Struct franka_interface::RobotArguments

source · [−]
pub struct RobotArguments {
    pub hostname: String,
    pub base_pose: Option<Isometry3<f64>>,
    pub initial_config: Option<[f64; 9]>,
}
Expand description

a struct that specifies the argument that are needed to connect to a real robot or spawn a robot inside the simulation.

Fields

hostname: String

IP address or hostname of the robot. Only needed when connected to a real robot.

base_pose: Option<Isometry3<f64>>

Base pose of the robot compared to the world frame. Only needed for the simulation.

initial_config: Option<[f64; 9]>

Initial joint configuration of the robot The last two are the gripper positions. Only needed for the simulation. Default it the home pose.

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