-
Notifications
You must be signed in to change notification settings - Fork 110
/
arm.go
466 lines (408 loc) · 14.2 KB
/
arm.go
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
// Package arm defines the arm that a robot uses to manipulate objects.
package arm
import (
"context"
"errors"
"fmt"
"strings"
"sync"
"github.com/edaniels/golog"
pb "go.viam.com/api/component/arm/v1"
viamutils "go.viam.com/utils"
"go.viam.com/utils/rpc"
"go.viam.com/rdk/components/generic"
"go.viam.com/rdk/config"
"go.viam.com/rdk/data"
"go.viam.com/rdk/motionplan"
"go.viam.com/rdk/referenceframe"
"go.viam.com/rdk/registry"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/robot"
"go.viam.com/rdk/robot/framesystem"
"go.viam.com/rdk/spatialmath"
"go.viam.com/rdk/subtype"
"go.viam.com/rdk/utils"
)
func init() {
registry.RegisterResourceSubtype(Subtype, registry.ResourceSubtype{
Reconfigurable: WrapWithReconfigurable,
Status: func(ctx context.Context, resource interface{}) (interface{}, error) {
return CreateStatus(ctx, resource)
},
RegisterRPCService: func(ctx context.Context, rpcServer rpc.Server, subtypeSvc subtype.Service) error {
return rpcServer.RegisterServiceServer(
ctx,
&pb.ArmService_ServiceDesc,
NewServer(subtypeSvc),
pb.RegisterArmServiceHandlerFromEndpoint,
)
},
RPCServiceDesc: &pb.ArmService_ServiceDesc,
RPCClient: func(ctx context.Context, conn rpc.ClientConn, name string, logger golog.Logger) interface{} {
return NewClientFromConn(ctx, conn, name, logger)
},
})
data.RegisterCollector(data.MethodMetadata{
Subtype: Subtype,
MethodName: endPosition.String(),
}, newEndPositionCollector)
data.RegisterCollector(data.MethodMetadata{
Subtype: Subtype,
MethodName: jointPositions.String(),
}, newJointPositionsCollector)
}
// SubtypeName is a constant that identifies the component resource subtype string "arm".
const (
SubtypeName = resource.SubtypeName("arm")
)
// 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 MTPoob = "cartesian movements are not allowed when arm joints are out of bounds"
var defaultArmPlannerOptions = map[string]interface{}{
"motion_profile": motionplan.LinearMotionProfile,
}
// Subtype is a constant that identifies the component resource subtype.
var Subtype = resource.NewSubtype(
resource.ResourceNamespaceRDK,
resource.ResourceTypeComponent,
SubtypeName,
)
// Named is a helper for getting the named Arm's typed resource name.
func Named(name string) resource.Name {
return resource.NameFromSubtype(Subtype, name)
}
// An Arm represents a physical robotic arm that exists in three-dimensional space.
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.
// The worldState argument should be treated as optional by all implementing drivers
// This will block until done or a new operation cancels this one
MoveToPosition(ctx context.Context, pose spatialmath.Pose, worldState *referenceframe.WorldState, 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
}
// A LocalArm represents an Arm that can report whether it is moving or not.
type LocalArm interface {
Arm
}
var (
_ = Arm(&reconfigurableArm{})
_ = LocalArm(&reconfigurableLocalArm{})
_ = resource.Reconfigurable(&reconfigurableArm{})
_ = resource.Reconfigurable(&reconfigurableLocalArm{})
_ = viamutils.ContextCloser(&reconfigurableLocalArm{})
// ErrStopUnimplemented is used for when Stop() is unimplemented.
ErrStopUnimplemented = errors.New("Stop() unimplemented")
)
// NewUnimplementedInterfaceError is used when there is a failed interface check.
func NewUnimplementedInterfaceError(actual interface{}) error {
return utils.NewUnimplementedInterfaceError((*Arm)(nil), actual)
}
// NewUnimplementedLocalInterfaceError is used when there is a failed interface check.
func NewUnimplementedLocalInterfaceError(actual interface{}) error {
return utils.NewUnimplementedInterfaceError((*LocalArm)(nil), actual)
}
// DependencyTypeError is used when a resource doesn't implement the expected interface.
func DependencyTypeError(name string, actual interface{}) error {
return utils.DependencyTypeError(name, (*Arm)(nil), actual)
}
// FromDependencies is a helper for getting the named arm from a collection of
// dependencies.
func FromDependencies(deps registry.Dependencies, name string) (Arm, error) {
res, ok := deps[Named(name)]
if !ok {
return nil, utils.DependencyNotFoundError(name)
}
part, ok := res.(Arm)
if !ok {
return nil, DependencyTypeError(name, res)
}
return part, nil
}
// FromRobot is a helper for getting the named Arm from the given Robot.
