viam.components.arm.client
Module Contents
Classes
gRPC client for an Arm component. |
- class viam.components.arm.client.ArmClient(name: str, channel: grpclib.client.Channel)[source]
Bases:
viam.components.arm.Arm
,viam.resource.rpc_client_base.ReconfigurableResourceRPCClientBase
gRPC client for an Arm component.
Used to communicate with an existing
Arm
implementation over gRPC.- async get_end_position(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__) viam.components.arm.Pose [source]
Get the current position of the end of the arm expressed as a Pose.
my_arm = Arm.from_robot(robot=robot, name="my_arm") # Get the end position of the arm as a Pose. pos = await my_arm.get_end_position()
- Returns:
The location and orientation of the arm described as a Pose.
- Return type:
- async move_to_position(pose: viam.components.arm.Pose, *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__)[source]
Move the end of the arm to the Pose specified in
pose
.my_arm = Arm.from_robot(robot=robot, 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)
- Parameters:
pose (Pose) – The destination Pose for the arm.
- async get_joint_positions(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__) viam.proto.component.arm.JointPositions [source]
Get the JointPositions representing the current position of the arm.
my_arm = Arm.from_robot(robot=robot, name="my_arm") # Get the current position of each joint on the arm as JointPositions. pos = await my_arm.get_joint_positions()
- Returns:
The current JointPositions for the arm.
- Return type:
- async move_to_joint_positions(positions: viam.proto.component.arm.JointPositions, *, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__)[source]
Move each joint on the arm to the corresponding angle specified in
positions
.my_arm = Arm.from_robot(robot=robot, name="my_arm") # Declare a list of values with your desired rotational value for each joint on # the arm. degrees = [0.0, 45.0, 0.0, 0.0, 0.0] # Declare a new JointPositions with these values. jointPos = arm.move_to_joint_positions( JointPositions(values=[0.0, 45.0, 0.0, 0.0, 0.0])) # Move each joint of the arm to the position these values specify. await my_arm.move_to_joint_positions(positions=jointPos)
- Parameters:
positions (JointPositions) – The destination
JointPositions
for the arm.
- async stop(*, extra: Dict[str, Any] | None = None, timeout: float | None = None, **__)[source]
Stop all motion of the arm. It is assumed that the arm stops immediately.
my_arm = Arm.from_robot(robot=robot, name="my_arm") # Stop all motion of the arm. It is assumed that the arm stops immediately. await my_arm.stop()
- async is_moving(*, timeout: float | None = None) bool [source]
Get if the arm is currently moving.
my_arm = Arm.from_robot(robot=robot, 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(my_arm.is_moving())
- Returns:
Whether the arm is moving.
- Return type:
bool
- async do_command(command: Mapping[str, Any], *, timeout: float | None = None, **__) Mapping[str, viam.utils.ValueTypes] [source]
Send/Receive arbitrary commands to the Resource
command = {"cmd": "test", "data1": 500} result = component.do(command)
- Parameters:
command (Mapping[str, ValueTypes]) – The command to execute
- Raises:
NotImplementedError – Raised if the Resource does not support arbitrary commands
- Returns:
Result of the executed command
- Return type:
Mapping[str, ValueTypes]
- async get_kinematics(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) Tuple[viam.components.arm.KinematicsFileFormat.ValueType, bytes] [source]
Get the kinematics information associated with the arm.
my_arm = Arm.from_robot(robot=robot, 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]
- Returns:
- A tuple containing two values; the first [0] value represents the format of the
file, either in URDF format or Viam’s kinematic parameter format (spatial vector algebra), and the second [1] value represents the byte contents of the file.
- Return type:
Tuple[KinematicsFileFormat.ValueType, bytes]
- async get_geometries(*, extra: Dict[str, Any] | None = None, timeout: float | None = None) List[viam.proto.common.Geometry] [source]
Get all geometries associated with the Component, in their current configuration, in the frame of the Component.
geometries = await component.get_geometries() if geometries: # Get the center of the first geometry print(f"Pose of the first geometry's centerpoint: {geometries[0].center}")
- Returns:
The geometries associated with the Component.
- Return type:
List[Geometry]
- classmethod from_robot(robot: viam.robot.client.RobotClient, name: str) typing_extensions.Self
Get the component named
name
from the provided robot.- Parameters:
robot (RobotClient) – The robot
name (str) – The name of the component
- Returns:
The component, if it exists on the robot
- Return type:
Self
- classmethod get_resource_name(name: str) viam.proto.common.ResourceName
Get the ResourceName for this Resource with the given name
# Can be used with any resource, using an arm as an example my_arm_name = my_arm.get_resource_name("my_arm")
- Parameters:
name (str) – The name of the Resource
- Returns:
The ResourceName of this Resource
- Return type:
- get_operation(kwargs: Mapping[str, Any]) viam.operations.Operation
Get the
Operation
associated with the currently running function.When writing custom resources, you should get the
Operation
by calling this function and check to see if it’s cancelled. If theOperation
is cancelled, then you can perform any necessary (terminating long running tasks, cleaning up connections, etc. ).- Parameters:
kwargs (Mapping[str, Any]) – The kwargs object containing the operation
- Returns:
The operation associated with this function
- Return type:
- async close()
Safely shut down the resource and prevent further use.
Close must be idempotent. Later configuration may allow a resource to be “open” again. If a resource does not want or need a close function, it is assumed that the resource does not need to return errors when future non-Close methods are called.
await component.close()