Usage

Run npm run start and visit localhost:8000 in a browser.

The environment variables VIAM_LOCATION, VIAM_API_KEY_ID, and VIAM_API_KEY must be set in a .env file within the root project directory, you can make a copy of the .env.example file to get started.

The .env.example also includes variables to configure the names of the board, arm, motion, and (optional) gripper component/service names based on the machine configuration with the default values:

ARM_CLIENT_NAME="myArm"
BOARD_CLIENT_NAME="myBoard"
GRIPPER_CLIENT_NAME="myGripper"
MOTION_CLIENT_NAME="builtin"

If you want to enable error monitoring in the application, the Sentry DSN as SENTRY_DSN in the .env file.

Simple interface: run npm run start-simple (environment variables must be set as per above).

Edit src/main.ts to change the robot logic being run. Edit static/index.html to change the layout of the app.

obstacles.json

This file is the single point of truth for the configuration of the claw-game's environment. Obstacles specified through this file will comprise the WorldState and be respected for all motions that the arm takes

visualize.go

A minimal visualization of the robot and the enclosure it is configured with. Leverages Viam's unofficial visualization package

go run visualize.go -location=VIAM_LOCATION -apikeyid=VIAM_API_KEY_ID -apikey=VIAM_API_KEY

CLI-test.py

Basic CLI script for testing the claw game. You can run individual commands, for example:

python3 CLI-test.py --location VIAM_LOCATION --apikeyid VIAM_API_KEY_ID --apikey VIAM_API_KEY --command grab

Or, you can run sequences of commands like:

python3 CLI-test.py --location mylocation --apikeyid VIAM_API_KEY_ID --apikey VIAM_API_KEY --command sequence --sequence grab,sleep,release,sleep,grab,sleep,release

Webserver module configuration

Attributes

The following attributes are available for this model:

Name	Type	Inclusion	Description
port	integer	Optional	Configure the port the webserver listens on. Default is 8888
arm	string	Required	The name of the arm component you want to use
board	string	Required	The name of the board component you want to use
gripper	string	Required	The name of the gripper component you want to use
motion	string	Required	The name of the motion service you want to use, typically this is "builtin"
sentry	string	Optional	The DSN for Sentry error monitoring

Example configuration:

{
  "port": 33333,
  "arm": "arm-1",
  "board": "board-1",
  "gripper": "gripper-1",
  "motion": "builtin",
  "sentry": "sentryDSN"
}

Less obvious features

You can access the Viam configuration in your frontend code using the http://.../config.json endpoint.

{
  "name": "ui",
  "api": "rdk:service:generic",
  "model": "devrel:claw-game:webapp",
  "attributes": {
    "arm": "arm-1",
    "board": "board-1"
  }
}