RSDK-10574 #4964
RSDK-10574 #4964
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viambot
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safe to test
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Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!
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| @@ -13,6 +13,7 @@ import ( | |||
| rprotoutils "go.viam.com/rdk/protoutils" | |||
| "go.viam.com/rdk/referenceframe" | |||
| "go.viam.com/rdk/resource" | |||
| "go.viam.com/rdk/robot/framesystem" | |||
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I don't like the addition of a dependency on the framesystem. Lets move the ParseKinematicsResponse to the referenceframe package and rename to something like KinematicModelFromProtobuf or NewModelFromProtobuf
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the urdf model depends on referenceframe.
I can't move KinematicModelFromProtobuf into referenceframe without causing a cycle.
components/arm/fake/fake.go
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| @@ -218,6 +218,10 @@ func (a *Arm) IsMoving(ctx context.Context) (bool, error) { | |||
| return false, nil | |||
| } | |||
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| func (a *Arm) Kinematics(ctx context.Context) (referenceframe.Frame, error) { | |||
| return nil, errors.New("fake arm.Kinematics is unimplemented") | |||
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Not sure if you are leaving unimplemented because you don't want to do this in this PR but in this case its super easy we just need to return a.model, utiizing the mutext appropriately of course
components/arm/universalrobots/ur.go
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| @@ -509,6 +510,10 @@ func (ua *urArm) moveToJointPositionRadians(ctx context.Context, radians []float | |||
| } | |||
| } | |||
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| func (ua *urArm) Kinematics(ctx context.Context) (referenceframe.Frame, error) { | |||
| return nil, errors.New("urArm arm.Kinematics is unimplemented") | |||
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Same thing here, the implementation is super simple, just the same thing we are doing in the ModelFrame function
| @@ -132,14 +131,6 @@ func TestClient(t *testing.T) { | |||
| test.That(t, spatialmath.GeometriesAlmostEqual(expectedGeometries[i], geometry), test.ShouldBeTrue) | |||
| } | |||
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| m := gripper1Client.ModelFrame() | |||
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Unless theres a reason to remove this lets keep it. We can swap the call to ModelFrame to a call to Kinematics
| } | ||
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| func (c *client) CurrentInputs(ctx context.Context) ([]referenceframe.Input, error) { | ||
| c.logger.Warn("gripper.CurrentInputs is unimplemented!") |
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Reminder to self to think about this more.
viambot
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viambot
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viambot
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