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, desiredJoints []float64) error
- 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, logger golog.Logger, a Arm, dst spatialmath.Pose) error
- func Named(name string) resource.Name
- func NamesFromRobot(r robot.Robot) []string
- func NewServer(s subtype.Service) pb.ArmServiceServer
- func NewUnimplementedInterfaceError(actual interface{}) error
- func NewUnimplementedLocalInterfaceError(actual interface{}) error
- func Plan(ctx context.Context, logger golog.Logger, a Arm, dst spatialmath.Pose) ([][]referenceframe.Input, error)
- func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)
- type Arm
- type LocalArm
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 = 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 CheckDesiredJointPositions ¶ added in v0.2.15
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 ¶
CreateStatus creates a status from the arm.
func GoToWaypoints ¶
GoToWaypoints will visit in turn each of the joint position waypoints generated by a motion planner.
func NamesFromRobot ¶
NamesFromRobot is a helper for getting all arm names from the given Robot.
func NewServer ¶
func NewServer(s subtype.Service) pb.ArmServiceServer
NewServer constructs an arm gRPC service server.
func NewUnimplementedInterfaceError ¶
func NewUnimplementedInterfaceError(actual interface{}) error
NewUnimplementedInterfaceError is used when there is a failed interface check.
func NewUnimplementedLocalInterfaceError ¶
func NewUnimplementedLocalInterfaceError(actual interface{}) error
NewUnimplementedLocalInterfaceError is used when there is a failed interface check.
func Plan ¶
func Plan(ctx context.Context, logger golog.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.
func WrapWithReconfigurable ¶
func WrapWithReconfigurable(r interface{}, name resource.Name) (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 { // 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) // 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 resource.MovingCheckable }
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 NewClientFromConn ¶
func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Arm
NewClientFromConn constructs a new Client from connection passed in.
Directories
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Path | Synopsis |
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Package eva implements the Eva robot from Automata.
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Package eva implements the Eva robot from Automata. |
Package fake implements a fake arm.
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Package fake implements a fake arm. |
Package register registers all relevant arms
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Package register registers all relevant arms |
Package universalrobots implements the UR arm from Universal Robots.
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Package universalrobots implements the UR arm from Universal Robots. |
Package wrapper is a package that defines an implementation that wraps a partially implemented arm
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Package wrapper is a package that defines an implementation that wraps a partially implemented arm |
Package xarm implements some xArms.
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Package xarm implements some xArms. |
Package yahboom implements a yahboom based robot.
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Package yahboom implements a yahboom based robot. |