diff --git a/README.md b/README.md index 15c33176..bd1bdc1e 100644 --- a/README.md +++ b/README.md @@ -49,3 +49,5 @@ Copyright 2025 Enactic, Inc. All participation in the OpenArm project is governed by our [Code of Conduct](CODE_OF_CONDUCT.md). + +Control settings live directly under each component's `control` mapping. Set `hardware_plugin`, `can_interface` and `can_fd` in the preset; `use_fake_hardware:=true` selects `mock_components/GenericSystem`. The optional `system_name` defaults to `_hardware_interface`. Explicit control parameters override generated defaults and are emitted once. Components declare their generated topology, names and mimic relationships in `describe_component`; assembly and control consume that shared description. diff --git a/assets/robot/openarm_v1.0/config/body/inertials.yaml b/assets/body/v1.0/config/inertials/nominal.yaml similarity index 84% rename from assets/robot/openarm_v1.0/config/body/inertials.yaml rename to assets/body/v1.0/config/inertials/nominal.yaml index a9207078..360874b0 100644 --- a/assets/robot/openarm_v1.0/config/body/inertials.yaml +++ b/assets/body/v1.0/config/inertials/nominal.yaml @@ -1,4 +1,4 @@ -# Copyright 2025 Enactic, Inc. +# Copyright 2026 Enactic, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -14,8 +14,12 @@ body_link0: origin: - xyz: -0.016206894902 0 0.244091987626 - rpy: 0.0 0.0 0.0 + x: -0.016206894902 + y: 0.0 + z: 0.244091987626 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 mass: 3.74 inertia: xx: 0.248946829107 diff --git a/assets/body/v1.0/config/link/collisions.yaml b/assets/body/v1.0/config/link/collisions.yaml new file mode 100644 index 00000000..ed942121 --- /dev/null +++ b/assets/body/v1.0/config/link/collisions.yaml @@ -0,0 +1,28 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +body_link0: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + geometry: + mesh: package://openarm_description/assets/body/v1.0/meshes/collision/body_link0_symp.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 diff --git a/assets/body/v1.0/config/link/visuals.yaml b/assets/body/v1.0/config/link/visuals.yaml new file mode 100644 index 00000000..bb62b97d --- /dev/null +++ b/assets/body/v1.0/config/link/visuals.yaml @@ -0,0 +1,28 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +body_link0: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + geometry: + mesh: package://openarm_description/assets/body/v1.0/meshes/visual/body_link0.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 diff --git a/assets/body/v1.0/config/struct/reference_points.yaml b/assets/body/v1.0/config/struct/reference_points.yaml new file mode 100644 index 00000000..0ca2dabc --- /dev/null +++ b/assets/body/v1.0/config/struct/reference_points.yaml @@ -0,0 +1,34 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +left_arm_mount_point: + parent: body_link0 + emit: false + origin: + x: 0 + y: 0.03 + z: 0.697 + roll: -1.5708 + pitch: 0 + yaw: 0 +right_arm_mount_point: + parent: body_link0 + emit: false + origin: + x: 0 + y: -0.03 + z: 0.697 + roll: 1.5708 + pitch: 0 + yaw: 0 diff --git a/assets/end_effector/parallel_link/config/joint_limits.yaml b/assets/body/v1.0/config/struct/topology.yaml similarity index 86% rename from assets/end_effector/parallel_link/config/joint_limits.yaml rename to assets/body/v1.0/config/struct/topology.yaml index ee715e39..5cb756a3 100644 --- a/assets/end_effector/parallel_link/config/joint_limits.yaml +++ b/assets/body/v1.0/config/struct/topology.yaml @@ -12,9 +12,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -finger_joint: - limit: - lower: 0.0 - upper: 0.044 - velocity: 0.661 - effort: 150.75 +links: +- body_link0 +joints: {} diff --git a/assets/robot/openarm_v1.0/mesh/body/collision/body_link0_symp.stl b/assets/body/v1.0/meshes/collision/body_link0_symp.stl similarity index 100% rename from assets/robot/openarm_v1.0/mesh/body/collision/body_link0_symp.stl rename to assets/body/v1.0/meshes/collision/body_link0_symp.stl diff --git a/assets/robot/openarm_v1.0/mesh/body/visual/body_link0.dae b/assets/body/v1.0/meshes/visual/body_link0.dae similarity index 100% rename from assets/robot/openarm_v1.0/mesh/body/visual/body_link0.dae rename to assets/body/v1.0/meshes/visual/body_link0.dae diff --git a/assets/robot/openarm_v1.0/mesh/body/visual/body_link0.stl b/assets/body/v1.0/meshes/visual/body_link0.stl similarity index 100% rename from assets/robot/openarm_v1.0/mesh/body/visual/body_link0.stl rename to assets/body/v1.0/meshes/visual/body_link0.stl diff --git a/assets/robot/openarm_v2.0/config/body/inertials/nominal.yaml b/assets/body/v2.0/config/inertials/nominal.yaml similarity index 100% rename from assets/robot/openarm_v2.0/config/body/inertials/nominal.yaml rename to assets/body/v2.0/config/inertials/nominal.yaml diff --git a/assets/robot/openarm_v2.0/config/body/link/collisions.yaml b/assets/body/v2.0/config/link/collisions.yaml similarity index 87% rename from assets/robot/openarm_v2.0/config/body/link/collisions.yaml rename to assets/body/v2.0/config/link/collisions.yaml index 6fd3e9a3..46fb7013 100644 --- a/assets/robot/openarm_v2.0/config/body/link/collisions.yaml +++ b/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 diff --git a/assets/robot/openarm_v2.0/config/body/link/visuals.yaml b/assets/body/v2.0/config/link/visuals.yaml similarity index 87% rename from assets/robot/openarm_v2.0/config/body/link/visuals.yaml rename to assets/body/v2.0/config/link/visuals.yaml index 8950f6fa..f1fa731c 100644 --- a/assets/robot/openarm_v2.0/config/body/link/visuals.yaml +++ b/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 diff --git a/assets/robot/openarm_v2.0/config/body/meta.md b/assets/body/v2.0/config/meta.md similarity index 100% rename from assets/robot/openarm_v2.0/config/body/meta.md rename to assets/body/v2.0/config/meta.md diff --git a/assets/robot/openarm_v2.0/config/body/struct/reference_points.yaml b/assets/body/v2.0/config/struct/reference_points.yaml similarity index 93% rename from assets/robot/openarm_v2.0/config/body/struct/reference_points.yaml rename to assets/body/v2.0/config/struct/reference_points.yaml index b30eef96..bf695c6c 100644 --- a/assets/robot/openarm_v2.0/config/body/struct/reference_points.yaml +++ b/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: diff --git a/assets/robot/openarm_v2.0/config/body/struct/topology.yaml b/assets/body/v2.0/config/struct/topology.yaml similarity index 100% rename from assets/robot/openarm_v2.0/config/body/struct/topology.yaml rename to assets/body/v2.0/config/struct/topology.yaml diff --git a/assets/robot/openarm_v2.0/meshes/body/collision/body_link0_symp.stl b/assets/body/v2.0/meshes/collision/body_link0_symp.stl similarity index 100% rename from assets/robot/openarm_v2.0/meshes/body/collision/body_link0_symp.stl rename to assets/body/v2.0/meshes/collision/body_link0_symp.stl diff --git a/assets/robot/openarm_v2.0/meshes/body/meta.md b/assets/body/v2.0/meshes/meta.md similarity index 100% rename from assets/robot/openarm_v2.0/meshes/body/meta.md rename to assets/body/v2.0/meshes/meta.md diff --git a/assets/body/v2.0/meshes/visual/body_link0.dae b/assets/body/v2.0/meshes/visual/body_link0.dae new file mode 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2472 0 3076 3709 0 3078 3848 0 3069 4169 0 3073 4098 0 3604 4515 0 3074 3407 0 3604 3407 0 3073 3407 0 3070 2061 0 3603 1713 0 3074 2050 0 3076 949 0 3061 1048 0 3075 916 0 3076 949 0 3075 916 0 3078 857 0 3078 857 0 3075 916 0 3077 825 0 3078 857 0 3077 825 0 3080 761 0 3080 761 0 3077 825 0 3079 715 0 3080 761 0 3079 715 0 3766 676 0 3083 11 0 3082 11 0 3081 11 0 3086 11 0 3083 11 0 3081 11 0 3081 1958 0 3082 1958 0 3084 1930 0 3083 3469 0 3085 3473 0 3082 3511 0 3086 11 0 3081 11 0 3091 11 0 3081 2735 0 3084 2655 0 3092 2651 0 3084 1930 0 3082 1958 0 3085 1905 0 3092 2651 0 3084 2655 0 3089 2768 0 3087 11 0 3083 11 0 3086 11 0 3086 11 0 3088 11 0 3087 11 0 3084 1930 0 3085 1905 0 3089 1820 0 3089 1820 0 3085 1905 0 3090 1764 0 3091 11 0 3081 11 0 3092 11 0 3091 11 0 3092 11 0 3094 11 0 3094 11 0 3092 11 0 3093 11 0 3093 11 0 3095 11 0 3094 11 0 3100 11 0 3095 11 0 3093 11 0 3100 11 0 3096 11 0 3095 11 0 3097 11 0 3102 11 0 3093 11 0 3093 11 0 3102 11 0 3100 11 0 3112 11 0 3103 11 0 3097 11 0 3100 11 0 3098 11 0 3096 11 0 3101 11 0 3099 11 0 3098 11 0 