Configure a xArm7 Arm
Configure a xArm7
arm to integrate a UFACTORY xArm 7 into your robot.
Configure a xArm7
arm as follows:
{
"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": "xArm7",
"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": "xArm7",
"name": "xArm7",
"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.