virtual-hrp-robot
Package that emulates a robot using the HID-Robot-Protocol (hrp)
Install
npm install virtual-hrp-robot
Use
var robot = 'robotName';
where robotName is the name of the js file located in the folder robots/
.
The virtual robot will start listening for connections on the port 5555. You should be able to communicate using the HID-Robot-Protocol (hrp).
Notes
-
Rotation of end effector is not supported, this package only deals with displacements for the moment.
-
To create another robot, define:
-
QX for the joints IDs
-
X,Y,Z for the axis names
-
directK(joints):
- joints :
ID1: valID2: valID3: val -
inverseK(position,joints):
- position:
X: valY: valZ: val- joints: same as before
-
See
robots/ScaraRobot.js
for an example