Move V2 body assets out of the robot definition

assets/robot/openarm_v2.0/config/body/link/collisions.yaml → assets/body/v2.0/config/link/collisions.yaml

@@ -21,7 +21,7 @@ body_link0:
     pitch: 0.0
     yaw: 0.0
   geometry:
-    mesh: "package://openarm_description/assets/robot/openarm_v2.0/meshes/body/collision/body_link0_symp.stl"
+    mesh: "package://openarm_description/assets/body/v2.0/meshes/collision/body_link0_symp.stl"
     scale:
       x: 0.001
       y: 0.001

assets/robot/openarm_v2.0/config/body/link/visuals.yaml → assets/body/v2.0/config/link/visuals.yaml

@@ -21,7 +21,7 @@ body_link0:
     pitch: 0.0
     yaw: 0.0
   geometry:
-    mesh: "package://openarm_description/assets/robot/openarm_v2.0/meshes/body/visual/body_link0.dae"
+    mesh: "package://openarm_description/assets/body/v2.0/meshes/visual/body_link0.dae"
     scale:
       x: 1.0
       y: 1.0

assets/robot/openarm_v2.0/config/body/struct/reference_points.yaml → assets/body/v2.0/config/struct/reference_points.yaml

@@ -56,6 +56,17 @@ right_arm_mount_point:
       original_name: body_right_arm_mount_point
       canonical_name: null
 
+arm_origin:
+  parent: body_link0
+  emit: true
+  origin:
+    x: 0.0
+    y: 0.0
+    z: 0.697
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
 # Example body-mounted camera reference point. Tune this pose from CAD or
 # calibration before using it on hardware.
 # zed_front_mount_point:

assets/common/assembly.xacro

@@ -103,8 +103,7 @@ limitations under the License.
       <xacro:property name="resolved_mount_origin" value="${reference_mount_origin}" lazy_eval="false" />
       <xacro:property name="parent_reference_emitted" value="${parent_ref.get('emit', False)}" lazy_eval="false" />
       <xacro:if value="${parent_reference_emitted}">
-        <xacro:property name="reference_prefix" value="${parent_desc['reference_prefix']}" lazy_eval="false" />
-        <xacro:property name="resolved_connected_to" value="${reference_prefix + parent_ref_name}" lazy_eval="false" />
+        <xacro:property name="resolved_connected_to" value="${parent_desc['prefix'] + parent_ref_name}" lazy_eval="false" />
         <xacro:property name="resolved_mount_origin" value="${connection_origin}" lazy_eval="false" />
       </xacro:if>
     </xacro:if>

assets/common/components.xacro

@@ -45,9 +45,9 @@ limitations under the License.
     <xacro:property name="component_inertials" value="${xacro.load_yaml(component_cfg_root + '/inertials/' + component_cfg['inertials'] + '.yaml')}" lazy_eval="false" />
     <xacro:property name="component_visuals" value="${xacro.load_yaml(component_cfg_root + '/link/visuals.yaml')}" lazy_eval="false" />
     <xacro:property name="component_collisions" value="${xacro.load_yaml(component_cfg_root + '/link/collisions.yaml')}" lazy_eval="false" />
-    <xacro:property name="component_link_name_map" value="${dict([(component_topology['links'][0], component_cfg['link_name'])]) if component_type == 'body' else empty_dict}" lazy_eval="false" />
-    <xacro:property name="component_root_link_actual" value="${component_cfg['link_name'] if component_type == 'body' else (component_prefix + component_topology['links'][0])}" lazy_eval="false" />
-    <xacro:property name="component_default_mount_parent" value="${component_cfg['link_name'] if component_type == 'body' else (component_prefix + component_topology['links'][-1])}" lazy_eval="false" />
+    <xacro:property name="component_link_name_map" value="${empty_dict}" lazy_eval="false" />
+    <xacro:property name="component_root_link_actual" value="${component_prefix + component_topology['links'][0]}" lazy_eval="false" />
+    <xacro:property name="component_default_mount_parent" value="${component_prefix + (component_topology['links'][0] if component_type == 'body' else component_topology['links'][-1])}" lazy_eval="false" />
     <xacro:property name="component_collapse_empty_end" value="${component_topology.get('collapse_empty_end', False) and len([j for j in component_topology['joints'] if component_topology['joints'][j]['parent'] == component_topology['links'][-1]]) == 0}" lazy_eval="false" />
 
     <xacro:property
@@ -73,8 +73,7 @@ limitations under the License.
                    link_name_map=component_link_name_map,
                    default_mount_parent=component_default_mount_parent,
                    collapse_empty_end=component_collapse_empty_end,
-                   supports_frame_shift=True,
-                   reference_prefix=(component_root_link_actual + '_' if component_type == 'body' else component_prefix))}"
+                   supports_frame_shift=True)}"
       scope="parent"
       lazy_eval="false" />
   </xacro:macro>
@@ -125,8 +124,7 @@ limitations under the License.
 
