# bb_ufactory v0.1.0 - Table of Contents

> Beam Bots integration for UFactory xArm robotic arms.

## Pages

- [README](readme.md)
- [Changelog](changelog.md)

- Tutorials
  - [Getting Started with BB.Ufactory](01-getting-started.md)
  - [Accessories — Gripper, Force/Torque Sensor, Linear Track, Collision Detection, and Tool Configuration](02-accessories.md)
  - [Cartesian Motion](03-cartesian-motion.md)
  - [Testing against the UFACTORY simulator](simulator_testing.md)

## Modules

- [BB.Ufactory](BB.Ufactory.md): Beam Bots integration for UFactory xArm robotic arms.
- [BB.Ufactory.Actuator.Cartesian](BB.Ufactory.Actuator.Cartesian.md): Cartesian-space position actuator for xArm arms.
- [BB.Ufactory.Actuator.Gripper](BB.Ufactory.Actuator.Gripper.md): Gripper G2 position actuator for xArm arms.
- [BB.Ufactory.Actuator.Joint](BB.Ufactory.Actuator.Joint.md): Joint-space position actuator for xArm joints.
- [BB.Ufactory.Actuator.LinearTrack](BB.Ufactory.Actuator.LinearTrack.md): Linear track position actuator for xArm arms.
- [BB.Ufactory.Controller](BB.Ufactory.Controller.md): Controller for UFactory xArm robotic arms.
- [BB.Ufactory.Message.ArmStatus](BB.Ufactory.Message.ArmStatus.md): Arm state and mode snapshot from the xArm real-time report.
- [BB.Ufactory.Message.CartesianPose](BB.Ufactory.Message.CartesianPose.md): Cartesian end-effector pose from the xArm TCP (tool-centre-point).
- [BB.Ufactory.Message.Wrench](BB.Ufactory.Message.Wrench.md): Force-torque wrench reading from the xArm F/T sensor.
- [BB.Ufactory.Model](BB.Ufactory.Model.md): Per-model configuration for UFactory xArm variants.
- [BB.Ufactory.Protocol](BB.Ufactory.Protocol.md): Pure encode/decode for the UFactory xArm Modbus-TCP wire protocol.
- [BB.Ufactory.Registers](BB.Ufactory.Registers.md): Register address constants for the UFactory xArm Modbus-TCP protocol.
- [BB.Ufactory.Report](BB.Ufactory.Report.md): Pure parser for xArm auto-push report frames.
- [BB.Ufactory.Robots.XArm6](BB.Ufactory.Robots.XArm6.md): BB robot definition for the UFactory xArm6.
- [BB.Ufactory.Sensor.Collision](BB.Ufactory.Sensor.Collision.md): Collision detection sensor for xArm arms.
- [BB.Ufactory.Sensor.ForceTorque](BB.Ufactory.Sensor.ForceTorque.md): Force-torque sensor for xArm arms (register 0xC8 / 0xC9).
- [BB.Ufactory.Simulator](BB.Ufactory.Simulator.md): Helpers for integration-testing against a UFACTORY arm — simulated or real.
- [BB.Ufactory.SimulatorCase](BB.Ufactory.SimulatorCase.md): An ExUnit case template for integration tests against the UFACTORY
firmware simulator (or a physical arm).
- [TestRobot](TestRobot.md): Shared test module providing xArm6 model configuration constants.

- Exceptions
  - [BB.Error.Protocol.Ufactory.CommandRejected](BB.Error.Protocol.Ufactory.CommandRejected.md): Raised when the xArm returns a non-zero status byte in a command response.
  - [BB.Error.Protocol.Ufactory.ConnectionError](BB.Error.Protocol.Ufactory.ConnectionError.md): Raised when the controller fails to establish a TCP connection to the xArm.
  - [BB.Error.Protocol.Ufactory.HardwareFault](BB.Error.Protocol.Ufactory.HardwareFault.md): Structured error for xArm controller hardware faults.

## Mix Tasks

- [mix bb_ufactory.sim](Mix.Tasks.BbUfactory.Sim.md): Manages the UFACTORY firmware simulator Docker container for integration
testing.

