xarm

Documentation

Overview

Package xarm implements some xArms.

Index

• Constants
• func Model(name string, dof int) (referenceframe.Model, error)
• func NewxArm(ctx context.Context, r robot.Robot, cfg config.Component, logger golog.Logger, ...) (arm.LocalArm, error)
• type AttrConfig

Constants

const ModelName6DOF = "xArm6"

ModelName6DOF is a function used to get the string used to refer to the xarm model of 6 dof.

const ModelName7DOF = "xArm7"

ModelName7DOF is a function used to get the string used to refer to the xarm model of 7 dof.

Functions

func Model

func Model(name string, dof int) (referenceframe.Model, error)

Model returns the kinematics model of the xarm arm, also has all Frame information.

func NewxArm

func NewxArm(ctx context.Context, r robot.Robot, cfg config.Component, logger golog.Logger, dof int) (arm.LocalArm, error)

NewxArm returns a new xArm with the specified dof.

Types

type AttrConfig

type AttrConfig struct {
	Host         string  `json:"host"`
	Speed        float32 `json:"speed_degs_per_sec"`
	Acceleration float32 `json:"acceleration_degs_per_sec_per_sec"`
}

AttrConfig is used for converting config attributes.