virtual-hrp-robot

Package that emulates a robot using the HID-Robot-Protocol (hrp)

Usage no npm install needed!

<script type="module">
  import virtualHrpRobot from 'https://cdn.skypack.dev/virtual-hrp-robot';
</script>

README

Build Status

virtual-hrp-robot

Package that emulates a robot using the HID-Robot-Protocol (hrp)

Install

npm install virtual-hrp-robot

Use

var robot = require('virtual-hrp-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: val,
  ID2: val,
  ID3: val
}

  • inverseK(position,joints):

    • position:
    {
  X: val,
  Y: val,
  Z: val
}
    • joints: same as before

  • See robots/ScaraRobot.js for an example