3101 11 0 3104 11 0 3099 11 0 3097 11 0 3103 11 0 3102 11 0 3101 11 0 3098 11 0 3100 11 0 3108 11 0 3105 11 0 3104 11 0 3108 11 0 3104 11 0 3101 11 0 3108 11 0 3106 11 0 3105 11 0 3109 11 0 3107 11 0 3106 11 0 3109 11 0 3132 11 0 3107 11 0 3109 11 0 3106 11 0 3108 11 0 3109 11 0 3133 11 0 3132 11 0 3110 11 0 3134 11 0 3109 11 0 3111 11 0 3135 11 0 3110 11 0 3113 11 0 3103 11 0 3112 11 0 3113 11 0 3112 11 0 3116 11 0 3116 11 0 3114 11 0 3113 11 0 3116 11 0 3115 11 0 3114 11 0 3115 11 0 3137 11 0 3111 11 0 3139 11 0 3115 11 0 3116 11 0 3119 3381 0 3100 3350 0 3102 3394 0 3117 2910 0 3101 2910 0 3100 3258 0 3120 3407 0 3102 3394 0 3103 3407 0 3118 3177 0 3108 3177 0 3101 3177 0 3121 3089 0 3109 3081 0 3108 3089 0 3124 3039 0 3115 3049 0 3111 3039 0 3122 3043 0 3110 2964 0 3109 3081 0 3123 2955 0 3111 2940 0 3110 2964 0 3125 3304 0 3103 3304 0 3113 3304 0 3126 3195 0 3113 3195 0 3114 3195 0 3127 3083 0 3114 3130 0 3115 3049 0 3117 3350 0 3100 3350 0 3119 3381 0 3118 2909 0 3101 2910 0 3117 2910 0 3119 3381 0 3102 3394 0 3120 3407 0 3120 3304 0 3103 3304 0 3125 3304 0 3121 3177 0 3108 3177 0 3118 3177 0 3122 3043 0 3109 3081 0 3121 3089 0 3123 2955 0 3110 2964 0 3122 3043 0 3124 2940 0 3111 2940 0 3123 2955 0 3125 3195 0 3113 3195 0 3126 3195 0 3126 3130 0 3114 3130 0 3127 3083 0 3127 3083 0 3115 3049 0 3124 3039 0 3117 11 0 3119 11 0 3118 11 0 3118 11 0 3119 11 0 3120 11 0 3118 11 0 3120 11 0 3125 11 0 3118 11 0 3125 11 0 3126 11 0 3122 11 0 3121 11 0 3118 11 0 3123 11 0 3122 11 0 3118 11 0 3126 11 0 3127 11 0 3118 11 0 3118 11 0 3124 11 0 3123 11 0 3127 11 0 3124 11 0 3118 11 0 3089 1820 0 3090 1764 0 3128 1665 0 3128 1665 0 3090 1764 0 3129 1607 0 3088 3177 0 3086 3177 0 3155 3177 0 3155 3407 0 3087 3407 0 3088 3407 0 3128 1665 0 3129 1607 0 3130 1486 0 3130 1486 0 3129 1607 0 3131 1419 0 3880 2342 0 3085 3473 0 3083 3469 0 3130 1486 0 3131 1419 0 3144 1333 0 3880 2342 0 3090 3501 0 3085 3473 0 3083 3176 0 3087 3176 0 3880 3176 0 3165 2280 0 3086 2326 0 3091 2487 0 3164 3872 0 3093 2575 0 3092 2651 0 3165 2280 0 3091 2487 0 3094 3896 0 3093 2575 0 3171 3918 0 3097 2767 0 3095 2708 0 3175 2013 0 3094 3896 0 3096 2643 0 3176 2189 0 3095 2708 0 3096 2643 0 3098 2389 0 3176 2233 0 3160 3735 0 3112 2639 0 3097 2767 0 3112 2639 0 3158 3987 0 3116 3623 0 3116 3623 0 3156 3802 0 3139 3767 0 3098 2389 0 3099 3480 0 3194 2209 0 3099 3480 0 3104 2343 0 3196 2248 0 3904 2206 0 3105 2641 0 3106 2507 0 3107 2293 0 3904 2206 0 3106 2507 0 3913 2207 0 3104 2479 0 3105 2641 0 3092 2651 0 3089 2768 0 3166 3980 0 3109 11 0 3134 11 0 3133 11 0 3110 11 0 3135 11 0 3134 11 0 3136 11 0 3135 11 0 3111 11 0 3111 11 0 3137 11 0 3136 11 0 3139 11 0 3137 11 0 3115 11 0 3138 11 0 3137 11 0 3139 11 0 3139 11 0 3140 11 0 3138 11 0 3141 11 0 3140 11 0 3139 11 0 3141 11 0 3142 11 0 3140 11 0 3143 11 0 3142 11 0 3141 11 0 3204 2341 0 3136 3519 0 3137 2714 0 3205 2420 0 3137 2714 0 3138 3280 0 3136 3519 0 3208 2258 0 3135 3823 0 3138 3198 0 3140 2471 0 3205 2475 0 3141 3814 0 3139 3767 0 3207 4175 0 3202 2045 0 3140 2471 0 3142 3176 0 3141 3814 0 3203 4136 0 3143 3177 0 3142 3407 0 3143 3407 0 3202 3407 0 3134 2428 0 3135 3823 0 3225 2098 0 3134 2428 0 3244 2221 0 3133 2573 0 3132 2331 0 3946 2002 0 3107 2293 0 3133 2573 0 3250 1995 0 3132 2331 0 3140 2471 0 3202 2045 0 3206 1985 0 3141 3814 0 3207 4175 0 3203 4136 0 3202 3407 0 3143 3407 0 3203 3407 0 3204 2607 0 3137 2714 0 3212 1983 0 3212 1983 0 3137 2714 0 3205 2420 0 3207 4175 0 3139 3767 0 3210 4040 0 3215 1946 0 3205 2475 0 3140 2471 0 3206 1985 0 3215 1946 0 3140 2471 0 3204 2188 0 3213 2091 0 3136 3519 0 3136 3519 0 3213 1949 0 3208 2329 0 3135 3823 0 3208 2269 0 3225 2144 0 3139 3767 0 3156 3802 0 3210 4040 0 3144 1333 0 3145 1271 0 3146 1104 0 3144 1333 0 3131 1419 0 3145 1271 0 3166 3980 0 3089 2768 0 3128 2520 0 3129 3538 0 3090 3501 0 3880 2342 0 3166 3980 0 3128 2520 0 3130 2439 0 3154 3407 0 3087 3407 0 3155 3407 0 3146 1104 0 3145 1271 0 3147 1051 0 3146 1104 0 3147 1051 0 3148 951 0 3148 951 0 3147 1051 0 3149 915 0 3880 2342 0 3131 3592 0 3129 3538 0 3130 2439 0 3144 2345 0 3166 3980 0 3880 2342 0 3145 3642 0 3131 3592 0 3166 3980 0 3144 2345 0 3146 2263 0 3155 3177 0 3086 3177 0 3882 3177 0 3880 3176 0 3087 3176 0 3154 3176 0 3165 2280 0 3094 3896 0 3173 2547 0 3156 3802 0 3116 3623 0 3158 3987 0 3161 4141 0 3158 3987 0 3112 2639 0 3112 2639 0 3160 3735 0 3161 4141 0 3171 3918 0 3093 2575 0 3185 4200 0 3172 4075 0 3093 2575 0 3164 3872 0 3172 4075 0 3185 4200 0 3093 2575 0 3094 3896 0 3175 2013 0 3173 2547 0 3095 2708 0 3176 2155 0 3175 2013 0 3097 2767 0 3171 3918 0 3177 4160 0 3179 4155 0 3097 2767 0 3177 4160 0 3160 3735 0 3097 2767 0 3179 4155 0 3164 3872 0 3092 2651 0 3166 3980 0 3086 2326 0 3165 2280 0 3882 2101 0 3194 2209 0 3176 2233 0 3098 2389 0 3099 3480 0 3196 2248 0 3194 2209 0 3196 2248 0 3104 2218 0 3900 2040 0 3900 1998 0 3104 2343 0 3901 2092 0 3904 2206 0 3913 2207 0 3105 2641 0 3107 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4909 5467 0 4940 5550 0 4910 5373 0 4910 5373 0 4907 5279 0 4909 5467 0 4937 5391 0 4906 5136 0 4910 5373 0 4912 495 0 4891 751 0 4911 467 0 4912 495 0 4893 749 0 4891 751 0 4915 291 0 4916 500 0 4912 495 0 4919 46 0 4915 291 0 4913 43 0 4915 291 0 4912 495 0 4914 274 0 4914 274 0 4912 495 0 4911 467 0 4560 42 0 4915 291 0 4914 274 0 4913 43 0 4915 291 0 4560 42 0 4934 337 0 4935 545 0 4917 319 0 4916 500 0 4893 749 0 4912 495 0 4917 319 0 4935 545 0 4916 500 0 4919 46 0 4917 319 0 4915 291 0 4918 80 0 4917 319 0 4919 46 0 4920 88 0 4934 337 0 4918 80 0 4918 80 0 4934 337 0 4917 319 0 4917 319 0 4916 500 0 4915 291 0 4921 5441 0 4965 5223 0 4936 5166 0 4967 5496 0 4927 5675 0 4926 5685 0 4925 6220 0 4564 6264 0 4566 6208 0 4925 6220 0 4923 6270 0 4564 6264 0 4925 6220 0 4924 6259 0 4923 6270 0 4929 6147 0 4924 6259 0 4925 6220 0 4566 6208 0 4926 5685 0 4927 5675 0 4566 6208 0 4927 5675 0 4925 6220 0 4925 6220 0 4927 5675 0 4929 6147 0 4929 6147 0 4944 5612 0 4945 6100 0 4928 5626 0 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5570 0 4946 6087 0 4909 5467 0 4883 5466 0 4933 5603 0 4883 5466 0 4909 5467 0 4907 5279 0 4550 2081 0 4948 1581 0 4947 2031 0 4958 4369 0 4551 4186 0 4949 4163 0 4947 2031 0 4948 1581 0 4950 1697 0 4551 4186 0 4958 4369 0 4954 4578 0 4958 4369 0 4949 4163 0 4951 4282 0 4952 1192 0 4948 1581 0 4567 1204 0 4952 1192 0 4950 1697 0 4948 1581 0 4953 1081 0 4950 1697 0 4952 1192 0 4956 4900 0 4954 4578 0 4958 4369 0 4955 725 0 4953 1081 0 4952 1192 0 4891 751 0 4892 1077 0 4953 1081 0 4891 751 0 4953 1081 0 4955 725 0 4569 4997 0 4954 4578 0 4957 5017 0 4957 5017 0 4954 4578 0 4956 4900 0 4892 1077 0 4950 1697 0 4953 1081 0 4956 4900 0 4958 4369 0 4951 4282 0 4959 4958 0 4951 4282 0 4960 4215 0 4956 4900 0 4951 4282 0 4959 4958 0 4962 4792 0 4960 4215 0 4961 4563 0 4959 4958 0 4960 4215 0 4962 4792 0 4962 4792 0 4936 5166 0 4959 4958 0 4911 467 0 4891 751 0 4955 725 0 4956 4900 0 4963 5258 0 4957 5017 0 4956 4900 0 4964 5262 0 4963 5258 0 4957 5017 0 4963 5258 0 4571 5224 0 4966 5484 0 4963 5258 0 4964 5262 0 4966 5484 0 4964 5262 0 4967 5496 0 4959 4958 0 4965 5223 0 4964 5262 0 4959 4958 0 4964 5262 0 4956 4900 0 4959 4958 0 4936 5166 0 4965 5223 0 4921 5441 0 4964 5262 0 4965 5223 0 4967 5496 0 4964 5262 0 4921 5441 0 4967 5496 0 4926 5685 0 4966 5484 0 4765 5600 0 4968 5702 0 4932 6070 0 4933 5603 0 4883 5466 0 4765 5600 0

