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"
  }]
}
AttributeInclusionDescription
hostRequiredA string representing the IP address of the arm. Find this when setting up your arm model.
speedRequiredDefault: 20.0. A float representing the desired maximum speed of joint movement in degrees/second.
accelerationRequiredDefault: 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.