stops immediately.
await my_arm.stop()

For more information, see the Python SDK Docs.

Parameters:

• extra (Mapping[str, Any]) (optional): Extra options to pass to the underlying RPC call.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (List[viam.proto.common.Geometry]): The geometries associated with the Component.

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")
geometries = await my_arm.get_geometries()

if geometries:
    # Get the center of the first geometry
    print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")

For more information, see the Python SDK Docs.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• deps (Dependencies): The resource dependencies.
• conf (Config): The resource configuration.

Returns:

• (error): An error, if one occurred.

For more information, see the Go SDK Docs.

Parameters:

• command (Mapping[str, ValueTypes]) (required): The command to execute.
• timeout (float) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call.

Returns:

• (Mapping[str, viam.utils.ValueTypes]): Result of the executed command.

Raises:

• (NotImplementedError): Raised if the Resource does not support arbitrary commands.

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")
command = {"cmd": "test", "data1": 500}
result = await my_arm.do_command(command)

For more information, see the Python SDK Docs.

Parameters:

• name (str) (required): The name of the Resource.

Returns:

• (viam.proto.common.ResourceName): The ResourceName of this Resource.

Example:

my_arm_name = Arm.get_resource_name("my_arm")

For more information, see the Python SDK Docs.

Parameters:

• None.

Returns:

• None.

Example:

my_arm = Arm.from_robot(robot=machine, name="my_arm")
await my_arm.close()

For more information, see the Python SDK Docs.