xarm

Documentation

Overview

Package xarm implements some xArms.

Index

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

Constants

const (
	ModelName6DOF = "xArm6"    // ModelName6DOF is the name of an xArm6
	ModelName7DOF = "xArm7"    // ModelName7DOF is the name of an xArm7
	ModelNameLite = "xArmLite" // ModelNameLite is the name of an xArmLite
)

Functions

func Model

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

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

func NewxArm

func NewxArm(ctx context.Context, cfg config.Component, logger golog.Logger, modelName string) (arm.LocalArm, error)

NewxArm returns a new xArm of the specified modelName.

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.