BB.IK.TestRobots.CollisionArm (bb_ik_dls v0.3.3)

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2-DOF arm with collision geometry for testing collision-aware IK.

Structure:

  • base_link (with collision sphere at origin)
    • shoulder (revolute, Y-axis) - lifts arm in XZ plane
      • upper_arm (0.3m capsule along X)
        • elbow (revolute, Y-axis) - bends forearm
          • forearm (0.25m capsule along X)
            • tip_joint (fixed)
              • tip

When the arm folds back (shoulder back + elbow bent), forearm can collide with base. Total reach: 0.55m from shoulder along X axis.

Summary

Functions

child_spec(opts \\ [])

Returns a child specification for starting this robot under a supervisor.

robot()

Returns the optimised robot representation.

start_link(opts \\ [])

Starts the robot's supervision tree.

Functions

child_spec(opts \\ [])

@spec child_spec(Keyword.t()) :: Supervisor.child_spec()

Returns a child specification for starting this robot under a supervisor.

robot()

@spec robot() :: BB.Robot.t()

Returns the optimised robot representation.

This struct is built at compile-time from the DSL definition and contains:

  • All physical values converted to SI base units (floats)
  • Flat maps for O(1) lookup of links, joints, sensors, and actuators
  • Pre-computed topology metadata for efficient traversal

Examples

robot = Elixir.BB.IK.TestRobots.CollisionArm.robot()
link = BB.Robot.get_link(robot, :base_link)
joint = BB.Robot.get_joint(robot, :shoulder)

start_link(opts \\ [])

@spec start_link(Keyword.t()) :: Supervisor.on_start()

Starts the robot's supervision tree.

Options

All options are passed through to sensor and actuator child processes.