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/assets/robot/openarm_v2.0/meshes/body/visual/body_link0.stl b/assets/body/v2.0/meshes/visual/body_link0.stl similarity index 100% rename from assets/robot/openarm_v2.0/meshes/body/visual/body_link0.stl rename to assets/body/v2.0/meshes/visual/body_link0.stl diff --git a/assets/common/assembly.xacro b/assets/common/assembly.xacro index bdf77768..d26280de 100644 --- a/assets/common/assembly.xacro +++ b/assets/common/assembly.xacro @@ -16,23 +16,21 @@ limitations under the License. - + - - - - + + - + + params="component_descriptions component_name components robot_preset config_root root_frame component_cfg component_desc parent_desc:=none emit_grasp_frame:=false out_name"> @@ -103,8 +101,7 @@ limitations under the License. - - + @@ -134,8 +131,9 @@ limitations under the License. value="${[name for name in attached_children if component_terminal_link_empty and 'parent_reference_point' in robot_preset[name]['connection'] and robot_preset[name]['connection']['parent_reference_point'] != None and ('parent' not in robot_preset[name]['connection'] or robot_preset[name]['connection']['parent'] == None) and robot_preset[name]['connection']['parent_reference_point'] in component_desc['reference_points'] and component_desc['reference_points'][robot_preset[name]['connection']['parent_reference_point']]['parent'] == component_terminal_link]}" lazy_eval="false" /> - + @@ -170,20 +168,12 @@ limitations under the License. + params="component_api component_descriptions component_name components robot_preset config_root root_frame parent_desc:=none emit_grasp_frame:=false"> - - + - - - - - - + params="component_api component_descriptions index components parent_component_name robot_preset config_root root_frame parent_desc:=none emit_grasp_frame:=false"> @@ -229,22 +217,19 @@ limitations under the License. - - - - + params="component_api config_root robot_preset emit_grasp_frame:=false out_name:=component_descriptions"> @@ -269,9 +252,14 @@ limitations under the License. components="${components}" robot_preset="${robot_preset}" /> + + + + - - - - + + + @@ -125,8 +124,7 @@ limitations under the License. + params="reference_points prefix link_name_map:=${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"> @@ -41,7 +41,7 @@ limitations under the License. + + + + + + + + + ${values[keys[index]]} + + + + + + + + + + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${plugin} + + + + + + + + + diff --git a/assets/common/validation.xacro b/assets/common/validation.xacro index 5465b6dd..e772915c 100644 --- a/assets/common/validation.xacro +++ b/assets/common/validation.xacro @@ -87,8 +87,8 @@ limitations under the License. message="${'Invalid robot preset: robot component `%s` has unsupported config `%s`.' % (component_name, component_config)}" /> - + - + component_cfg="${component_cfg}" component_desc="${component_desc}" component_descriptions="${dict(component=component_desc)}" out_name="component_runtime" /> diff --git a/assets/end_effector/parallel_link/config/inertials.yaml b/assets/end_effector/parallel_link/config/inertials/nominal.yaml similarity index 81% rename from assets/end_effector/parallel_link/config/inertials.yaml rename to assets/end_effector/parallel_link/config/inertials/nominal.yaml index 49a29294..008e11ae 100644 --- a/assets/end_effector/parallel_link/config/inertials.yaml +++ b/assets/end_effector/parallel_link/config/inertials/nominal.yaml @@ -12,6 +12,22 @@ # See the License for the specific language governing permissions and # limitations under the License. +link7: + origin: + x: -9.897454675528511e-05 + y: 0.003372444724450437 + z: 0.06138919729233123 + roll: 0 + pitch: 0 + yaw: 0 + mass: 0.4054971268153967 + inertia: + xx: 0.0003637830920674498 + yy: 0.0003351190950225729 + zz: 0.0001865112723189818 + xy: 0.0 + xz: 0.0 + yz: 7.094884219324384e-05 hand: origin: x: 0 @@ -26,9 +42,8 @@ hand: yy: 5.560627616753029e-05 zz: 0.0002906093338421478 xy: 1.18380219510342e-05 - xz: 0 - yz: 0 - + xz: 0.0 + yz: 0.0 left_finger: origin: x: -0.004646697332048465 @@ -45,7 +60,6 @@ left_finger: xy: -4.813534779503441e-07 xz: -4.110240982958172e-06 yz: 3.504307786795564e-06 - right_finger: origin: x: 0.004646697332048465 diff --git a/assets/robot/openarm_v1.0/config/body/kinematics.yaml b/assets/end_effector/parallel_link/config/joint/joint_axes.yaml similarity index 80% rename from assets/robot/openarm_v1.0/config/body/kinematics.yaml rename to assets/end_effector/parallel_link/config/joint/joint_axes.yaml index bbe02232..773c752a 100644 --- a/assets/robot/openarm_v1.0/config/body/kinematics.yaml +++ b/assets/end_effector/parallel_link/config/joint/joint_axes.yaml @@ -1,4 +1,4 @@ -# Copyright 2025 Enactic, Inc. +# Copyright 2026 Enactic, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -12,11 +12,13 @@ # See the License for the specific language governing permissions and # limitations under the License. -body_link0: - kinematic: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 +finger_joint1: + axis: + x: 0 + y: -1 + z: 0 +finger_joint2: + axis: + x: 0 + y: 1 + z: 0 diff --git a/assets/end_effector/parallel_link/config/joint/joint_limits.yaml b/assets/end_effector/parallel_link/config/joint/joint_limits.yaml new file mode 100644 index 00000000..6e360d02 --- /dev/null +++ b/assets/end_effector/parallel_link/config/joint/joint_limits.yaml @@ -0,0 +1,26 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +finger_joint1: + limit: + lower: 0.0 + upper: 0.044 + velocity: 0.661 + effort: 150.75 +finger_joint2: + limit: + lower: 0.0 + upper: 0.044 + velocity: 0.661 + effort: 150.75 diff --git a/assets/robot/openarm_v1.0/config/body/kinematics_link.yaml b/assets/end_effector/parallel_link/config/joint/joint_mimics.yaml similarity index 80% rename from assets/robot/openarm_v1.0/config/body/kinematics_link.yaml rename to assets/end_effector/parallel_link/config/joint/joint_mimics.yaml index bbe02232..1c0f9656 100644 --- a/assets/robot/openarm_v1.0/config/body/kinematics_link.yaml +++ b/assets/end_effector/parallel_link/config/joint/joint_mimics.yaml @@ -1,4 +1,4 @@ -# Copyright 2025 Enactic, Inc. +# Copyright 2026 Enactic, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -12,11 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -body_link0: - kinematic: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 +finger_joint2: + joint: finger_joint1 + multiplier: 1 + offset: 0 diff --git a/assets/end_effector/parallel_link/config/kinematics.yaml b/assets/end_effector/parallel_link/config/joint/joint_origins.yaml similarity index 80% rename from assets/end_effector/parallel_link/config/kinematics.yaml rename to assets/end_effector/parallel_link/config/joint/joint_origins.yaml index 0723f094..79ad22c9 100644 --- a/assets/end_effector/parallel_link/config/kinematics.yaml +++ b/assets/end_effector/parallel_link/config/joint/joint_origins.yaml @@ -12,20 +12,27 @@ # See the License for the specific language governing permissions and # limitations under the License. -hand: - kinematic: - x: 0.0 - y: 0.0 +hand_joint: + origin: + x: 0 + y: 0 z: 0.1001 roll: 0 pitch: 0 yaw: 0 - -finger_joint: - kinematic: - x: 0.0 +finger_joint1: + origin: + x: 0 y: -0.005 z: 0.015 roll: 0 pitch: 0 yaw: 0 +finger_joint2: + origin: + x: 0 + y: 0.005 + z: 0.015 + roll: 0 + pitch: 0 + yaw: 0 diff --git a/assets/end_effector/parallel_link/config/link/collisions.yaml b/assets/end_effector/parallel_link/config/link/collisions.yaml new file mode 100644 index 00000000..979e8e15 --- /dev/null +++ b/assets/end_effector/parallel_link/config/link/collisions.yaml @@ -0,0 +1,70 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +link7: + origin: + x: 0.0 + y: -0.0 + z: -0.5585 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/collision/link7.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 +hand: + origin: + x: 0.0 + y: 0.0 + z: -0.6586 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/collision/hand.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 +left_finger: + origin: + x: 0.0 + y: -0.05 + z: -0.673001 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 +right_finger: + origin: + x: 0.0 + y: 0.05 + z: -0.673001 + roll: 0.0 + pitch: 0.0 + yaw: 3.141592653589793 + geometry: + mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/collision/finger.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 diff --git a/assets/end_effector/parallel_link/config/link/visuals.yaml b/assets/end_effector/parallel_link/config/link/visuals.yaml new file mode 100644 index 00000000..50f35a19 --- /dev/null +++ b/assets/end_effector/parallel_link/config/link/visuals.yaml @@ -0,0 +1,70 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +link7: + origin: + x: 0.0 + y: -0.0 + z: -0.5585 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/visual/link7.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 +hand: + origin: + x: 0.0 + y: 0.0 + z: -0.6586 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/visual/hand.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 +left_finger: + origin: + x: 0.0 + y: -0.05 + z: -0.673001 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 +right_finger: + origin: + x: 0.0 + y: 0.05 + z: -0.673001 + roll: 0.0 + pitch: 0.0 + yaw: 3.141592653589793 + geometry: + mesh: package://openarm_description/assets/end_effector/parallel_link/meshes/visual/finger.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 diff --git a/assets/end_effector/parallel_link/config/struct/reference_points.yaml b/assets/end_effector/parallel_link/config/struct/reference_points.yaml new file mode 100644 index 00000000..8febe352 --- /dev/null +++ b/assets/end_effector/parallel_link/config/struct/reference_points.yaml @@ -0,0 +1,24 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +hand_tcp: + parent: hand + emit: true + origin: + x: 0 + y: 0 + z: 0.09 + roll: 0 + pitch: 0 + yaw: 0 diff --git a/assets/end_effector/parallel_link/config/struct/topology.yaml b/assets/end_effector/parallel_link/config/struct/topology.yaml new file mode 100644 index 00000000..308173d7 --- /dev/null +++ b/assets/end_effector/parallel_link/config/struct/topology.yaml @@ -0,0 +1,32 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +links: +- link7 +- hand +- right_finger +- left_finger +joints: + hand_joint: + type: fixed + parent: link7 + child: hand + finger_joint1: + type: prismatic + parent: hand + child: right_finger + finger_joint2: + type: prismatic + parent: hand + child: left_finger diff --git a/assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl b/assets/end_effector/parallel_link/meshes/collision/link7.stl similarity index 100% rename from assets/robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl rename to assets/end_effector/parallel_link/meshes/collision/link7.stl diff --git a/assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae b/assets/end_effector/parallel_link/meshes/visual/link7.dae similarity index 100% rename from assets/robot/openarm_v1.0/mesh/arm/visual/link7.dae rename to assets/end_effector/parallel_link/meshes/visual/link7.dae diff --git a/assets/robot/openarm_v1.0/mesh/arm/visual/link7.stl b/assets/end_effector/parallel_link/meshes/visual/link7.stl similarity index 100% rename from assets/robot/openarm_v1.0/mesh/arm/visual/link7.stl rename to assets/end_effector/parallel_link/meshes/visual/link7.stl diff --git a/assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro b/assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro index 21416084..2fe9e353 100644 --- a/assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro +++ b/assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro @@ -13,27 +13,27 @@ limitations under the License. --> - - - - + - + + - - - - + + + + + + + + + + + + + + + diff --git a/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro index 84bf729b..b1bc01f1 100644 --- a/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro +++ b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro @@ -163,7 +163,7 @@ limitations under the License. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro b/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro deleted file mode 100644 index ca530c7b..00000000 --- a/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro +++ /dev/null @@ -1,150 +0,0 @@ - - - - - - - - ${xacro.warning('No inertia properties defined for: ' + name)} - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - - - - - - openarm_hw/openarmModelInterface - - root - openarm_hw/openarmModelInterface - - - tip - openarm_hw/openarmModelInterface - - openarm_hw/openarmModelInterface - openarm_hw/openarmModelInterface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro b/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro deleted file mode 100644 index d3fada87..00000000 --- a/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro b/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro deleted file mode 100644 index 3b200efa..00000000 --- a/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - ${xacro.warning('No inertia properties defined for: ' + name)} - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro b/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro deleted file mode 100644 index 7f811804..00000000 --- a/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - ${xacro.error('assets/robot/openarm_v1.0 only supports ee_type:=parallel_link.')} - - - diff --git a/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro b/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro deleted file mode 100644 index 425d08d2..00000000 --- a/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro +++ /dev/null @@ -1,94 +0,0 @@ - - - - - - - - ${xacro.warning('No inertia properties defined for: ' + name)} - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro deleted file mode 100644 index 6a00c3a2..00000000 --- a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro +++ /dev/null @@ -1,106 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro deleted file mode 100644 index 6d366553..00000000 --- a/assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro +++ /dev/null @@ -1,102 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/example/v1.urdf b/assets/robot/openarm_v1.0/urdf/example/v1.urdf index 7b8865cd..bec33afe 100644 --- a/assets/robot/openarm_v1.0/urdf/example/v1.urdf +++ b/assets/robot/openarm_v1.0/urdf/example/v1.urdf @@ -4,7 +4,7 @@ - - - - - - + + - + - + - - + - + - - - - + + + + - + + - + - - + + + + + + - + + - + - - + - + - + - + + - + - - + - + @@ -124,6 +124,7 @@ limitations under the License. + @@ -132,7 +133,6 @@ limitations under the License. - @@ -142,7 +142,7 @@ limitations under the License. - + @@ -151,6 +151,7 @@ limitations under the License. + @@ -159,7 +160,6 @@ limitations under the License. - @@ -169,7 +169,7 @@ limitations under the License. - + @@ -177,20 +177,20 @@ limitations under the License. - + + - + - - + @@ -204,66 +204,148 @@ limitations under the License. - + + - + - - + - + + + + + + + + - + + - + - + - - + - + - + - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - + - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -272,7 +354,6 @@ limitations under the License. - @@ -281,9 +362,15 @@ limitations under the License. + + + + + + @@ -292,7 +379,6 @@ limitations under the License. - @@ -311,6 +397,7 @@ limitations under the License. + @@ -319,7 +406,6 @@ limitations under the License. - @@ -338,6 +424,7 @@ limitations under the License. + @@ -346,7 +433,6 @@ limitations under the License. - @@ -365,6 +451,7 @@ limitations under the License. + @@ -373,7 +460,6 @@ limitations under the License. - @@ -383,7 +469,7 @@ limitations under the License. - + @@ -392,6 +478,7 @@ limitations under the License. + @@ -400,7 +487,6 @@ limitations under the License. - @@ -418,16 +504,16 @@ limitations under the License. - + + - + - @@ -443,41 +529,42 @@ limitations under the License. + + + + + + + - + + - + - + - - + - + - + - - - - - - - - - + + + - + @@ -486,47 +573,23 @@ limitations under the License. - + - - - - - - - - - - + + + + - - - - - - - - - - - - - - - - - - - - - + + + - + @@ -538,54 +601,17 @@ limitations under the License. - - - - + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + @@ -602,38 +628,18 @@ limitations under the License. - - - - - - - - - - - - - - - - - - - - - - - - - - + - + + + + + + diff --git a/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro b/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro index 4b72af3a..d54499d4 100644 --- a/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro +++ b/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro @@ -1,6 +1,6 @@ - + - - + + - - - - + + - - - - - - - - - - - - - - ${xacro.error('assets/robot/openarm_v1.0 supports arm_type in ' + str(accepted_arm_types) + ' (got: $(arg arm_type)). Use assets/robot/openarm_v2.0 for newer hardware variants.')} - - - ${xacro.error('assets/robot/openarm_v1.0 only supports body_type:=v10.')