Viam Machine Management — Frame System

naftiko: 1.0.0-alpha2
info:
  label: Viam Machine Management — Frame System
  description: Inspect the frame system config and transform poses or point clouds between frames.
  tags: [Viam, Machine, FrameSystem]
  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: machine-frame-system
    baseUri: '{{env.VIAM_MACHINE_ADDRESS}}'
    description: Viam RobotService — frame system operations.
    resources:
    - name: frame-system-config
      path: /viam.robot.v1.RobotService/FrameSystemConfig
      operations:
      - { name: frameSystemConfig, method: POST, description: Retrieve frame system config., outputRawFormat: json, inputParameters: [{ name: body, in: body, type: object, required: true }] }
    - name: get-pose
      path: /viam.robot.v1.RobotService/GetPose
      operations:
      - { name: getPose, method: POST, description: Get a component's pose relative to a destination frame., outputRawFormat: json, inputParameters: [{ name: body, in: body, type: object, required: true }] }
    - name: transform-pose
      path: /viam.robot.v1.RobotService/TransformPose
      operations:
      - { name: transformPose, method: POST, description: Transform a pose between frames., outputRawFormat: json, inputParameters: [{ name: body, in: body, type: object, required: true }] }
    - name: transform-pcd
      path: /viam.robot.v1.RobotService/TransformPCD
      operations:
      - { name: transformPCD, method: POST, description: Transform a point cloud between frames., 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: machine-frame-system-mcp
    port: 9090
    transport: http
    description: MCP adapter for the frame system.
    tools:
    - { name: viam-frame-system-config, description: Get frame system config., hints: { readOnly: true, destructive: false, idempotent: true }, call: machine-frame-system.frameSystemConfig, with: { body: tools.body } }
    - { name: viam-get-pose, description: Get a component's pose., hints: { readOnly: true, destructive: false, idempotent: true }, call: machine-frame-system.getPose, with: { body: tools.body } }
    - { name: viam-transform-pose, description: Transform a pose between frames., hints: { readOnly: true, destructive: false, idempotent: true }, call: machine-frame-system.transformPose, with: { body: tools.body } }
    - { name: viam-transform-pcd, description: Transform a point cloud., hints: { readOnly: true, destructive: false, idempotent: true }, call: machine-frame-system.transformPCD, with: { body: tools.body } }