viam.components.arm.client

Module Contents

Classes

ArmClient

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: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) viam.components.arm.Pose[source]

Get the current position of the end of the arm expressed as a Pose.

Returns:

The location and orientation of the arm described as a Pose.

Return type:

Pose

async move_to_position(pose: viam.components.arm.Pose, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]

Move the end of the arm to the Pose specified in pose.

Parameters:

pose (Pose) – The destination Pose for the arm.

async get_joint_positions(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) viam.proto.component.arm.JointPositions[source]

Get the JointPositions representing the current position of the arm.

Returns:

The current JointPositions for the arm.

Return type:

JointPositions

async move_to_joint_positions(positions: viam.proto.component.arm.JointPositions, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]

Move each joint on the arm to the corresponding angle specified in positions.

Parameters:

positions (JointPositions) – The destination JointPositions for the arm.

async stop(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None)[source]

Stop all motion of the arm. It is assumed that the arm stops immediately.

async is_moving(*, timeout: Optional[float] = None) bool[source]

Get if the arm is currently moving.

Returns:

Whether the arm is moving.

Return type:

bool

async do_command(command: Mapping[str, Any], *, timeout: Optional[float] = None) Mapping[str, viam.utils.ValueTypes][source]

Send/Receive arbitrary commands to the Resource

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: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) Tuple[viam.components.arm.KinematicsFileFormat.ValueType, bytes][source]

Get the kinematics information associated with the arm.

Returns:

  • KinematicsFileFormat.ValueType: The format of the file, either in URDF format or Viam’s kinematic parameter format (spatial vector algebra).

  • bytes: The byte contents of the file.

Return type:

Tuple[KinematicsFileFormat.ValueType, bytes]

async get_geometries(*, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) List[viam.proto.common.Geometry][source]

Get all geometries associated with the Component, in their current configuration, in the frame of the Component.

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

Parameters:

name (str) – The name of the Resource

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 the Operation 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:

viam.operations.Operation

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 retun errors when future non-Close methods are called.