From 9c637779861a6f86c1625478c57c9571c13d7d7c Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Sun, 1 Nov 2026 06:11:10 +0900 Subject: [PATCH 1/9] Move body assets out of the robot with instance-based naming --- .../v2.0/config}/inertials/nominal.yaml | 0 .../body => body/v2.0/config}/link/collisions.yaml | 2 +- .../body => body/v2.0/config}/link/visuals.yaml | 2 +- .../config/body => body/v2.0/config}/meta.md | 0 .../v2.0/config}/struct/reference_points.yaml | 0 .../body => body/v2.0/config}/struct/topology.yaml | 0 .../v2.0/meshes}/collision/body_link0_symp.stl | Bin .../meshes/body => body/v2.0/meshes}/meta.md | 0 .../body => body/v2.0/meshes}/visual/body_link0.dae | 0 .../body => body/v2.0/meshes}/visual/body_link0.stl | Bin assets/common/assembly.xacro | 3 +-- assets/common/components.xacro | 12 +++++------- assets/common/reference_frames.xacro | 6 +++--- assets/common/validation.xacro | 4 ++-- .../pinch_gripper/urdf/pinch_gripper_macro.xacro | 2 +- .../config/robot_presets/default_bimanual.yaml | 8 ++++---- .../openarm_v2.0/config/robot_presets/left_arm.yaml | 8 ++++---- .../robot_presets/left_arm_with_pinch_gripper.yaml | 8 ++++---- .../config/robot_presets/right_arm.yaml | 8 ++++---- .../robot_presets/right_arm_with_pinch_gripper.yaml | 8 ++++---- assets/robot/openarm_v2.0/urdf/example/v2.urdf | 4 ++-- assets/sensor/zed/urdf/component.xacro | 1 - test/support.py | 5 ----- test/test_assembly.py | 2 +- 24 files changed, 37 insertions(+), 46 deletions(-) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/inertials/nominal.yaml (100%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/link/collisions.yaml (87%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/link/visuals.yaml (87%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/meta.md (100%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/struct/reference_points.yaml (100%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/struct/topology.yaml (100%) rename assets/{robot/openarm_v2.0/meshes/body => body/v2.0/meshes}/collision/body_link0_symp.stl (100%) rename assets/{robot/openarm_v2.0/meshes/body => body/v2.0/meshes}/meta.md (100%) rename assets/{robot/openarm_v2.0/meshes/body => body/v2.0/meshes}/visual/body_link0.dae (100%) rename assets/{robot/openarm_v2.0/meshes/body => body/v2.0/meshes}/visual/body_link0.stl (100%) 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 100% rename from assets/robot/openarm_v2.0/config/body/struct/reference_points.yaml rename to assets/body/v2.0/config/struct/reference_points.yaml 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/robot/openarm_v2.0/meshes/body/visual/body_link0.dae b/assets/body/v2.0/meshes/visual/body_link0.dae similarity index 100% rename from assets/robot/openarm_v2.0/meshes/body/visual/body_link0.dae rename to assets/body/v2.0/meshes/visual/body_link0.dae 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..c67a42ac 100644 --- a/assets/common/assembly.xacro +++ b/assets/common/assembly.xacro @@ -103,8 +103,7 @@ limitations under the License. - - + diff --git a/assets/common/components.xacro b/assets/common/components.xacro index 9ff39c21..b2958210 100644 --- a/assets/common/components.xacro +++ b/assets/common/components.xacro @@ -45,9 +45,9 @@ limitations under the License. - - - + + + @@ -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. - + - + - + 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/test/support.py b/test/support.py index 9fe19653..870485e4 100644 --- a/test/support.py +++ b/test/support.py @@ -181,11 +181,6 @@ 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) From afcc69d0f46620f15606fe076c5eb6f95b3bcd41 Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Wed, 4 Nov 2026 10:42:31 +0900 Subject: [PATCH 2/9] Number V2 body visual parts --- assets/body/v2.0/meshes/visual/body_link0.dae | 36 +++++++++---------- 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/assets/body/v2.0/meshes/visual/body_link0.dae b/assets/body/v2.0/meshes/visual/body_link0.dae index 46598637..467b54c2 100644 --- a/assets/body/v2.0/meshes/visual/body_link0.dae +++ b/assets/body/v2.0/meshes/visual/body_link0.dae @@ -212,7 +212,7 @@ - + -0.0224999301 0.0849101394 0.0137999896 -0.0154806729 0.0780862346 0.0137999905 -0.0135098575 0.0777933598 0.0137999905 -0.0131577132 0.0475223251 0.0137999905 -0.0119710248 0.0459215119 0.0137999905 -0.0122065088 0.0435098782 0.0137999905 -0.0224999301 0.0349999405 0.0137999896 -0.0176846292 0.0434499383 0.0137999896 -0.0180862211 0.0445191935 0.0137999905 -0.01654993 0.0776846409 0.0137999896 -0.0121432012 0.076263085 0.0137999905 -0.0118943918 0.07466539 0.0137999905 -0.0140783498 0.041971039 0.0137999905 -0.0177933499 0.0464899987 0.0137999905 -0.0124775469 0.0731577277 0.0137999905 -0.0146653494 0.0481054746 0.0137999905 -0.0140783424 0.0719710439 0.0137999905 -0.0162630733 0.0478566736 0.0137999905 -0.0164899919 0.0722065195 0.0137999905 -0.0180862211 0.0745191947 0.0137999905 -0.01654993 0.0349999405 0.0511152893 -0.0177933499 0.0349999443 0.0323099308 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0.0552243419 0.706492007 0.0574972482 0.061073938 0.696663022 0.0586655514 0.0615623422 0.694055974 0.0572042504 0.0620778366 0.701059997 0.0584285484 0.0600258387 0.700469017 0.058826551 0.0618525423 0.701225996 0.0598357508 0.0611770428 0.693885982 0.0598791504 0.0605394408 0.696564973 0.0591210501 0.0634316444 0.694616973 0.0608829485 0.0605443395 0.693664014 0.0607435481 0.062273541 0.697064996 0.0607162492 0.0629054397 0.694392025 0.0590065496 0.0622033417 0.69974202 0.060370749 0.0612863428 0.701301992 0.0577282497 0.0606975384 0.706183016 0.0569002481 0.0601451411 0.708591997 0.0591977501 0.060104338 0.706475973 0.0621440487 0.0620422378 0.694094002 0.0621633494 0.0614038422 0.69687599 0.0617622511 0.0604068391 0.701282024 0.0633317513 0.0608863435 0.69374001 0.063350253 0.0602499373 0.696614981 0.050645549 0.0477493383 0.734604002 @@ -493,8 +493,8 @@ - - + + @@ -502,8 +502,8 @@ - - + + @@ -511,8 +511,8 @@ - - + + @@ -520,8 +520,8 @@ - - + + @@ -529,8 +529,8 @@ - - + + @@ -538,8 +538,8 @@ - - + + From e152176b854b3a71948ba56218079d9b971e1cbe Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Sun, 1 Nov 2026 06:11:10 +0900 Subject: [PATCH 3/9] Generate shared control interfaces from enabled components --- assets/common/ros2_control.xacro | 123 ++++++++++++++ .../robot_presets/default_bimanual.yaml | 4 + .../config/robot_presets/left_arm.yaml | 4 + .../left_arm_with_pinch_gripper.yaml | 4 + .../config/robot_presets/right_arm.yaml | 4 + .../right_arm_with_pinch_gripper.yaml | 4 + .../robot/openarm_v2.0/urdf/example/v2.urdf | 16 -- .../openarm_v2.0/urdf/openarm_v20.urdf.xacro | 27 +-- .../openarm.bimanual.ros2_control.xacro | 157 ------------------ .../ros2_control/openarm.ros2_control.xacro | 107 ------------ launch/display_openarm.launch.py | 5 +- test/support.py | 11 -- test/test_interfaces.py | 56 +++++++ test/test_models.py | 43 +++++ 14 files changed, 254 insertions(+), 311 deletions(-) create mode 100644 assets/common/ros2_control.xacro