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[RSDK-12679] Implement GetKinematics and GetGeometries for Gantry in Go SDK #5490

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[RSDK-12679] Implement GetKinematics and GetGeometries for Gantry in Go SDK #5490

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@jgeaso1266 jgeaso1266 commented Nov 17, 2025 •
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Notes

  • multiaxis doesn't seem to work well with frames/Viz tab, which is ok because it's basically a controller for other gantries. Shouldn't be a problem but might want to consider something in the UI to keep people from adding it to the frame system.

Testing

  • server and client unit tests
  • awaiting manual testing in app after Netcode fixes a bug with using local rdk versions

@jgeaso1266 jgeaso1266 requested a review from njooma November 17, 2025 20:28
@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Nov 17, 2025
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github-actions bot commented Nov 17, 2025

Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!

component function
base IsMoving
button Push
genericcomponent DoCommand
board GPIOPinByName
camera Properties
encoder Properties
motor IsMoving
sensor Readings
servo Position
arm EndPosition
audio MediaProperties
gantry Lengths
gripper IsMoving
input_controller Controls
movement_sensor LinearAcceleration
power_sensor Power
pose_tracker Poses
genericservice DoCommand
motion GetPose
vision GetProperties

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 18, 2025
@10zingpd 10zingpd changed the title Implement GetKinematics and GetGeometries for Gantry in Go SDK RSDK-12679 Implement GetKinematics and GetGeometries for Gantry in Go SDK Nov 18, 2025
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 19, 2025
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 20, 2025
@jgeaso1266 jgeaso1266 marked this pull request as ready for review November 21, 2025 13:17
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 21, 2025
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 23, 2025
@jgeaso1266 jgeaso1266 changed the title RSDK-12679 Implement GetKinematics and GetGeometries for Gantry in Go SDK [RSDK-12679] Implement GetKinematics and GetGeometries for Gantry in Go SDK Nov 23, 2025
@viambot viambot removed the safe to test This pull request is marked safe to test from a trusted zone label Nov 25, 2025
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Nov 25, 2025
@dgottlieb dgottlieb added the static-ignore-tests Build static binaries from PR and ignore tests label Dec 1, 2025
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Dec 2, 2025
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Dec 3, 2025
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github-actions bot commented Dec 3, 2025

Availability

Scene # viamrobotics:main viamrobotics:jgeaso1266/develop Percent Improvement Health
1 100% 100% 0% ➖
2 100% 100% 0% ➖
3 100% 100% 0% ➖
4 100% 100% 0% ➖
5 100% 100% 0% ➖
6 100% 100% 0% ➖
7 100% 100% 0% ➖
8 100% 100% 0% ➖
9 100% 100% 0% ➖
10 100% 100% 0% ➖
11 100% 100% 0% ➖

Quality

Scene # viamrobotics:main viamrobotics:jgeaso1266/develop Percent Improvement Probability of Improvement Health
1 1.31±0.00 1.31±0.00 -0% 38% ➖
2 0.90±0.00 0.90±0.00 -0% 50% ➖
3 5.99±0.15 5.99±0.15 -0% 50% ➖
4 3.28±0.35 3.20±0.44 2% 56% ➖
5 9.75±3.17 9.68±2.75 1% 51% ➖
6 10.56±2.35 11.70±3.39 -11% 39% ➖
7 5.77±2.51 5.35±2.61 7% 55% ➖
8 0.90±0.00 0.90±0.00 -0% 50% ➖
9 4.25±0.17 4.21±0.13 1% 57% ➖
10 12.77±0.44 12.77±0.44 -0% 50% ➖
11 0.62±0.00 0.62±0.00 -0% 37% ➖

Performance

Scene # viamrobotics:main viamrobotics:jgeaso1266/develop Percent Improvement Probability of Improvement Health
1 0.02±0.01 0.02±0.00 4% 56% ➖
2 0.03±0.00 0.04±0.00 -19% 7% ❌
3 0.02±0.00 0.02±0.00 2% 61% ➖
4 0.17±0.04 0.14±0.03 14% 70% ➖
5 1.46±0.15 1.44±0.12 1% 54% ➖
6 1.89±0.53 1.99±0.74 -5% 46% ➖
7 2.14±1.42 2.42±1.60 -13% 45% ➖
8 0.03±0.00 0.03±0.00 -8% 31% ➖
9 1.48±0.11 1.46±0.09 1% 56% ➖
10 2.84±0.43 2.85±0.42 -0% 49% ➖
11 0.62±0.02 0.64±0.05 -3% 36% ➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 0e931489d131bab9318e21e661bd8bd8d4c13ade
The SHA1 for viamrobotics:jgeaso1266/develop is: 0e931489d131bab9318e21e661bd8bd8d4c13ade

  • 11 samples were taken for each scene

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@njooma njooma Awaiting requested review from njooma

@petrnovikov petrnovikov Awaiting requested review from petrnovikov

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@jgeaso1266 @dgottlieb @viambot