arm

package
v0.42.0-rc0 Latest Latest
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Published: Sep 16, 2024 License: AGPL-3.0 Imports: 17 Imported by: 4

Documentation

Overview

Package arm defines the arm that a robot uses to manipulate objects. For more information, see the arm component docs.

Package arm contains a gRPC based arm client.

Package arm contains a gRPC based arm service server.

Index

Constants

View Source
const SubtypeName = "arm"

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

Variables

View Source
var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)

API is a variable that identifies the component resource API.

Functions

func CheckDesiredJointPositions added in v0.2.15

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 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 added in v0.2.36

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

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

Types

type Arm

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

	// 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.
	// This will block until done or a new operation cancels this one.
	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.
	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)
}

An Arm represents a physical robotic arm that exists in three-dimensional space. For more information, see the arm component docs.

EndPosition example:

myArm, err := arm.FromRobot(machine, "my_arm")
// Get the end position of the arm as a Pose.
pos, err := myArm.EndPosition(context.Background(), nil)

MoveToPosition example:

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)

MoveToJointPositions example:

// 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)

JointPositions example:

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)

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.

Directories

Path Synopsis
Package eva implements the Eva robot from Automata.
Package eva implements the Eva robot from Automata.
Package fake implements a fake arm.
Package fake implements a fake arm.
Package register registers all relevant arms
Package register registers all relevant arms
Package universalrobots implements the UR arm from Universal Robots.
Package universalrobots implements the UR arm from Universal Robots.
Package wrapper is a package that defines an implementation that wraps a partially implemented arm
Package wrapper is a package that defines an implementation that wraps a partially implemented arm
Package xarm implements some UFactory arms (xArm 6, xArm 7, and Lite 6).
Package xarm implements some UFactory arms (xArm 6, xArm 7, and Lite 6).

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