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, desiredInputs []referenceframe.Input) error
• func CreateStatus(ctx context.Context, a Arm) (*pb.Status, error)
• func GoToWaypoints(ctx context.Context, a Arm, waypoints [][]referenceframe.Input) error
• func Move(ctx context.Context, logger logging.Logger, a Arm, dst spatialmath.Pose) error
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewRPCServiceServer(coll resource.APIResourceCollection[Arm]) interface{}
• func Plan(ctx context.Context, logger logging.Logger, a Arm, dst spatialmath.Pose) ([][]referenceframe.Input, error)
• type Arm
  • func FromDependencies(deps resource.Dependencies, name string) (Arm, error)
  • func FromRobot(r robot.Robot, name string) (Arm, error)
  • func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, remoteName string, ...) (Arm, error)

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 = "arm"

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

Variables

var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

func CheckDesiredJointPositions

func CheckDesiredJointPositions(ctx context.Context, a Arm, desiredInputs []referenceframe.Input) 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, a Arm) (*pb.Status, error)

CreateStatus creates a status from the arm. This will report calculated end effector positions even if the given arm is perceived to be out of bounds.

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, logger logging.Logger, a Arm, dst spatialmath.Pose) 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 NewRPCServiceServer

func NewRPCServiceServer(coll resource.APIResourceCollection[Arm]) interface{}

NewRPCServiceServer constructs an arm gRPC service server. It is intentionally untyped to prevent use outside of tests.

func Plan

func Plan(ctx context.Context, logger logging.Logger, a Arm, dst spatialmath.Pose) ([][]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.

Types

type Arm

type Arm interface {
	resource.Resource
	referenceframe.ModelFramer
	resource.Shaped
	resource.Actuator
	referenceframe.InputEnabled

	// EndPosition returns the current position of the arm.
	//
	//    myArm, err := arm.FromRobot(machine, "my_arm")
	//    // Get the end position of the arm as a Pose.
	//    pos, err := myArm.EndPosition(context.Background(), nil)
	EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)

	// MoveToPosition moves the arm to the given absolute position.
	// This will block until done or a new operation cancels this one
	//
	//    myArm, err := arm.FromRobot(machine, "my_arm")
	//    // Create a Pose for the arm.
	//    examplePose := spatialmath.NewPose(
	//            r3.Vector{X: 5, Y: 5, Z: 5},
	//            &spatialmath.OrientationVectorDegrees{0X: 5, 0Y: 5, Theta: 20}
	//    )
	//
	//    // Move your arm to the Pose.
	//    err = myArm.MoveToPosition(context.Background(), examplePose, nil)
	MoveToPosition(ctx context.Context, pose spatialmath.Pose, 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
	//
	//    // Assumes you have imported "go.viam.com/api/component/arm/v1" as `componentpb`
	//    myArm, err := arm.FromRobot(machine, "my_arm")
	//
	//    // Declare an array of values with your desired rotational value for each joint on the arm.
	//    degrees := []float64{4.0, 5.0, 6.0}
	//
	//    // Declare a new JointPositions with these values.
	//    jointPos := &componentpb.JointPositions{Values: degrees}
	//
	//    // Move each joint of the arm to the position these values specify.
	//    err = myArm.MoveToJointPositions(context.Background(), jointPos, nil)
	MoveToJointPositions(ctx context.Context, positionDegs *pb.JointPositions, extra map[string]interface{}) error

	// JointPositions returns the current joint positions of the arm.
	//    myArm , err := arm.FromRobot(machine, "my_arm")
	//
	//    // Get the current position of each joint on the arm as JointPositions.
	//    pos, err := myArm.JointPositions(context.Background(), nil)
	JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
}

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

func FromDependencies

func FromDependencies(deps resource.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,
	remoteName string,
	name resource.Name,
	logger logging.Logger,
) (Arm, error)

NewClientFromConn constructs a new Client from connection passed in.