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RSDK-8460 - Modularize the xarm driver and remove it from RDK #4578

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2 changes: 1 addition & 1 deletion components/arm/fake/fake.go
Original file line number Diff line number Diff line change
Expand Up @@ -8,11 +8,11 @@ import (
"sync"

"github.com/pkg/errors"
xarm "github.com/viam-modules/viam-ufactory-xarm/arm"
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We should not be importing modules into RDK. This makes our import graph extremely messy.

We can replicate the imported function locally and use the test files you added.


"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"
Expand Down
1 change: 0 additions & 1 deletion components/arm/register/register.go
Original file line number Diff line number Diff line change
Expand Up @@ -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"
)
4 changes: 2 additions & 2 deletions components/arm/wrapper/wrapper_test.go
Original file line number Diff line number Diff line change
Expand Up @@ -27,15 +27,15 @@ func TestReconfigure(t *testing.T) {
cfg1 := resource.Config{
Name: "testArm",
ConvertedAttributes: &Config{
ModelFilePath: "../xarm/xarm6_kinematics.json",
ModelFilePath: "../../../services/motion/data/xarm6_kinematics_test.json",
ArmName: armName.ShortName(),
},
}

cfg1Err := resource.Config{
Name: "testArm",
ConvertedAttributes: &Config{
ModelFilePath: "../xarm/xarm6_kinematics.json",
ModelFilePath: "../../../services/motion/data/xarm6_kinematics_test.json",
ArmName: "dne1",
},
}
Expand Down
217 changes: 0 additions & 217 deletions components/arm/xarm/lite6_kinematics.json

This file was deleted.

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