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

See also

• hrp-server
• hrp-joy-driver
• hrp