Realtime XArm driver for joint positiona and velocitt control

.gitignore

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 *venv*/
 .venv*/
 .ssh/
+.direnv/
 
 # Ignore python tooling dirs
 *.egg-info/

dimos/hardware/manipulators/xarm/README.md

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+# xArm Driver for dimos
+
+Real-time driver for UFACTORY xArm5/6/7 manipulators integrated with the dimos framework.
+
+## Quick Start
+
+### 1. Specify Robot IP
+
+**On boot** (Important)
+```bash
+sudo ifconfig lo multicast
+sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev lo
+```
+
+**Option A: Command-line argument** (recommended)
+```bash
+python test_xarm_driver.py --ip 192.168.1.235
+python interactive_control.py --ip 192.168.1.235
+```
+
+**Option B: Environment variable**
+```bash
+export XARM_IP=192.168.1.235
+python test_xarm_driver.py
+```
+
+**Option C: Use default** (192.168.1.235)
+```bash
+python test_xarm_driver.py  # Uses default
+```
+
+**Note:** Command-line `--ip` takes precedence over `XARM_IP` environment variable.
+
+### 2. Basic Usage
+
+```python
+from dimos import core
+from dimos.hardware.manipulators.xarm.xarm_driver import XArmDriver
+from dimos.msgs.sensor_msgs import JointState, JointCommand
+
+# Start dimos and deploy driver
+dimos = core.start(1)
+xarm = dimos.deploy(XArmDriver, ip_address="192.168.1.235", xarm_type="xarm6")
+
+# Configure LCM transports
+xarm.joint_state.transport = core.LCMTransport("/xarm/joint_states", JointState)
+xarm.joint_position_command.transport = core.LCMTransport("/xarm/joint_commands", JointCommand)
+
+# Start and enable servo mode
+xarm.start()
+xarm.enable_servo_mode()
+
+# Control via RPC
+xarm.set_joint_angles([0, 0, 0, 0, 0, 0], speed=50, mvacc=100, mvtime=0)
+
+# Cleanup
+xarm.stop()
+dimos.stop()
+```
+
+## Key Features
+
+- **100Hz control loop** for real-time position/velocity control
+- **LCM pub/sub** for distributed system integration
+- **RPC methods** for direct hardware control
+- **Position mode** (radians) and **velocity mode** (deg/s)
+- **Component-based API**: motion, kinematics, system, gripper control
+
+## Topics
+
+**Subscribed:**
+- `/xarm/joint_position_command` - JointCommand (positions in radians)
+- `/xarm/joint_velocity_command` - JointCommand (velocities in deg/s)
+
+**Published:**
+- `/xarm/joint_states` - JointState (100Hz)
+- `/xarm/robot_state` - RobotState (10Hz)
+- `/xarm/ft_ext`, `/xarm/ft_raw` - WrenchStamped (force/torque)
+
+## Common RPC Methods
+
+```python
+# System control
+xarm.enable_servo_mode()           # Enable position control (mode 1)
+xarm.enable_velocity_control_mode() # Enable velocity control (mode 4)
+xarm.motion_enable(True)           # Enable motors
+xarm.clean_error()                 # Clear errors
+
+# Motion control
+xarm.set_joint_angles([...], speed=50, mvacc=100, mvtime=0)
+xarm.set_servo_angle(joint_id=5, angle=0.5, speed=50)
+
+# State queries
+state = xarm.get_joint_state()
+position = xarm.get_position()
+```
+
+## Configuration
+
+Key parameters for `XArmDriver`:
+- `ip_address`: Robot IP (default: "192.168.1.235")
+- `xarm_type`: Robot model - "xarm5", "xarm6", or "xarm7" (default: "xarm6")
+- `control_frequency`: Control loop rate in Hz (default: 100.0)
+- `is_radian`: Use radians vs degrees (default: True)
+- `enable_on_start`: Auto-enable servo mode (default: True)
+- `velocity_control`: Use velocity vs position mode (default: False)
+
+## Testing
+
+### With Mock Hardware (No Physical Robot)
+
+```bash
+# Unit tests with mocked xArm hardware
+python tests/test_xarm_rt_driver.py
+```
+
+### With Real Hardware
+
+**⚠️ Note:** Interactive control and hardware tests require a physical xArm connected to the network. Interactive control, and sample_trajectory_generator are part of test suite, and will be deprecated.
+
+**Using Alfred Embodiment:**
+
+To test with real hardware using the current Alfred embodiment:
+
+1. **Turn on the Flowbase** (xArm controller)
+2. **SSH into dimensional-cpu-2:**
+   ```
+3. **Verify PC is connected to the controller:**
+   ```bash
+   ping 192.168.1.235  # Should respond
+   ```
+4. **Run the interactive control:**
+   ```bash
+   # Interactive control (recommended)
+   venv/bin/python dimos/hardware/manipulators/xarm/interactive_control.py --ip 192.168.1.235
+
+   # Run driver standalone
+   venv/bin/python dimos/hardware/manipulators/xarm/test_xarm_driver.py --ip 192.168.1.235
+
+   # Run automated test suite
+   venv/bin/python dimos/hardware/manipulators/xarm/test_xarm_driver.py --ip 192.168.1.235 --run-tests
+
+   # Specify xArm model type (if using xArm7)
+   venv/bin/python dimos/hardware/manipulators/xarm/interactive_control.py --ip 192.168.1.235 --type xarm7
+   ```
+
+## License
+
+Copyright 2025 Dimensional Inc. - Apache License 2.0

dimos/hardware/manipulators/xarm/components/__init__.py

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+"""Component classes for XArmDriver."""
+
+from .gripper_control import GripperControlComponent
+from .kinematics import KinematicsComponent
+from .motion_control import MotionControlComponent
+from .state_queries import StateQueryComponent
+from .system_control import SystemControlComponent
+
+__all__ = [
+    "GripperControlComponent",
+    "KinematicsComponent",
+    "MotionControlComponent",
+    "StateQueryComponent",
+    "SystemControlComponent",
+]