small fixes

Author: jgeaso1266

components/gantry/fake/gantry.go

@@ -57,7 +57,7 @@ func NewGantry(name resource.Name, logger logging.Logger) gantry.Gantry {
 		resource.TriviallyReconfigurable{},
 		resource.TriviallyCloseable{},
 		[]float64{120},
-		[]float64{120},
+		[]float64{50},
 		[]float64{350},
 		m,
 		logger,

components/gantry/singleaxis/singleaxis.go

@@ -8,7 +8,6 @@ import (
 	"sync"
 	"time"
 
-	"github.com/golang/geo/r3"
 	"github.com/pkg/errors"
 	"go.uber.org/multierr"
 	utils "go.viam.com/utils"
@@ -102,7 +101,6 @@ type singleAxis struct {
 	rpm             float64
 
 	model referenceframe.Model
-	frame r3.Vector
 
 	cancelFunc              func()
 	logger                  logging.Logger
@@ -154,12 +152,6 @@ func (g *singleAxis) Reconfigure(ctx context.Context, deps resource.Dependencies
 		return errors.New("gantry with one limit switch per axis needs a mm_per_length ratio defined")
 	}
 
-	// Add a default frame, then overwrite with the config frame if that is supplied
-	g.frame = r3.Vector{X: 1.0, Y: 0, Z: 0}
-	if conf.Frame != nil {
-		g.frame = conf.Frame.Translation
-	}
-
 	rpm := g.gantryToMotorSpeeds(newConf.GantryMmPerSec)
 	g.rpm = rpm
 	if g.rpm == 0 {
@@ -170,7 +162,6 @@ func (g *singleAxis) Reconfigure(ctx context.Context, deps resource.Dependencies
 	m, err := referenceframe.KinematicModelFromFile(newConf.Kinematics, g.Named.Name().String())
 	if err != nil {
 		g.logger.CWarnf(ctx, "failed to load kinematics from file '%v': %v", newConf.Kinematics, err)
-		m = nil
 	}
 	g.model = m
 

components/gantry/test_gantry_model.json

@@ -1,39 +1,39 @@
 {
-    "name": "single_axis_gantry",
-    "kinematic_param_type": "SVA",
-    "links": [
-      {
-        "id": "carriage",
-        "parent": "world",
+  "name": "single_axis_gantry",
+  "kinematic_param_type": "SVA",
+  "links": [
+    {
+      "id": "carriage",
+      "parent": "world",
+      "translation": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "geometry": {
+        "x": 150,
+        "y": 120,
+        "z": 10,
         "translation": {
           "x": 0,
           "y": 0,
           "z": 0
-        },
-        "geometry": {
-          "x": 150,
-          "y": 120,
-          "z": 10,
-          "translation": {
-            "x": 0,
-            "y": 0,
-            "z": 75
-          }
         }
       }
-    ],
-    "joints": [
-      {
-        "id": "gantry_joint",
-        "type": "prismatic",
-        "parent": "carriage",
-        "axis": {
-          "x": 1,
-          "y": 0,
-          "z": 0
-        },
-        "max": 500,
-        "min": 0
-      }
-    ]
-  }
+    }
+  ],
+  "joints": [
+    {
+      "id": "gantry_joint",
+      "type": "prismatic",
+      "parent": "carriage",
+      "axis": {
+        "x": 1,
+        "y": 0,
+        "z": 0
+      },
+      "max": 500,
+      "min": 0
+    }
+  ]
+}