Add armClient.getKinematics() (#664)

Author: micheal-parks

examples/teleop-react/.gitignore

@@ -0,0 +1,26 @@
+.env
+
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+pnpm-debug.log*
+lerna-debug.log*
+
+node_modules
+dist
+dist-ssr
+*.local
+
+# Editor directories and files
+.vscode/*
+!.vscode/extensions.json
+.idea
+.DS_Store
+*.suo
+*.ntvs*
+*.njsproj
+*.sln
+*.sw?

examples/teleop-react/src/components/connect-form.tsx

@@ -52,7 +52,7 @@ export const ConnectForm = (props: ConnectFormProps): JSX.Element => {
     setApiKeyId(event.target.value);
   };
   const handleApiKey: ChangeEventHandler<HTMLInputElement> = (event) => {
-    setApiKeyId(event.target.value);
+    setApiKey(event.target.value);
   };
   const handleSubmit: FormEventHandler = (event) => {
     onSubmit({ hostname, apiKeyId, apiKey });

src/components/arm/arm.ts

@@ -1,8 +1,9 @@
 import type { PlainMessage, Struct } from '@bufbuild/protobuf';
-import type { Pose, Resource } from '../../types';
+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 { Frame } from '../../gen/app/v1/robot_pb';
 
 export type ArmJointPositions = PlainMessage<armApi.JointPositions>;
 
@@ -41,6 +42,34 @@ export interface Arm extends Resource {
    */
   getGeometries: (extra?: Struct) => Promise<Geometry[]>;
 
+  /**
+   * Get the kinematics information associated with the arm.
+   *
+   * @example
+   *
+   * ```ts
+   * const arm = new VIAM.ArmClient(machine, 'my_arm');
+   * const kinematics = await arm.getKinematics();
+   * console.log(kinematics);
+   *
+   * For more information, see [Arm
+   * API](https://docs.viam.com/dev/reference/apis/components/arm/#getkinematics).
+   * ```
+   */
+  getKinematics: (extra?: Struct) => Promise<{
+    name: string;
+    kinematic_param_type: 'SVA' | 'URDF' | 'UNSPECIFIED';
+    joints: {
+      id: string;
+      type: string;
+      parent: string;
+      axis: Vector3;
+      max: number;
+      min: number;
+    }[];
+    links: Frame[];
+  }>;
+
   /**
    * Move the end of the arm to the pose.
    *

src/components/arm/client.ts

@@ -14,7 +14,10 @@ import type { RobotClient } from '../../robot';
 import type { Options, Pose } from '../../types';
 import { doCommandFromClient } from '../../utils';
 import type { Arm } from './arm';
-import { GetGeometriesRequest } from '../../gen/common/v1/common_pb';
+import {
+  GetGeometriesRequest,
+  GetKinematicsRequest,
+} from '../../gen/common/v1/common_pb';
 
 /**
  * A gRPC-web client for the Arm component.
@@ -59,6 +62,20 @@ export class ArmClient implements Arm {
     return response.geometries;
   }
 
+  async getKinematics(extra = {}, callOptions = this.callOptions) {
+    const request = new GetKinematicsRequest({
+      name: this.name,
+      extra: Struct.fromJson(extra),
+    });
+
+    const response = await this.client.getKinematics(request, callOptions);
+
+    const decoder = new TextDecoder('utf8');
+    const jsonString = decoder.decode(response.kinematicsData);
+
+    return JSON.parse(jsonString) as ReturnType<Arm['getKinematics']>;
+  }
+
   async moveToPosition(pose: Pose, extra = {}, callOptions = this.callOptions) {
     const request = new MoveToPositionRequest({
       name: this.name,