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feat(arx): add ARX ONE robot integration - #28
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1rubbishyuan wants to merge 3 commits into
Draft
1rubbishyuan wants to merge 3 commits into
1rubbishyuan wants to merge 3 commits into
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Co-authored-by: Cyberkona <konagitcat@163.com>
Co-authored-by: Cyberkona <konagitcat@163.com>
Co-authored-by: Cyberkona <konagitcat@163.com>
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Adds an ARX ONE integration with a robot-side Body runtime, X5 arm control, RealSense observations, calibration utilities and deployment examples. Motion is disabled by default; execution-enabled sessions submit coordinated paths, hold inactive arms at measured joint positions and report partial execution separately from goal completion.
The integration uses the current Direct tool composition and opts into reading action results and replanning after incomplete motion. Shared tools gain configurable motion tolerances, measured opening checks and environment-selected finish statuses; job cancellation feedback includes cancellation records. Replanning restrictions remain opt-in for existing environments.
Native source resources are included in the main and runtime distributions, with hardware dependencies installed separately. Both distributions pass sdist-to-wheel builds, resource checks, source parity and strict Twine checks. Installed-wheel imports, ARX configuration and existing simulator configuration checks pass outside the checkout. Package CI also validates fresh installations and upgrades.
Draft for hardware validation and review of the tool contract. The current ARX motion orchestration remains integration-local, and its path-segment and gripper-step semantics need follow-up toward a common simulation/robot execution interface. Physical motion, stopping and camera calibration still require on-device validation.