} - - - - - - + + + + + + + + + diff --git a/assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro b/assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro deleted file mode 100644 index 41824fa6..00000000 --- a/assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro +++ /dev/null @@ -1,202 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro deleted file mode 100644 index 999b443a..00000000 --- a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro +++ /dev/null @@ -1,152 +0,0 @@ - - - - - - - - - - - ${arm_type} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${left_can_interface} - ${left_arm_prefix} - ${hand} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - ${control_gains['hand']['kp']} - ${control_gains['hand']['kd']} - - - - - - - - - - - - ${initial_position} - - - - 0.0 - - - - 0.0 - - - - - - - - - - - - - - - - - - - - - ${arm_type} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${right_can_interface} - ${right_arm_prefix} - ${hand} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - ${control_gains['hand']['kp']} - ${control_gains['hand']['kd']} - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro b/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro deleted file mode 100644 index 97cc630c..00000000 --- a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro +++ /dev/null @@ -1,110 +0,0 @@ - - - - - - - - - - - - ${arm_type} - ${arm_prefix} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${can_interface} - ${arm_prefix} - ${hand} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - - - - - - - - - - - - ${initial_position} - - - - 0.0 - - - - 0.0 - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml index c7ee6438..79579aeb 100644 --- a/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml +++ b/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: @@ -48,6 +48,11 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + system_name: openarm_left_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can1 + can_fd: true inertials: nominal prefix: openarm_left_ connection: @@ -70,6 +75,11 @@ secondary_arm: enabled: true product: openarm_v2.0 config: arm + control: + system_name: openarm_right_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can0 + can_fd: true inertials: nominal prefix: openarm_right_ connection: diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml index 74f6fcee..b12fe6f7 100644 --- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml +++ b/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: @@ -44,6 +44,11 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + system_name: openarm_left_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can1 + can_fd: true inertials: nominal prefix: openarm_left_ connection: @@ -70,6 +75,11 @@ secondary_arm: enabled: false product: openarm_v2.0 config: arm + control: + system_name: openarm_right_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can0 + can_fd: true inertials: nominal prefix: openarm_right_ connection: diff --git a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml index e1d7a808..2f604e67 100644 --- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml +++ b/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: @@ -45,6 +45,11 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + system_name: openarm_left_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can1 + can_fd: true inertials: nominal prefix: openarm_left_ connection: @@ -71,6 +76,11 @@ secondary_arm: enabled: false product: openarm_v2.0 config: arm + control: + system_name: openarm_right_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can0 + can_fd: true inertials: nominal prefix: openarm_right_ connection: diff --git a/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml b/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml index d4c68293..929b2347 100644 --- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml +++ b/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: @@ -44,6 +44,11 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + system_name: openarm_right_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can0 + can_fd: true inertials: nominal prefix: openarm_right_ connection: @@ -66,6 +71,11 @@ secondary_arm: enabled: false product: openarm_v2.0 config: arm + control: + system_name: openarm_left_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can1 + can_fd: true inertials: nominal prefix: openarm_left_ connection: diff --git a/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml b/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml index 248834d0..32966dac 100644 --- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml +++ b/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: @@ -45,6 +45,11 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + system_name: openarm_right_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can0 + can_fd: true inertials: nominal prefix: openarm_right_ connection: @@ -67,6 +72,11 @@ secondary_arm: enabled: false product: openarm_v2.0 config: arm + control: + system_name: openarm_left_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can1 + can_fd: true inertials: nominal prefix: openarm_left_ connection: diff --git a/assets/robot/openarm_v2.0/meshes/body/visual/body_link0.dae b/assets/robot/openarm_v2.0/meshes/body/visual/body_link0.dae deleted file mode 100644 index 46598637..00000000 --- a/assets/robot/openarm_v2.0/meshes/body/visual/body_link0.dae +++ /dev/null @@ -1,555 +0,0 @@ - - - - 2026-10-17T19:21:37.389858 - 2026-10-17T19:21:37.389858 - Y_UP - - - - - - - - 0.0 0.0 0.0 1.0 - - - 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1421 0 3056 1664 0 3055 1606 0 3058 1484 0 3058 1484 0 3057 1421 0 3060 1335 0 3053 3176 0 3073 4098 0 3002 3841 0 3054 3407 0 3073 3407 0 3053 3407 0 3013 2615 0 3070 2061 0 3054 2690 0 3556 4120 0 2966 3843 0 3063 3955 0 3064 4114 0 3063 3955 0 2968 2764 0 3064 4114 0 2968 2764 0 3066 4066 0 3575 4102 0 2966 3843 0 3556 4120 0 3067 4154 0 2993 3693 0 3065 3865 0 3066 4066 0 2992 3755 0 3067 4154 0 3068 4147 0 3065 3865 0 3002 3841 0 3069 4169 0 3068 4147 0 3002 3841 0 3072 2516 0 3070 2062 0 3013 2696 0 3071 2462 0 3072 2516 0 3013 3844 0 3002 3841 0 3073 4098 0 3069 4169 0 3006 2612 0 3566 2095 0 3071 2419 0 3006 2612 0 3574 2223 0 3566 2095 0 3042 2562 0 3056 2530 0 3734 2472 0 3057 2731 0 3037 2677 0 3724 4025 0 3060 1335 0 3057 1421 0 3059 1274 0 3060 1335 0 3059 1274 0 3062 1106 0 3062 1106 0 3059 1274 0 3061 1048 0 3056 2530 0 3058 2663 0 3734 2472 0 3062 1106 0 3061 1048 0 3076 949 0 3070 2061 0 3074 2050 0 3054 2690 0 3074 3407 0 3073 3407 0 3054 3407 0 3578 2616 0 3584 2132 0 2969 3687 0 3587 4152 0 2966 3843 0 3575 4102 0 3578 2616 0 2969 3687 0 3588 2137 0 2969 3687 0 3584 2132 0 3583 2048 0 2970 2512 0 3583 2041 0 3585 2153 0 2971 2646 0 3585 2153 0 3586 2354 0 3587 4152 0 3579 3945 0 2966 3843 0 3588 2137 0 2969 3687 0 3633 1996 0 3579 3945 0 3631 4062 0 2972 2741 0 3630 3966 0 2972 2741 0 3631 4062 0 2973 3774 0 3638 2008 0 3635 2660 0 2973 3774 0 3634 2336 0 3637 1943 0 3636 4051 0 2975 3593 0 3630 3966 0 2980 2657 0 3645 2259 0 3634 2518 0 3635 2660 0 3633 1996 0 2969 3687 0 3006 2612 0 3596 2222 0 3574 2038 0 3596 2089 0 3011 2415 0 3600 2118 0 3653 2348 0 3007 3731 0 3586 2497 0 3655 2072 0 3600 2110 0 3010 2292 0 3008 2339 0 3653 2348 0 3660 2054 0 3008 2339 0 3660 2054 0 3663 2200 0 3664 2391 0 3009 2595 0 3663 2311 0 3655 2129 0 3010 2242 0 3666 2067 0 3666 2093 0 3010 2361 0 3664 2391 0 3064 4114 0 3556 4120 0 3063 3955 0 2973 3774 0 3637 1943 0 3638 2008 0 3728 4201 0 3036 3708 0 3636 4051 0 3645 2259 0 2980 2657 0 3649 2296 0 2988 2536 0 3693 2147 0 3649 2296 0 2988 2536 0 3695 2190 0 3693 2108 0 3698 2217 0 3695 2190 0 2989 2604 0 3713 2244 0 3698 2171 0 2990 2545 0 2991 2572 0 3715 2338 0 3713 2244 0 3068 4147 0 3067 4154 0 3065 3865 0 3560 4394 0 3067 4154 0 3068 4147 0 3561 4392 0 3068 4147 0 3069 4169 0 3564 1888 0 3070 2062 0 3072 2516 0 3071 2462 0 3564 1887 0 3072 2516 0 3057 2731 0 3724 4025 0 3059 2474 0 3734 2472 0 3058 2663 0 3060 2711 0 3059 2474 0 3724 4025 0 3061 2393 0 3734 2472 0 3060 2711 0 3062 3551 0 3723 3820 0 3036 3708 0 3722 4088 0 3722 4088 0 3036 3708 0 3728 4201 0 3724 4025 0 3037 2677 0 3723 3820 0 3041 3744 0 3727 2333 0 3725 2702 0 3740 2116 0 3039 2576 0 3726 2503 0 3725 3822 0 3730 2184 0 3040 3686 0 3040 3758 0 3730 2126 0 3726 2224 0 3042 2562 0 3734 2472 0 3727 2501 0 3751 2539 0 3039 2576 0 3740 2390 0 3715 2338 0 3045 2554 0 3750 2357 0 3750 2357 0 3044 2605 0 3751 2115 0 3075 2310 0 3061 2393 0 3724 4025 0 3062 3551 0 3076 3709 0 3734 2472 0 3075 2310 0 3724 4025 0 3077 2237 0 3734 2472 0 3076 3709 0 3078 3848 0 3069 4169 0 3073 4098 0 3604 4515 0 3074 3407 0 3604 3407 0 3073 3407 0 3070 2061 0 3603 1713 0 3074 2050 0 3076 949 0 3061 1048 0 3075 916 0 3076 949 0 3075 916 0 3078 857 0 3078 857 0 3075 916 0 3077 825 0 3078 857 0 3077 825 0 3080 761 0 3080 761 0 3077 825 0 3079 715 0 