Viam Component — Arm

naftiko: 1.0.0-alpha2
info:
  label: Viam Component — Arm
  description: Control any Viam robotic arm component — pose, joint positions, and stop.
  tags: [Viam, Component, Arm]
  created: '2026-05-25'
  modified: '2026-05-25'
binds:
- namespace: env
  keys:
    VIAM_API_KEY: VIAM_API_KEY
    VIAM_MACHINE_ADDRESS: VIAM_MACHINE_ADDRESS
capability:
  consumes:
  - type: http
    namespace: component-arm
    baseUri: '{{env.VIAM_MACHINE_ADDRESS}}'
    description: Viam ArmService.
    resources:
    - name: get-end-position
      path: /viam.component.arm.v1.ArmService/GetEndPosition
      operations:
      - { name: getEndPosition, method: POST, description: Get the end-effector pose., outputRawFormat: json, inputParameters: [{ name: body, in: body, type: object, required: true }] }
    - name: move-to-position
      path: /viam.component.arm.v1.ArmService/MoveToPosition
      operations:
      - { name: moveToPosition, method: POST, description: Move end effector to pose., outputRawFormat: json, inputParameters: [{ name: body, in: body, type: object, required: true }] }
    - name: get-joint-positions
      path: /viam.component.arm.v1.ArmService/GetJointPositions
      operations:
      - { name: getJointPositions, method: POST, description: Get joint positions., outputRawFormat: json, inputParameters: [{ name: body, in: body, type: object, required: true }] }
    - name: move-to-joint-positions
      path: /viam.component.arm.v1.ArmService/MoveToJointPositions
      operations:
      - { name: moveToJointPositions, method: POST, description: Move to joint configuration., outputRawFormat: json, inputParameters: [{ name: body, in: body, type: object, required: true }] }
    - name: stop
      path: /viam.component.arm.v1.ArmService/Stop
      operations:
      - { name: stop, method: POST, description: Stop the arm., outputRawFormat: json, inputParameters: [{ name: body, in: body, type: object, required: true }] }
    authentication:
      type: apikey
      key: key
      value: '{{env.VIAM_API_KEY}}'
      placement: header
  exposes:
  - type: mcp
    namespace: component-arm-mcp
    port: 9090
    transport: http
    description: MCP adapter for arm components.
    tools:
    - { name: viam-arm-end-position, description: Get end position., hints: { readOnly: true, destructive: false, idempotent: true }, call: component-arm.getEndPosition, with: { body: tools.body } }
    - { name: viam-arm-move-to-position, description: Move to pose., hints: { readOnly: false, destructive: false, idempotent: true }, call: component-arm.moveToPosition, with: { body: tools.body } }
    - { name: viam-arm-joint-positions, description: Get joint positions., hints: { readOnly: true, destructive: false, idempotent: true }, call: component-arm.getJointPositions, with: { body: tools.body } }
    - { name: viam-arm-move-joints, description: Move to joints., hints: { readOnly: false, destructive: false, idempotent: true }, call: component-arm.moveToJointPositions, with: { body: tools.body } }
    - { name: viam-arm-stop, description: Stop arm., hints: { readOnly: false, destructive: true, idempotent: true }, call: component-arm.stop, with: { body: tools.body } }