delete mode 100644 assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro delete mode 100644 assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro create mode 100644 test/test_models.py diff --git a/assets/common/ros2_control.xacro b/assets/common/ros2_control.xacro new file mode 100644 index 00000000..0a6b8ab6 --- /dev/null +++ b/assets/common/ros2_control.xacro @@ -0,0 +1,123 @@ + + + + + + + + + ${values[keys[index]]} + + + + + + + + + + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + ${arm_type} + + + mock_components/GenericSystem + ${fake_sensor_commands} + 0.0 + + + openarm_hardware/OpenArmHW + ${can_interface} + ${hardware_prefix} + ${can_fd} + ${ee_type} + ${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_v2.0/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml index c7ee6438..bcc667a9 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 @@ -48,6 +48,8 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + side: left inertials: nominal prefix: openarm_left_ connection: @@ -70,6 +72,8 @@ secondary_arm: enabled: true product: openarm_v2.0 config: arm + control: + side: right 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..dc5d1b07 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 @@ -44,6 +44,8 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + side: left inertials: nominal prefix: openarm_left_ connection: @@ -70,6 +72,8 @@ secondary_arm: enabled: false product: openarm_v2.0 config: arm + control: + side: right 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..65ba7779 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 @@ -45,6 +45,8 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + side: left inertials: nominal prefix: openarm_left_ connection: @@ -71,6 +73,8 @@ secondary_arm: enabled: false product: openarm_v2.0 config: arm + control: + side: right 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..19e39241 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 @@ -44,6 +44,8 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + side: right inertials: nominal prefix: openarm_right_ connection: @@ -66,6 +68,8 @@ secondary_arm: enabled: false product: openarm_v2.0 config: arm + control: + side: left 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..2fe136ca 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 @@ -45,6 +45,8 @@ primary_arm: enabled: true product: openarm_v2.0 config: arm + control: + side: right inertials: nominal prefix: openarm_right_ connection: @@ -67,6 +69,8 @@ secondary_arm: enabled: false product: openarm_v2.0 config: arm + control: + side: left inertials: nominal prefix: openarm_left_ connection: diff --git a/assets/robot/openarm_v2.0/urdf/example/v2.urdf b/assets/robot/openarm_v2.0/urdf/example/v2.urdf index 371f854c..b05adfb3 100644 --- a/assets/robot/openarm_v2.0/urdf/example/v2.urdf +++ b/assets/robot/openarm_v2.0/urdf/example/v2.urdf @@ -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..0307c7be 100644 --- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro +++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro @@ -16,11 +16,13 @@ limitations under the License. - + + + @@ -35,23 +37,10 @@ limitations under the License. robot_preset="${robot_preset_cfg}" emit_grasp_frame="$(arg emit_grasp_frame)" /> - - - - - - - + + + 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/launch/display_openarm.launch.py b/launch/display_openarm.launch.py index 3174b273..4471cff7 100644 --- a/launch/display_openarm.launch.py +++ b/launch/display_openarm.launch.py @@ -83,6 +83,9 @@ def robot_state_publisher_spawner( "arm_type": arm_type_str, "robot_preset": context.perform_substitution(robot_preset), "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( @@ -110,7 +113,7 @@ 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).", + description="Robot preset for v2.0 (e.g. default_bimanual, right_arm, left_arm).", ) rviz_config_arg = DeclareLaunchArgument( "rviz_config", diff --git a/test/support.py b/test/support.py index 9fe19653..17beda15 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()} diff --git a/test/test_interfaces.py b/test/test_interfaces.py index 64d7ff1a..9a6c397a 100644 --- a/test/test_interfaces.py +++ b/test/test_interfaces.py @@ -67,3 +67,59 @@ 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(side='right')), + tool=support.component('end_effector', 'pinch_gripper', 'openarm_right_', connection=dict(attach_to='arm'))) + return spec, {'arm': data, 'tool': support.pinch()} + + +def test_control_selection_follows_enabled_components(): + spec, data = control_input() + 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) + active = {j.get('name') for j in robot.findall('joint') if j.get( + 'type') != 'fixed' and j.find('mimic') is None} + assert {j.get('name') + for j in robot.findall('ros2_control/joint')} == active + + +def test_control_names_follow_instance_prefixes(): + spec, data = control_input() + spec['arm']['prefix'], spec['tool']['prefix'] = 'drive_', 'tool_' + robot = support.assemble( + spec, data, ros2_control=True, use_fake_hardware=True) + expected = {spec['arm']['prefix'] + j for j in data['arm'] + ['struct/topology.yaml']['joints']} + expected.update(spec['tool']['prefix'] + j for j in data['tool']['struct/topology.yaml']['joints'] + if j not in data['tool']['joint/joint_mimics.yaml']) + assert {j.get('name') + for j in robot.findall('ros2_control/joint')} == expected + + +def test_hardware_parameters_follow_input(): + spec, data = control_input() + for side in ('left', 'right'): + spec['arm']['control']['side'] = side + for name in ('arm', 'tool'): + spec[name]['prefix'] = 'openarm_'+side+'_' + robot = support.assemble(spec, data, ros2_control=True, use_fake_hardware=False, + left_can_interface='can_left_test', right_can_interface='can_right_test', can_fd=False) + system = robot.find('ros2_control/hardware') + params = {p.get('name'): p.text for p in system.findall('param')} + assert params['can_interface'] == 'can_'+side+'_test' + assert params['can_fd'].lower() == 'false' + 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 diff --git a/test/test_models.py b/test/test_models.py new file mode 100644 index 00000000..57716a88 --- /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 ('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('pinch_gripper/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) From 668afff82fdb36d773990109f229310e5f9e8371 Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Tue, 3 Nov 2026 16:40:43 +0900 Subject: [PATCH 4/9] Expose the V2 arm mounting midpoint as a reference frame --- assets/body/v2.0/config/struct/reference_points.yaml | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/assets/body/v2.0/config/struct/reference_points.yaml b/assets/body/v2.0/config/struct/reference_points.yaml index b30eef96..bf695c6c 100644 --- a/assets/body/v2.0/config/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: From 291c0d0c5ebccebb7563b58228e57894767e00d6 Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Wed, 4 Nov 2026 18:12:54 +0900 