PlanarArm
Example XML definition
A simple example
<module
class = "PlanarArm"
name = "PlanarArm"
/>
Parameters
| Name | Description | Type | Default |
|---|---|---|---|
| class | The class name for the module; must be "PlanarArm". | string | |
| name | The name of this instance of the module. | string | |
| target_behavior | How to use the MOVE input | choices: random linear circular lisajous | max |
| target_speed | Speed of target | float | 0.05 |
| target_size | Size of target | float | 0.05 |
| target_range | Range of target | float | 0.3 |
| target_noise | Noise of target | float | 0.0 |
| speed | Speed of the arm | float | 0.1 |
| grasp_limit | ??? | float | 0.0 |
Module Connections
Inputs
| Name | Description |
|---|---|
| DESIRED_ANGLES | The desired position of the arm |
Outputs
| Name | Description |
|---|---|
| TARGET | The location of the target in the environment |
| JOINTS | The locations of the joints of the arm |
| ANGLES | The angles of the joints of the arm |
| HAND_POSITION | The position of the hand |
| DISTANCE | The distance from the hand to the target |
| CONTACT | The hand is in contact with the target |
Limitations
Not yet fully implemented
Author
Christian Balkenius
christian.balkenius@lucs.lu.se
Lund University Cognitive Science
Files
PlanarArm.h
PlanarArm.cc
PlanarArm.ikc