ReadonlynameThe name of the resource.
By default: returns the plan history of the most recent moveOnGlobe() or
moveOnMap() call to move a component. The plan history for executions
before the most recent can be requested by providing an ExecutionID in the
request. Returns a result if both of the following conditions are met:
moveOnGlobe() or moveOnMap()) is still executing
or changed state within the last 24 hoursPlans never change. Replans always create new plans. Replans share the ExecutionID of the previously executing plan. All repeated fields are in chronological order.
The component to query
OptionallastPlanOnly: booleanOptionalexecutionId: stringGet the current location and orientation of a component.
The component whose Pose is being requested.
The reference frame in which the component's
Pose should be provided, if unset this defaults to the "world"
reference frame.
Pose information on any additional
reference frames that are needed to compute the component's Pose.
const motion = new VIAM.MotionClient(machine, 'builtin');
const gripperName = new VIAM.ResourceName({
name: 'my_gripper',
namespace: 'rdk',
type: 'component',
subtype: 'gripper',
});
// Get the gripper's pose in world coordinates
const gripperPoseInWorld = await motion.getPose(
gripperName,
'world',
[]
);
Returns the statuses of plans created by MoveOnGlobe calls that meet at least one of the following conditions since the motion service initialized:
All repeated fields are in chronological order.
OptionalonlyActivePlans: booleanIf true, the response will only return plans which are executing.
Move any component on the robot to a specified destination which can be from the reference frame of any other component on the robot.
Destination to move to, which can a pose in the reference frame of any frame in the robot's frame system.
Component on the robot to move to the specified destination.
OptionalworldState: PlainMessage<commonApi.WorldState>Avoid obstacles by specifying their geometries in the world state. Augment the frame system of the robot by specifying additional transforms to add to it for the duration of the Move.
Optionalconstraints: PlainMessage<motionApi.Constraints>Constrain the way the robot will move.
const motion = new VIAM.MotionClient(machine, 'builtin');
// Assumes a gripper configured with name "my_gripper"
const gripperName = new VIAM.ResourceName({
name: 'my_gripper',
namespace: 'rdk',
type: 'component',
subtype: 'gripper',
});
const goalPose: VIAM.Pose = {
x: -817,
y: -230,
z: 62,
oX: -1,
oY: 0,
oZ: 0,
theta: 90,
};
const goalPoseInFrame = new VIAM.PoseInFrame({
referenceFrame: 'world',
pose: goalPose,
});
// Move the gripper
const moved = await motion.move(goalPoseInFrame, gripperName);
Move a component to a specific latitude and longitude, using a
MovementSensor to check the location. moveOnGlobe() is non blocking,
meaning the motion service will move the component to the destination GPS
point after moveOnGlobe() returns. Each successful moveOnGlobe() call
retuns a unique ExectionID which you can use to identify all plans
generated durring the moveOnGlobe() call. You can monitor the progress of
the moveOnGlobe() call by querying getPlan() and listPlanStatuses().
Destination for the component to move to, represented
as a GeoPoint.
The name of the component to move.
The name of the Movement Sensor used to check
the robot's location.
Optionalheading: numberCompass heading, in degrees, to achieve at destination.
OptionalobstaclesList: PlainMessage<commonApi.GeoGeometry>[]Obstacles to consider when planning the motion of the component.
OptionalmotionConfig: PlainMessage<motionApi.MotionConfiguration>OptionalboundingRegionsList: PlainMessage<commonApi.GeoGeometry>[]const motion = new VIAM.MotionClient(machine, 'builtin');
// Define destination at GPS coordinates [0,0]
const destination: VIAM.GeoPoint = {
latitude: 40.7,
longitude: -73.98,
};
const baseName = new VIAM.ResourceName({
name: 'my_base',
namespace: 'rdk',
type: 'component',
subtype: 'base',
});
const movementSensorName = new VIAM.ResourceName({
name: 'my_movement_sensor',
namespace: 'rdk',
type: 'component',
subtype: 'movement_sensor',
});
// Move the base to the geographic location
const globeExecutionId = await motion.moveOnGlobe(
destination,
baseName,
movementSensorName
);
Move a component to a Pose in respect to the origin of the SLAM map,
using a SLAM service to check the location. moveOnMap()is non blocking, meaning the motion service will move the component to the destination Pose aftermoveOnMap()returns. Each successfulmoveOnMap()call retuns a unique ExectionID which you can use to identify all plans generated durring themoveOnMap()call. You can monitor the progress of themoveOnMap()call by queryinggetPlan()andlistPlanStatuses()`.
Specify a destination to, which can be any Pose with
respect to the SLAM map's origin.
Component on the robot to move to the specified destination.
Name of the SLAM service from which the SLAM map
is requested
OptionalmotionConfig: PlainMessage<motionApi.MotionConfiguration>Optionalobstacles: PlainMessage<commonApi.Geometry>[]Optional obstacles to be considered for motion planning.
const motion = new VIAM.MotionClient(machine, 'builtin');
// Define destination pose with respect to map origin
const myPose: VIAM.Pose = {
x: 0,
y: 10,
z: 0,
oX: 0,
oY: 0,
oZ: 0,
theta: 0,
};
const baseName = new VIAM.ResourceName({
name: 'my_base',
namespace: 'rdk',
type: 'component',
subtype: 'base',
});
const slamServiceName = new VIAM.ResourceName({
name: 'my_slam_service',
namespace: 'rdk',
type: 'service',
subtype: 'slam',
});
// Move the base to Y=10 (location of 0,10,0) relative to map origin
const executionId = await motion.moveOnMap(
myPose,
baseName,
slamServiceName
);
Stop a component being moved by an in progress moveOnGlobe() or
moveOnMap() call.
The component to stop
A gRPC-web client for a Motion service.