feat: add get3DModels api for arm client (#670)

Author: mattmacf98

src/components/arm/arm.ts

@@ -2,7 +2,7 @@ import type { PlainMessage, Struct } from '@bufbuild/protobuf';
 import type { Pose, Resource, Vector3 } from '../../types';
 
 import * as armApi from '../../gen/component/arm/v1/arm_pb';
-import type { Geometry } from '../../gen/common/v1/common_pb';
+import type { Geometry, Mesh } from '../../gen/common/v1/common_pb';
 import type { Frame } from '../../gen/app/v1/robot_pb';
 
 export type ArmJointPositions = PlainMessage<armApi.JointPositions>;
@@ -42,6 +42,19 @@ export interface Arm extends Resource {
    */
   getGeometries: (extra?: Struct) => Promise<Geometry[]>;
 
+  /**
+   * Get the 3D models of the component
+   *
+   * @example
+   *
+   * ```ts
+   * const arm = new VIAM.ArmClient(machine, 'my_arm');
+   * const models = await arm.get3DModels();
+   * console.log(models);
+   * ```
+   */
+  get3DModels: (extra?: Struct) => Promise<Record<string, Mesh>>;
+
   /**
    * Get the kinematics information associated with the arm.
    *

src/components/arm/client.ts

@@ -17,6 +17,8 @@ import type { Arm } from './arm';
 import {
   GetGeometriesRequest,
   GetKinematicsRequest,
+  Get3DModelsRequest,
+  Mesh,
 } from '../../gen/common/v1/common_pb';
 
 /**
@@ -62,6 +64,19 @@ export class ArmClient implements Arm {
     return response.geometries;
   }
 
+  async get3DModels(
+    extra = {},
+    callOptions = this.callOptions
+  ): Promise<Record<string, Mesh>> {
+    const request = new Get3DModelsRequest({
+      name: this.name,
+      extra: Struct.fromJson(extra),
+    });
+
+    const response = await this.client.get3DModels(request, callOptions);
+    return response.models;
+  }
+
   async getKinematics(extra = {}, callOptions = this.callOptions) {
     const request = new GetKinematicsRequest({
       name: this.name,