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