     <xacro:openarm_emit_reference_frames
       reference_points="${component_desc['reference_points']}"
-      prefix="${component_desc['reference_prefix']}"
-      link_prefix="${component_desc['prefix']}"
+      prefix="${component_desc['prefix']}"
       link_name_map="${component_desc['link_name_map']}"
       base_link_name="${component_desc['topology']['links'][0]}"
       reflect_x="${component_runtime['reflect_x']}"

assets/common/reference_frames.xacro

@@ -31,7 +31,7 @@ limitations under the License.
   </xacro:macro>
 
   <xacro:macro name="openarm_emit_reference_frames"
-    params="reference_points prefix link_prefix link_name_map:=${dict()} base_link_name:='' reflect_x:=1 reflect_y:=1 reflect_z:=1 reflect_include_reference_points:=^ frame_shift:=none force_emit_reference:='' index:=0">
+    params="reference_points prefix link_name_map:=${dict()} base_link_name:='' reflect_x:=1 reflect_y:=1 reflect_z:=1 reflect_include_reference_points:=^ frame_shift:=none force_emit_reference:='' index:=0">
     <xacro:property name="reference_names" value="${list(reference_points.keys())}" lazy_eval="false" />
     <xacro:if value="${index &lt; len(reference_names)}">
       <xacro:property name="reference_name" value="${reference_names[index]}" lazy_eval="false" />
@@ -41,15 +41,15 @@ limitations under the License.
         <xacro:property name="reference_reflects" value="${reference_name in reflect_include_reference_points}" lazy_eval="false" />
         <xacro:openarm_emit_reference_link
           link_name="${prefix + reference_name}"
-          parent_link="${link_name_map[reference_parent] if reference_parent in link_name_map else link_prefix + reference_parent}"
+          parent_link="${link_name_map[reference_parent] if reference_parent in link_name_map else prefix + reference_parent}"
           origin="${reference['origin']}"
           reflect_x="${reflect_x if reference_reflects else 1}"
           reflect_y="${reflect_y if reference_reflects else 1}"
           reflect_z="${reflect_z if reference_reflects else 1}"
           frame_shift="${frame_shift if reference_parent == base_link_name else 'none'}" />
       </xacro:if>
       <xacro:openarm_emit_reference_frames
-        reference_points="${reference_points}" prefix="${prefix}" link_prefix="${link_prefix}"
+        reference_points="${reference_points}" prefix="${prefix}"
         link_name_map="${link_name_map}" base_link_name="${base_link_name}"
         reflect_x="${reflect_x}" reflect_y="${reflect_y}" reflect_z="${reflect_z}"
         reflect_include_reference_points="${reflect_include_reference_points}"

assets/common/validation.xacro

@@ -87,8 +87,8 @@ limitations under the License.
           message="${'Invalid robot preset: robot component `%s` has unsupported config `%s`.' % (component_name, component_config)}" />
       </xacro:if>
       <xacro:if value="${component_type == 'body'}">
-        <xacro:openarm_require condition="${component_config == None and 'link_name' in component_cfg}"
-          message="${'Body `%s` requires config: null and link_name.' % component_name}" />
+        <xacro:openarm_require condition="${component_config == None}"
+          message="${'Body `%s` requires config: null.' % component_name}" />
       </xacro:if>
       <xacro:openarm_require
         condition="${reflect_cfg['x'] in [-1, 1] and reflect_cfg['y'] in [-1, 1] and reflect_cfg['z'] in [-1, 1]}"

assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro

@@ -163,7 +163,7 @@ limitations under the License.
     <xacro:openarm_emit_reference_frames
       reference_points="${ee_reference_points}"
       force_emit_reference="${grasp_reference_point if emit_grasp_frame else ''}"
-      prefix="${prefix}" link_prefix="${prefix}"
+      prefix="${prefix}"
       base_link_name="${base_link_name}"
       reflect_x="${reflect_x if component_reflects else 1}"
       reflect_y="${reflect_y if component_reflects else 1}"

assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml

@@ -22,12 +22,12 @@ robot:
     - secondary_arm_end_effector
 
 body:
-  type: robot
+  type: body
+  prefix: openarm_
   enabled: true
-  product: openarm_v2.0
-  config: body
+  product: v2.0
+  config: null
   inertials: nominal
-  link_name: openarm_body_link0
   connection:
     parent: world
     origin:

assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml

@@ -18,12 +18,12 @@ robot:
     - primary_arm
 
 body:
-  type: robot
+  type: body
+  prefix: openarm_
   enabled: false
-  product: openarm_v2.0
-  config: body
+  product: v2.0
+  config: null
   inertials: nominal
-  link_name: openarm_body_link0
   connection:
     parent: world
     origin:

assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml

@@ -19,12 +19,12 @@ robot:
     - primary_arm_end_effector
 
 body:
-  type: robot
+  type: body
+  prefix: openarm_
   enabled: false
-  product: openarm_v2.0
-  config: body
+  product: v2.0
+  config: null
   inertials: nominal
-  link_name: openarm_body_link0
   connection:
     parent: world
     origin:

assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml

@@ -18,12 +18,12 @@ robot:
     - primary_arm
 
 body:
-  type: robot
+  type: body
+  prefix: openarm_
   enabled: false
-  product: openarm_v2.0
-  config: body
+  product: v2.0
+  config: null
   inertials: nominal
-  link_name: openarm_body_link0
   connection:
     parent: world
     origin:

assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml

@@ -19,12 +19,12 @@ robot:
     - primary_arm_end_effector
 
 body:
-  type: robot
+  type: body
+  prefix: openarm_
   enabled: false
-  product: openarm_v2.0
-  config: body
+  product: v2.0
+  config: null
   inertials: nominal
-  link_name: openarm_body_link0
   connection:
     parent: world
     origin: