xarm

Documentation

Overview

Package xarm implements some UFactory arms (xArm 6, xArm 7, and Lite 6).

Index

• Constants
• func MakeModelFrame(name, modelName string) (referenceframe.Model, error)
• func NewxArm(ctx context.Context, conf resource.Config, logger logging.Logger, ...) (arm.Arm, error)
• type Config
  • func (cfg *Config) Validate(path string) ([]string, error)

Constants

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

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.

func NewxArm

func NewxArm(ctx context.Context, conf resource.Config, logger logging.Logger, modelName string) (arm.Arm, error)

NewxArm returns a new xArm of the specified modelName.

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.