gripper

package
v0.8.0-rc1 Latest Latest
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Published: Aug 31, 2023 License: AGPL-3.0 Imports: 12 Imported by: 2

Documentation

Overview

Package gripper contains a gRPC based gripper client.

Package gripper defines a robotic gripper.

Package gripper contains a gRPC based gripper service server.

Index

Constants

View Source
const SubtypeName = "gripper"

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

Variables

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

API is a variable that identifies the component resource API.

Functions

func CreateStatus

func CreateStatus(ctx context.Context, g Gripper) (*commonpb.ActuatorStatus, error)

CreateStatus creates a status from the gripper.

func Named

func Named(name string) resource.Name

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

func NamesFromRobot

func NamesFromRobot(r robot.Robot) []string

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

func NewRPCServiceServer added in v0.2.36

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

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

Types

type Gripper

type Gripper interface {
	resource.Resource
	resource.Shaped
	resource.Actuator
	referenceframe.ModelFramer

	// Open opens the gripper.
	// This will block until done or a new operation cancels this one
	Open(ctx context.Context, extra map[string]interface{}) error

	// Grab makes the gripper grab.
	// returns true if we grabbed something.
	// This will block until done or a new operation cancels this one
	Grab(ctx context.Context, extra map[string]interface{}) (bool, error)
}

A Gripper represents a physical robotic gripper.

func FromRobot

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

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

func NewClientFromConn

func NewClientFromConn(
	ctx context.Context,
	conn rpc.ClientConn,
	remoteName string,
	name resource.Name,
	logger golog.Logger,
) (Gripper, error)

NewClientFromConn constructs a new Client from connection passed in.

Directories

Path Synopsis
Package fake implements a fake gripper.
Package fake implements a fake gripper.
Package register registers all relevant grippers and also API specific functions
Package register registers all relevant grippers and also API specific functions
Package robotiq implements the gripper from robotiq.
Package robotiq implements the gripper from robotiq.
Package softrobotics implements the vacuum gripper from Soft Robotics.
Package softrobotics implements the vacuum gripper from Soft Robotics.
Package yahboom implements a yahboom based gripper.
Package yahboom implements a yahboom based gripper.

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