Documentation
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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
- Variables
- func CreateStatus(ctx context.Context, resource interface{}) (*commonpb.ActuatorStatus, error)
- func Named(name string) resource.Name
- func NamesFromRobot(r robot.Robot) []string
- func NewServer(s subtype.Service) pb.GripperServiceServer
- func NewUnimplementedInterfaceError(actual interface{}) error
- func NewUnimplementedLocalInterfaceError(actual interface{}) error
- func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)
- type Gripper
- type LocalGripper
Constants ¶
const SubtypeName = resource.SubtypeName("gripper")
SubtypeName is a constant that identifies the component resource subtype string.
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{}) (*commonpb.ActuatorStatus, error)
CreateStatus creates a status from the gripper.
func NamesFromRobot ¶
NamesFromRobot is a helper for getting all gripper names from the given Robot.
func NewServer ¶
func NewServer(s subtype.Service) pb.GripperServiceServer
NewServer constructs an gripper 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 WrapWithReconfigurable ¶
func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error)
WrapWithReconfigurable wraps a gripper with a reconfigurable and locking interface.
Types ¶
type Gripper ¶
type Gripper interface { // 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) // Stop stops the gripper. It is assumed the gripper stops immediately. Stop(ctx context.Context, extra map[string]interface{}) error generic.Generic referenceframe.ModelFramer resource.MovingCheckable }
A Gripper represents a physical robotic gripper.
func NewClientFromConn ¶
func NewClientFromConn(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) Gripper
NewClientFromConn constructs a new Client from connection passed in.
type LocalGripper ¶
type LocalGripper interface { Gripper }
A LocalGripper represents a Gripper that can report whether it is moving or not.
Directories
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Path | Synopsis |
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Package fake implements a fake gripper.
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Package fake implements a fake gripper. |
Package register registers all relevant grippers and also subtype specific functions
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Package register registers all relevant grippers and also subtype specific functions |
Package robotiq implements the gripper from robotiq.
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Package robotiq implements the gripper from robotiq. |
Package softrobotics implements the vacuum gripper from Soft Robotics.
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Package softrobotics implements the vacuum gripper from Soft Robotics. |
Package yahboom implements a yahboom based gripper.
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Package yahboom implements a yahboom based gripper. |