3080 761 0 3079 715 0 3766 676 0 3083 11 0 3082 11 0 3081 11 0 3086 11 0 3083 11 0 3081 11 0 3081 1958 0 3082 1958 0 3084 1930 0 3083 3469 0 3085 3473 0 3082 3511 0 3086 11 0 3081 11 0 3091 11 0 3081 2735 0 3084 2655 0 3092 2651 0 3084 1930 0 3082 1958 0 3085 1905 0 3092 2651 0 3084 2655 0 3089 2768 0 3087 11 0 3083 11 0 3086 11 0 3086 11 0 3088 11 0 3087 11 0 3084 1930 0 3085 1905 0 3089 1820 0 3089 1820 0 3085 1905 0 3090 1764 0 3091 11 0 3081 11 0 3092 11 0 3091 11 0 3092 11 0 3094 11 0 3094 11 0 3092 11 0 3093 11 0 3093 11 0 3095 11 0 3094 11 0 3100 11 0 3095 11 0 3093 11 0 3100 11 0 3096 11 0 3095 11 0 3097 11 0 3102 11 0 3093 11 0 3093 11 0 3102 11 0 3100 11 0 3112 11 0 3103 11 0 3097 11 0 3100 11 0 3098 11 0 3096 11 0 3101 11 0 3099 11 0 3098 11 0 3101 11 0 3104 11 0 3099 11 0 3097 11 0 3103 11 0 3102 11 0 3101 11 0 3098 11 0 3100 11 0 3108 11 0 3105 11 0 3104 11 0 3108 11 0 3104 11 0 3101 11 0 3108 11 0 3106 11 0 3105 11 0 3109 11 0 3107 11 0 3106 11 0 3109 11 0 3132 11 0 3107 11 0 3109 11 0 3106 11 0 3108 11 0 3109 11 0 3133 11 0 3132 11 0 3110 11 0 3134 11 0 3109 11 0 3111 11 0 3135 11 0 3110 11 0 3113 11 0 3103 11 0 3112 11 0 3113 11 0 3112 11 0 3116 11 0 3116 11 0 3114 11 0 3113 11 0 3116 11 0 3115 11 0 3114 11 0 3115 11 0 3137 11 0 3111 11 0 3139 11 0 3115 11 0 3116 11 0 3119 3381 0 3100 3350 0 3102 3394 0 3117 2910 0 3101 2910 0 3100 3258 0 3120 3407 0 3102 3394 0 3103 3407 0 3118 3177 0 3108 3177 0 3101 3177 0 3121 3089 0 3109 3081 0 3108 3089 0 3124 3039 0 3115 3049 0 3111 3039 0 3122 3043 0 3110 2964 0 3109 3081 0 3123 2955 0 3111 2940 0 3110 2964 0 3125 3304 0 3103 3304 0 3113 3304 0 3126 3195 0 3113 3195 0 3114 3195 0 3127 3083 0 3114 3130 0 3115 3049 0 3117 3350 0 3100 3350 0 3119 3381 0 3118 2909 0 3101 2910 0 3117 2910 0 3119 3381 0 3102 3394 0 3120 3407 0 3120 3304 0 3103 3304 0 3125 3304 0 3121 3177 0 3108 3177 0 3118 3177 0 3122 3043 0 3109 3081 0 3121 3089 0 3123 2955 0 3110 2964 0 3122 3043 0 3124 2940 0 3111 2940 0 3123 2955 0 3125 3195 0 3113 3195 0 3126 3195 0 3126 3130 0 3114 3130 0 3127 3083 0 3127 3083 0 3115 3049 0 3124 3039 0 3117 11 0 3119 11 0 3118 11 0 3118 11 0 3119 11 0 3120 11 0 3118 11 0 3120 11 0 3125 11 0 3118 11 0 3125 11 0 3126 11 0 3122 11 0 3121 11 0 3118 11 0 3123 11 0 3122 11 0 3118 11 0 3126 11 0 3127 11 0 3118 11 0 3118 11 0 3124 11 0 3123 11 0 3127 11 0 3124 11 0 3118 11 0 3089 1820 0 3090 1764 0 3128 1665 0 3128 1665 0 3090 1764 0 3129 1607 0 3088 3177 0 3086 3177 0 3155 3177 0 3155 3407 0 3087 3407 0 3088 3407 0 3128 1665 0 3129 1607 0 3130 1486 0 3130 1486 0 3129 1607 0 3131 1419 0 3880 2342 0 3085 3473 0 3083 3469 0 3130 1486 0 3131 1419 0 3144 1333 0 3880 2342 0 3090 3501 0 3085 3473 0 3083 3176 0 3087 3176 0 3880 3176 0 3165 2280 0 3086 2326 0 3091 2487 0 3164 3872 0 3093 2575 0 3092 2651 0 3165 2280 0 3091 2487 0 3094 3896 0 3093 2575 0 3171 3918 0 3097 2767 0 3095 2708 0 3175 2013 0 3094 3896 0 3096 2643 0 3176 2189 0 3095 2708 0 3096 2643 0 3098 2389 0 3176 2233 0 3160 3735 0 3112 2639 0 3097 2767 0 3112 2639 0 3158 3987 0 3116 3623 0 3116 3623 0 3156 3802 0 3139 3767 0 3098 2389 0 3099 3480 0 3194 2209 0 3099 3480 0 3104 2343 0 3196 2248 0 3904 2206 0 3105 2641 0 3106 2507 0 3107 2293 0 3904 2206 0 3106 2507 0 3913 2207 0 3104 2479 0 3105 2641 0 3092 2651 0 3089 2768 0 3166 3980 0 3109 11 0 3134 11 0 3133 11 0 3110 11 0 3135 11 0 3134 11 0 3136 11 0 3135 11 0 3111 11 0 3111 11 0 3137 11 0 3136 11 0 3139 11 0 3137 11 0 3115 11 0 3138 11 0 3137 11 0 3139 11 0 3139 11 0 3140 11 0 3138 11 0 3141 11 0 3140 11 0 3139 11 0 3141 11 0 3142 11 0 3140 11 0 3143 11 0 3142 11 0 3141 11 0 3204 2341 0 3136 3519 0 3137 2714 0 3205 2420 0 3137 2714 0 3138 3280 0 3136 3519 0 3208 2258 0 3135 3823 0 3138 3198 0 3140 2471 0 3205 2475 0 3141 3814 0 3139 3767 0 3207 4175 0 3202 2045 0 3140 2471 0 3142 3176 0 3141 3814 0 3203 4136 0 3143 3177 0 3142 3407 0 3143 3407 0 3202 3407 0 3134 2428 0 3135 3823 0 3225 2098 0 3134 2428 0 3244 2221 0 3133 2573 0 3132 2331 0 3946 2002 0 3107 2293 0 3133 2573 0 3250 1995 0 3132 2331 0 3140 2471 0 3202 2045 0 3206 1985 0 3141 3814 0 3207 4175 0 3203 4136 0 3202 3407 0 3143 3407 0 3203 3407 0 3204 2607 0 3137 2714 0 3212 1983 0 3212 1983 0 3137 2714 0 3205 2420 0 3207 4175 0 3139 3767 0 3210 4040 0 3215 1946 0 3205 2475 0 3140 2471 0 3206 1985 0 3215 1946 0 3140 2471 0 3204 2188 0 3213 2091 0 3136 3519 0 3136 3519 0 3213 1949 0 3208 2329 0 3135 3823 0 3208 2269 0 3225 2144 0 3139 3767 0 3156 3802 0 3210 4040 0 3144 1333 0 3145 1271 0 3146 1104 0 3144 1333 0 3131 1419 0 3145 1271 0 3166 3980 0 3089 2768 0 3128 2520 0 3129 3538 0 3090 3501 0 3880 2342 0 3166 3980 0 3128 2520 0 3130 2439 0 3154 3407 0 3087 3407 0 3155 3407 0 3146 1104 0 3145 1271 0 3147 1051 0 3146 1104 0 3147 1051 0 3148 951 0 3148 951 0 3147 1051 0 3149 915 0 3880 2342 0 3131 3592 0 3129 3538 0 3130 2439 0 3144 2345 0 3166 3980 0 3880 2342 0 3145 3642 0 3131 3592 0 3166 3980 0 3144 2345 0 3146 2263 0 3155 3177 0 3086 3177 0 3882 3177 0 3880 3176 0 3087 3176 0 3154 3176 0 3165 2280 0 3094 3896 0 3173 2547 0 3156 3802 0 3116 3623 0 3158 3987 0 3161 4141 0 3158 3987 0 3112 2639 0 3112 2639 0 3160 3735 0 3161 4141 0 3171 3918 0 3093 2575 0 3185 4200 0 3172 4075 0 3093 2575 0 3164 3872 0 3172 4075 0 3185 4200 0 3093 2575 0 3094 3896 0 3175 2013 0 3173 2547 0 3095 2708 0 3176 2155 0 3175 2013 0 3097 2767 0 3171 3918 0 3177 4160 0 3179 4155 0 3097 2767 0 3177 4160 0 3160 3735 0 3097 2767 0 3179 4155 0 3164 3872 0 3092 2651 0 3166 3980 0 3086 2326 0 3165 2280 0 3882 2101 0 3194 2209 0 3176 2233 0 3098 2389 0 3099 3480 0 3196 2248 0 3194 2209 0 3196 2248 0 3104 2218 0 3900 2040 0 3900 1998 0 3104 2343 0 3901 2092 0 3904 2206 0 3913 2207 0 3105 2641 0 3107 2293 0 3903 2142 0 3904 2206 0 3104 2343 0 3910 2202 0 3901 2092 0 3913 2207 0 3910 2121 0 3104 2479 0 3210 4040 0 3156 3802 0 3157 4234 0 3148 951 0 3149 915 0 3150 860 0 3150 860 0 3149 915 0 3151 823 0 3880 2342 0 3149 3783 0 3147 3695 0 3147 3695 0 3145 3642 0 3880 2342 0 3146 2263 0 3148 2193 0 3166 3980 0 3166 3980 0 3148 2193 0 3150 3762 0 3150 860 0 3151 823 0 3152 758 0 3152 758 0 3151 823 0 3153 714 0 3880 2342 0 3151 3886 0 3149 3783 0 3152 758 0 3153 714 0 3877 648 0 3153 3977 0 3151 3886 0 3880 2342 0 3158 3987 0 3157 4234 0 3156 3802 0 3159 4358 0 3157 4234 0 3158 3987 0 3159 4358 0 3223 4366 0 3157 4234 0 3162 4582 0 3223 4366 0 3159 4358 0 3163 4436 0 3159 4358 0 3161 4141 0 3161 4141 0 3159 4358 0 3158 3987 0 3163 4436 0 3162 4582 0 3159 4358 0 3161 4141 0 3160 3735 0 3179 4155 0 3161 4141 0 3179 4155 0 3163 4436 0 3180 4625 0 3162 4582 0 3163 4436 0 3237 4605 0 3162 4582 0 3238 4988 0 3182 4776 0 3162 4582 0 3180 4625 0 3182 4776 0 3238 4988 0 3162 4582 0 3174 1895 0 3165 2280 0 3173 2547 0 3166 3980 0 3189 4426 0 3164 3872 0 3174 1895 0 3167 1644 0 3165 2280 0 3168 1659 0 3165 2280 0 3167 1644 0 3169 4434 0 3189 4426 0 3166 3980 0 3169 4434 0 3894 4803 0 3189 4426 0 3190 1560 0 3170 1079 0 3167 1644 0 3168 1659 0 3167 1644 0 3886 1131 0 3886 1131 0 3167 1644 0 3170 1079 0 3177 4160 0 3171 3918 0 3178 4457 0 3171 3918 0 3185 4200 0 3178 4457 0 3175 2013 0 3174 1895 0 3173 2547 0 3181 4546 0 3177 4160 0 3188 4650 0 3177 4160 0 3178 4457 0 3188 4650 0 3179 4155 0 3177 4160 0 3181 4546 0 3163 4436 0 3179 4155 0 3181 4546 0 3163 4436 0 3181 4546 0 3180 4625 0 3180 4625 0 3181 4546 0 3183 4759 0 3180 4625 0 3183 4759 0 3182 4776 0 3184 5082 0 3238 4988 0 3182 4776 0 3181 4546 0 3188 4650 0 3183 4759 0 3182 4776 0 3183 4759 0 3199 4994 0 3182 4776 0 3199 4994 0 3184 5082 0 3172 4075 0 3164 3872 0 3189 4426 0 3189 4426 0 3185 4200 0 3172 4075 0 3175 2013 0 3167 1644 0 3174 1895 0 3175 2013 0 3176 2155 0 3186 1467 0 3187 1754 0 3186 1467 0 3176 2189 0 3187 1754 0 3176 2189 0 3194 2209 0 3175 2013 0 3190 1560 0 3167 1644 0 3175 2013 0 3186 1474 0 3193 1315 0 3193 1315 0 3190 1560 0 3175 2013 0 3191 1518 0 3187 1754 0 3194 2209 0 3178 4457 0 3185 4200 0 3188 4650 0 3188 4650 0 3185 4200 0 3192 4711 0 3188 4650 0 3192 4711 0 3198 4893 0 3189 4426 0 3192 4711 0 3185 4200 0 3894 4803 0 3192 4711 0 3189 4426 0 3191 1434 0 3186 1467 0 3187 1754 0 3193 1315 0 3170 1079 0 3190 1560 0 3895 924 0 3193 1315 0 3186 1467 0 3899 1181 0 3186 1467 0 3191 1287 0 3198 4893 0 3192 4711 0 3896 5042 0 3195 1709 0 3191 1518 0 3194 2209 0 3195 1709 0 3194 2209 0 3196 2248 0 3197 1449 0 3191 1518 0 3195 1709 0 3196 2248 0 3197 1449 0 3195 1709 0 3198 4893 0 3896 5042 0 3200 5101 0 3183 4759 0 3188 4650 0 3198 4893 0 3183 4759 0 3198 4893 0 3199 4994 0 3184 5082 0 3199 4994 0 3201 5133 0 3199 4994 0 3198 4893 0 3200 5101 0 3199 4994 0 3200 5101 0 3201 5133 0 3201 5133 0 3200 5101 0 3902 5184 0 3225 2098 0 3232 2112 0 3134 2428 0 3134 2428 0 3232 2000 0 3244 2221 0 3133 2573 0 3244 2221 0 3250 2134 0 3250 2134 0 3946 2136 0 3132 2331 0 3946 2002 0 3903 2142 0 3107 2293 0 3202 3407 0 3203 3407 0 3218 3407 0 3202 2045 0 3218 1548 0 3206 1985 0 3231 4512 0 3203 4136 0 3207 4175 0 3204 2456 0 3211 1749 0 3209 1685 0 3204 2341 0 3209 1685 0 3213 1949 0 3204 3698 0 3212 1983 0 3211 1749 0 3205 2522 0 3214 1690 0 3212 1983 0 3214 1690 0 3205 2475 0 3215 1946 0 3207 4175 0 3210 4040 0 3216 4361 0 3213 1981 0 3226 1834 0 3208 2258 0 3211 1749 0 3227 1588 0 3209 1685 0 3212 1983 0 3227 1551 0 3211 1749 0 3214 1690 0 3228 1354 0 3212 1983 0 3215 1946 0 3217 1503 0 3214 1690 0 3210 4040 0 3157 4234 0 3216 4361 0 3216 4361 0 3224 4664 0 3207 4175 0 3218 1548 0 3215 1946 0 3206 1985 0 3218 3407 0 3203 3407 0 3231 3407 0 3231 4512 0 3207 4175 0 3224 4664 0 3218 1548 0 3217 1503 0 3215 1946 0 3220 11 0 3154 11 0 3155 11 0 3219 11 0 3154 11 0 3220 11 0 3208 2258 0 3226 1739 0 3225 2098 0 3209 1685 0 3227 1588 0 3213 1921 0 3214 1690 0 3217 1503 0 3228 1354 0 3213 1925 0 3227 1551 0 3226 1726 0 3212 1983 0 3228 1354 0 3227 1569 0 3216 4361 0 3157 4234 0 3223 4366 0 3216 4361 0 3223 4366 0 3229 4518 0 3230 4655 0 3224 4664 0 3216 4361 0 3216 4361 0 3229 4518 0 3230 4655 0 3226 1739 0 3233 1743 0 3225 2098 0 3227 1551 0 3234 1610 0 3226 1726 0 3162 4582 0 3229 4518 0 3223 4366 0 3162 4582 0 3230 4655 0 3229 4518 0 3230 4655 0 3238 4988 0 3224 4664 0 3228 1354 0 3217 1503 0 3218 1548 0 3218 1548 0 3239 1278 0 3228 1354 0 3218 3407 0 3231 3407 0 3240 3407 0 3224 4664 0 3248 4889 0 3231 4512 0 3233 1743 0 3232 2000 0 3225 2085 0 3234 1610 0 3241 1394 0 3232 1968 0 3226 1739 0 3234 1610 0 3233 1743 0 3228 1354 0 3236 1218 0 3227 1569 0 3227 1551 0 3235 1378 0 3234 1610 0 3227 1551 0 3236 1267 0 3235 1378 0 3237 4605 0 3230 4655 0 3162 4582 0 3230 5099 0 3237 5099 0 3238 5099 0 3224 4664 0 3238 4988 0 3248 4889 0 3234 1610 0 3232 1968 0 3233 1743 0 3236 1176 0 3228 1354 0 3246 927 0 3235 1378 0 3241 1394 0 3234 1610 0 3236 1267 0 3241 1394 0 3235 1378 0 3228 1354 0 3247 878 0 3246 969 0 3228 1354 0 3239 1278 0 3247 878 0 3239 1278 0 3218 1548 0 3240 1035 0 3240 3407 0 3231 3407 0 3248 3407 0 3239 1278 0 3240 1035 0 3247 878 0 3241 1394 0 3242 1598 0 3232 1968 0 3232 1968 0 3242 1598 0 3244 2221 0 3241 1394 0 3243 1328 0 3242 1598 0 3245 1679 0 3244 2221 0 3242 1598 0 3242 1598 0 3243 1328 0 3245 1679 0 3247 878 0 3249 665 0 3246 969 0 3245 1679 0 3243 1328 0 3250 1995 0 3243 1328 0 3246 969 0 3251 1010 0 3236 1267 0 3246 971 0 3241 1394 0 3241 1394 0 3246 971 0 3243 1328 0 3953 5185 0 3238 4988 0 3184 5082 0 3240 3407 0 3248 3407 0 3252 3407 0 3238 4988 0 3953 5185 0 3248 4889 0 3252 765 0 3247 878 0 3240 1035 0 3244 2221 0 3245 1679 0 3250 1995 0 3243 1328 0 3251 1010 0 3250 1939 0 3246 969 0 3249 665 0 3251 943 0 3250 1995 0 3251 1239 0 3946 1972 0 3251 943 0 3249 665 0 3949 865 0 3251 1010 0 3949 865 0 3946 1217 0 3184 5082 0 3201 5133 0 3953 5185 0 3201 5133 0 3919 5317 0 3953 5185 0 3252 765 0 3249 665 0 3247 878 0 3952 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5258 0 4964 5262 0 4966 5484 0 4964 5262 0 4967 5496 0 4959 4958 0 4965 5223 0 4964 5262 0 4959 4958 0 4964 5262 0 4956 4900 0 4959 4958 0 4936 5166 0 4965 5223 0 4921 5441 0 4964 5262 0 4965 5223 0 4967 5496 0 4964 5262 0 4921 5441 0 4967 5496 0 4926 5685 0 4966 5484 0 4765 5600 0 4968 5702 0 4932 6070 0 4933 5603 0 4883 5466 0 4765 5600 0

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/assets/robot/openarm_v2.0/urdf/example/v2.urdf b/assets/robot/openarm_v2.0/urdf/example/v2.urdf index 371f854c..9ae8fcba 100644 --- a/assets/robot/openarm_v2.0/urdf/example/v2.urdf +++ b/assets/robot/openarm_v2.0/urdf/example/v2.urdf @@ -22,13 +22,13 @@ limitations under the License. - + - + @@ -711,14 +711,6 @@ limitations under the License. 0.0 - @@ -839,13 +831,5 @@ limitations under the License. 0.0 - diff --git a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro index 351b2678..8c1de8db 100644 --- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro +++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro @@ -16,42 +16,27 @@ limitations under the License. - + + + - - - - - - - - - - - + + + diff --git a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro deleted file mode 100644 index e7b25ad8..00000000 --- a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro +++ /dev/null @@ -1,157 +0,0 @@ - - - - - - - - - - ${arm_type} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${left_can_interface} - ${left_arm_prefix} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - - - - - - - - - - ${initial_position} - - - - 0.0 - - - - 0.0 - - - - - - - - - - - - - - - - - - - - - ${arm_type} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${right_can_interface} - ${right_arm_prefix} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro b/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro deleted file mode 100644 index 59f182b2..00000000 --- a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro +++ /dev/null @@ -1,107 +0,0 @@ - - - - - - - - - - ${arm_type} - ${arm_prefix} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${can_interface} - ${arm_prefix} - ${hand} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - - - - - - - - - - - - ${initial_position} - - - - 0.0 - - - - 0.0 - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/sensor/zed/urdf/component.xacro b/assets/sensor/zed/urdf/component.xacro index 07198e61..554ded90 100644 --- a/assets/sensor/zed/urdf/component.xacro +++ b/assets/sensor/zed/urdf/component.xacro @@ -48,7 +48,6 @@ limitations under the License. default_mount_parent=sensor_root_link, collapse_empty_end=False, supports_frame_shift=False, - reference_prefix=component_prefix, config_root=config_root)}" scope="parent" lazy_eval="false" /> diff --git a/launch/display_openarm.launch.py b/launch/display_openarm.launch.py index 3174b273..c5c107d2 100644 --- a/launch/display_openarm.launch.py +++ b/launch/display_openarm.launch.py @@ -74,6 +74,7 @@ def robot_state_publisher_spawner( "arm_type": arm_type_str, "body_type": "v10", "bimanual": context.perform_substitution(bimanual), + "robot_preset": context.perform_substitution(robot_preset), "ros2_control": context.perform_substitution(ros2_control), "use_fake_hardware": context.perform_substitution(use_fake_hardware), "fake_sensor_commands": context.perform_substitution(fake_sensor_commands), @@ -81,8 +82,11 @@ def robot_state_publisher_spawner( else: mappings = { "arm_type": arm_type_str, - "robot_preset": context.perform_substitution(robot_preset), + "robot_preset": context.perform_substitution(robot_preset) or "default_bimanual", "emit_grasp_frame": context.perform_substitution(emit_grasp_frame), + "ros2_control": context.perform_substitution(ros2_control), + "use_fake_hardware": context.perform_substitution(use_fake_hardware), + "fake_sensor_commands": context.perform_substitution(fake_sensor_commands), } robot_description = xacro.process_file( @@ -109,8 +113,8 @@ def generate_launch_description(): ) robot_preset_arg = DeclareLaunchArgument( "robot_preset", - default_value="default_bimanual", - description="Robot preset for v2.0 (e.g. default_bimanual, right_arm, left_arm, right_arm_with_pinch_gripper, left_arm_with_pinch_gripper).", + default_value="", + description="Robot preset; empty selects the default assembly for the selected version.", ) rviz_config_arg = DeclareLaunchArgument( "rviz_config", diff --git a/test/support.py b/test/support.py index 9fe19653..c0d7afbd 100644 --- a/test/support.py +++ b/test/support.py @@ -106,17 +106,6 @@ def package_share_at(path): def expand(files=None, version='v2.0', entry=None, **arguments): - if entry is None: - files = dict(files or {}) - files['fixture.urdf.xacro'] = ''' - - - - - -''' - entry = 'assets/fixture.urdf.xacro' entry = entry or f'assets/robot/openarm_{version}/urdf/openarm_{"v10" if version == "v1.0" else "v20"}.urdf.xacro' arguments = {k: str(v).lower() if