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, desiredInputs []referenceframe.Input) error
- func CreateStatus(ctx context.Context, a Arm) (*pb.Status, error)
- func GoToWaypoints(ctx context.Context, a Arm, waypoints [][]referenceframe.Input) error
- func Move(ctx context.Context, logger logging.Logger, a Arm, dst spatialmath.Pose) error
- func Named(name string) resource.Name
- func NamesFromRobot(r robot.Robot) []string
- func NewRPCServiceServer(coll resource.APIResourceCollection[Arm]) interface{}
- func Plan(ctx context.Context, logger logging.Logger, a Arm, dst spatialmath.Pose) ([][]referenceframe.Input, error)
- type Arm
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 = "arm"
SubtypeName is a constant that identifies the component resource API string "arm".
Variables ¶
var API = resource.APINamespaceRDK.WithComponentType(SubtypeName)
API is a variable that identifies the component resource API.
Functions ¶
func CheckDesiredJointPositions ¶ added in v0.2.15
func CheckDesiredJointPositions(ctx context.Context, a Arm, desiredInputs []referenceframe.Input) error
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. This will report calculated end effector positions even if the given arm is perceived to be out of bounds.
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 NewRPCServiceServer ¶ added in v0.2.36
func NewRPCServiceServer(coll resource.APIResourceCollection[Arm]) interface{}
NewRPCServiceServer constructs an arm gRPC service server. It is intentionally untyped to prevent use outside of tests.
Types ¶
type Arm ¶
type Arm interface {
resource.Resource
referenceframe.ModelFramer
resource.Shaped
resource.Actuator
referenceframe.InputEnabled
// 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)
}
An Arm represents a physical robotic arm that exists in three-dimensional space.
func FromDependencies ¶
func FromDependencies(deps resource.Dependencies, name string) (Arm, error)
FromDependencies is a helper for getting the named arm from a collection of dependencies.
Source Files
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. |
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Package fake implements a fake arm.
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Package fake implements a fake arm. |
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Package register registers all relevant arms
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Package register registers all relevant arms |
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Package universalrobots implements the UR arm from Universal Robots.
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Package universalrobots implements the UR arm from Universal Robots. |
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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 |
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Package xarm implements some UFactory arms (xArm 6, xArm 7, and Lite 6).
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Package xarm implements some UFactory arms (xArm 6, xArm 7, and Lite 6). |