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 CreateStatus(ctx context.Context, resource interface{}) (*pb.Status, error)
• func GoToWaypoints(ctx context.Context, a Arm, waypoints [][]referenceframe.Input) error
• func Move(ctx context.Context, r robot.Robot, a Arm, dst *commonpb.Pose, ...) error
• func Named(name string) resource.Name
• func NamesFromRobot(r robot.Robot) []string
• func NewPositionFromMetersAndOV(x, y, z, th, ox, oy, oz float64) *commonpb.Pose
• func NewServer(s subtype.Service) pb.ArmServiceServer
• func Plan(ctx context.Context, r robot.Robot, a Arm, dst *commonpb.Pose, ...) ([][]referenceframe.Input, error)
• func PositionGridDiff(a, b *commonpb.Pose) float64
• func PositionRotationDiff(a, b *commonpb.Pose) float64
• func WrapWithReconfigurable(r interface{}) (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 (
	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 CreateStatus

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

CreateStatus creates a status from the arm.

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 *commonpb.Pose, worldState *commonpb.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 NewPositionFromMetersAndOV

func NewPositionFromMetersAndOV(x, y, z, th, ox, oy, oz float64) *commonpb.Pose

NewPositionFromMetersAndOV returns a three-dimensional arm position defined by a point in space in meters and an orientation defined as an OrientationVector. See robot.proto for a math explanation.

func NewServer

func NewServer(s subtype.Service) pb.ArmServiceServer

NewServer constructs an arm gRPC service server.

func Plan

func Plan(
	ctx context.Context,
	r robot.Robot,
	a Arm,
	dst *commonpb.Pose,
	worldState *commonpb.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 PositionGridDiff

func PositionGridDiff(a, b *commonpb.Pose) float64

PositionGridDiff returns the euclidean distance between two arm positions in millimeters.

func PositionRotationDiff

func PositionRotationDiff(a, b *commonpb.Pose) float64

PositionRotationDiff returns the sum of the squared differences between the angle axis components of two positions.

func WrapWithReconfigurable

func WrapWithReconfigurable(r interface{}) (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 {
	// GetEndPosition returns the current position of the arm.
	GetEndPosition(ctx context.Context, extra map[string]interface{}) (*commonpb.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 *commonpb.Pose, worldState *commonpb.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

	// GetJointPositions returns the current joint positions of the arm.
	GetJointPositions(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
}

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

	resource.MovingCheckable
}

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