Configure a Fake Arm

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

Navigate to the Config tab of your machine’s page in the Viam app. Click on the Components subtab and click Create component. Select the arm type, then select the fake model. Enter a name for your arm and click Create.

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

Copy and paste the following attribute template into your arm’s Attributes box. Then remove and fill in the attributes as applicable to your arm, according to the table below.

{
  "arm-model": "<string>",
  "model-path": "<string>"
}
{
  "arm-model": "ur5e"
}
{
  "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:

NameTypeInclusionDescription
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, go to the Control tab and click on the arm’s dropdown panel.

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

Arm control panel.

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



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