Migrate V1 assembly to shared presets and components

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 `<component_name>_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.

assets/robot/openarm_v1.0/config/body/inertials.yaml → 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

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

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

assets/body/v1.0/config/struct/reference_points.yaml

@@ -0,0 +1,34 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+left_arm_mount_point:
+  parent: body_link0
+  emit: false
+  origin:
+    x: 0
+    y: 0.03
+    z: 0.697
+    roll: -1.5708
+    pitch: 0
+    yaw: 0
+right_arm_mount_point:
+  parent: body_link0
+  emit: false
+  origin:
+    x: 0
+    y: -0.03
+    z: 0.697
+    roll: 1.5708
+    pitch: 0
+    yaw: 0

assets/end_effector/parallel_link/config/joint_limits.yaml → 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: {}

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

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

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

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

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

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