From 975a3ab7c72d40c71d11f679eaad908915b7248c Mon Sep 17 00:00:00 2001 From: Naomi Pentrel <5212232+npentrel@users.noreply.github.com> Date: Fri, 13 Oct 2023 16:18:19 +0200 Subject: [PATCH] DOCS-1020: Add arm control (#2031) --- assets/components/arm/control.png | Bin 0 -> 74455 bytes docs/components/arm/eva.md | 7 +------ docs/components/arm/fake.md | 2 ++ docs/components/arm/ur5e.md | 2 ++ docs/components/arm/xarm6.md | 2 ++ docs/components/arm/xarm7.md | 2 ++ docs/components/arm/xarmlite.md | 2 ++ docs/components/arm/yahboom-dofbot.md | 2 ++ .../components/test-control/arm-control.md | 9 +++++++++ 9 files changed, 22 insertions(+), 6 deletions(-) create mode 100644 assets/components/arm/control.png create mode 100644 static/include/components/test-control/arm-control.md diff --git a/assets/components/arm/control.png b/assets/components/arm/control.png new file mode 100644 index 0000000000000000000000000000000000000000..022e19da2fb2c67e23b5b68cc7947b0de398c395 GIT binary patch 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Dr)N0F literal 0 HcmV?d00001 diff --git a/docs/components/arm/eva.md b/docs/components/arm/eva.md index 6523aea9a9..79afc9b2a4 100644 --- a/docs/components/arm/eva.md +++ b/docs/components/arm/eva.md @@ -30,9 +30,4 @@ Configure an `eva` arm as follows: {{% /tab %}} {{< /tabs >}} -The following attributes are available for fake arms: - - -| Name | Inclusion | Description | -| ---- | --------- | ----------- | -| | | | +{{< readfile "/static/include/components/test-control/arm-control.md" >}} diff --git a/docs/components/arm/fake.md b/docs/components/arm/fake.md index b463026937..fbdf392e16 100644 --- a/docs/components/arm/fake.md +++ b/docs/components/arm/fake.md @@ -97,3 +97,5 @@ If neither are specified, an error is thrown asking for specification. If both attributes are specified, an error is thrown stating "can only populate either ArmModel or ModelPath - not both". {{% /alert %}} + +{{< readfile "/static/include/components/test-control/arm-control.md" >}} diff --git a/docs/components/arm/ur5e.md b/docs/components/arm/ur5e.md index 0e74a9f066..35795fc804 100644 --- a/docs/components/arm/ur5e.md +++ b/docs/components/arm/ur5e.md @@ -74,3 +74,5 @@ The following attributes are available for `ur5e` arms: | --------- | ---- | ----------| ----------- | | `speed_degs_per_sec` | float | **Required** | Desired maximum speed of joint movement in degrees per second. Must be between `3` and `180`. | | `host` | string | **Required** | The IP address of the arm's system on your network. Find this when setting up your UR5e. | + +{{< readfile "/static/include/components/test-control/arm-control.md" >}} diff --git a/docs/components/arm/xarm6.md b/docs/components/arm/xarm6.md index b8dd5af614..b4ee628ecd 100644 --- a/docs/components/arm/xarm6.md +++ b/docs/components/arm/xarm6.md @@ -97,3 +97,5 @@ The following attributes are available for `xArm6` arms: | `acceleration_degs_per_sec_per_sec` | float | Optional | Desired maximum acceleration of joint movement in degrees/sec2.
Default: `50.0` | See [the frame system Service](/services/frame-system/) for more information on utilizing and modifying the `"frame"` configuration shown in the `JSON Example` above. + +{{< readfile "/static/include/components/test-control/arm-control.md" >}} diff --git a/docs/components/arm/xarm7.md b/docs/components/arm/xarm7.md index a2af7a9f76..258fc5f98b 100644 --- a/docs/components/arm/xarm7.md +++ b/docs/components/arm/xarm7.md @@ -97,3 +97,5 @@ The following attributes are available for `xArm7` arms: | `acceleration_degs_per_sec_per_sec` | float | Optional | Desired maximum acceleration of joint movement in degrees/sec2.
Default: `50.0` | See [the frame system service](/services/frame-system/) for more information on utilizing and modifying the `"frame"` configuration shown in the `JSON Example` above. + +{{< readfile "/static/include/components/test-control/arm-control.md" >}} diff --git a/docs/components/arm/xarmlite.md b/docs/components/arm/xarmlite.md index bda818af3d..8bd7ffe8d3 100644 --- a/docs/components/arm/xarmlite.md +++ b/docs/components/arm/xarmlite.md @@ -121,3 +121,5 @@ The following attributes are available for `xArmLite` arms: | `acceleration_degs_per_sec_per_sec` | float | Optional | Desired maximum acceleration of joint movement in degrees/sec2.
Default: `50.0` | See [the frame system service](/services/frame-system/) for more information on utilizing and modifying the `"frame"` configuration shown in the `JSON Example` above. + +{{< readfile "/static/include/components/test-control/arm-control.md" >}} diff --git a/docs/components/arm/yahboom-dofbot.md b/docs/components/arm/yahboom-dofbot.md index 5d0559af68..de38276c7d 100644 --- a/docs/components/arm/yahboom-dofbot.md +++ b/docs/components/arm/yahboom-dofbot.md @@ -63,3 +63,5 @@ Edit and fill in the attributes as applicable. {{% /tab %}} {{< /tabs >}} + +{{< readfile "/static/include/components/test-control/arm-control.md" >}} diff --git a/static/include/components/test-control/arm-control.md b/static/include/components/test-control/arm-control.md new file mode 100644 index 0000000000..9fac486b7c --- /dev/null +++ b/static/include/components/test-control/arm-control.md @@ -0,0 +1,9 @@ +## Test the arm + +Once your arm is configured and connected, go to the [**Control** tab](/manage/fleet/robots/#control) and click on the arm's drop-down panel. + +Use the buttons to move the end position or the joints and check whether it moves as expected. + +{{}} + +If the arm does not appear on the **Control** tab, or if you notice unexpected behavior, check your robot's [**Logs** tab](/manage/fleet/robots/#logs) for errors, and review the configuration.