Subject: [PATCH 5/9] Check control selection and resolved names in one fixture --- test/test_interfaces.py | 36 ++++++++++++++++++------------------ 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/test/test_interfaces.py b/test/test_interfaces.py index 9a6c397a..3a8617cd 100644 --- a/test/test_interfaces.py +++ b/test/test_interfaces.py @@ -80,31 +80,31 @@ def control_input(): return spec, {'arm': data, 'tool': support.pinch()} -def test_control_selection_follows_enabled_components(): +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) - active = {j.get('name') for j in robot.findall('joint') if j.get( - 'type') != 'fixed' and j.find('mimic') is None} - assert {j.get('name') - for j in robot.findall('ros2_control/joint')} == active - - -def test_control_names_follow_instance_prefixes(): - spec, data = control_input() - spec['arm']['prefix'], spec['tool']['prefix'] = 'drive_', 'tool_' - robot = support.assemble( - spec, data, ros2_control=True, use_fake_hardware=True) - expected = {spec['arm']['prefix'] + j for j in data['arm'] - ['struct/topology.yaml']['joints']} - expected.update(spec['tool']['prefix'] + j for j in data['tool']['struct/topology.yaml']['joints'] - if j not in data['tool']['joint/joint_mimics.yaml']) - assert {j.get('name') - for j in robot.findall('ros2_control/joint')} == expected + 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 def test_hardware_parameters_follow_input(): From 46af3478d06133f1cdb3df83448d7dfcc1a8880c Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Wed, 4 Nov 2026 16:54:17 +0900 Subject: [PATCH 6/9] Align V2 body data and scene identifiers with part names --- assets/body/v2.0/meshes/visual/body_link0.dae | 180 +++++++++--------- 1 file changed, 90 insertions(+), 90 deletions(-) diff --git a/assets/body/v2.0/meshes/visual/body_link0.dae b/assets/body/v2.0/meshes/visual/body_link0.dae index 467b54c2..5dcd2101 100644 --- a/assets/body/v2.0/meshes/visual/body_link0.dae +++ b/assets/body/v2.0/meshes/visual/body_link0.dae @@ -214,258 +214,258 @@ - - -0.0224999301 0.0849101394 0.0137999896 -0.0154806729 0.0780862346 0.0137999905 -0.0135098575 0.0777933598 0.0137999905 -0.0131577132 0.0475223251 0.0137999905 -0.0119710248 0.0459215119 0.0137999905 -0.0122065088 0.0435098782 0.0137999905 -0.0224999301 0.0349999405 0.0137999896 -0.0176846292 0.0434499383 0.0137999896 -0.0180862211 0.0445191935 0.0137999905 -0.01654993 0.0776846409 0.0137999896 -0.0121432012 0.076263085 0.0137999905 -0.0118943918 0.07466539 0.0137999905 -0.0140783498 0.041971039 0.0137999905 -0.0177933499 0.0464899987 0.0137999905 -0.0124775469 0.0731577277 0.0137999905 -0.0146653494 0.0481054746 0.0137999905 -0.0140783424 0.0719710439 0.0137999905 -0.0162630733 0.0478566736 0.0137999905 -0.0164899919 0.0722065195 0.0137999905 -0.0180862211 0.0745191947 0.0137999905 -0.01654993 0.0349999405 0.0511152893 -0.0177933499 0.0349999443 0.0323099308 -0.0159215089 0.0349999443 0.030771086 -0.0119710248 0.0349999443 0.0328784175 -0.0135098724 0.0349999443 0.0310065672 -0.0123152304 0.0349999405 0.0522499904 -0.0119136395 0.0349999443 0.0533192381 -0.0176846292 0.0349999405 0.0353499912 -0.0180862211 0.0349999443 0.0342807397 -0.0122065088 0.0349999443 0.0352900513 -0.0164899863 0.0349999443 0.0365934148 -0.0154806711 0.0349999443 0.0507136993 -0.0145191811 0.0349999443 0.036886286 0.0122066485 0.0464899987 0.0137999905 0.0225000698 0.0349999405 0.0137999896 0.0159216505 0.041971039 0.0137999905 0.0123153701 0.0434499383 0.0137999896 0.0134500703 0.0776846409 0.0137999896 0.0145193273 0.0780862346 0.0137999905 0.0135100177 0.0422065146 0.0137999905 0.017522458 0.0731577352 0.0137999905 0.0178567991 0.0762630925 0.0137999905 0.0181056093 0.0746653825 0.0137999905 0.0135100083 0.0722065195 0.0137999905 0.0119137792 0.0745191947 0.0137999905 0.0140784886 0.0480288453 0.0137999905 0.0164901242 0.047793366 0.0137999905 0.0122066494 0.0349999443 0.0523099266 0.0154808201 0.0349999443 0.036886286 0.0177934971 0.0349999443 0.0552900471 0.0165500697 0.0349999405 0.0564846918 0.0135100139 0.0349999443 0.0365934148 0.0119137801 0.0349999443 0.0342807397 0.0123153701 0.0349999405 0.0353499912 0.0122066494 0.0349999443 0.0323099308 0.0145193292 0.0349999443 0.0507136993 0.0177934952 0.0349999443 0.0352900513 0.0119137801 0.0349999443 0.0542807467 0.0180289745 0.0349999443 0.0328784138 0.0164901353 0.0349999443 0.0510065742 0.0180863608 0.0349999443 0.0533192344 0.0154808247 0.0349999443 0.0568862818 0.0135100111 0.0349999443 0.0565934144 0.0140784932 0.0349999443 0.030771086 -0.0249999296 0.0849999413 0.00879999157 -0.0249999296 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3630 3966 0 2975 3593 0 2972 2741 0 2974 3379 0 3634 2478 0 2973 3774 0 2974 3379 0 2980 2657 0 3634 2518 0 2975 3593 0 3636 4051 0 3036 3708 0 2969 3687 0 2973 3774 0 3635 2660 0 2980 2657 0 2987 3732 0 3649 2296 0 2988 2536 0 3649 2296 0 2987 3732 0 2989 2604 0 3695 2190 0 2988 2536 0 2989 2604 0 2990 2545 0 3698 2171 0 3713 2244 0 2990 2545 0 2991 2572 0 2991 2572 0 3045 2554 0 3715 2338 0 3596 2089 0 3006 2612 0 3012 2674 0 3012 2674 0 3011 2415 0 3596 2089 0 3653 2348 0 3008 2339 0 3007 3731 0 3663 2271 0 3009 2595 0 3008 2339 0 3600 2110 0 3011 2415 0 3010 2292 0 3664 2391 0 3010 2361 0 3009 2595 0 3055 2457 0 3037 2677 0 3057 2731 0 3056 1664 0 3051 1762 0 3055 1606 0 3052 1819 0 3051 1762 0 3056 1664 0 3723 3820 0 3037 2677 0 3036 3708 0 3040 2637 0 3726 2503 0 3039 2576 0 3041 3744 0 3725 2611 0 3040 3758 0 3042 2562 0 3727 2388 0 3041 3744 0 3045 2554 0 3043 2624 0 3750 2357 0 3750 2357 0 3043 2624 0 3044 2605 0 3751 2115 0 3044 2605 0 3039 2576 0 3058 1484 0 3055 1606 0 3057 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 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 @@ -493,7 +493,7 @@ - + @@ -502,7 +502,7 @@ - + @@ -511,7 +511,7 @@ - + @@ -520,7 +520,7 @@ - + @@ -529,7 +529,7 @@ - + @@ -538,7 +538,7 @@ - + From fc349ed75c7a5bc169f84bb4a75a2196caad12c2 Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Wed, 4 Nov 2026 20:14:09 +0900 Subject: [PATCH 7/9] Share resolved component descriptions with control generation --- assets/common/assembly.xacro | 59 ++++++++----------- assets/common/ros2_control.xacro | 19 +++--- assets/component_loader.xacro | 3 +- .../openarm_v2.0/urdf/openarm_v20.urdf.xacro | 4 +- test/test_interfaces.py | 20 +++++++ 5 files changed, 56 insertions(+), 49 deletions(-) diff --git a/assets/common/assembly.xacro b/assets/common/assembly.xacro index bdf77768..812aefea 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"> @@ -134,8 +132,9 @@ 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 +169,12 @@ 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 +218,19 @@ limitations under the License. - - - - + params="component_api config_root robot_preset emit_grasp_frame:=false out_name:=component_descriptions"> @@ -269,9 +253,14 @@ limitations under the License. components="${components}" robot_preset="${robot_preset}" /> + + + + - - + params="robot_preset component_descriptions config_root can_interfaces arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false can_fd:=true index:=0"> + @@ -92,9 +92,9 @@ limitations under the License. - - - + + + @@ -103,10 +103,9 @@ limitations under the License. - - - - + + + - diff --git a/assets/component_loader.xacro b/assets/component_loader.xacro index a73afbdc..f4536023 100644 --- a/assets/component_loader.xacro +++ b/assets/component_loader.xacro @@ -47,13 +47,12 @@ limitations under the License. - + component_cfg="${component_cfg}" component_desc="${component_desc}" component_descriptions="${dict(component=component_desc)}" out_name="component_runtime" /> 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 0307c7be..d4cd762f 100644 --- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro +++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro @@ -32,13 +32,13 @@ limitations under the License. - - diff --git a/test/test_interfaces.py b/test/test_interfaces.py index 3a8617cd..4ce4c8f4 100644 --- a/test/test_interfaces.py +++ b/test/test_interfaces.py @@ -106,6 +106,26 @@ def test_control_joints_follow_model_names_and_enabled_components(): 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() From 416bdee5d45e6cdb28f5fd8134ceb3fc46e38579 Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Wed, 4 Nov 2026 20:14:10 +0900 Subject: [PATCH 8/9] Flatten preset control settings and select mock hardware automatically --- README.md | 2 + assets/common/ros2_control.xacro | 133 +++++++++--------- .../robot_presets/default_bimanual.yaml | 10 +- .../config/robot_presets/left_arm.yaml | 10 +- .../left_arm_with_pinch_gripper.yaml | 10 +- .../config/robot_presets/right_arm.yaml | 10 +- .../right_arm_with_pinch_gripper.yaml | 10 +- .../openarm_v2.0/urdf/openarm_v20.urdf.xacro | 8 +- test/test_interfaces.py | 32 +++-- 9 files changed, 132 insertions(+), 93 deletions(-) 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/common/ros2_control.xacro b/assets/common/ros2_control.xacro index 0c49c96a..ab3b3b87 100644 --- a/assets/common/ros2_control.xacro +++ b/assets/common/ros2_control.xacro @@ -14,6 +14,7 @@ limitations under the License. + @@ -40,83 +41,79 @@ limitations under the License. - - - - ${arm_type} - - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${can_interface} - ${hardware_prefix} - ${can_fd} - ${ee_type} - ${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']} - - - - - + + + + + + + + + + + + + + + + params="robot_preset component_descriptions arm_type:=v20 use_fake_hardware:=true fake_sensor_commands:=false index:=0"> - - - - - - - - - - - - + + + + + + + + - - - - - - - + + + + + + + + + - + + + + + + + + + + + + + + + + + + ${plugin} + + + + - + 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 bcc667a9..5e90ded9 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 @@ -49,7 +49,10 @@ primary_arm: product: openarm_v2.0 config: arm control: - side: left + system_name: openarm_left_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can1 + can_fd: true inertials: nominal prefix: openarm_left_ connection: @@ -73,7 +76,10 @@ secondary_arm: product: openarm_v2.0 config: arm control: - side: right + 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 dc5d1b07..6c4c4de9 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 @@ -45,7 +45,10 @@ primary_arm: product: openarm_v2.0 config: arm control: - side: left + system_name: openarm_left_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can1 + can_fd: true inertials: nominal prefix: openarm_left_ connection: @@ -73,7 +76,10 @@ secondary_arm: product: openarm_v2.0 config: arm control: - side: right + 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 65ba7779..69e592e3 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 @@ -46,7 +46,10 @@ primary_arm: product: openarm_v2.0 config: arm control: - side: left + system_name: openarm_left_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can1 + can_fd: true inertials: nominal prefix: openarm_left_ connection: @@ -74,7 +77,10 @@ secondary_arm: product: openarm_v2.0 config: arm control: - side: right + 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 19e39241..12c981b1 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 @@ -45,7 +45,10 @@ primary_arm: product: openarm_v2.0 config: arm control: - side: right + system_name: openarm_right_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can0 + can_fd: true inertials: nominal prefix: openarm_right_ connection: @@ -69,7 +72,10 @@ secondary_arm: product: openarm_v2.0 config: arm control: - side: left + 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 2fe136ca..04ada1c8 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 @@ -46,7 +46,10 @@ primary_arm: product: openarm_v2.0 config: arm control: - side: right + system_name: openarm_right_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can0 + can_fd: true inertials: nominal prefix: openarm_right_ connection: @@ -70,7 +73,10 @@ secondary_arm: product: openarm_v2.0 config: arm control: - side: left + 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/urdf/openarm_v20.urdf.xacro b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro index d4cd762f..8c1de8db 100644 --- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro +++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro @@ -24,9 +24,6 @@ limitations under the License. - - - @@ -38,9 +35,8 @@ limitations under the License. emit_grasp_frame="$(arg emit_grasp_frame)" /> - + diff --git a/test/test_interfaces.py b/test/test_interfaces.py index 4ce4c8f4..b07bd0cf 100644 --- a/test/test_interfaces.py +++ b/test/test_interfaces.py @@ -75,7 +75,7 @@ def control_input(): 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(side='right')), + 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()} @@ -129,17 +129,31 @@ def test_control_joints_follow_model_names_and_enabled_components(): def test_hardware_parameters_follow_input(): spec, data = control_input() - for side in ('left', 'right'): - spec['arm']['control']['side'] = side + 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'] = 'openarm_'+side+'_' - robot = support.assemble(spec, data, ros2_control=True, use_fake_hardware=False, - left_can_interface='can_left_test', right_can_interface='can_right_test', can_fd=False) - system = robot.find('ros2_control/hardware') - params = {p.get('name'): p.text for p in system.findall('param')} - assert params['can_interface'] == 'can_'+side+'_test' + 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 From b359c2cacc932e83023bd2dd5b16d5d4e31342a3 Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Sun, 1 Nov 2026 06:11:10 +0900 Subject: [PATCH 9/9] Migrate V1 assembly and placement to shared presets --- .../v1.0/config/inertials/nominal.yaml} | 10 +- assets/body/v1.0/config/link/collisions.yaml | 28 ++ assets/body/v1.0/config/link/visuals.yaml | 28 ++ .../v1.0/config/struct/reference_points.yaml} | 46 +-- .../v1.0/config/struct/topology.yaml} | 9 +- .../meshes}/collision/body_link0_symp.stl | Bin .../v1.0/meshes}/visual/body_link0.dae | 0 .../v1.0/meshes}/visual/body_link0.stl | Bin .../nominal.yaml} | 22 +- .../config/joint/joint_axes.yaml} | 20 +- .../config/joint/joint_limits.yaml | 26 ++ .../config/joint/joint_mimics.yaml} | 14 +- .../joint_origins.yaml} | 23 +- .../parallel_link/config/link/collisions.yaml | 70 ++++ .../parallel_link/config/link/visuals.yaml | 70 ++++ .../config/struct/reference_points.yaml | 24 ++ .../parallel_link/config/struct/topology.yaml | 32 ++ .../parallel_link/meshes/collision/link7.stl} | Bin .../parallel_link/meshes}/visual/link7.dae | 0 .../parallel_link/meshes}/visual/link7.stl | Bin .../urdf/parallel_link_standalone.urdf.xacro | 40 +- .../arm/{ => control}/control_gains.yaml | 7 - .../nominal.yaml} | 39 +- .../config/arm/joint/joint_axes.yaml | 49 +++ .../config/arm/{ => joint}/joint_limits.yaml | 22 +- .../joint_origins.yaml} | 51 +-- .../config/arm/kinematics_link.yaml | 94 ----- .../config/arm/kinematics_offset.yaml | 85 ---- .../config/arm/link/collisions.yaml | 112 +++++ .../openarm_v1.0/config/arm/link/visuals.yaml | 112 +++++ .../config/arm/struct/name_mapping.yaml | 33 ++ .../config/arm/struct/reference_points.yaml | 24 ++ .../config/arm/struct/topology.yaml | 53 +++ .../robot_presets/default_bimanual.yaml | 158 +++++++ .../config/robot_presets/default_single.yaml | 63 +++ .../config/robot_presets/left_arm.yaml | 59 +++ .../left_arm_with_parallel_link.yaml | 79 ++++ .../config/robot_presets/right_arm.yaml | 43 ++ .../right_arm_with_parallel_link.yaml | 63 +++ .../openarm_v1.0/urdf/arm/openarm_arm.xacro | 123 ------ .../openarm_v1.0/urdf/arm/openarm_macro.xacro | 150 ------- .../openarm_v1.0/urdf/body/openarm_body.xacro | 49 --- .../urdf/body/openarm_body_macro.xacro | 68 ---- .../openarm_v1.0/urdf/ee/ee_dispatcher.xacro | 37 -- .../urdf/ee/openarm_ee_macro.xacro | 94 ----- .../openarm_parallel_gripper.xacro | 106 ----- .../openarm_v20_pinch_gripper.xacro | 102 ----- .../robot/openarm_v1.0/urdf/example/v1.urdf | 384 +++++++++--------- .../openarm_v1.0/urdf/openarm_v10.urdf.xacro | 84 +--- .../urdf/robot/openarm_robot.xacro | 202 --------- .../openarm.bimanual.ros2_control.xacro | 152 ------- .../ros2_control/openarm.ros2_control.xacro | 110 ----- launch/display_openarm.launch.py | 7 +- test/test_entrypoints.py | 16 +- test/test_models.py | 4 +- 55 files changed, 1475 insertions(+), 1821 deletions(-) rename assets/{robot/openarm_v1.0/config/body/inertials.yaml => body/v1.0/config/inertials/nominal.yaml} (84%) create mode 100644 assets/body/v1.0/config/link/collisions.yaml create mode 100644 assets/body/v1.0/config/link/visuals.yaml rename assets/{end_effector/parallel_link/config/kinematics_link.yaml => body/v1.0/config/struct/reference_points.yaml} (63%) rename assets/{end_effector/parallel_link/config/joint_limits.yaml => body/v1.0/config/struct/topology.yaml} (86%) rename assets/{robot/openarm_v1.0/mesh/body => body/v1.0/meshes}/collision/body_link0_symp.stl (100%) rename assets/{robot/openarm_v1.0/mesh/body => body/v1.0/meshes}/visual/body_link0.dae (100%) rename assets/{robot/openarm_v1.0/mesh/body => body/v1.0/meshes}/visual/body_link0.stl (100%) rename assets/end_effector/parallel_link/config/{inertials.yaml => inertials/nominal.yaml} (81%) rename assets/{robot/openarm_v1.0/config/body/kinematics.yaml => end_effector/parallel_link/config/joint/joint_axes.yaml} (80%) create mode 100644 assets/end_effector/parallel_link/config/joint/joint_limits.yaml rename assets/{robot/openarm_v1.0/config/body/kinematics_link.yaml => end_effector/parallel_link/config/joint/joint_mimics.yaml} (80%) rename assets/end_effector/parallel_link/config/{kinematics.yaml => joint/joint_origins.yaml} (80%) create mode 100644 assets/end_effector/parallel_link/config/link/collisions.yaml create mode 100644 assets/end_effector/parallel_link/config/link/visuals.yaml create mode 100644 assets/end_effector/parallel_link/config/struct/reference_points.yaml create mode 100644 assets/end_effector/parallel_link/config/struct/topology.yaml rename assets/{robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl => end_effector/parallel_link/meshes/collision/link7.stl} (100%) rename assets/{robot/openarm_v1.0/mesh/arm => end_effector/parallel_link/meshes}/visual/link7.dae (100%) rename assets/{robot/openarm_v1.0/mesh/arm => end_effector/parallel_link/meshes}/visual/link7.stl (100%) rename assets/robot/openarm_v1.0/config/arm/{ => control}/control_gains.yaml (99%) rename assets/robot/openarm_v1.0/config/arm/{inertials.yaml => inertials/nominal.yaml} (84%) create mode 100644 assets/robot/openarm_v1.0/config/arm/joint/joint_axes.yaml rename assets/robot/openarm_v1.0/config/arm/{ => joint}/joint_limits.yaml (83%) rename assets/robot/openarm_v1.0/config/arm/{kinematics.yaml => joint/joint_origins.yaml} (70%) delete mode 100644 assets/robot/openarm_v1.0/config/arm/kinematics_link.yaml delete mode 100644 assets/robot/openarm_v1.0/config/arm/kinematics_offset.yaml create mode 100644 assets/robot/openarm_v1.0/config/arm/link/collisions.yaml create mode 100644 assets/robot/openarm_v1.0/config/arm/link/visuals.yaml create mode 100644 assets/robot/openarm_v1.0/config/arm/struct/name_mapping.yaml create mode 100644 assets/robot/openarm_v1.0/config/arm/struct/reference_points.yaml create mode 100644 assets/robot/openarm_v1.0/config/arm/struct/topology.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/default_single.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/left_arm.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/left_arm_with_parallel_link.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/right_arm.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/right_arm_with_parallel_link.yaml delete mode 100644 assets/robot/openarm_v1.0/urdf/arm/openarm_arm.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro 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/end_effector/parallel_link/config/kinematics_link.yaml b/assets/body/v1.0/config/struct/reference_points.yaml similarity index 63% rename from assets/end_effector/parallel_link/config/kinematics_link.yaml rename to assets/body/v1.0/config/struct/reference_points.yaml index d6cee252..0ca2dabc 100644 --- a/assets/end_effector/parallel_link/config/kinematics_link.yaml +++ b/assets/body/v1.0/config/struct/reference_points.yaml @@ -12,29 +12,23 @@ # See the License for the specific language governing permissions and # limitations under the License. -hand: - kinematic: - x: 0.0 - y: 0.0 - z: -0.6586 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 - -left_finger: - kinematic: - x: 0.0 - y: -0.05 - z: -0.673001 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 - -right_finger: - kinematic: - x: 0.0 - y: 0.05 - z: -0.673001 - roll: 0.0 - pitch: 0.0 - yaw: 3.141592653589793 +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/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/robot/openarm_v1.0/config/arm/control_gains.yaml b/assets/robot/openarm_v1.0/config/arm/control/control_gains.yaml similarity index 99% rename from assets/robot/openarm_v1.0/config/arm/control_gains.yaml rename to assets/robot/openarm_v1.0/config/arm/control/control_gains.yaml