fake

package

v0.68.0-rc0 Latest Latest Go to latest Published: Mar 24, 2025 License: AGPL-3.0 Imports: 7 Imported by: 0

Details

Package fake implements a fake gripper.

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func NewGripper(
	ctx context.Context, deps resource.Dependencies, conf resource.Config, logger logging.Logger,
) (gripper.Gripper, error)

NewGripper instantiates a new gripper of the fake model type.

type Config struct {
	resource.TriviallyValidateConfig
}

Config is the config for a trossen gripper.

type Gripper struct {
	resource.Named
	resource.TriviallyCloseable
	// contains filtered or unexported fields
}

Gripper is a fake gripper that can simply read and set properties.

func (g *Gripper) Geometries(ctx context.Context, extra map[string]interface{}) ([]spatialmath.Geometry, error)

Geometries returns the geometries associated with the fake base.

func (g *Gripper) Grab(ctx context.Context, extra map[string]interface{}) (bool, error)

Grab does nothing.

func (g *Gripper) IsMoving(ctx context.Context) (bool, error)

IsMoving is always false for a fake gripper.

func (g *Gripper) ModelFrame() referenceframe.Model

ModelFrame returns the dynamic frame of the model.

func (g *Gripper) Open(ctx context.Context, extra map[string]interface{}) error

Open does nothing.

func (g *Gripper) Reconfigure(_ context.Context, _ resource.Dependencies, conf resource.Config) error

Reconfigure reconfigures the gripper atomically and in place.

func (g *Gripper) Stop(ctx context.Context, extra map[string]interface{}) error

Stop doesn't do anything for a fake gripper.