func FromRobot(r robot.Robot, name string) (Arm, error) {
res, err := r.ResourceByName(Named(name))
if err != nil {
return nil, err
}
part, ok := res.(Arm)
if !ok {
return nil, NewUnimplementedInterfaceError(res)
}
return part, nil
}
// NamesFromRobot is a helper for getting all arm names from the given Robot.
func NamesFromRobot(r robot.Robot) []string {
return robot.NamesBySubtype(r, Subtype)
}
// CreateStatus creates a status from the arm.
func CreateStatus(ctx context.Context, resource interface{}) (*pb.Status, error) {
arm, ok := resource.(Arm)
if !ok {
return nil, NewUnimplementedLocalInterfaceError(resource)
}
jointPositions, err := arm.JointPositions(ctx, nil)
if err != nil {
return nil, err
}
model := arm.ModelFrame()
endPosition, err := motionplan.ComputePosition(model, jointPositions)
if err != nil {
return nil, err
}
isMoving, err := arm.IsMoving(ctx)
if err != nil {
return nil, err
}
return &pb.Status{EndPosition: spatialmath.PoseToProtobuf(endPosition), JointPositions: jointPositions, IsMoving: isMoving}, nil
}
type reconfigurableArm struct {
mu sync.RWMutex
name resource.Name
actual Arm
}
func (r *reconfigurableArm) Name() resource.Name {
return r.name
}
func (r *reconfigurableArm) DoCommand(ctx context.Context, cmd map[string]interface{}) (map[string]interface{}, error) {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.DoCommand(ctx, cmd)
}
func (r *reconfigurableArm) ProxyFor() interface{} {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual
}
func (r *reconfigurableArm) EndPosition(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.EndPosition(ctx, extra)
}
func (r *reconfigurableArm) MoveToPosition(
ctx context.Context,
pose spatialmath.Pose,
worldState *referenceframe.WorldState,
extra map[string]interface{},
) error {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.MoveToPosition(ctx, pose, worldState, extra)
}
func (r *reconfigurableArm) MoveToJointPositions(ctx context.Context, positionDegs *pb.JointPositions, extra map[string]interface{}) error {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.MoveToJointPositions(ctx, positionDegs, extra)
}
func (r *reconfigurableArm) JointPositions(ctx context.Context, extra map[string]interface{}) (*pb.JointPositions, error) {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.JointPositions(ctx, extra)
}
func (r *reconfigurableArm) Stop(ctx context.Context, extra map[string]interface{}) error {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.Stop(ctx, extra)
}
func (r *reconfigurableArm) ModelFrame() referenceframe.Model {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.ModelFrame()
}
func (r *reconfigurableArm) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.CurrentInputs(ctx)
}
func (r *reconfigurableArm) GoToInputs(ctx context.Context, goal []referenceframe.Input) error {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.GoToInputs(ctx, goal)
}
func (r *reconfigurableArm) Close(ctx context.Context) error {
r.mu.RLock()
defer r.mu.RUnlock()
return viamutils.TryClose(ctx, r.actual)
}
func (r *reconfigurableArm) IsMoving(ctx context.Context) (bool, error) {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.IsMoving(ctx)
}
func (r *reconfigurableArm) Reconfigure(ctx context.Context, newArm resource.Reconfigurable) error {
r.mu.Lock()
defer r.mu.Unlock()
return r.reconfigure(ctx, newArm)
}
func (r *reconfigurableArm) reconfigure(ctx context.Context, newArm resource.Reconfigurable) error {
arm, ok := newArm.(*reconfigurableArm)
if !ok {
return utils.NewUnexpectedTypeError(r, newArm)
}
if err := viamutils.TryClose(ctx, r.actual); err != nil {
golog.Global().Errorw("error closing old", "error", err)
}
r.actual = arm.actual
return nil
}
// UpdateAction helps hint the reconfiguration process on what strategy to use given a modified config.
