arm

Documentation

Overview

Package arm defines the arm that a robot uses to manipulate objects.

Index

• Constants
• Variables
• func MakeModelFrame(name, modelName string) (referenceframe.Model, error)
• type Config
  • func (cfg *Config) Validate(path string) ([]string, error)

Constants

const (
	// ModelName6DOF is the name of a UFactory xArm 6.
	ModelName6DOF = "xArm6"
	// ModelName7DOF is the name of a UFactory xArm 7.
	ModelName7DOF = "xArm7"
	// ModelNameLite is the name of a UFactory Lite 6.
	ModelNameLite = "lite6"
)

Variables

var (
	// XArm6Model defines the resource.Model for the xArm6.
	XArm6Model = resource.NewModel("viam", "ufactory", ModelName6DOF)
	// XArm7Model defines the resource.Model for the xArm7.
	XArm7Model = resource.NewModel("viam", "ufactory", ModelName7DOF)
	// XArmLite6Model defines the resource.Model for the lite6.
	XArmLite6Model = resource.NewModel("viam", "ufactory", ModelNameLite)
)

Functions

func MakeModelFrame

func MakeModelFrame(name, modelName string) (referenceframe.Model, error)

MakeModelFrame returns the kinematics model of the xarm arm, which has all Frame information.

Types

type Config

type Config struct {
	Host         string  `json:"host"`
	Port         int     `json:"port,omitempty"`
	Speed        float32 `json:"speed_degs_per_sec,omitempty"`
	Acceleration float32 `json:"acceleration_degs_per_sec_per_sec,omitempty"`
}

Config is used for converting config attributes.

func (*Config) Validate

func (cfg *Config) Validate(path string) ([]string, error)

Validate validates the config.