index 54452fd7..a89644b9 100644 --- a/assets/robot/openarm_v1.0/config/arm/control_gains.yaml +++ b/assets/robot/openarm_v1.0/config/arm/control/control_gains.yaml @@ -15,31 +15,24 @@ joint1: kp: 70.0 kd: 2.75 - joint2: kp: 70.0 kd: 2.5 - joint3: kp: 70.0 kd: 2.0 - joint4: kp: 60.0 kd: 2.0 - joint5: kp: 10.0 kd: 0.7 - joint6: kp: 10.0 kd: 0.6 - joint7: kp: 10.0 kd: 0.5 - hand: kp: 5.0 kd: 0.1 diff --git a/assets/robot/openarm_v1.0/config/arm/inertials.yaml b/assets/robot/openarm_v1.0/config/arm/inertials/nominal.yaml similarity index 84% rename from assets/robot/openarm_v1.0/config/arm/inertials.yaml rename to assets/robot/openarm_v1.0/config/arm/inertials/nominal.yaml index b743b66a..90010277 100644 --- a/assets/robot/openarm_v1.0/config/arm/inertials.yaml +++ b/assets/robot/openarm_v1.0/config/arm/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. @@ -28,7 +28,6 @@ link0: yy: 0.000962 yz: -7.0e-06 zz: 0.00147 - link1: origin: x: 0.0011467657911800769 @@ -43,9 +42,8 @@ link1: xy: -1.0e-06 xz: -2.9e-05 yy: 0.001273 - yz: 1e-06 + yz: 1.0e-06 zz: 0.001016 - link2: origin: x: 0.00839629182351943 @@ -57,12 +55,11 @@ link2: mass: 0.2775092746011571 inertia: xx: 0.000359 - xy: 1e-06 + xy: 1.0e-06 xz: -0.000109 yy: 0.000376 - yz: 1e-06 + yz: 1.0e-06 zz: 0.000232 - link3: origin: x: -0.002104752099628911 @@ -74,12 +71,11 @@ link3: mass: 1.073863338202347 inertia: xx: 0.004372 - xy: 1e-06 + xy: 1.0e-06 xz: 1.1e-05 yy: 0.004319 yz: -3.6e-05 zz: 0.000661 - link4: origin: x: -0.0029006831074562967 @@ -96,7 +92,6 @@ link4: yy: 0.000511 yz: 3.8e-05 zz: 0.000334 - link5: origin: x: -0.003049665024221911 @@ -113,7 +108,6 @@ link5: yy: 0.000445 yz: -6.0e-06 zz: 0.000324 - link6: origin: x: -0.037136587005447405 @@ -125,25 +119,8 @@ link6: mass: 0.475202773187987 inertia: xx: 0.000143 - xy: 1e-06 - xz: 1e-06 + xy: 1.0e-06 + xz: 1.0e-06 yy: 0.000157 - yz: 1e-06 + yz: 1.0e-06 zz: 0.000159 - -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 - xz: 0 - yz: 7.094884219324384e-05 diff --git a/assets/robot/openarm_v1.0/config/arm/joint/joint_axes.yaml b/assets/robot/openarm_v1.0/config/arm/joint/joint_axes.yaml new file mode 100644 index 00000000..8eb1b089 --- /dev/null +++ b/assets/robot/openarm_v1.0/config/arm/joint/joint_axes.yaml @@ -0,0 +1,49 @@ +# 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. + +joint1: + axis: + x: 0 + y: 0 + z: 1 +joint2: + axis: + x: -1 + y: 0 + z: 0 +joint3: + axis: + x: 0 + y: 0 + z: 1 +joint4: + axis: + x: 0 + y: 1 + z: 0 +joint5: + axis: + x: 0 + y: 0 + z: 1 +joint6: + axis: + x: 1 + y: 0 + z: 0 +joint7: + axis: + x: 0 + y: 1 + z: 0 diff --git a/assets/robot/openarm_v1.0/config/arm/joint_limits.yaml b/assets/robot/openarm_v1.0/config/arm/joint/joint_limits.yaml similarity index 83% rename from assets/robot/openarm_v1.0/config/arm/joint_limits.yaml rename to assets/robot/openarm_v1.0/config/arm/joint/joint_limits.yaml index 3b157b1a..ed1cb087 100644 --- a/assets/robot/openarm_v1.0/config/arm/joint_limits.yaml +++ b/assets/robot/openarm_v1.0/config/arm/joint/joint_limits.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. @@ -18,59 +18,39 @@ joint1: upper: 3.490659 velocity: 16.754666 effort: 40 - joint2: limit: lower: -1.745329 upper: 1.745329 velocity: 16.754666 effort: 40 - joint3: limit: lower: -1.570796 upper: 1.570796 velocity: 5.445426 effort: 27 - joint4: limit: lower: 0.0 upper: 2.443461 velocity: 5.445426 effort: 27 - joint5: limit: lower: -1.570796 upper: 1.570796 velocity: 20.943946 effort: 7 - joint6: limit: lower: -0.785398 upper: 0.785398 velocity: 20.943946 effort: 7 - joint7: limit: lower: -1.570796 upper: 1.570796 velocity: 20.943946 effort: 7 - -# joint_gripper1: -# limit: -# lower: 0.0 -# upper: 0.043 -# velocity: 100 -# effort: 100 - -# joint_gripper2: -# limit: -# lower: 0.0 -# upper: 0.043 -# velocity: 100 -# effort: 100 diff --git a/assets/robot/openarm_v1.0/config/arm/kinematics.yaml b/assets/robot/openarm_v1.0/config/arm/joint/joint_origins.yaml similarity index 70% rename from assets/robot/openarm_v1.0/config/arm/kinematics.yaml rename to assets/robot/openarm_v1.0/config/arm/joint/joint_origins.yaml index e6c4df4c..97878685 100644 --- a/assets/robot/openarm_v1.0/config/arm/kinematics.yaml +++ b/assets/robot/openarm_v1.0/config/arm/joint/joint_origins.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. @@ -13,91 +13,58 @@ # limitations under the License. joint1: - kinematic: + origin: x: 0.0 y: 0.0 z: 0.0625 roll: 0 pitch: 0 yaw: 0 - joint2: - kinematic: + origin: x: -0.0301 y: 0.0 z: 0.06 roll: 0 pitch: 0 yaw: 0 - joint3: - kinematic: + origin: x: 0.0301 y: 0.0 z: 0.06625 roll: 0 pitch: 0 yaw: 0 - joint4: - kinematic: - x: -0.0 + origin: + x: 0.0 y: 0.0315 z: 0.15375 roll: 0 pitch: 0 yaw: 0 - joint5: - kinematic: + origin: x: 0.0 y: -0.0315 z: 0.0955 roll: 0 pitch: 0 yaw: 0 - joint6: - kinematic: + origin: x: 0.0375 y: 0.0 z: 0.1205 roll: 0 pitch: 0 yaw: 0 - -# joint7: -# kinematic: -# x: -0.0375 -# y: 0.0205 -# z: 0.0 -# roll: 0 -# pitch: 0 -# yaw: 0 - joint7: - kinematic: + origin: x: -0.0375 y: 0.0 z: 0.0 roll: 0 pitch: 0 yaw: 0 - -# joint8: -# kinematic: -# x: 1e-06 -# y: -0.098 -# z: 0.114501 -# roll: 0 -# pitch: 0 -# yaw: 0 - -joint8: - kinematic: - x: 1e-06 - y: 0.0205 - z: 0.0 - roll: 0 - pitch: 0 - yaw: 0 diff --git a/assets/robot/openarm_v1.0/config/arm/kinematics_link.yaml b/assets/robot/openarm_v1.0/config/arm/kinematics_link.yaml deleted file mode 100644 index f31da1b3..00000000 --- a/assets/robot/openarm_v1.0/config/arm/kinematics_link.yaml +++ /dev/null @@ -1,94 +0,0 @@ -# Copyright 2025 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. - -link0: - kinematic: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 - -link1: - kinematic: - x: -0.0 - y: 0.0 - z: -0.0625 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 - -link2: - kinematic: - x: 0.0301 - y: 0.0 - z: -0.1225 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 - -link3: - kinematic: - x: -0.0 - y: -0.0 - z: -0.18875 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 - -link4: - kinematic: - x: 0.0 - y: -0.0315 - z: -0.3425 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 - -link5: - kinematic: - x: -0.0 - y: -0.0 - z: -0.438 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 - -link6: - kinematic: - x: -0.0375 - y: -0.0 - z: -0.5585 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 - -# link7: -# kinematic: -# x: 0.0 -# y: -0.0205 -# z: -0.5585 -# roll: 0.0 -# pitch: 0.0 -# yaw: 0.0 - -link7: - kinematic: - x: 0.0 - y: -0.0 - z: -0.5585 - roll: 0.0 - pitch: 0.0 - yaw: 0.0 diff --git a/assets/robot/openarm_v1.0/config/arm/kinematics_offset.yaml b/assets/robot/openarm_v1.0/config/arm/kinematics_offset.yaml deleted file mode 100644 index 315720bb..00000000 --- a/assets/robot/openarm_v1.0/config/arm/kinematics_offset.yaml +++ /dev/null @@ -1,85 +0,0 @@ -# Copyright 2025 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. - -joint1: - kinematic_offset: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 0 - pitch: 0 - yaw: 0 - -joint2: - kinematic_offset: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 1.57079632679 - pitch: 0 - yaw: 0 - -joint3: - kinematic_offset: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 0 - pitch: 0 - yaw: 0 - -joint4: - kinematic_offset: - x: -0.0 - y: 0.0 - z: 0.0 - roll: 0 - pitch: 0 - yaw: 0 - -joint5: - kinematic_offset: - x: 0.0 - y: -0.0 - z: 0.0 - roll: 0 - pitch: 0 - yaw: 0 - -joint6: - kinematic_offset: - x: 0.0 - y: 0.0 - z: 0.0 - roll: 0 - pitch: 0 - yaw: 0 - -joint7: - kinematic_offset: - x: -0.0 - y: 0.0 - z: 0.0 - roll: 0 - pitch: 0 - yaw: 0 - -joint8: - kinematic_offset: - x: 0.0 - y: -0.0 - z: 0.0 - roll: 0 - pitch: 0 - yaw: 0 diff --git a/assets/robot/openarm_v1.0/config/arm/link/collisions.yaml b/assets/robot/openarm_v1.0/config/arm/link/collisions.yaml new file mode 100644 index 00000000..08e73246 --- /dev/null +++ b/assets/robot/openarm_v1.0/config/arm/link/collisions.yaml @@ -0,0 +1,112 @@ +# 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. + +link0: + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link0_symp.