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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| import asyncio | ||
| from viam.rpc.server import Server | ||
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| from module_arm import ModuleArm | ||
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| async def main(): | ||
| srv = Server([ModuleArm("moduleArm")]) | ||
| await srv.serve() | ||
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| if __name__ == "__main__": | ||
| try: | ||
| asyncio.run(main()) | ||
| except: | ||
| pass |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| import asyncio | ||
| from typing import Any, Dict, Optional, Tuple | ||
| from viam.components.arm import Arm, JointPositions, KinematicsFileFormat, Pose | ||
| from viam.operations import run_with_operation | ||
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| class ModuleArm(Arm): | ||
| # Subclass the Viam Arm component and implement the required functions | ||
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| def __init__(self, name: str): | ||
| # Starting position | ||
| self.position = Pose( | ||
| x=0, | ||
| y=0, | ||
| z=0, | ||
| o_x=0, | ||
| o_y=0, | ||
| o_z=1, | ||
| theta=0, | ||
| ) | ||
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| # Starting joint positions | ||
| self.joint_positions = JointPositions(values=[0, 0, 0, 0, 0, 0]) | ||
| self.is_stopped = True | ||
| super().__init__(name) | ||
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| async def get_end_position(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Pose: | ||
| return self.position | ||
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| @run_with_operation | ||
| async def move_to_position( | ||
| self, | ||
| pose: Pose, | ||
| extra: Optional[Dict[str, Any]] = None, | ||
| **kwargs, | ||
| ): | ||
| operation = self.get_operation(kwargs) | ||
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| self.is_stopped = False | ||
| self.position = pose | ||
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| # Simulate the length of time it takes for the arm to move to its new position | ||
| for x in range(10): | ||
| await asyncio.sleep(1) | ||
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| # Check if the operation is cancelled and, if it is, stop the arm's motion | ||
| if await operation.is_cancelled(): | ||
| await self.stop() | ||
| break | ||
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| self.is_stopped = True | ||
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| async def get_joint_positions(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> JointPositions: | ||
| return self.joint_positions | ||
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| @run_with_operation | ||
| async def move_to_joint_positions(self, positions: JointPositions, extra: Optional[Dict[str, Any]] = None, **kwargs): | ||
| operation = self.get_operation(kwargs) | ||
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| self.is_stopped = False | ||
| self.joint_positions = positions | ||
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| # Simulate the length of time it takes for the arm to move to its new joint position | ||
| for x in range(10): | ||
| await asyncio.sleep(1) | ||
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| # Check if the operation is cancelled and, if it is, stop the arm's motion | ||
| if await operation.is_cancelled(): | ||
| await self.stop() | ||
| break | ||
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| self.is_stopped = True | ||
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| async def stop(self, extra: Optional[Dict[str, Any]] = None, **kwargs): | ||
| self.is_stopped = True | ||
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| async def is_moving(self) -> bool: | ||
| return not self.is_stopped | ||
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| def get_kinematics(self) -> Tuple[KinematicsFileFormat.ValueType, bytes]: | ||
| with open("./xarm6_kinematics.json", mode="rb") as f: | ||
| file_data = f.read() | ||
| return (KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA, file_data) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,217 @@ | ||
| { | ||
| "name": "xArm6", | ||
| "links": [ | ||
| { | ||
| "id": "base", | ||
| "parent": "world", | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 0 | ||
| } | ||
| }, | ||
| { | ||
| "id": "base_top", | ||
| "parent": "waist", | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 267 | ||
| }, | ||
| "geometry": { | ||
| "r": 50, | ||
| "l": 320, | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 160 | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "upper_arm", | ||
| "parent": "shoulder", | ||
| "translation": { | ||
| "x": 53.5, | ||
| "y": 0, | ||
| "z": 284.5 | ||
| }, | ||
| "geometry": { | ||
| "x": 110, | ||
| "y": 190, | ||
| "z": 370, | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 135 | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "upper_forearm", | ||
| "parent": "elbow", | ||
| "translation": { | ||
| "x": 77.5, | ||
| "y": 0, | ||
| "z": -172.5 | ||
| }, | ||
| "geometry": { | ||
| "x": 100, | ||
| "y": 190, | ||
| "z": 250, | ||
| "translation": { | ||
| "x": 49.49, | ||
| "y": 0, | ||
| "z": -49.49 | ||
| }, | ||
| "orientation": { | ||
| "type": "ov_degrees", | ||
| "value": { | ||
| "x": 0.707106, | ||
| "y": 0, | ||
| "z": -0.707106, | ||
| "th": 0 | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "lower_forearm", | ||
| "parent": "forearm_rot", | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": -170 | ||
| }, | ||
| "geometry": { | ||
| "r": 45, | ||
| "l": 285, | ||
| "translation": { | ||
| "x": 0, | ||
| "y": -27.5, | ||
| "z": -104.8 | ||
| }, | ||
| "orientation": { | ||
| "type": "ov_degrees", | ||
| "value": { | ||
| "th": -90, | ||
| "x": 0, | ||
| "y": 0.2537568, | ||
| "z": 0.9672615 | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "wrist_link", | ||
| "parent": "wrist", | ||
| "translation": { | ||
| "x": 76, | ||
| "y": 0, | ||
| "z": -97 | ||
| }, | ||
| "geometry": { | ||
| "x": 150, | ||
| "y": 100, | ||
| "z": 135, | ||
| "translation": { | ||
| "x": 75, | ||
| "y": 10, | ||
| "z": -67.5 | ||
| } | ||
| } | ||
| }, | ||
| { | ||
| "id": "gripper_mount", | ||
| "parent": "gripper_rot", | ||
| "translation": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 0 | ||
| }, | ||
| "orientation": { | ||
| "type": "ov_degrees", | ||
| "value": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": -1, | ||
| "th": 0 | ||
| } | ||
| } | ||
| } | ||
| ], | ||
| "joints": [ | ||
| { | ||
| "id": "waist", | ||
| "type": "revolute", | ||
| "parent": "base", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": 1 | ||
| }, | ||
| "max": 359, | ||
| "min": -359 | ||
| }, | ||
| { | ||
| "id": "shoulder", | ||
| "type": "revolute", | ||
| "parent": "base_top", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": 1, | ||
| "z": 0 | ||
| }, | ||
| "max": 120, | ||
| "min": -118 | ||
| }, | ||
| { | ||
| "id": "elbow", | ||
| "type": "revolute", | ||
| "parent": "upper_arm", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": 1, | ||
| "z": 0 | ||
| }, | ||
| "max": 10, | ||
| "min": -225 | ||
| }, | ||
| { | ||
| "id": "forearm_rot", | ||
| "type": "revolute", | ||
| "parent": "upper_forearm", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": -1 | ||
| }, | ||
| "max": 359, | ||
| "min": -359 | ||
| }, | ||
| { | ||
| "id": "wrist", | ||
| "type": "revolute", | ||
| "parent": "lower_forearm", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": 1, | ||
| "z": 0 | ||
| }, | ||
| "max": 179, | ||
| "min": -97 | ||
| }, | ||
| { | ||
| "id": "gripper_rot", | ||
| "type": "revolute", | ||
| "parent": "wrist_link", | ||
| "axis": { | ||
| "x": 0, | ||
| "y": 0, | ||
| "z": -1 | ||
| }, | ||
| "max": 359, | ||
| "min": -359 | ||
| } | ||
| ] | ||
| } |