BB.Ufactory.Model (bb_ufactory v0.1.0)

Copy Markdown View Source

Per-model configuration for UFactory xArm variants.

Provides joint counts, maximum joint speed, and per-joint radian limits for each supported model. Limits are taken from the official xarm_ros2 URDF descriptions (xarm_description/urdf/<model>/<model>.urdf.xacro), which match the Python SDK's per-model configuration.

The map keys are the model atoms accepted by BB.Ufactory.Controller: :xarm5, :xarm6, :xarm7, :lite6, :xarm850.

Joint limits are {lower_rad, upper_rad} tuples, one per joint, ordered J1..Jn.

Notes

  • All values are in radians.
  • max_speed_rads is the maximum joint angular speed (rad/s).
  • These are the factory hard limits enforced by the firmware. They cannot be widened; commands are clamped to them before being sent to the arm.

Summary

Functions

get(model)

Returns the full model configuration map for model.

joint_count(model)

Returns the number of joints for model.

joint_limits(model)

Returns the per-joint {lower, upper} radian limits for model, ordered J1..Jn.

max_speed_rads(model)

Returns the maximum joint angular speed in rad/s for model.

supported_models()

Returns a list of all supported model atoms.

Functions

get(model)

@spec get(atom()) :: %{
  joints: pos_integer(),
  max_speed_rads: float(),
  limits: [{float(), float()}]
}

Returns the full model configuration map for model.

Raises KeyError for unknown model atoms.

Examples

iex> %{joints: 6} = BB.Ufactory.Model.get(:xarm6)

joint_count(model)

@spec joint_count(atom()) :: pos_integer()

Returns the number of joints for model.

Examples

iex> BB.Ufactory.Model.joint_count(:xarm7)
7

joint_limits(model)

@spec joint_limits(atom()) :: [{float(), float()}]

Returns the per-joint {lower, upper} radian limits for model, ordered J1..Jn.

Examples

iex> [{-6.283185307179586, 6.283185307179586} | _] = BB.Ufactory.Model.joint_limits(:xarm6)

max_speed_rads(model)

@spec max_speed_rads(atom()) :: float()

Returns the maximum joint angular speed in rad/s for model.

Examples

iex> BB.Ufactory.Model.max_speed_rads(:xarm6)
3.141592653589793

supported_models()

@spec supported_models() :: [atom()]

Returns a list of all supported model atoms.

Examples

iex> :xarm6 in BB.Ufactory.Model.supported_models()
true