MATLAB File Help: HebiArm

 HebiArm is a higher-level API for working with serial configurations
 
    HebiArm simplifies many of the tasks commonly encountered when
    with arm-like configurations such as trajectory replanning,
    acceleration compensation, and keeping track of auxiliary state 
    such as a gripper.
 
    It also features a plugin mechanism to enable optional features
    such as offsetting efforts when working with external springs, or
    adding impedance control.
 
    Example
       % Setup the arm
       group = HebiLookup.newGroupFromNames('Arm', 'J*');
       kin = HebiUtils.loadHRDF('A-2085-06.hrdf');
       arm = HebiArm(group, kin);
 
       % Move to home position
       arm.update();
       arm.setGoal(homePosition);
       while ~arm.isAtGoal()
           arm.update();
           arm.send();
       end

Superclasses	handle
Sealed	false
Construct on load	false

	clearGoal	cancels any active goal, returning to a
	delete	Delete a handle object.
protected	getGravCompEfforts	Find gravity vector by looking at orientation of first joint
	getProgress	returns normalized [0-1] time of where trajectory is
	isAtGoal
Sealed	isvalid	Test handle validity.
	send	sends the current command state to the module group
	setGoal	arm.setGoal('positions', pos, 'velocities', vel, 'accelerations', accel, 'time', time);
	update	reads feedback and updates internal state