isinstance(v, bool) else str(v) for k, v in arguments.items()} @@ -181,11 +170,6 @@ def preset(**components): def files_for(spec, models, version='v2.0'): - spec = deepcopy(spec) - for name, data in models.items(): - if spec[name]['type'] == 'body': - spec[name]['link_name'] = spec[name].get( - 'prefix', '') + data['struct/topology.yaml']['links'][0] files = {f'robot/openarm_{version}/config/robot_presets/fixture.yaml': spec} for name, data in models.items(): cfg = spec[name] diff --git a/test/test_assembly.py b/test/test_assembly.py index b9e1faef..c7cb6c41 100644 --- a/test/test_assembly.py +++ b/test/test_assembly.py @@ -109,7 +109,7 @@ def test_reference_emission_preserves_composed_mount_pose(): for emit in (False, True): parent['struct/reference_points.yaml']['port']['emit'] = emit robot = assemble(spec, {'parent': parent, 'child': child}) - assert ('parent_root_port' in poses(robot)) == emit + assert ('parent_port' in poses(robot)) == emit near(poses(robot)['child_root'], expected) diff --git a/test/test_entrypoints.py b/test/test_entrypoints.py index 3cfa0134..aa7c73a2 100644 --- a/test/test_entrypoints.py +++ b/test/test_entrypoints.py @@ -16,7 +16,7 @@ import xacro import yaml -from support import expand, multiply, near, pinch, pose, transform +from support import expand, model, multiply, near, pinch, pose, transform def write_configuration(directory, data): @@ -26,6 +26,20 @@ def write_configuration(directory, data): path.write_text(yaml.safe_dump(value, sort_keys=False)) +def test_parallel_entry_forwards_tcp_arguments(tmp_path): + data = model(('link7',)) + data['struct/reference_points.yaml'] = { + 'hand_tcp': dict(parent='link7', emit=True, origin=pose(z=.4))} + write_configuration(tmp_path, data) + robot = expand(entry='assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro', + ee_config_dir=tmp_path, reflect_y=-1, tcp_xyz='.01 .02 .10', tcp_rpy='.2 .3 .4') + joint = robot.find("joint[@name='hand_tcp_joint']") + assert joint.find('parent').get( + 'link') == data['struct/reference_points.yaml']['hand_tcp']['parent'] + near(transform(joint.find('origin')), + transform(pose(.01, .02, .1, .2, .3, .4))) + + def test_pinch_entry_forwards_reference_options(tmp_path): data = pinch() reference = dict(parent='ee_base_link', emit=True, diff --git a/test/test_interfaces.py b/test/test_interfaces.py index 64d7ff1a..b07bd0cf 100644 --- a/test/test_interfaces.py +++ b/test/test_interfaces.py @@ -67,3 +67,93 @@ def test_broken_component_hook_does_not_use_fallback(interface): files['body/fixture_a/urdf/component.xacro'] = interface with pytest.raises((xacro.XacroException, ExpatError)): support.expand(files, robot_preset='fixture', ros2_control=False) + + +def control_input(): + names = ['root'] + [f'link{i}' for i in range(1, 8)] + data = support.model(names, {f'joint{i}': dict( + type='revolute', parent=names[i-1], child=names[i]) for i in range(1, 8)}) + data['control/control_gains.yaml'] = { + f'joint{i}': dict(kp=10+i, kd=i/10) for i in range(1, 8)} + spec = support.preset(arm=support.component('robot', 'fixture_control', 'openarm_right_', control=dict(hardware_plugin='openarm_hardware/OpenArmHW', can_interface='can_test', can_fd=True)), + tool=support.component('end_effector', 'pinch_gripper', 'openarm_right_', connection=dict(attach_to='arm'))) + return spec, {'arm': data, 'tool': support.pinch()} + + +def test_control_joints_follow_model_names_and_enabled_components(): + spec, data = control_input() + spec['arm']['prefix'], spec['tool']['prefix'] = 'drive_', 'tool_' + arm_joints = data['arm']['struct/topology.yaml']['joints'] + arm_joints['wrist'] = arm_joints.pop('joint7') + for filename in ('joint_origins', 'joint_axes', 'joint_limits'): + values = data['arm'][f'joint/{filename}.yaml'] + values['wrist'] = values.pop('joint7') + + assert not support.assemble( + spec, data, ros2_control=False).findall('ros2_control') + for tool_enabled in (False, True): + spec['tool']['enabled'] = tool_enabled + robot = support.assemble( + spec, data, ros2_control=True, use_fake_hardware=True) + expected = {spec['arm']['prefix'] + name for name in arm_joints} + if tool_enabled: + expected.update(spec['tool']['prefix'] + name + for name in data['tool']['struct/topology.yaml']['joints'] + if name not in data['tool']['joint/joint_mimics.yaml']) + active = {joint.get('name') for joint in robot.findall('joint') + if joint.get('type') != 'fixed' and joint.find('mimic') is None} + assert active == expected + assert {joint.get('name') + for joint in robot.findall('ros2_control/joint')} == active + + data['arm']['struct/topology.yaml']['collapse_empty_end'] = True + spec['tool']['connection']['parent_reference_point'] = 'port' + files = support.files_for(spec, data) + files['end_effector/pinch_gripper/urdf/component.xacro'] = ''' + + + + + ''' + robot = support.expand(files, robot_preset='fixture', + ros2_control=True, use_fake_hardware=True) + assert robot.find("joint[@name='tool_finger_joint2']/mimic") is None + expected.add('tool_finger_joint2') + active = {joint.get('name') for joint in robot.findall('joint') + if joint.get('type') != 'fixed' and joint.find('mimic') is None} + assert active == expected + assert {joint.get('name') + for joint in robot.findall('ros2_control/joint')} == active + + +def test_hardware_parameters_follow_input(): + spec, data = control_input() + for prefix, can_interface in [('openarm_left_', 'can_left_test'), + ('openarm_right_', 'can_right_test')]: + control = spec['arm']['control'] + control.update(can_interface=can_interface, can_fd=False) + for name in ('arm', 'tool'): + spec[name]['prefix'] = prefix + robot = support.assemble(spec, data, ros2_control=True, + use_fake_hardware=False) + hardware = robot.find('ros2_control/hardware') + assert hardware.find('plugin').text == control['hardware_plugin'] + params = {p.get('name'): p.text for p in hardware.findall('param')} + assert len(params) == len(hardware.findall('param')) + assert params['can_interface'] == control['can_interface'] + assert params['can_fd'].lower() == 'false' + assert params['arm_prefix'] == prefix.removeprefix('openarm_') + assert params['ee_type'] == spec['tool']['product'] + for name, gains in data['arm']['control/control_gains.yaml'].items(): + for key, value in gains.items(): + assert float(params[key+name.removeprefix('joint')]) == value + + robot = support.assemble(spec, data, ros2_control=True, + use_fake_hardware=True, fake_sensor_commands=True) + hardware = robot.find('ros2_control/hardware') + assert hardware.find('plugin').text == 'mock_components/GenericSystem' + params = {p.get('name'): p.text for p in hardware.findall('param')} + assert params['mock_sensor_commands'].lower() == 'true' + assert float(params['position_state_following_offset']) == 0.0 + assert 'fake_sensor_commands' not in params and 'state_following_offset' not in params diff --git a/test/test_models.py b/test/test_models.py new file mode 100644 index 00000000..46ae330d --- /dev/null +++ b/test/test_models.py @@ -0,0 +1,43 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from pathlib import Path +from urllib.parse import urlparse + +from support import ROOT, expand, packages + + +def test_shipped_presets_expand_and_resolve_resources(): + robots = [] + for version in ('v1.0', 'v2.0'): + folder = ROOT/f'assets/robot/openarm_{version}/config/robot_presets' + robots.append((version, '', expand(version=version, ros2_control=True, + use_fake_hardware=True, emit_grasp_frame=True))) + for path in sorted(folder.glob('*.yaml')): + robot = expand(version=version, robot_preset=path.stem, ros2_control=True, + use_fake_hardware=True, emit_grasp_frame=True) + robots.append((version, path.stem, robot)) + for path in sorted((ROOT/'assets/end_effector').glob('*/urdf/*_standalone.urdf.xacro')): + robots.append(('standalone', path.name, expand( + entry=str(path.relative_to(ROOT))))) + for version, name, robot in robots: + for mesh in robot.findall('.//geometry/mesh'): + uri = urlparse(mesh.get('filename')) + if uri.scheme == 'package': + share = ROOT if uri.netloc == 'openarm_description' else Path( + packages.get_package_share_directory(uri.netloc)) + assert (share/uri.path.lstrip('/') + ).is_file(), (version, name, mesh.attrib) + elif uri.scheme in ('', 'file'): + assert Path(uri.path).is_file(), (version, name, mesh.attrib)