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

Author: nfranczak

components/arm/arm_test.go

@@ -198,7 +198,7 @@ func TestXArm6Locations(t *testing.T) {
 		Name:  arm.API.String(),
 		Model: resource.DefaultModelFamily.WithModel("fake"),
 		ConvertedAttributes: &fake.Config{
-			ArmModel: "xArm6",
+			ModelFilePath: "example_kinematics/xarm6_kinematics_test.json",
 		},
 	}
 

components/arm/xarm/lite6_kinematics.json components/arm/example_kinematics/lite6_kinematics_test.json

@@ -12,7 +12,6 @@ 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"
@@ -256,8 +255,6 @@ 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 ur.Model.Name:
 		return ur.MakeModelFrame(name)
 	case eva.Model.Name:

components/arm/xarm/xarm6_kinematics.json components/arm/example_kinematics/xarm6_kinematics_test.json

@@ -25,7 +25,7 @@ func TestReconfigure(t *testing.T) {
 	conf1 := resource.Config{
 		Name: "testArm",
 		ConvertedAttributes: &Config{
-			ArmModel: "xArm6",
+			ModelFilePath: "../example_kinematics/xarm6_kinematics_test.json",
 		},
 	}
 
@@ -71,7 +71,7 @@ func TestReconfigure(t *testing.T) {
 	}
 
 	test.That(t, fakeArm.Reconfigure(context.Background(), nil, conf1), test.ShouldBeNil)
-	model, err = modelFromName(conf1.ConvertedAttributes.(*Config).ArmModel, cfg.Name)
+	model, err = referenceframe.ParseModelJSONFile(conf1.ConvertedAttributes.(*Config).ModelFilePath, cfg.Name)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, fakeArm.joints, test.ShouldResemble, make([]referenceframe.Input, len(model.DoF())))
 	test.That(t, fakeArm.model, test.ShouldResemble, model)

components/arm/xarm/xarm7_kinematics.json components/arm/example_kinematics/xarm7_kinematics_test.json

@@ -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/fake/fake.go

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