From 15a7dd0cc8b7a19fff9aab904622d65cca6df221 Mon Sep 17 00:00:00 2001
From: Matthew MacFarquhar <matthew.macfarquhar@gmail.com>
Date: Wed, 29 Oct 2025 13:54:53 -0400
Subject: [PATCH] implement Get3DMesh api

---
 Makefile                     |  8 +++++++-
 src/components/arm/arm.ts    | 16 +++++++++++++++-
 src/components/arm/client.ts | 15 ++++++++++++++-
 3 files changed, 36 insertions(+), 3 deletions(-)

diff --git a/Makefile b/Makefile
index d084369cf..06fe9a8af 100644
--- a/Makefile
+++ b/Makefile
@@ -55,7 +55,13 @@ update-buf: $(node_modules)
 .PHONY: build-buf
 build-buf: $(node_modules) clean-buf
 	$(buf) generate buf.build/googleapis/googleapis
-	$(buf) generate buf.build/viamrobotics/api:$$(cat api_version.lock) --path common,component,robot,service,app,provisioning,tagger,stream
+	@if [ -z "$(LOCAL_API_PATH)" ]; then \
+		echo "using production API"; \
+		$(buf) generate buf.build/viamrobotics/api:$$(cat api_version.lock) --path common,component,robot,service,app,provisioning,tagger,stream; \
+	else \
+		echo "using local API from $(LOCAL_API_PATH)"; \
+		$(buf) generate $(LOCAL_API_PATH); \
+	fi
 	$(buf) generate buf.build/viamrobotics/goutils
 	$(buf) generate buf.build/grpc/grpc --path grpc/reflection/v1/reflection.proto
 
diff --git a/src/components/arm/arm.ts b/src/components/arm/arm.ts
index f6f2682b9..71ff73834 100644
--- a/src/components/arm/arm.ts
+++ b/src/components/arm/arm.ts
@@ -2,7 +2,7 @@ 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 } from '../../gen/common/v1/common_pb';
+import type { Geometry, Mesh } from '../../gen/common/v1/common_pb';
 
 export type ArmJointPositions = PlainMessage<armApi.JointPositions>;
 
@@ -41,6 +41,20 @@ export interface Arm extends Resource {
    */
   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>>;
+
   /**
    * Move the end of the arm to the pose.
    *
diff --git a/src/components/arm/client.ts b/src/components/arm/client.ts
index be2651067..d107df9eb 100644
--- a/src/components/arm/client.ts
+++ b/src/components/arm/client.ts
@@ -14,7 +14,7 @@ import type { RobotClient } from '../../robot';
 import type { Options, Pose } from '../../types';
 import { doCommandFromClient } from '../../utils';
 import type { Arm } from './arm';
-import { GetGeometriesRequest } from '../../gen/common/v1/common_pb';
+import { Get3DModelsRequest, GetGeometriesRequest, type Mesh } from '../../gen/common/v1/common_pb';
 
 /**
  * A gRPC-web client for the Arm component.
@@ -59,6 +59,19 @@ export class ArmClient implements Arm {
     return response.geometries;
   }
 
+  async get3DModels(extra = {}, callOptions = this.callOptions): Promise<Record<string, Mesh>> {
+    // eslint-disable-next-line @typescript-eslint/no-unsafe-assignment
+    const request = new Get3DModelsRequest({
+      name: this.name,
+      extra: Struct.fromJson(extra),
+    });
+
+    // eslint-disable-next-line @typescript-eslint/no-unsafe-assignment
+    const response = await this.client.get3DModels(request, callOptions);
+    // eslint-disable-next-line @typescript-eslint/no-unsafe-return, @typescript-eslint/no-unsafe-member-access
+    return response.models;
+  }
+
   async moveToPosition(pose: Pose, extra = {}, callOptions = this.callOptions) {
     const request = new MoveToPositionRequest({
       name: this.name,