Source code for viam.components.arm.arm

import abc
from typing import Any, Dict, Final, Optional, Tuple

from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype

from ..component_base import ComponentBase
from . import JointPositions, KinematicsFileFormat, Pose


[docs]class Arm(ComponentBase): """ Arm represents a physical robot arm that exists in three-dimensional space. This acts as an abstract base class for any drivers representing specific arm implementations. This cannot be used on its own. If the ``__init__()`` function is overridden, it must call the ``super().__init__()`` function. :: from viam.components.arm import Arm # To use move_to_position: from viam.proto.common import Pose # To use move_to_joint_positions: from viam.proto.component.arm import JointPositions For more information, see `Arm component <https://docs.viam.com/components/arm/>`_. """ SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "arm") # pyright: ignore [reportIncompatibleVariableOverride]
[docs] @abc.abstractmethod async def get_end_position( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ) -> Pose: """ Get the current position of the end of the arm expressed as a ``Pose``. :: my_arm = Arm.from_robot(robot=robot, name="my_arm") # Get the end position of the arm as a Pose. pos = await my_arm.get_end_position() Returns: Pose: A representation of the arm's current position as a 6 DOF (six degrees of freedom) pose. The ``Pose`` is composed of values for location and orientation with respect to the origin. Location is expressed as distance, which is represented by x, y, and z coordinate values. Orientation is expressed as an orientation vector, which is represented by o_x, o_y, o_z, and theta values. For more information, see `Arm component <https://docs.viam.com/components/arm/>`_. """ ...
[docs] @abc.abstractmethod async def move_to_position( self, pose: Pose, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ): """ Move the end of the arm to the Pose specified in ``pose``. :: my_arm = Arm.from_robot(robot=robot, name="my_arm") # Create a Pose for the arm. examplePose = Pose(x=5, y=5, z=5, o_x=5, o_y=5, o_z=5, theta=20) # Move your arm to the Pose. await my_arm.move_to_position(pose=examplePose) Args: pose (Pose): The destination ``Pose`` for the arm. The ``Pose`` is composed of values for location and orientation with respect to the origin. Location is expressed as distance, which is represented by x, y, and z coordinate values. Orientation is expressed as an orientation vector, which is represented by o_x, o_y, o_z, and theta values. For more information, see `Arm component <https://docs.viam.com/components/arm/>`_. """ ...
[docs] @abc.abstractmethod async def move_to_joint_positions( self, positions: JointPositions, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ): """ Move each joint on the arm to the corresponding angle specified in ``positions``. :: my_arm = Arm.from_robot(robot=robot, name="my_arm") # Declare a list of values with your desired rotational value for each joint on # the arm. degrees = [0.0, 45.0, 0.0, 0.0, 0.0] # Declare a new JointPositions with these values. jointPos = arm.move_to_joint_positions( JointPositions(values=[0.0, 45.0, 0.0, 0.0, 0.0])) # Move each joint of the arm to the position these values specify. await my_arm.move_to_joint_positions(positions=jointPos) Args: positions (JointPositions): The destination ``JointPositions`` for the arm. For more information, see `Arm component <https://docs.viam.com/components/arm/>`_. """ ...
[docs] @abc.abstractmethod async def get_joint_positions( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ) -> JointPositions: """ Get the JointPositions representing the current position of the arm. :: my_arm = Arm.from_robot(robot=robot, name="my_arm") # Get the current position of each joint on the arm as JointPositions. pos = await my_arm.get_joint_positions() Returns: JointPositions: The current ``JointPositions`` for the arm. ``JointPositions`` can have one attribute, ``values``, a list of joint positions with rotational values (degrees) and translational values (mm). For more information, see `Arm component <https://docs.viam.com/components/arm/>`_. """ ...
[docs] @abc.abstractmethod async def stop( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs, ): """ Stop all motion of the arm. It is assumed that the arm stops immediately. :: my_arm = Arm.from_robot(robot=robot, name="my_arm") # Stop all motion of the arm. It is assumed that the arm stops immediately. await my_arm.stop() For more information, see `Arm component <https://docs.viam.com/components/arm/>`_. """ ...
[docs] @abc.abstractmethod async def is_moving(self) -> bool: """ Get if the arm is currently moving. :: my_arm = Arm.from_robot(robot=robot, name="my_arm") # Stop all motion of the arm. It is assumed that the arm stops immediately. await my_arm.stop() # Print if the arm is currently moving. print(my_arm.is_moving()) Returns: bool: Whether the arm is moving. For more information, see `Arm component <https://docs.viam.com/components/arm/>`_. """ ...
[docs] @abc.abstractmethod async def get_kinematics( self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None ) -> Tuple[KinematicsFileFormat.ValueType, bytes]: """ Get the kinematics information associated with the arm. :: my_arm = Arm.from_robot(robot=robot, name="my_arm") # Get the kinematics information associated with the arm. kinematics = await my_arm.get_kinematics() # Get the format of the kinematics file. k_file = kinematics[0] # Get the byte contents of the file. k_bytes = kinematics[1] Returns: Tuple[KinematicsFileFormat.ValueType, bytes]: A tuple containing two values; the first [0] value represents the format of the file, either in URDF format (``KinematicsFileFormat.KINEMATICS_FILE_FORMAT_URDF``) or Viam's kinematic parameter format (spatial vector algebra) (``KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA``), and the second [1] value represents the byte contents of the file. For more information, see `Arm component <https://docs.viam.com/components/arm/>`_. """ ...