Module viam-utils

This module is used to be able to access methods that are only available in go through DoCommands.

Model viam:viam-utils:arm

Go methods available in the arm RDK

Configuration

The following attribute template can be used to configure this model:

{
"arm": <string>,
}

Attributes

The following attributes are available for this model:

Name	Type	Inclusion	Description
arm	string	Required	Name of the configured arm

Example Configuration

{
  "arm": "ur20"
}

DoCommand

transform DoCommand

transform will transform the joint positions into a pose containing the translation and orientation vector.

{
  "transform": {
    "joint_position": [
      0.1,
      0.2,
      0.3,
      0.4,
      0.5,
      0.6
    ],
  }
}