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link1: + origin: + x: -0.0 + y: 0.0 + z: -0.0625 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link1_symp.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link2: + origin: + x: 0.0301 + y: 0.0 + z: -0.1225 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link2_symp.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link3: + origin: + x: -0.0 + y: -0.0 + z: -0.18875 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link3_symp.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link4: + origin: + x: 0.0 + y: -0.0315 + z: -0.3425 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link4_symp.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link5: + origin: + x: -0.0 + y: -0.0 + z: -0.438 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link5_symp.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link6: + origin: + x: -0.0375 + y: 0.0 + z: -0.5585 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/collision/link6_symp.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 diff --git a/assets/robot/openarm_v1.0/config/arm/link/visuals.yaml b/assets/robot/openarm_v1.0/config/arm/link/visuals.yaml new file mode 100644 index 00000000..d7026900 --- /dev/null +++ b/assets/robot/openarm_v1.0/config/arm/link/visuals.yaml @@ -0,0 +1,112 @@ +# 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. + +link0: + origin: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link0.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link1: + origin: + x: -0.0 + y: 0.0 + z: -0.0625 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link1.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link2: + origin: + x: 0.0301 + y: 0.0 + z: -0.1225 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link2.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link3: + origin: + x: -0.0 + y: -0.0 + z: -0.18875 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link3.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link4: + origin: + x: 0.0 + y: -0.0315 + z: -0.3425 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link4.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link5: + origin: + x: -0.0 + y: -0.0 + z: -0.438 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link5.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 +link6: + origin: + x: -0.0375 + y: 0.0 + z: -0.5585 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + geometry: + mesh: package://openarm_description/assets/robot/openarm_v1.0/mesh/arm/visual/link6.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 diff --git a/assets/robot/openarm_v1.0/config/arm/struct/name_mapping.yaml b/assets/robot/openarm_v1.0/config/arm/struct/name_mapping.yaml new file mode 100644 index 00000000..3a05229d --- /dev/null +++ b/assets/robot/openarm_v1.0/config/arm/struct/name_mapping.yaml @@ -0,0 +1,33 @@ +# 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: + canonical_to_original: + link0: link0 + link1: link1 + link2: link2 + link3: link3 + link4: link4 + link5: link5 + link6: link6 + arm_end_link: arm_end_link +joints: + canonical_to_original: + joint1: joint1 + joint2: joint2 + joint3: joint3 + joint4: joint4 + joint5: joint5 + joint6: joint6 + joint7: joint7 diff --git a/assets/robot/openarm_v1.0/config/arm/struct/reference_points.yaml b/assets/robot/openarm_v1.0/config/arm/struct/reference_points.yaml new file mode 100644 index 00000000..4f570977 --- /dev/null +++ b/assets/robot/openarm_v1.0/config/arm/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. + +ee_mount_point: + parent: arm_end_link + emit: false + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 diff --git a/assets/robot/openarm_v1.0/config/arm/struct/topology.yaml b/assets/robot/openarm_v1.0/config/arm/struct/topology.yaml new file mode 100644 index 00000000..9ae1c65c --- /dev/null +++ b/assets/robot/openarm_v1.0/config/arm/struct/topology.yaml @@ -0,0 +1,53 @@ +# 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. + +collapse_empty_end: true +links: +- link0 +- link1 +- link2 +- link3 +- link4 +- link5 +- link6 +- arm_end_link +joints: + joint1: + type: revolute + parent: link0 + child: link1 + joint2: + type: revolute + parent: link1 + child: link2 + joint3: + type: revolute + parent: link2 + child: link3 + joint4: + type: revolute + parent: link3 + child: link4 + joint5: + type: revolute + parent: link4 + child: link5 + joint6: + type: revolute + parent: link5 + child: link6 + joint7: + type: revolute + parent: link6 + child: arm_end_link diff --git a/assets/robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml b/assets/robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml new file mode 100644 index 00000000..d1051624 --- /dev/null +++ b/assets/robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml @@ -0,0 +1,158 @@ +# 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. + +robot: + root_frame: world + components: + - body + - primary_arm + - secondary_arm + - primary_arm_end_effector + - secondary_arm_end_effector +body: + type: body + prefix: openarm_ + enabled: true + product: v1.0 + config: null + inertials: nominal + connection: + parent: world + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 +primary_arm: + type: robot + enabled: true + product: openarm_v1.0 + 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: + attach_to: body + parent_reference_point: left_arm_mount_point + reflect: + x: 1 + y: -1 + z: 1 + include: + links: + - link0 + - link1 + - link2 + - link5 + - link6 + - arm_end_link + joints: + - joint1 + - joint2 + - joint3 + - joint6 + - joint7 + reference_points: + - ee_mount_point + origin_override_joints: + joint2: + x: -0.0301 + y: 0.0 + z: 0.06 + roll: 1.57079632679 + pitch: 0 + yaw: 0 + limit_override_joints: + joint2: + lower: -0.17453267320510335 + upper: 3.3161253267948965 + velocity: 16.754666 + effort: 40 +primary_arm_end_effector: + type: end_effector + enabled: true + product: parallel_link + config: null + inertials: nominal + prefix: openarm_left_ + connection: + attach_to: primary_arm + parent_reference_point: ee_mount_point + reflect: + x: 1 + y: -1 + z: 1 + include: + links: + - link7 + joints: [] + reference_points: [] +secondary_arm: + type: robot + enabled: true + product: openarm_v1.0 + 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: + attach_to: body + parent_reference_point: right_arm_mount_point + reflect: + x: 1 + y: 1 + z: 1 + origin_override_joints: + joint2: + x: -0.0301 + y: 0.0 + z: 0.06 + roll: 1.57079632679 + pitch: 0 + yaw: 0 + limit_override_joints: + joint2: + lower: -0.17453267320510335 + upper: 3.3161253267948965 + velocity: 16.754666 + effort: 40 +secondary_arm_end_effector: + type: end_effector + enabled: true + product: parallel_link + config: null + inertials: nominal + prefix: openarm_right_ + connection: + attach_to: secondary_arm + parent_reference_point: ee_mount_point + reflect: + x: 1 + y: 1 + z: 1 + include: + links: + - link7 + joints: [] + reference_points: [] diff --git a/assets/robot/openarm_v1.0/config/robot_presets/default_single.yaml b/assets/robot/openarm_v1.0/config/robot_presets/default_single.yaml new file mode 100644 index 00000000..fc766cec --- /dev/null +++ b/assets/robot/openarm_v1.0/config/robot_presets/default_single.yaml @@ -0,0 +1,63 @@ +# 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. + +robot: + root_frame: world + components: + - arm + - end_effector +arm: + type: robot + enabled: true + product: openarm_v1.0 + config: arm + control: + system_name: openarm_hardware_interface + hardware_plugin: openarm_hardware/OpenArmHW + can_interface: can0 + can_fd: true + inertials: nominal + prefix: openarm_ + connection: + parent: world + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + reflect: + x: 1 + y: 1 + z: 1 +end_effector: + type: end_effector + enabled: true + product: parallel_link + config: null + inertials: nominal + prefix: openarm_ + connection: + attach_to: arm + parent_reference_point: ee_mount_point + reflect: + x: 1 + y: 1 + z: 1 + include: + links: + - link7 + joints: [] + reference_points: [] diff --git a/assets/robot/openarm_v1.0/config/robot_presets/left_arm.yaml b/assets/robot/openarm_v1.0/config/robot_presets/left_arm.yaml new file mode 100644 index 00000000..99296edb --- /dev/null +++ b/assets/robot/openarm_v1.0/config/robot_presets/left_arm.yaml @@ -0,0 +1,59 @@ +# 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. + +robot: + root_frame: world + components: + - arm +arm: + type: robot + enabled: true + product: openarm_v1.0 + 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: + parent: world + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + reflect: + x: 1 + y: -1 + z: 1 + include: + links: + - link0 + - link1 + - link2 + - link5 + - link6 + - arm_end_link + joints: + - joint1 + - joint2 + - joint3 + - joint6 + - joint7 + reference_points: + - ee_mount_point diff --git a/assets/robot/openarm_v1.0/config/robot_presets/left_arm_with_parallel_link.yaml b/assets/robot/openarm_v1.0/config/robot_presets/left_arm_with_parallel_link.yaml new file mode 100644 index 00000000..62d0c49f --- /dev/null +++ b/assets/robot/openarm_v1.0/config/robot_presets/left_arm_with_parallel_link.yaml @@ -0,0 +1,79 @@ +# 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. + +robot: + root_frame: world + components: + - arm + - end_effector +arm: + type: robot + enabled: true + product: openarm_v1.0 + 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: + parent: world + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + reflect: + x: 1 + y: -1 + z: 1 + include: + links: + - link0 + - link1 + - link2 + - link5 + - link6 + - arm_end_link + joints: + - joint1 + - joint2 + - joint3 + - joint6 + - joint7 + reference_points: + - ee_mount_point +end_effector: + type: end_effector + enabled: true + product: parallel_link + config: null + inertials: nominal + prefix: openarm_left_ + connection: + attach_to: arm + parent_reference_point: ee_mount_point + reflect: + x: 1 + y: -1 + z: 1 + include: + links: + - link7 + joints: [] + reference_points: [] diff --git a/assets/robot/openarm_v1.0/config/robot_presets/right_arm.yaml b/assets/robot/openarm_v1.0/config/robot_presets/right_arm.yaml new file mode 100644 index 00000000..7559e76f --- /dev/null +++ b/assets/robot/openarm_v1.0/config/robot_presets/right_arm.yaml @@ -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. + +robot: + root_frame: world + components: + - arm +arm: + type: robot + enabled: true + product: openarm_v1.0 + 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: + parent: world + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + reflect: + x: 1 + y: 1 + z: 1 diff --git a/assets/robot/openarm_v1.0/config/robot_presets/right_arm_with_parallel_link.yaml b/assets/robot/openarm_v1.0/config/robot_presets/right_arm_with_parallel_link.yaml new file mode 100644 index 00000000..14ea3377 --- /dev/null +++ b/assets/robot/openarm_v1.0/config/robot_presets/right_arm_with_parallel_link.yaml @@ -0,0 +1,63 @@ +# 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. + +robot: + root_frame: world + components: + - arm + - end_effector +arm: + type: robot + enabled: true + product: openarm_v1.0 + 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: + parent: world + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + reflect: + x: 1 + y: 1 + z: 1 +end_effector: + type: end_effector + enabled: true + product: parallel_link + config: null + inertials: nominal + prefix: openarm_right_ + connection: + attach_to: arm + parent_reference_point: ee_mount_point + reflect: + x: 1 + y: 1 + z: 1 + include: + links: + - link7 + joints: [] + reference_points: [] diff --git a/assets/robot/openarm_v1.0/urdf/arm/openarm_arm.xacro b/assets/robot/openarm_v1.0/urdf/arm/openarm_arm.xacro deleted file mode 100644 index 3567a9dc..00000000 --- a/assets/robot/openarm_v1.0/urdf/arm/openarm_arm.xacro +++ /dev/null @@ -1,123 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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/launch/display_openarm.launch.py b/launch/display_openarm.launch.py index 4471cff7..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), @@ -81,7 +82,7 @@ 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), @@ -112,8 +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).", + default_value="", + description="Robot preset; empty selects the default assembly for the selected version.", ) rviz_config_arg = DeclareLaunchArgument( "rviz_config", 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_models.py b/test/test_models.py index 57716a88..46ae330d 100644 --- a/test/test_models.py +++ b/test/test_models.py @@ -20,7 +20,7 @@ def test_shipped_presets_expand_and_resolve_resources(): robots = [] - for version in ('v2.0',): + 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))) @@ -28,7 +28,7 @@ def test_shipped_presets_expand_and_resolve_resources(): 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('pinch_gripper/urdf/*_standalone.urdf.xacro')): + 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: