yahboom

Documentation

Overview

Package yahboom implements a yahboom based robot.

Index

• type AttrConfig
  • func (config *AttrConfig) Validate(path string) error
• type Dofbot
  • func (a *Dofbot) Close() error
  • func (a *Dofbot) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
  • func (a *Dofbot) EndPosition(ctx context.Context, extra map[string]interface{}) (*commonpb.Pose, error)
  • func (a *Dofbot) GoToInputs(ctx context.Context, goal []referenceframe.Input) error
  • func (a *Dofbot) Grab(ctx context.Context) (bool, error)
  • func (a *Dofbot) GripperStop(ctx context.Context) error
  • func (a *Dofbot) IsMoving(ctx context.Context) (bool, error)
  • func (a *Dofbot) JointPositions(ctx context.Context, extra map[string]interface{}) (*componentpb.JointPositions, error)
  • func (a *Dofbot) ModelFrame() referenceframe.Model
  • func (a *Dofbot) MoveToJointPositions(ctx context.Context, pos *componentpb.JointPositions, ...) error
  • func (a *Dofbot) MoveToPosition(ctx context.Context, pos *commonpb.Pose, worldState *commonpb.WorldState, ...) error
  • func (a *Dofbot) Open(ctx context.Context) error
  • func (a *Dofbot) Stop(ctx context.Context, extra map[string]interface{}) error

Types

type AttrConfig

type AttrConfig struct {
	Board string `json:"board"`
	I2C   string `json:"i2c"`
}

AttrConfig is the config for a yahboom arm.

func (*AttrConfig) Validate

func (config *AttrConfig) Validate(path string) error

Validate ensures all parts of the config are valid.

type Dofbot

type Dofbot struct {
	generic.Unimplemented
	// contains filtered or unexported fields
}

Dofbot implements a yahboom dofbot arm.

func (*Dofbot) Close

func (a *Dofbot) Close() error

Close closes the arm.

func (*Dofbot) CurrentInputs

func (a *Dofbot) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)

CurrentInputs returns the current inputs of the arm.

func (*Dofbot) EndPosition

func (a *Dofbot) EndPosition(ctx context.Context, extra map[string]interface{}) (*commonpb.Pose, error)

EndPosition returns the current position of the arm.

func (*Dofbot) GoToInputs

func (a *Dofbot) GoToInputs(ctx context.Context, goal []referenceframe.Input) error

GoToInputs moves the arm to the specified goal inputs.

func (*Dofbot) Grab

func (a *Dofbot) Grab(ctx context.Context) (bool, error)

Grab makes the gripper grab. Approach: Move to close, poll until gripper reaches the closed state (position > grabAngle) or the position changes little (< minMovement) between iterations.

func (*Dofbot) GripperStop

func (a *Dofbot) GripperStop(ctx context.Context) error

GripperStop is unimplemented for the dofbot.

func (*Dofbot) IsMoving

func (a *Dofbot) IsMoving(ctx context.Context) (bool, error)

IsMoving returns whether the arm is moving.

func (*Dofbot) JointPositions

func (a *Dofbot) JointPositions(ctx context.Context, extra map[string]interface{}) (*componentpb.JointPositions, error)

JointPositions returns the current joint positions of the arm.

func (*Dofbot) ModelFrame

func (a *Dofbot) ModelFrame() referenceframe.Model

ModelFrame returns all the information necessary for including the arm in a FrameSystem.

func (*Dofbot) MoveToJointPositions

func (a *Dofbot) MoveToJointPositions(ctx context.Context, pos *componentpb.JointPositions, extra map[string]interface{}) error

MoveToJointPositions moves the arm's joints to the given positions.

func (*Dofbot) MoveToPosition

func (a *Dofbot) MoveToPosition(
	ctx context.Context,
	pos *commonpb.Pose,
	worldState *commonpb.WorldState,
	extra map[string]interface{},
) error

MoveToPosition moves the arm to the given absolute position.

func (*Dofbot) Open

func (a *Dofbot) Open(ctx context.Context) error

Open opens the gripper.

func (*Dofbot) Stop

func (a *Dofbot) Stop(ctx context.Context, extra map[string]interface{}) error

Stop is unimplemented for the dofbot.