import type { PlainMessage, Struct } from '@bufbuild/protobuf';
import type { Pose, Resource } from '../../types';
import * as armApi from '../../gen/component/arm/v1/arm_pb';
import type { Geometry, Mesh } from '../../gen/common/v1/common_pb';
import type { GetKinematicsResult } from '../../utils';
export type ArmJointPositions = PlainMessage<armApi.JointPositions>;
export declare const ArmJointPositions: typeof armApi.JointPositions;
/** Represents a physical robot arm that exists in three-dimensional space. */
export interface Arm extends Resource {
    /**
     * Get the position of the end of the arm expressed as a pose
     *
     * @example
     *
     * ```ts
     * const arm = new VIAM.ArmClient(machine, 'my_arm');
     * const pose = await arm.getEndPosition();
     * ```
     *
     * For more information, see [Arm
     * API](https://docs.viam.com/dev/reference/apis/components/arm/#getendposition).
     */
    getEndPosition: (extra?: Struct) => Promise<Pose>;
    /**
     * Get the geometries of the component in their current configuration
     *
     * @example
     *
     * ```ts
     * const arm = new VIAM.ArmClient(machine, 'my_arm');
     * const geometries = await arm.getGeometries();
     * console.log(geometries);
     * ```
     *
     * For more information, see [Arm
     * API](https://docs.viam.com/dev/reference/apis/components/arm/#getgeometries).
     */
    getGeometries: (extra?: Struct) => Promise<Geometry[]>;
    /**
     * Get the 3D models of the component
     *
     * @example
     *
     * ```ts
     * const arm = new VIAM.ArmClient(machine, 'my_arm');
     * const models = await arm.get3DModels();
     * console.log(models);
     * ```
     */
    get3DModels: (extra?: Struct) => Promise<Record<string, Mesh>>;
    /**
     * Get the kinematics information associated with the arm.
     *
     * @example
     *
     * ```ts
     * const arm = new VIAM.ArmClient(machine, 'my_arm');
     * const kinematics = await arm.getKinematics();
     * console.log(kinematics);
     *
     * For more information, see [Arm
     * API](https://docs.viam.com/dev/reference/apis/components/arm/#getkinematics).
     * ```
     *
     * @returns The legacy kinematics data shape or the newer object containing
     *   kinematics data plus a map of URDF mesh file paths to mesh data.
     */
    getKinematics: (extra?: Struct) => Promise<GetKinematicsResult>;
    /**
     * Move the end of the arm to the pose.
     *
     * @example
     *
     * ```ts
     * const arm = new VIAM.ArmClient(machine, 'my_arm');
     *
     * // Create a pose for the arm to move to
     * const pose: Pose = {
     *   x: -500,
     *   y: -200,
     *   z: 62,
     *   oX: 1,
     *   oY: 0,
     *   oZ: 1,
     *   theta: 90,
     * };
     *
     * // Move the arm to the pose
     * await arm.moveToPosition(pose);
     * ```
     *
     * For more information, see [Arm
     * API](https://docs.viam.com/dev/reference/apis/components/arm/#movetoposition).
     *
     * @param pose - The destination pose for the arm.
     */
    moveToPosition: (pose: Pose, extra?: Struct) => Promise<void>;
    /**
     * Move each joint of the arm based on the angles on the joint positions.
     *
     * @example
     *
     * ```ts
     * const arm = new VIAM.ArmClient(machine, 'my_arm');
     *
     * // Move an arm with 6 joints (6 DoF)
     * await arm.moveToJointPositions([90, 0, 0, 0, 15, 0]);
     * ```
     *
     * For more information, see [Arm
     * API](https://docs.viam.com/dev/reference/apis/components/arm/#movetojointpositions).
     *
     * @param jointPositionsList - List of angles (0-360) to move each joint to.
     */
    moveToJointPositions: (jointPositionsList: number[], extra?: Struct) => Promise<void>;
    /**
     * Gets the current position of each joint.
     *
     * @example
     *
     * ```ts
     * const arm = new VIAM.ArmClient(machine, 'my_arm');
     * const jointPositions = await arm.getJointPositions();
     * ```
     *
     * For more information, see [Arm
     * API](https://docs.viam.com/dev/reference/apis/components/arm/#getjointpositions).
     */
    getJointPositions: (extra?: Struct) => Promise<ArmJointPositions>;
    /**
     * Stop the motion of the arm.
     *
     * @example
     *
     * ```ts
     * const arm = new VIAM.ArmClient(machine, 'my_arm');
     * await arm.stop();
     * ```
     *
     * For more information, see [Arm
     * API](https://docs.viam.com/dev/reference/apis/components/arm/#stop).
     */
    stop: (extra?: Struct) => Promise<void>;
    /**
     * Get if the arm is currently moving.
     *
     * @example
     *
     * ```ts
     * const arm = new VIAM.ArmClient(machine, 'my_arm');
     * const isMoving = await arm.isMoving();
     * console.log(isMoving);
     * ```
     *
     * For more information, see [Arm
     * API](https://docs.viam.com/dev/reference/apis/components/arm/#ismoving).
     */
    isMoving: () => Promise<boolean>;
}