touch/multi_arm_position_switch.go#L146—maps.fsSvc, err = framesystem.FromDependencies(deps)#L151—fs, err := framesystem.NewFromService(ctx, maps.fsSvc, nil)
Esha Maharishi EshaMaharishi
EshaMaharishi
/ goutils_bug.md
Created
September 11, 2026 20:20
EshaMaharishi
/ xarm_exposing_goutils_bug.md
Last active
September 11, 2026 19:12
Any resource that depends on the frame system service (e.g. multi-arm-position-switch) fails to construct with:
rpc error: code = Unknown desc = unable to construct structpb.Struct from map ...: proto: invalid type: *float64
EshaMaharishi
/ gist:903d8f575228723781efb422e3e11db0
Created
September 11, 2026 19:10
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| # xArm exposing upstream bug that shows up as: `proto: invalid type: *float64` | |
| ## Summary | |
| Any resource that depends on the frame system service (e.g. `multi-arm-position-switch`) fails to construct with: | |
| ``` | |
| rpc error: code = Unknown desc = unable to construct structpb.Struct from map ...: proto: invalid type: *float64 | |
| ``` |
EshaMaharishi
/ gist:3d7dfc7d79d56b6b46317b98bf93134f
Created
September 11, 2026 19:08
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| Here's the full call chain, each step pinned to the exact commit so the line numbers won't drift. | |
| 1. The xArm module builds a kinematics document with non-nil speed/accel limits | |
| Repo: viam-modules/viam-ufactory-xarm, commit a8745a4 (first shipped in v1.1.34-rc10). | |
| NewXArm constructs the model, passing the arm's effective speed and acceleration: arm/xarm.go#L594 | |
| Config.speed() / Config.acceleration() fall back to non-zero module defaults whenever unconfigured — never actually 0: arm/xarm.go#L274, #L281 | |
| MakeModelFrame builds a JointLimits entry per joint with both fields set as pointers: arm/xarm.go#L393 | |
| and hands that map to RDK: arm/xarm.go#L412 → referenceframe.SetJointLimits(cfg, limits) |
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| #!/usr/bin/env python3 | |
| """Plot safetyMonitored* call durations from viam-server log.""" | |
| import re | |
| import sys | |
| import matplotlib | |
| matplotlib.use('Agg') | |
| import matplotlib.pyplot as plt | |
| import numpy as np |
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| #!/usr/bin/env python3 | |
| """Plot per-step MoveThroughJointPositions call durations. | |
| Usage: python3 plot_step_times.py [step_times.csv] [output.png] | |
| """ | |
| import csv | |
| import sys | |
| import matplotlib | |
| matplotlib.use("Agg") |
EshaMaharishi
/ move_through_joint_positions_loop.go
Last active
April 20, 2026 21:41
move_through_joint_positions_loop.go
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| package main | |
| import ( | |
| "context" | |
| "crypto/tls" | |
| "flag" | |
| "fmt" | |
| "os" | |
| "time" |
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| diff --git a/robot/session_web.go b/robot/session_web.go | |
| index 8d6a3f919..ea0ef4f90 100644 | |
| --- a/robot/session_web.go | |
| +++ b/robot/session_web.go | |
| @@ -2,8 +2,10 @@ package robot | |
| import ( | |
| "context" | |
| + "fmt" | |
| "strings" |
EshaMaharishi
/ gist:ff3ed4ef5ca0360b9da27e948fe74c9f
Created
April 20, 2026 21:20
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| diff --git a/robot/session_web.go b/robot/session_web.go | |
| index 8d6a3f919..ea0ef4f90 100644 | |
| --- a/robot/session_web.go | |
| +++ b/robot/session_web.go | |
| @@ -2,8 +2,10 @@ package robot | |
| import ( | |
| "context" | |
| + "fmt" | |
| "strings" |
EshaMaharishi
/ SERVER-60684
Created
March 3, 2023 20:07
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| diff --git a/etc/evergreen.yml b/etc/evergreen.yml | |
| index ec8835979cc..aa83986c473 100644 | |
| --- a/etc/evergreen.yml | |
| +++ b/etc/evergreen.yml | |
| @@ -419,9 +419,10 @@ buildvariants: | |
| - name: .stitch | |
| - name: secondary_reads_passthrough_gen | |
| - name: server_discovery_and_monitoring_json_test_TG | |
| - - name: .serverless !.multiversion | |
| - distros: |
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