Interface Motion

A service that coordinates motion planning across all of the components in a given robot.

interface Motion {
    getPlan: (
        componentName: PlainMessage,
        lastPlanOnly?: boolean,
        executionId?: string,
        extra?: Struct,
    ) => Promise<motionApi.GetPlanResponse>;
    getPose: (
        componentName: PlainMessage,
        destinationFrame: string,
        supplementalTransforms: PlainMessage<commonApi.Transform>[],
        extra?: Struct,
    ) => Promise<PlainMessage<commonApi.PoseInFrame>>;
    listPlanStatuses: (
        onlyActivePlans?: boolean,
        extra?: Struct,
    ) => Promise<motionApi.ListPlanStatusesResponse>;
    move: (
        destination: PlainMessage,
        componentName: PlainMessage,
        worldState?: PlainMessage<commonApi.WorldState>,
        constraints?: PlainMessage<motionApi.Constraints>,
        extra?: Struct,
    ) => Promise<boolean>;
    moveOnGlobe: (
        destination: PlainMessage,
        componentName: PlainMessage,
        movementSensorName: PlainMessage,
        heading?: number,
        obstaclesList?: PlainMessage<commonApi.GeoGeometry>[],
        motionConfiguration?: PlainMessage<motionApi.MotionConfiguration>,
        boundingRegion?: PlainMessage<commonApi.GeoGeometry>[],
        extra?: Struct,
    ) => Promise<string>;
    moveOnMap: (
        destination: PlainMessage,
        componentName: PlainMessage,
        slamServiceName: PlainMessage,
        motionConfiguration?: PlainMessage<motionApi.MotionConfiguration>,
        obstacles?: PlainMessage<commonApi.Geometry>[],
        extra?: Struct,
    ) => Promise<string>;
    name: string;
    stopPlan: (componentName: PlainMessage, extra?: Struct) => Promise<null>;
    doCommand(command: Struct): Promise<JsonValue>;
}

Hierarchy (View Summary)

Implemented by

Properties

getPlan getPose listPlanStatuses move moveOnGlobe moveOnMap name stopPlan

Methods

doCommand

Properties

getPlan

getPlan: (
    componentName: PlainMessage,
    lastPlanOnly?: boolean,
    executionId?: string,
    extra?: Struct,
) => Promise<motionApi.GetPlanResponse>

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:

  • The execution (call to moveOnGlobe() or moveOnMap()) is still executing or changed state within the last 24 hours
  • The robot has not reinitialized

Plans never change. Replans always create new plans. Replans share the ExecutionID of the previously executing plan. All repeated fields are in chronological order.

Type declaration

Example

const motion = new VIAM.MotionClient(machine, 'builtin');
const baseName = new VIAM.ResourceName({
  name: 'my_base',
  namespace: 'rdk',
  type: 'component',
  subtype: 'base',
});

// Get the plan(s) of the base component
const response = await motion.getPlan(baseName);

For more information, see Motion API.

getPose

getPose: (
    componentName: PlainMessage,
    destinationFrame: string,
    supplementalTransforms: PlainMessage<commonApi.Transform>[],
    extra?: Struct,
) => Promise<PlainMessage<commonApi.PoseInFrame>>

Get the current location and orientation of a component.

Type declaration

Example

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',
  []
);

For more information, see Motion API.

listPlanStatuses

listPlanStatuses: (
    onlyActivePlans?: boolean,
    extra?: Struct,
) => Promise<motionApi.ListPlanStatusesResponse>

Returns the statuses of plans created by MoveOnGlobe calls that meet at least one of the following conditions since the motion service initialized:

  • The plan's status is in progress
  • The plan's status changed state within the last 24 hours

All repeated fields are in chronological order.

Type declaration

Example

const motion = new VIAM.MotionClient(machine, 'builtin');

// List plan statuses within the TTL
const response = await motion.listPlanStatuses();

For more information, see Motion API.

move

move: (
    destination: PlainMessage,
    componentName: PlainMessage,
    worldState?: PlainMessage<commonApi.WorldState>,
    constraints?: PlainMessage<motionApi.Constraints>,
    extra?: Struct,
) => Promise<boolean>

Move any component on the robot to a specified destination which can be from the reference frame of any other component on the robot.

Type declaration

Example

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);

For more information, see Motion API.

moveOnGlobe

moveOnGlobe: (
    destination: PlainMessage,
    componentName: PlainMessage,
    movementSensorName: PlainMessage,
    heading?: number,
    obstaclesList?: PlainMessage<commonApi.GeoGeometry>[],
    motionConfiguration?: PlainMessage<motionApi.MotionConfiguration>,
    boundingRegion?: PlainMessage<commonApi.GeoGeometry>[],
    extra?: Struct,
) => Promise<string>

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().

Type declaration

Example

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
);

For more information, see Motion API.

moveOnMap

moveOnMap: (
    destination: PlainMessage,
    componentName: PlainMessage,
    slamServiceName: PlainMessage,
    motionConfiguration?: PlainMessage<motionApi.MotionConfiguration>,
    obstacles?: PlainMessage<commonApi.Geometry>[],
    extra?: Struct,
) => Promise<string>

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()`.

Type declaration

Example

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
);

For more information, see Motion API.

Readonlyname

name: string

The name of the resource.

stopPlan

stopPlan: (componentName: PlainMessage, extra?: Struct) => Promise<null>

Stop a component being moved by an in progress moveOnGlobe() or moveOnMap() call.

Type declaration

Example

const motion = new VIAM.MotionClient(machine, 'builtin');
const baseName = new VIAM.ResourceName({
  name: 'my_base',
  namespace: 'rdk',
  type: 'component',
  subtype: 'base',
});

// Stop the base component which was instructed to move
await motion.stopPlan(baseName);

For more information, see Motion API.

Methods

doCommand

  • doCommand(command: Struct): Promise<JsonValue>

    Send/Receive arbitrary commands to the resource.

    Parameters

    • command: Struct

      The command to execute.

    Returns Promise<JsonValue>

    Example

    import { Struct } from '@viamrobotics/sdk';

    const result = await resource.doCommand(
      Struct.fromJson({
        myCommand: { key: 'value' },
      })
    );

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