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