Cartesian-space position actuator for xArm arms.
Sends end-effector pose commands (x, y, z, roll, pitch, yaw) directly to
the arm using register 0x15 (MOVE_LINE). The arm's own controller solves
inverse kinematics internally, so no IK computation is needed here.
Unlike BB.Ufactory.Actuator.Joint, this actuator bypasses the ETS batch
loop — frames are forwarded immediately to the controller via
BB.Process.call/3 and dispatched to the hardware on the same call.
Command Interface
Cartesian commands use a custom GenServer cast rather than the standard
scalar %Command.Position{} message (which only holds a single float).
Send commands via:
BB.Process.cast(robot, :cartesian, {:move_cartesian, {x, y, z, roll, pitch, yaw}})x,y,z— position in millimetresroll,pitch,yaw— orientation in radians
Speed and acceleration default to the values configured in options_schema
and can be overridden per-command by passing {:move_cartesian, pose, speed, accel}.