Viam Arm Move and Verify

arazzo: 1.0.1
info:
  title: Viam Arm Move and Verify
  summary: Read an arm's pose, move it to a target, verify joints, then stop it.
  description: >-
    Drives a robotic arm component through a safe move-and-verify cycle. It reads
    the current end-effector pose, commands a move to a target pose, reads the
    resulting joint positions to verify the motion, and stops the arm. The
    endpoint is the per-machine viam-server address, authenticated with a Viam
    API key or location secret. Each request body is inlined so the motion can be
    executed directly against the Viam Component APIs.
  version: 1.0.0
sourceDescriptions:
- name: componentApis
  url: ../openapi/viam-component-apis-openapi.yml
  type: openapi
workflows:
- workflowId: arm-move-and-verify
  summary: Read arm pose, move to a target pose, verify joints, and stop.
  description: >-
    Reads the arm's current end-effector pose, moves it to the supplied target
    pose, reads the resulting joint positions, and stops the arm.
  inputs:
    type: object
    required:
    - apiKey
    - armName
    - targetPose
    properties:
      apiKey:
        type: string
        description: Viam API key or location secret sent in the key header.
      armName:
        type: string
        description: Configured name of the arm component.
      targetPose:
        type: object
        description: Target end-effector pose object to move the arm to.
  steps:
  - stepId: readPose
    description: Read the current pose of the arm's end effector.
    operationId: armGetEndPosition
    parameters:
    - name: key
      in: header
      value: $inputs.apiKey
    requestBody:
      contentType: application/json
      payload:
        name: $inputs.armName
    successCriteria:
    - condition: $statusCode == 200
  - stepId: moveArm
    description: Move the arm's end effector to the supplied target pose.
    operationId: armMoveToPosition
    parameters:
    - name: key
      in: header
      value: $inputs.apiKey
    requestBody:
      contentType: application/json
      payload:
        name: $inputs.armName
        to: $inputs.targetPose
    successCriteria:
    - condition: $statusCode == 200
  - stepId: verifyJoints
    description: Read the resulting joint positions to verify the arm moved.
    operationId: armGetJointPositions
    parameters:
    - name: key
      in: header
      value: $inputs.apiKey
    requestBody:
      contentType: application/json
      payload:
        name: $inputs.armName
    successCriteria:
    - condition: $statusCode == 200
  - stepId: stopArm
    description: Stop the arm to leave it in a safe idle state.
    operationId: armStop
    parameters:
    - name: key
      in: header
      value: $inputs.apiKey
    requestBody:
      contentType: application/json
      payload:
        name: $inputs.armName
    successCriteria:
    - condition: $statusCode == 200
  outputs:
    armName: $inputs.armName