Documentation
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Overview ¶
Package universalrobots implements the UR arm from Universal Robots.
Index ¶
- Variables
- func Model(name string) (referenceframe.Model, error)
- func URArmConnect(ctx context.Context, cfg config.Component, logger golog.Logger) (arm.LocalArm, error)
- type AdditionalInfo
- type AttrConfig
- type CartesianInfo
- type ForceModeData
- type JointData
- type KinematicInfo
- type MasterboardData
- type RobotModeData
- type RobotState
- type ToolData
- type URArm
- func (ua *URArm) AddToLog(msg string) error
- func (ua *URArm) Close(ctx context.Context) error
- func (ua *URArm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error)
- func (ua *URArm) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
- func (ua *URArm) GoToInputs(ctx context.Context, goal []referenceframe.Input) error
- func (ua *URArm) IsMoving(ctx context.Context) (bool, error)
- func (ua *URArm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
- func (ua *URArm) ModelFrame() referenceframe.Model
- func (ua *URArm) MoveToJointPositionRadians(ctx context.Context, radians []float64) error
- func (ua *URArm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error
- func (ua *URArm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra map[string]interface{}) error
- func (ua *URArm) State() (RobotState, error)
- func (ua *URArm) Stop(ctx context.Context, extra map[string]interface{}) error
- func (ua *URArm) UpdateAction(c *config.Component) config.UpdateActionType
Constants ¶
This section is empty.
Variables ¶
var ModelName = resource.NewDefaultModel("ur5e")
ModelName is the name of the UR5e model of an arm component.
Functions ¶
Types ¶
type AdditionalInfo ¶ added in v0.2.10
type AdditionalInfo struct { TpButtonState byte FreedriveButtonEnabled bool IOEnabledFreedrive bool Reserved byte }
AdditionalInfo additional info from ur arm.
type AttrConfig ¶
type AttrConfig struct { Speed float64 `json:"speed_degs_per_sec"` Host string `json:"host"` ArmHostedKinematics bool `json:"arm_hosted_kinematics,omitempty"` }
AttrConfig is used for converting config attributes.
type CartesianInfo ¶
type CartesianInfo struct { X float64 Y float64 Z float64 Rx float64 Ry float64 Rz float64 TCPOffsetX float64 TCPOffsetY float64 TCPOffsetZ float64 TCPOffsetRx float64 TCPOffsetRy float64 TCPOffsetRz float64 }
CartesianInfo TODO.
func (CartesianInfo) NondelimitedString ¶
func (c CartesianInfo) NondelimitedString() string
NondelimitedString TODO.
type ForceModeData ¶
type ForceModeData struct { Fx float64 Fy float64 Fz float64 Frx float64 Fry float64 Frz float64 RobotDexterity float64 }
ForceModeData TODO.
type JointData ¶
type JointData struct { Qactual float64 // angle currently in radians Qtarget float64 // angle target in radians QDactual float64 Iactual float32 Vactual float32 Tmotor float32 Tmicro float32 JointMode byte }
JointData TODO.
type KinematicInfo ¶
KinematicInfo TODO.
type MasterboardData ¶
type MasterboardData struct { DigitalInputBits int32 DigitalOutputBits int32 AnalogInputRange0 byte AnalogInputRange1 byte AnalogInput0 float64 AnalogInput1 float64 AnalogOutputDomain0 byte AnalogOutputDomain1 byte AnalogOutput0 float64 AnalogOutput1 float64 MasterBoardTemperature float32 RobotVoltage48V float32 RobotCurrent float32 MasterIOCurrent float32 SafetyMode byte InReducedMode byte Euromap67InterfaceInstalled byte NotUsed1 uint32 OperationalModeSelectorInput byte ThreePositionEnablingDeviceInput byte NotUsed2 byte }
MasterboardData TODO.
type RobotModeData ¶
type RobotModeData struct { Timestamp uint64 IsRealRobotConnected bool IsRealRobotEnabled bool IsRobotPowerOn bool IsEmergencyStopped bool IsProtectiveStopped bool IsProgramRunning bool IsProgramPaused bool RobotMode byte ControlMode byte TargetSpeedFraction float64 SpeedScaling float64 TargetSpeedFractionLimit float64 }
RobotModeData TODO.
type RobotState ¶
type RobotState struct { RobotModeData Joints []JointData ToolData MasterboardData CartesianInfo Kinematics []KinematicInfo ForceModeData AdditionalInfo // contains filtered or unexported fields }
RobotState TODO.
type ToolData ¶
type ToolData struct { AnalogInputRange0 byte AnalogInputRange1 byte AnalogInput0 float64 AnalogInput1 float64 ToolVoltage48V float32 ToolOutputVoltage byte ToolCurrent float32 ToolTemperature float32 ToolMode byte }
ToolData TODO.
type URArm ¶
type URArm struct { generic.Unimplemented io.Closer // contains filtered or unexported fields }
URArm TODO.
func (*URArm) CurrentInputs ¶
CurrentInputs TODO.
func (*URArm) EndPosition ¶
func (ua *URArm) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error)
EndPosition computes and returns the current cartesian position.
func (*URArm) GoToInputs ¶
GoToInputs TODO.
func (*URArm) JointPositions ¶
func (ua *URArm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error)
JointPositions TODO.
func (*URArm) ModelFrame ¶
func (ua *URArm) ModelFrame() referenceframe.Model
ModelFrame returns all the information necessary for including the arm in a FrameSystem.
func (*URArm) MoveToJointPositionRadians ¶
MoveToJointPositionRadians TODO.
func (*URArm) MoveToJointPositions ¶
func (ua *URArm) MoveToJointPositions(ctx context.Context, joints *pb.JointPositions, extra map[string]interface{}) error
MoveToJointPositions TODO.
func (*URArm) MoveToPosition ¶
func (ua *URArm) MoveToPosition(ctx context.Context, pos spatialmath.Pose, extra map[string]interface{}) error
MoveToPosition moves the arm to the specified cartesian position. If the UR arm was configured with "arm_hosted_kinematics = 'true'" or extra["arm_hosted_kinematics"] = true is specified at runtime this command will use the kinematics hosted by the Universal Robots arm.
func (*URArm) UpdateAction ¶ added in v0.2.16
func (ua *URArm) UpdateAction(c *config.Component) config.UpdateActionType
UpdateAction helps hinting the reconfiguration process on what strategy to use given a modified config. See config.UpdateActionType for more information.