Configure a Fake Arm

Configure a fake arm to test different models of robotic arms without any physical hardware:

Navigate to the CONFIGURE tab of your machine’s page in the Viam app. Click the + icon next to your machine part in the left-hand menu and select Component. Select the arm type, then select the fake model. Enter a name or use the suggested name for your arm and click Create.

An example configuration for a fake ur5e arm in the Viam app Config Builder.

Fill in the attributes as applicable to your arm, according to the table below.

{
  "name": "<arm_name>",
  "model": "fake",
  "type": "arm",
  "namespace": "rdk",
  "attributes": {
    "arm-model": "<your_arm_model>",
    "model-path": "<path_to_arm_model>"
  },
  "depends_on": []
}

{
  "name": "my-fake-arm",
  "model": "fake",
  "type": "arm",
  "namespace": "rdk",
  "attributes": {
    "arm-model": "ur5e"
  },
  "depends_on": []
}

The following attributes are available for fake arms:

NameTypeRequired?Description
arm-modelstringOptionalModel name of the robotic arm model you want your fake arm to act as. See built-in arm models for supported model names.
model-pathstringOptionalThe path to the kinematic configuration file of the arm driver you want your fake arm to act as. This path should point to the exact location where the file is located on your computer running viam-server.

Test the arm

Once your arm is configured and connected, open the arm’s TEST panel on the CONFIGURE or CONTROL tabs.

Use the buttons to move the end position or the joints and check whether it moves as expected.

Arm test panel.

If the arm does not appear on the TEST panel, or if you notice unexpected behavior, check your machine’s LOGS tab for errors, and review the configuration.

Troubleshooting

If your arm is not working as expected, follow these steps:

  1. Check your machine logs on the LOGS tab to check for errors.
  2. Review this model’s documentation to ensure you have configured all required attributes.
  3. Click on the TEST panel on the CONFIGURE or CONTROL tab and test if you can use the arm there.

If none of these steps work, reach out to us on the Community Discord and we will be happy to help.

Next steps

For more configuration and usage info, see:

Arm API

Give commands to your arm components for linear motion planning, including self-collision prevention and obstacle avoidance.

Configure a machine

Create a machine in a few steps using Viam's modular system of components and services without writing much or any code.

Move a robot arm

Connect to a robotic arm and control it with the arm API.

Have questions, or want to meet other people working on robots? Join our Community Discord.

If you notice any issues with the documentation, feel free to file an issue or edit this file.