Viam Arm API

openapi: 3.2.0
info:
  title: Viam Component Arm API
  description: 'REST/JSON transcoding of every Viam Component gRPC API — the hardware abstraction

    layer that lets any client speak the same uniform contract to motors, cameras, arms,

    sensors, and every other supported component class regardless of model.


    Canonical contracts: https://github.com/viamrobotics/api/tree/main/proto/viam/component


    Every component exposes DoCommand (model-specific extension), GetStatus, and

    GetGeometries in addition to its class-specific operations.

    '
  version: '2026.05'
  contact:
    name: Viam Support
    url: https://www.viam.com/contact
servers:
- url: https://{machine_address}
  description: Per-machine viam-server endpoint.
  variables:
    machine_address:
      default: machine.local.viam.cloud:443
security:
- ApiKeyAuth: []
tags:
- name: Arm
  description: Robotic arms — joint and end-effector control.
paths:
  /viam.component.arm.v1.ArmService/GetEndPosition:
    post:
      summary: Viam Arm Get End Position
      description: Get the pose of the arm's end effector.
      operationId: armGetEndPosition
      tags:
      - Arm
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              properties:
                name:
                  type: string
      responses:
        '200':
          description: Successful response.
  /viam.component.arm.v1.ArmService/MoveToPosition:
    post:
      summary: Viam Arm Move To Position
      description: Move the arm's end effector to a target pose.
      operationId: armMoveToPosition
      tags:
      - Arm
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              - to
              properties:
                name:
                  type: string
                to:
                  type: object
      responses:
        '200':
          description: Successful response.
  /viam.component.arm.v1.ArmService/GetJointPositions:
    post:
      summary: Viam Arm Get Joint Positions
      description: Get the arm's current joint positions.
      operationId: armGetJointPositions
      tags:
      - Arm
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              properties:
                name:
                  type: string
      responses:
        '200':
          description: Successful response.
  /viam.component.arm.v1.ArmService/MoveToJointPositions:
    post:
      summary: Viam Arm Move To Joint Positions
      description: Move the arm to a specific joint configuration.
      operationId: armMoveToJointPositions
      tags:
      - Arm
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              - positions
              properties:
                name:
                  type: string
                positions:
                  type: object
      responses:
        '200':
          description: Successful response.
  /viam.component.arm.v1.ArmService/Stop:
    post:
      summary: Viam Arm Stop
      description: Stop the arm.
      operationId: armStop
      tags:
      - Arm
      requestBody:
        required: true
        content:
          application/json:
            schema:
              type: object
              required:
              - name
              properties:
                name:
                  type: string
      responses:
        '200':
          description: Successful response.
components:
  securitySchemes:
    ApiKeyAuth:
      type: apiKey
      in: header
      name: key
      description: Viam API key or location secret.