Configure an xArm7 Arm
Configure an xArm7
arm to integrate a UFACTORY xArm 7 into your robot:
Navigate to the Config tab of your robot’s page in the Viam app.
Click on the Components subtab and click Create component.
Select the arm
type, then select the xArm7
model.
Enter a name for your arm and click Create.
Edit and fill in the attributes as applicable.
{
"components": [
{
"model": "xArm7",
"name": "<your-arm-name>",
"type": "arm",
"attributes": {
"host": "<ip-address-to-connect-to-your-arm>"
},
"depends_on": []
}
]
}
{
"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"
}
]
}
The following attributes are available for xArm7
arms:
Attribute | Type | Inclusion | Description |
---|---|---|---|
host | string | Required | IP address of the arm’s system on your network. Find this when setting up your xArm. |
port | int | Optional | Port number of the arm’s system. Find this when setting up your xArm. Default: 502 |
speed_degs_per_sec | float | Optional | Desired maximum speed of joint movement in degrees/sec. Default: 20.0 |
acceleration_degs_per_sec_per_sec | float | Optional | Desired maximum acceleration of joint movement in degrees/sec2. Default: 50.0 |
See the frame system service for more information on utilizing and modifying the "frame"
configuration shown in the JSON Example
above.
Have questions, or want to meet other people working on robots? Join our Community Discord.
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