xarm

package

v0.26.0 Latest Latest Go to latest Published: Apr 29, 2024 License: AGPL-3.0 Imports: 21 Imported by: 0

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Repository

github.com/viamrobotics/rdk

Links

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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 ¶

View Source

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
)

Variables ¶

This section is empty.

Functions ¶

func MakeModelFrame ¶ added in v0.2.36

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 ¶ added in v0.2.36

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 ¶ added in v0.2.36

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

Validate validates the config.

Source Files ¶

View all Source files

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