Shared test module providing xArm6 model configuration constants.
Used as the robot atom (%{bb: %{robot: TestRobot, ...}}) across all
actuator, sensor, and controller tests. All interactions with BB framework
modules are mocked via Mimic — this module simply provides a stable atom
and centralised constants so individual test files don't duplicate them.
Summary
Functions
Returns the joint count for the xArm6.
Returns the {lower, upper} limit tuple for joint_index (1-based).
Creates a pre-populated ETS table with joint_count joint rows and one arm row.
Returns the max joint speed in rad/s.
Returns the xArm6 model config map (joints, limits, max_speed_rads).
Functions
@spec joint_count() :: pos_integer()
Returns the joint count for the xArm6.
@spec joint_limits(pos_integer()) :: {float(), float()}
Returns the {lower, upper} limit tuple for joint_index (1-based).
@spec make_ets(pos_integer()) :: :ets.table()
Creates a pre-populated ETS table with joint_count joint rows and one arm row.
Each joint row: {index, current_position, current_torque, set_position}
Arm row: {:arm, state, mode, tcp_pose}
@spec max_speed() :: float()
Returns the max joint speed in rad/s.
@spec model_config() :: map()
Returns the xArm6 model config map (joints, limits, max_speed_rads).