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erherh
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upgrade viam
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+24
-20
lines changed

5 files changed

+24
-20
lines changed

‎go.mod‎

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1,14 +1,12 @@
11
module github.com/viam-modules/viam-pouring-demo
22

3-
go 1.23.8
4-
5-
toolchain go1.23.9
3+
go 1.25.1
64

75
require (
8-
github.com/erh/vmodutils v0.3.0-rc0
6+
github.com/erh/vmodutils v0.3.0-rc2
97
github.com/golang/geo v0.0.0-20230421003525-6adc56603217
108
go.uber.org/multierr v1.11.0
11-
go.viam.com/rdk v0.93.1-0.20250917090714-404ea44c0192
9+
go.viam.com/rdk v0.94.0-rc0.0.20250922203924-664c5044b6b0
1210
go.viam.com/test v1.2.4
1311
golang.org/x/sync v0.16.0
1412
gonum.org/v1/gonum v0.16.0
@@ -190,7 +188,7 @@ require (
190188
go.opentelemetry.io/otel/trace v1.37.0 // indirect
191189
go.uber.org/goleak v1.3.0 // indirect
192190
go.uber.org/zap v1.27.0 // indirect
193-
go.viam.com/api v0.1.475 // indirect
191+
go.viam.com/api v0.1.477 // indirect
194192
go.viam.com/utils v0.1.167 // indirect
195193
go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 // indirect
196194
golang.org/x/arch v0.0.0-20210923205945-b76863e36670 // indirect

‎go.sum‎

Lines changed: 6 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -244,10 +244,8 @@ github.com/envoyproxy/go-control-plane v0.9.4/go.mod h1:6rpuAdCZL397s3pYoYcLgu1m
244244
github.com/envoyproxy/go-control-plane v0.9.9-0.20201210154907-fd9021fe5dad/go.mod h1:cXg6YxExXjJnVBQHBLXeUAgxn2UodCpnH306RInaBQk=
245245
github.com/envoyproxy/go-control-plane v0.9.10-0.20210907150352-cf90f659a021/go.mod h1:AFq3mo9L8Lqqiid3OhADV3RfLJnjiw63cSpi+fDTRC0=
246246
github.com/envoyproxy/protoc-gen-validate v0.1.0/go.mod h1:iSmxcyjqTsJpI2R4NaDN7+kN2VEUnK/pcBlmesArF7c=
247-
github.com/erh/vmodutils v0.2.11 h1:CqtNOL1/kI13dRWr94OCOTPUtmvDmQsXms8tnCa4+WE=
248-
github.com/erh/vmodutils v0.2.11/go.mod h1:PTenGUGOgW28oB7dIcVAAtjkdMPV1cR1iEujs8Yl2lQ=
249-
github.com/erh/vmodutils v0.3.0-rc0 h1:xGpuFjF76H6BeDU+IwFtSzbjZ9y8mPXzFMi8MeKZ+hk=
250-
github.com/erh/vmodutils v0.3.0-rc0/go.mod h1:KCxXkN1kpKeTMtJNOnxYFjPZlf+EsocWc8ggX/XXdxE=
247+
github.com/erh/vmodutils v0.3.0-rc2 h1:z2hMJRdhvgXhH+mNcJLYa+Kmxm97AY7W7qLGyMyoMxA=
248+
github.com/erh/vmodutils v0.3.0-rc2/go.mod h1:9cznh38rhKdZT0M141QliKSDrq+rtXGkShSLdpVaH20=
251249
github.com/erikgeiser/coninput v0.0.0-20211004153227-1c3628e74d0f h1:Y/CXytFA4m6baUTXGLOoWe4PQhGxaX0KpnayAqC48p4=
252250
github.com/erikgeiser/coninput v0.0.0-20211004153227-1c3628e74d0f/go.mod h1:vw97MGsxSvLiUE2X8qFplwetxpGLQrlU1Q9AUEIzCaM=
253251
github.com/erikstmartin/go-testdb v0.0.0-20160219214506-8d10e4a1bae5 h1:Yzb9+7DPaBjB8zlTR87/ElzFsnQfuHnVUVqpZZIcV5Y=
@@ -1059,10 +1057,10 @@ go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI=
10591057
go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY=
10601058
go.uber.org/zap v1.27.0 h1:aJMhYGrd5QSmlpLMr2MftRKl7t8J8PTZPA732ud/XR8=
10611059
go.uber.org/zap v1.27.0/go.mod h1:GB2qFLM7cTU87MWRP2mPIjqfIDnGu+VIO4V/SdhGo2E=
1062-
go.viam.com/api v0.1.475 h1:d0lpY/Ibgbv7CzSsET+ujSDRbq1K+xXeV76XXHGcy3s=
1063-
go.viam.com/api v0.1.475/go.mod h1:p/am76zx8SZ74V/F4rEAYQIpHaaLUwJgY2q3Uw3FIWk=
1064-
go.viam.com/rdk v0.93.1-0.20250917090714-404ea44c0192 h1:v3GBkx8bTSM9vQGM24a48fYNGjLXeXAubEp4lRA04TM=
1065-
go.viam.com/rdk v0.93.1-0.20250917090714-404ea44c0192/go.mod h1:ACSscn6FJrX6lzIzbga/PWOK2DEnHeuWWvjs6USVyAc=
1060+
go.viam.com/api v0.1.477 h1:huAOmn3iejrRapzlYSyB3R0S47itXTUkQ3+kt0Yx02I=
1061+
go.viam.com/api v0.1.477/go.mod h1:p/am76zx8SZ74V/F4rEAYQIpHaaLUwJgY2q3Uw3FIWk=
1062+
go.viam.com/rdk v0.94.0-rc0.0.20250922203924-664c5044b6b0 h1:0X7vQVHrOLjL7ft38dfktJLMExKzkeekIW5Qe/er1MA=
1063+
go.viam.com/rdk v0.94.0-rc0.0.20250922203924-664c5044b6b0/go.mod h1:UIlRyjC5jAiI6dLAYhy6gAoowkacKWYxPQ4/ephpL2g=
10661064
go.viam.com/test v1.2.4 h1:JYgZhsuGAQ8sL9jWkziAXN9VJJiKbjoi9BsO33TW3ug=
10671065
go.viam.com/test v1.2.4/go.mod h1:zI2xzosHdqXAJ/kFqcN+OIF78kQuTV2nIhGZ8EzvaJI=
10681066
go.viam.com/utils v0.1.167 h1:OnuC5u2YcLTMuwbvyky5yjNDEbQjf0kpoUHoLXhJWz8=

