arm

Documentation

Overview

Package arm defines the arm that a robot uses to manipulate objects.

Package arm contains a gRPC based arm client.

Package arm contains a gRPC based arm service server.

Index

• Constants
• Variables
• func CheckDesiredJointPositions(ctx context.Context, a Arm, desiredJoints []float64) error
• func CreateStatus(ctx context.Context, resource interface{}) (*pb.Status, error)
• func DependencyTypeError(name string, actual interface{}) error
• func GoToWaypoints(ctx context.Context, a Arm, waypoints [][]referenceframe.Input) error
• func Move(ctx context.Context, r robot.Robot, a Arm, dst spatialmath.Pose, ...) error
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewServer(s subtype.Service) pb.ArmServiceServer
• func NewUnimplementedInterfaceError(actual interface{}) error
• func NewUnimplementedLocalInterfaceError(actual interface{}) error
• func Plan(ctx context.Context, r robot.Robot, a Arm, dst spatialmath.Pose, ...) ([][]referenceframe.Input, error)
• func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)
• type Arm
  • func FromDependencies(deps registry.Dependencies, name string) (Arm, error)
  • func FromRobot(r robot.Robot, name string) (Arm, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Arm
• type LocalArm

Constants

const MTPoob = "cartesian movements are not allowed when arm joints are out of bounds"

MTPoob is a string that all MoveToPosition errors should contain if the method is called and there are joints which are out of bounds.

const (
	SubtypeName = resource.SubtypeName("arm")
)

SubtypeName is a constant that identifies the component resource subtype string "arm".

Variables

var (

	// ErrStopUnimplemented is used for when Stop() is unimplemented.
	ErrStopUnimplemented = errors.New("Stop() unimplemented")
)

var Subtype = resource.NewSubtype(
	resource.ResourceNamespaceRDK,
	resource.ResourceTypeComponent,
	SubtypeName,
)

Subtype is a constant that identifies the component resource subtype.

Functions

func CheckDesiredJointPositions

func CheckDesiredJointPositions(ctx context.Context, a Arm, desiredJoints []float64) error

CheckDesiredJointPositions validates that the desired joint positions either bring the joint back in bounds or do not move the joint more out of bounds.

func CreateStatus

func CreateStatus(ctx context.Context, resource interface{}) (*pb.Status, error)

CreateStatus creates a status from the arm.

func DependencyTypeError

func DependencyTypeError(name string, actual interface{}) error

DependencyTypeError is used when a resource doesn't implement the expected interface.

func GoToWaypoints

func GoToWaypoints(ctx context.Context, a Arm, waypoints [][]referenceframe.Input) error

GoToWaypoints will visit in turn each of the joint position waypoints generated by a motion planner.

func Move

func Move(ctx context.Context, r robot.Robot, a Arm, dst spatialmath.Pose, worldState *referenceframe.WorldState) error

Move is a helper function to abstract away movement for general arms.

func Named

func Named(name string) resource.Name

Named is a helper for getting the named Arm's typed resource name.

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

NamesFromRobot is a helper for getting all arm names from the given Robot.

func NewServer

func NewServer(s subtype.Service) pb.ArmServiceServer

NewServer constructs an arm gRPC service server.

func NewUnimplementedInterfaceError

func NewUnimplementedInterfaceError(actual interface{}) error

NewUnimplementedInterfaceError is used when there is a failed interface check.

func NewUnimplementedLocalInterfaceError

func NewUnimplementedLocalInterfaceError(actual interface{}) error

NewUnimplementedLocalInterfaceError is used when there is a failed interface check.

func Plan

func Plan(
	ctx context.Context,
	r robot.Robot,
	a Arm,
	dst spatialmath.Pose,
	worldState *referenceframe.WorldState,
) ([][]referenceframe.Input, error)

Plan is a helper function to be called by arm implementations to abstract away the default procedure for using the motion planning library with arms.

func WrapWithReconfigurable

func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)

WrapWithReconfigurable converts a regular Arm implementation to a reconfigurableArm and a localArm into a reconfigurableLocalArm If arm is already a Reconfigurable, then nothing is done.

Types

type Arm

type Arm interface {
	// EndPosition returns the current position of the arm.
	EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)

	// MoveToPosition moves the arm to the given absolute position.
	// The worldState argument should be treated as optional by all implementing drivers
	// This will block until done or a new operation cancels this one
	MoveToPosition(ctx context.Context, pose spatialmath.Pose, worldState *referenceframe.WorldState, extra map[string]interface{}) error

	// MoveToJointPositions moves the arm's joints to the given positions.
	// This will block until done or a new operation cancels this one
	MoveToJointPositions(ctx context.Context, positionDegs *pb.JointPositions, extra map[string]interface{}) error

	// JointPositions returns the current joint positions of the arm.
	JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)

	// Stop stops the arm. It is assumed the arm stops immediately.
	Stop(ctx context.Context, extra map[string]interface{}) error

	generic.Generic
	referenceframe.ModelFramer
	referenceframe.InputEnabled
	resource.MovingCheckable
}

An Arm represents a physical robotic arm that exists in three-dimensional space.

func FromDependencies

func FromDependencies(deps registry.Dependencies, name string) (Arm, error)

FromDependencies is a helper for getting the named arm from a collection of dependencies.

func FromRobot

func FromRobot(r robot.Robot, name string) (Arm, error)

FromRobot is a helper for getting the named Arm from the given Robot.

func NewClientFromConn

func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Arm

NewClientFromConn constructs a new Client from connection passed in.

type LocalArm

type LocalArm interface {
	Arm
}

A LocalArm represents an Arm that can report whether it is moving or not.