Configure a xArm6 Arm

Configure a xArm6 arm to integrate a UFACTORY xArm 6 into your robot.

Configure a xArm6 arm as follows:

Web UI configuration panel for an arm of model xArm6 in the Viam app, with Attributes & Depends On drop-downs and the option to add a frame.

{
  "components": [{
      "attributes": {
          "host": <your_arms_ip_address_on_your_network>
      },
      "depends_on": [],
      "frame": {
          "orientation": {
              "type": "ov_degrees",
              "value": {
                  "th": 0,
                  "x": 0,
                  "y": 0,
                  "z": 1
              }
          },
          "parent": "world",
          "translation": {
              "x": 0,
              "y": 0,
              "z": 0
          }
      },
      "model": "xArm6",
      "name": <your_arm_name>,
      "type": "arm"
  }]
}

{
  "components": [{
      "attributes": {
          "host": "10.0.0.97"
      },
      "depends_on": [],
      "frame": {
          "orientation": {
              "type": "ov_degrees",
              "value": {
                  "th": 0,
                  "x": 0,
                  "y": 0,
                  "z": 1
              }
          },
          "parent": "world",
          "translation": {
              "x": 0,
              "y": 0,
              "z": 0
          }
      },
      "model": "xArm6",
      "name": "xArm6",
      "type": "arm"
  }]
}

Attribute	Inclusion	Description
`host`	Required	A string representing the IP address of the arm. Find this when setting up your arm model.
`speed`	Required	Default: `20.0`. A float representing the desired maximum speed of joint movement in degrees/second.
`acceleration`	Required	Default: `50.0`. A float representing the desired maximum joint acceleration in degrees/second/second.

See the Frame system for more information on utilizing and modifying the "frame" configuration shown above.