‎pour/config.go‎

Lines changed: 8 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -65,6 +65,7 @@ type Config struct {
6565
// cup and bottle params, required
6666
BottleHeight float64 `json:"bottle_height"`
6767
CupHeight float64 `json:"cup_height"`
68+
CupWidth float64 `json:"cup_width"`
6869

6970
PickQualityService string `json:"pick_quality_service"`
7071
PourGlassFindService string `json:"pour_glass_find_service"`
@@ -129,6 +130,13 @@ func (cfg *Config) Validate(path string) ([]string, []string, error) {
129130
return deps, optionals, nil
130131
}
131132

133+
func (c *Config) cupWidth() float64 {
134+
if c.CupWidth > 0 {
135+
return c.CupWidth
136+
}
137+
return c.CupHeight * .6
138+
}
139+
132140
func (c *Config) glassPourMotionThreshold() float64 {
133141
if c.GlassPourMotionThreshold > 0 {
134142
return c.GlassPourMotionThreshold

‎pour/motion.go‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -82,7 +82,7 @@ func SetXarmSpeedLog(ctx context.Context, a arm.Arm, speed, accel float64, logge
8282
}
8383

8484
func Jog(ctx context.Context, m motion.Service, n resource.Name, j r3.Vector) error {
85-
pif, err := m.GetPose(ctx, n, "world", nil, nil)
85+
pif, err := m.GetPose(ctx, n.ShortName(), "world", nil, nil)
8686
if err != nil {
8787
return err
8888
}

‎pour/vinocart.go‎

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -491,7 +491,7 @@ func (vc *VinoCart) Touch(ctx context.Context) error {
491491
_, err2 := vc.c.Motion.Move(
492492
ctx,
493493
motion.MoveReq{
494-
ComponentName: resource.Name{Name: vc.c.Gripper.Name().ShortName()},
494+
ComponentName: vc.c.Gripper.Name().ShortName(),
495495
Destination: goToPose,
496496
WorldState: worldState,
497497
},
@@ -549,7 +549,7 @@ func (vc *VinoCart) handoffCupBottleToCupArm(ctx context.Context, worldState *re
549549
_, err := vc.c.Motion.Move(
550550
ctx,
551551
motion.MoveReq{
552-
ComponentName: resource.Name{Name: vc.c.BottleGripper.Name().ShortName()},
552+
ComponentName: vc.c.BottleGripper.Name().ShortName(),
553553
Destination: goToPose,
554554
WorldState: worldState,
555555
},
@@ -1000,7 +1000,7 @@ func (vc *VinoCart) doPourMotion(ctx, pourContext context.Context) error {
10001000

10011001
vc.logger.Infof("going back down")
10021002

1003-
cur, err := vc.c.Motion.GetPose(ctx, resource.Name{Name: bottleName}, "world", vc.pourExtraFrames, nil)
1003+
cur, err := vc.c.Motion.GetPose(ctx, bottleName, "world", vc.pourExtraFrames, nil)
10041004
if err != nil {
10051005
return err
10061006
}
@@ -1179,7 +1179,7 @@ func moveWithLinearConstraint(ctx context.Context, m motion.Service, n resource.
11791179
_, err := m.Move(
11801180
ctx,
11811181
motion.MoveReq{
1182-
ComponentName: resource.Name{Name: n.ShortName()},
1182+
ComponentName: n.ShortName(),
11831183
Destination: p,
11841184
Constraints: &LinearConstraint,
11851185
},
@@ -1193,5 +1193,5 @@ func (vc *VinoCart) FindCups(ctx context.Context) ([]*viz.Object, error) {
11931193
return nil, err
11941194
}
11951195

1196-
return FilterObjects(objects, vc.conf.CupHeight, vc.conf.CupHeight*.6, 25, vc.logger), nil
1196+
return FilterObjects(objects, vc.conf.CupHeight, vc.conf.cupWidth(), 25, vc.logger), nil
11971197
}

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