xArm Adjustments

For the Avatar v1, the Ufactory xArm6 / xArm7 are used for the left and right arms.

To use the xArms in the Avatar system following adjustments needs to be made using the Ufactory Studio App.

Change in the Mounting Position

When an xArm is mounted onto the torso of the avatar, the mounting position needs be changed in Ufactory Studio.

To change the mounting position, follow the following instructions

1. Connect to the arm using the xArm studio.

2. In the xArm studio, open Settings

3. Open the Coordinates settings in the Motion section.

4. Select the Wall Down mounting option

Mounting Configuration for the xArm when used with Avatar

Note: The mounting is set to the Floor when using the xArm on a table.

TCP Payload Identification

After the mounting adjustment is done, the TCP payload needs to be identified again, following the steps mentioned in TCP Configuration

Force Torque (FT) Sensor Payload Identification

After the mounting adjustment is done, the FT sensor payload needs to be identified again, following the steps mentioned below,

1. Connect to the arm using the xArm studio.

2. In the xArm studio, open Settings

3. Open the Torque Sensor settings in the External section.

FT Sensor Identification Setting

1. Enable the Is the 6 Axis Force Torque Sensor Installed

2. Click Identify, in the Payload identification.

3. A preview of the motion the arm will make to go to the starting position of the identification will be shown. If the path is clear, click on the Next Step.

FT Sensor Identification Motion Acceptance

1. The xArm will then make a series of motions to identify the FT sensor payload.

Alternatively, the FT sensor calibration could be triggered via the AMAS app, using the steps provided in the Force Torque Calibration.

Suggested Initial Starting Position for the xArms

Using the Ufactory Studio move the xArms to these suggested joint positions,

Right xArm

Right xArm7 Joint Positions

Left xArm

Left xArm7 Joint Positions