Arm Component

import (
  "go.viam.com/rdk/components/arm"
  // To use MoveToPosition:
  "go.viam.com/rdk/referenceframe"
  "go.viam.com/rdk/spatialmath"
  // To use MoveToJointPositions ("armapi" name optional, but necessary if importing other packages called "v1"):
  armapi "go.viam.com/api/component/arm/v1"
)

Parameters:

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

Returns:

• (spatialmath.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.
• (error): An error, if one occurred.

Example:

myArm, err := arm.FromRobot(machine, "my_arm")
// Get the end position of the arm as a Pose.
pos, err := myArm.EndPosition(context.Background(), nil)

For more information, see the Go SDK Docs.

Parameters:

• extra Map<String, dynamic>? (optional)

Returns:

• Future<Pose>

Example:

final currentPose = await myArm.endPosition();

For more information, see the Flutter SDK Docs.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• pose (spatialmath.Pose): A representation of the arm’s destination 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.
• 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")
// Create a Pose for the arm.
examplePose := spatialmath.NewPose(
        r3.Vector{X: 5, Y: 5, Z: 5},
        &spatialmath.OrientationVectorDegrees{0X: 5, 0Y: 5, Theta: 20}
)

// Move your arm to the Pose.
err = myArm.MoveToPosition(context.Background(), examplePose, nil)

For more information, see the Go SDK Docs.

Parameters:

• pose Pose (required)
• extra Map<String, dynamic>? (optional)

Returns:

• Future<void>

Example:

// Create a pose for the arm to move to
final targetPose = Pose.fromBuffer([12, 0, 400, 0, 0, 1, 90]);

// Move the arm to the pose
await myArm.moveToPosition(targetPose);

For more information, see the Flutter SDK Docs.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• positionDegs (*pb.JointPositions): The desired position of each joint of the arm at the end of movement. JointPositions can have one attribute, values, a list of joint positions with rotational values (degrees) and translational values (mm).
• extra (map[string]interface{}): Extra options to pass to the underlying RPC call.

Returns:

• (error): An error, if one occurred.

Example:

// Assumes you have imported "go.viam.com/api/component/arm/v1" as `componentpb`
myArm, err := arm.FromRobot(machine, "my_arm")

// Declare an array of values with your desired rotational value for each joint on the arm.
degrees := []float64{4.0, 5.0, 6.0}

// Declare a new JointPositions with these values.
jointPos := &componentpb.JointPositions{Values: degrees}

// Move each joint of the arm to the position these values specify.
err = myArm.MoveToJointPositions(context.Background(), jointPos, nil)

For more information, see the Go SDK Docs.

Parameters:

• positions List<double> (required)
• extra Map<String, dynamic>? (optional)

Returns:

• Future<void>

Example:

// Create a list of joint angles for each arm joint
List<double> targetPositions = [180, 90, 15.75, 30, 90, 0];

// Move the arm joints to those angles
await myArm.moveToJointPositions(targetPositions);

For more information, see the Flutter SDK Docs.

Parameters:

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

Returns:

• (*pb.JointPositions): The desired position of each joint of the arm at the end of movement.
• (error): An error, if one occurred.

Example:

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

// Get the current position of each joint on the arm as JointPositions.
pos, err := myArm.JointPositions(context.Background(), nil)

For more information, see the Go SDK Docs.

Parameters:

• extra Map<String, dynamic>? (optional)

Returns:

• Future<List<double>>

Example:

List<double> currentJointPositions = await myArm.moveToJointPosition();

For more information, see the Flutter SDK Docs.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

Returns:

• (bool): Whether this resource is moving (true) or not (false).
• (error): An error, if one occurred.

Example:

// This example shows using IsMoving with an arm component.
myArm, err := arm.FromRobot(machine, "my_arm")

// Stop all motion of the arm. It is assumed that the arm stops immediately.
myArm.Stop(context.Background(), nil)

// Log if the arm is currently moving.
is_moving, err := myArm.IsMoving(context.Background())
logger.Info(is_moving)

For more information, see the Go SDK Docs.

Parameters:

• None.

Returns:

• Future<bool>

Example:

bool isArmMoving = await myArm.isMoving();

For more information, see the Flutter SDK Docs.

Parameters:

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

Returns:

• (error): An error, if one occurred.

Example:

// This example shows using Stop with an arm component.
myArm, err := arm.FromRobot(machine, "my_arm")

// Stop all motion of the arm. It is assumed that the arm stops immediately.
err = myArm.Stop(context.Background(), nil)

For more information, see the Go SDK Docs.

Parameters:

• extra Map<String, dynamic>? (optional)

Returns:

• Future<void>

Example:

await myArm.stop();

For more information, see the Flutter SDK Docs.

Parameters:

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

Returns:

• ([]spatialmath.Geometry): The geometries associated with this resource, in any order.
• (error): An error, if one occurred.

Example:

// This example shows using Geometries with an arm component.
myArm, err := arm.FromRobot(machine, "my_arm")

geometries, err := myArm.Geometries(context.Background(), nil)

if len(geometries) > 0 {
   // Get the center of the first geometry
   elem := geometries[0]
   fmt.Println("Pose of the first geometry's center point:", elem.center)
}

For more information, see the Go SDK Docs.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.
• cmd (map[string]interface{}): The command to execute.

Returns:

• (map[string]interface{}): The command response.
• (error): An error, if one occurred.

Example:

// This example shows using DoCommand with an arm component.
myArm, err := arm.FromRobot(machine, "my_arm")

command := map[string]interface{}{"cmd": "test", "data1": 500}
result, err := myArm.DoCommand(context.Background(), command)

For more information, see the Go SDK Docs.

Parameters:

• command Map<String, dynamic> (required)

Returns:

• Future<Map<String, dynamic>>

Example:

// Example using doCommand with an arm component
const command = {'cmd': 'test', 'data1': 500};
var result = myArm.doCommand(command);

For more information, see the Flutter SDK Docs.

Parameters:

• name String (required)

Returns:

• ResourceName

For more information, see the Flutter SDK Docs.

Parameters:

• ctx (Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries.

Returns:

• (error): An error, if one occurred.

Example:

// This example shows using Close with an arm component.
myArm, err := arm.FromRobot(machine, "my_arm")

err = myArm.Close(ctx)

For more information, see the Go SDK Docs.