// See config.ShouldUpdateAction for more information.
func (r *reconfigurableArm) UpdateAction(c *config.Component) config.UpdateActionType {
obj, canUpdate := r.actual.(config.ComponentUpdate)
if canUpdate {
return obj.UpdateAction(c)
}
return config.Reconfigure
}
type reconfigurableLocalArm struct {
*reconfigurableArm
actual LocalArm
}
func (r *reconfigurableLocalArm) IsMoving(ctx context.Context) (bool, error) {
r.mu.RLock()
defer r.mu.RUnlock()
return r.actual.IsMoving(ctx)
}
func (r *reconfigurableLocalArm) Reconfigure(ctx context.Context, newArm resource.Reconfigurable) error {
r.mu.Lock()
defer r.mu.Unlock()
arm, ok := newArm.(*reconfigurableLocalArm)
if !ok {
return utils.NewUnexpectedTypeError(r, newArm)
}
if err := viamutils.TryClose(ctx, r.actual); err != nil {
golog.Global().Errorw("error closing old", "error", err)
}
r.actual = arm.actual
return r.reconfigurableArm.reconfigure(ctx, arm.reconfigurableArm)
}
// 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.
func WrapWithReconfigurable(r interface{}, name resource.Name) (resource.Reconfigurable, error) {
arm, ok := r.(Arm)
if !ok {
return nil, NewUnimplementedInterfaceError(r)
}
if reconfigurable, ok := arm.(*reconfigurableArm); ok {
return reconfigurable, nil
}
rArm := &reconfigurableArm{name: name, actual: arm}
localArm, ok := r.(LocalArm)
if !ok {
// is an arm but is not a local arm
return rArm, nil
}
if reconfigurableLocal, ok := localArm.(*reconfigurableLocalArm); ok {
return reconfigurableLocal, nil
}
return &reconfigurableLocalArm{actual: localArm, reconfigurableArm: rArm}, nil
}
// Move is a helper function to abstract away movement for general arms.
func Move(ctx context.Context, r robot.Robot, a Arm, dst spatialmath.Pose, worldState *referenceframe.WorldState) error {
joints, err := a.JointPositions(ctx, nil)
if err != nil {
return err
}
model := a.ModelFrame()
// check that joint positions are not out of bounds
_, err = motionplan.ComputePosition(model, joints)
if err != nil && strings.Contains(err.Error(), referenceframe.OOBErrString) {
return errors.New(MTPoob + ": " + err.Error())
} else if err != nil {
return err
}
solution, err := Plan(ctx, r, a, dst, worldState)
if err != nil {
return err
}
return GoToWaypoints(ctx, a, solution)
}
// 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 Plan(
ctx context.Context,
r robot.Robot,
a Arm,
dst spatialmath.Pose,
worldState *referenceframe.WorldState,
) ([][]referenceframe.Input, error) {
// build the framesystem
fs, err := framesystem.RobotFrameSystem(ctx, r, worldState.Transforms)
if err != nil {
return nil, err
}
armName := a.ModelFrame().Name()
destination := referenceframe.NewPoseInFrame(armName+"_origin", dst)
// PlanRobotMotion needs a frame system which contains the frame being solved for
if fs.Frame(armName) == nil {
if worldState != nil {
if len(worldState.Obstacles) != 0 || len(worldState.Transforms) != 0 {
return nil, errors.New("arm must be in frame system to use worldstate")
}
}
armFrame := a.ModelFrame()
jp, err := a.JointPositions(ctx, nil)
if err != nil {
return nil, err
}
return motionplan.PlanFrameMotion(ctx, r.Logger(), dst, armFrame, armFrame.InputFromProtobuf(jp), defaultArmPlannerOptions)
}
solutionMap, err := motionplan.PlanRobotMotion(ctx, destination, a.ModelFrame(), r, fs, worldState, defaultArmPlannerOptions)
if err != nil {
return nil, err
}
return motionplan.FrameStepsFromRobotPath(a.ModelFrame().Name(), solutionMap)
}
// GoToWaypoints will visit in turn each of the joint position waypoints generated by a motion planner.
func GoToWaypoints(ctx context.Context, a Arm, waypoints [][]referenceframe.Input) error {
for _, waypoint := range waypoints {
err := ctx.Err() // make sure we haven't been cancelled
if err != nil {
return err
}
err = a.GoToInputs(ctx, waypoint)
if err != nil {
return err
}
}
return nil
}
// 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 CheckDesiredJointPositions(ctx context.Context, a Arm, desiredJoints []float64) error {
currentJointPos, err := a.JointPositions(ctx, nil)
if err != nil {
return err
}
checkPositions := currentJointPos.Values
model := a.ModelFrame()
joints := model.ModelConfig().Joints
for i, val := range desiredJoints {
max := joints[i].Max
min := joints[i].Min
currPosition := checkPositions[i]
// to make sure that val is a valid input
// it must either bring the joint more
// inbounds or keep the joint inbounds.
if currPosition > max {
max = currPosition
} else if currPosition < min {
min = currPosition
}
if val > max || val < min {
return fmt.Errorf("joint %v needs to be within range [%v, %v] and cannot be moved to %v", i, min, max, val)
}
}
return nil
}