RSDK-8460 - Modularize the xarm driver and remove it from RDK

components/arm/fake/fake.go

@@ -4,6 +4,7 @@ package fake
 import (
 	"context"
 	_ "embed"
+	"fmt"
 	"strings"
 	"sync"
 
@@ -12,7 +13,6 @@ import (
 	"go.viam.com/rdk/components/arm"
 	"go.viam.com/rdk/components/arm/eva"
 	ur "go.viam.com/rdk/components/arm/universalrobots"
-	"go.viam.com/rdk/components/arm/xarm"
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/motionplan"
 	"go.viam.com/rdk/referenceframe"
@@ -35,6 +35,21 @@ var fakejson []byte
 //go:embed dofbot.json
 var dofbotjson []byte
 
+//go:embed xarm6_kinematics_test.json
+var xArm6modeljson []byte
+
+//go:embed xarm7_kinematics_test.json
+var xArm7modeljson []byte
+
+//go:embed lite6_kinematics_test.json
+var lite6modeljson []byte
+
+const (
+	xArmModelName6DOF = "xArm6"
+	xArmModelName7DOF = "xArm7"
+	xArmModelNameLite = "lite6"
+)
+
 // Config is used for converting config attributes.
 type Config struct {
 	ArmModel      string `json:"arm-model,omitempty"`
@@ -256,8 +271,8 @@ func (a *Arm) Geometries(ctx context.Context, extra map[string]interface{}) ([]s
 
 func modelFromName(model, name string) (referenceframe.Model, error) {
 	switch model {
-	case xarm.ModelName6DOF, xarm.ModelName7DOF, xarm.ModelNameLite:
-		return xarm.MakeModelFrame(name, model)
+	case xArmModelName6DOF, xArmModelName7DOF, xArmModelNameLite:
+		return xArmMakeModelFrame(name, model)
 	case ur.Model.Name:
 		return ur.MakeModelFrame(name)
 	case eva.Model.Name:
@@ -281,3 +296,17 @@ func modelFromPath(modelPath, name string) (referenceframe.Model, error) {
 		return nil, errors.New("only files with .json and .urdf file extensions are supported")
 	}
 }
+
+// xArmMakeModelFrame returns the kinematics model of the xarm arm, which has all Frame information.
+func xArmMakeModelFrame(name, modelName string) (referenceframe.Model, error) {
+	switch modelName {
+	case xArmModelName6DOF:
+		return referenceframe.UnmarshalModelJSON(xArm6modeljson, name)
+	case xArmModelNameLite:
+		return referenceframe.UnmarshalModelJSON(lite6modeljson, name)
+	case xArmModelName7DOF:
+		return referenceframe.UnmarshalModelJSON(xArm7modeljson, name)
+	default:
+		return nil, fmt.Errorf("no kinematics information for xarm of model %s", modelName)
+	}
+}

components/arm/register/register.go

@@ -7,5 +7,4 @@ import (
 	_ "go.viam.com/rdk/components/arm/fake"
 	_ "go.viam.com/rdk/components/arm/universalrobots"
 	_ "go.viam.com/rdk/components/arm/wrapper"
-	_ "go.viam.com/rdk/components/arm/xarm"
 )

components/arm/wrapper/wrapper_test.go

@@ -27,15 +27,15 @@ func TestReconfigure(t *testing.T) {
 	cfg1 := resource.Config{
 		Name: "testArm",
 		ConvertedAttributes: &Config{
-			ModelFilePath: "../xarm/xarm6_kinematics.json",
+			ModelFilePath: "../fake/xarm6_kinematics_test.json",
 			ArmName:       armName.ShortName(),
 		},
 	}
 
 	cfg1Err := resource.Config{
 		Name: "testArm",
 		ConvertedAttributes: &Config{
-			ModelFilePath: "../xarm/xarm6_kinematics.json",
+			ModelFilePath: "../fake/xarm6_kinematics_test.json",
 			ArmName:       "dne1",
 		},
 	}