diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index 6654216b..976d55e2 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -29,6 +29,11 @@ jobs: - "humble" steps: - uses: actions/checkout@v7 + - uses: actions/checkout@v7 + with: + repository: stereolabs/zed-ros2-description + ref: 22468247c1653d08a1e213809f3e9ce76291487d + path: .ci/zed_description - name: Build URDF files run: | docker container run \ @@ -37,7 +42,7 @@ jobs: osrf/ros:${{ matrix.id }}-desktop-full \ bash -c ' cd /source - colcon build + colcon build --paths /source/.ci/zed_description /source source install/setup.bash mkdir -p urdf_output diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml index 4c64ea27..bbead3d1 100644 --- a/.github/workflows/test.yaml +++ b/.github/workflows/test.yaml @@ -55,6 +55,11 @@ jobs: - "humble" steps: - uses: actions/checkout@v7 + - uses: actions/checkout@v7 + with: + repository: stereolabs/zed-ros2-description + ref: 22468247c1653d08a1e213809f3e9ce76291487d + path: .ci/zed_description - name: Run tests run: | docker container run \ diff --git a/CMakeLists.txt b/CMakeLists.txt index 2bfeb365..433f8554 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,8 +28,14 @@ if(BUILD_TESTING) set(ament_cmake_cpplint_FOUND TRUE) ament_lint_auto_find_test_dependencies() find_package(ament_cmake_pytest REQUIRED) + ament_add_pytest_test(joint_axis_reflection + test/test_joint_axis_reflection.py) ament_add_pytest_test(v2_camera_components test/test_v2_camera_components.py) - ament_add_pytest_test(v2_assembly test/test_v2_assembly.py) + ament_add_pytest_test(v2_assembly test/test_v2_assembly.py TIMEOUT 180) + ament_add_pytest_test(body_root_mapping test/test_body_root_mapping.py) + ament_add_pytest_test(v1_mirroring test/test_v1_mirroring.py) + ament_add_pytest_test(v1_assembly test/test_v1_assembly.py) + ament_add_pytest_test(v1_mount_overrides test/test_v1_mount_overrides.py) endif() foreach(install_dir assets launch rviz scripts) diff --git a/README.md b/README.md index 6d208076..fdaf5459 100644 --- a/README.md +++ b/README.md @@ -18,6 +18,10 @@ Recommended starting point: - for all new robot assembly, presets, xacro, and URDF generation work, start with `assets/robot/openarm_v2.0` - only use `assets/robot/openarm_v1.0` when you need the old `v10 + parallel_link` compatibility path --> +## V2 camera assembly + +The V2 `default_bimanual` preset includes both arms, pinch grippers, the camera mount, and the official ZED Mini model. Single-arm presets are also available. Use `ros2_control:=false` when exporting a model without control interfaces. + ## Related links - 📚 Read the [documentation](https://docs.openarm.dev/software/description) diff --git a/assets/accessory/zed_mount/config/inertials/nominal.yaml b/assets/accessory/zed_mount/config/inertials/nominal.yaml new file mode 100644 index 00000000..10efc312 --- /dev/null +++ b/assets/accessory/zed_mount/config/inertials/nominal.yaml @@ -0,0 +1,16 @@ +base_link: + origin: + x: 0.014296 + y: 0.0034952 + z: 0.047826 + roll: 0 + pitch: 0 + yaw: 0 + mass: 0.13704 + inertia: + xx: 0.00018293 + xy: -6.3997e-06 + xz: -3.1024e-05 + yy: 0.00011247 + yz: -8.6526e-06 + zz: 0.00012779 diff --git a/assets/accessory/zed_mount/config/link/collisions.yaml b/assets/accessory/zed_mount/config/link/collisions.yaml new file mode 100644 index 00000000..0967ef42 --- /dev/null +++ b/assets/accessory/zed_mount/config/link/collisions.yaml @@ -0,0 +1 @@ +{} diff --git a/assets/accessory/zed_mount/config/link/visuals.yaml b/assets/accessory/zed_mount/config/link/visuals.yaml new file mode 100644 index 00000000..6dff9945 --- /dev/null +++ b/assets/accessory/zed_mount/config/link/visuals.yaml @@ -0,0 +1,14 @@ +base_link: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + geometry: + mesh: package://openarm_description/assets/accessory/zed_mount/meshes/visual/zed_mount.dae + scale: + x: 1 + y: 1 + z: 1 diff --git a/assets/accessory/zed_mount/config/struct/reference_points.yaml b/assets/accessory/zed_mount/config/struct/reference_points.yaml new file mode 100644 index 00000000..a5da10e4 --- /dev/null +++ b/assets/accessory/zed_mount/config/struct/reference_points.yaml @@ -0,0 +1,10 @@ +camera_mount_point: + parent: base_link + emit: true + origin: + x: 0.0263085336684006 + y: 0.00869000000000031 + z: 0.065829226007701 + roll: 0 + pitch: 1.08210413623648 + yaw: 0 diff --git a/assets/accessory/zed_mount/config/struct/topology.yaml b/assets/accessory/zed_mount/config/struct/topology.yaml new file 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/assets/robot/openarm_v1.0/config/body/inertials.yaml b/assets/body/v1.0/config/inertials/nominal.yaml similarity index 84% rename from assets/robot/openarm_v1.0/config/body/inertials.yaml rename to assets/body/v1.0/config/inertials/nominal.yaml index a9207078..360874b0 100644 --- a/assets/robot/openarm_v1.0/config/body/inertials.yaml +++ b/assets/body/v1.0/config/inertials/nominal.yaml @@ -1,4 +1,4 @@ -# Copyright 2025 Enactic, Inc. +# Copyright 2026 Enactic, Inc. # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. @@ -14,8 +14,12 @@ body_link0: origin: - xyz: -0.016206894902 0 0.244091987626 - rpy: 0.0 0.0 0.0 + x: -0.016206894902 + y: 0.0 + z: 0.244091987626 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 mass: 3.74 inertia: xx: 0.248946829107 diff --git a/assets/body/v1.0/config/link/collisions.yaml b/assets/body/v1.0/config/link/collisions.yaml new file mode 100644 index 00000000..ed942121 --- /dev/null +++ b/assets/body/v1.0/config/link/collisions.yaml @@ -0,0 +1,28 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +body_link0: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + geometry: + mesh: package://openarm_description/assets/body/v1.0/meshes/collision/body_link0_symp.stl + scale: + x: 0.001 + y: 0.001 + z: 0.001 diff --git a/assets/body/v1.0/config/link/visuals.yaml b/assets/body/v1.0/config/link/visuals.yaml new file mode 100644 index 00000000..bb62b97d --- /dev/null +++ b/assets/body/v1.0/config/link/visuals.yaml @@ -0,0 +1,28 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +body_link0: + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + geometry: + mesh: package://openarm_description/assets/body/v1.0/meshes/visual/body_link0.dae + scale: + x: 0.001 + y: 0.001 + z: 0.001 diff --git a/assets/body/v1.0/config/struct/reference_points.yaml b/assets/body/v1.0/config/struct/reference_points.yaml new file mode 100644 index 00000000..0ca2dabc --- /dev/null +++ b/assets/body/v1.0/config/struct/reference_points.yaml @@ -0,0 +1,34 @@ +# Copyright 2026 Enactic, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +left_arm_mount_point: + parent: body_link0 + emit: false + origin: + x: 0 + y: 0.03 + z: 0.697 + roll: -1.5708 + pitch: 0 + yaw: 0 +right_arm_mount_point: + parent: body_link0 + emit: false + origin: + x: 0 + y: -0.03 + z: 0.697 + roll: 1.5708 + pitch: 0 + yaw: 0 diff --git a/assets/end_effector/parallel_link/config/joint_limits.yaml b/assets/body/v1.0/config/struct/topology.yaml similarity index 86% rename from assets/end_effector/parallel_link/config/joint_limits.yaml rename to assets/body/v1.0/config/struct/topology.yaml index ee715e39..5cb756a3 100644 --- a/assets/end_effector/parallel_link/config/joint_limits.yaml +++ b/assets/body/v1.0/config/struct/topology.yaml @@ -12,9 +12,6 @@ # See the License for the specific language governing permissions and # limitations under the License. -finger_joint: - limit: - lower: 0.0 - upper: 0.044 - velocity: 0.661 - effort: 150.75 +links: +- body_link0 +joints: {} diff --git a/assets/robot/openarm_v1.0/mesh/body/collision/body_link0_symp.stl b/assets/body/v1.0/meshes/collision/body_link0_symp.stl similarity index 100% rename from assets/robot/openarm_v1.0/mesh/body/collision/body_link0_symp.stl rename to assets/body/v1.0/meshes/collision/body_link0_symp.stl diff --git a/assets/robot/openarm_v1.0/mesh/body/visual/body_link0.dae b/assets/body/v1.0/meshes/visual/body_link0.dae similarity index 100% rename from assets/robot/openarm_v1.0/mesh/body/visual/body_link0.dae rename to assets/body/v1.0/meshes/visual/body_link0.dae diff --git a/assets/robot/openarm_v1.0/mesh/body/visual/body_link0.stl b/assets/body/v1.0/meshes/visual/body_link0.stl similarity index 100% rename from assets/robot/openarm_v1.0/mesh/body/visual/body_link0.stl rename to assets/body/v1.0/meshes/visual/body_link0.stl diff --git a/assets/robot/openarm_v2.0/config/body/inertials/nominal.yaml b/assets/body/v2.0/config/inertials/nominal.yaml similarity index 100% rename from assets/robot/openarm_v2.0/config/body/inertials/nominal.yaml rename to assets/body/v2.0/config/inertials/nominal.yaml diff --git a/assets/robot/openarm_v2.0/config/body/link/collisions.yaml b/assets/body/v2.0/config/link/collisions.yaml similarity index 87% rename from assets/robot/openarm_v2.0/config/body/link/collisions.yaml rename to assets/body/v2.0/config/link/collisions.yaml index 6fd3e9a3..46fb7013 100644 --- a/assets/robot/openarm_v2.0/config/body/link/collisions.yaml +++ b/assets/body/v2.0/config/link/collisions.yaml @@ -21,7 +21,7 @@ body_link0: pitch: 0.0 yaw: 0.0 geometry: - mesh: "package://openarm_description/assets/robot/openarm_v2.0/meshes/body/collision/body_link0_symp.stl" + mesh: "package://openarm_description/assets/body/v2.0/meshes/collision/body_link0_symp.stl" scale: x: 0.001 y: 0.001 diff --git a/assets/robot/openarm_v2.0/config/body/link/visuals.yaml b/assets/body/v2.0/config/link/visuals.yaml similarity index 87% rename from assets/robot/openarm_v2.0/config/body/link/visuals.yaml rename to assets/body/v2.0/config/link/visuals.yaml index 8950f6fa..f1fa731c 100644 --- a/assets/robot/openarm_v2.0/config/body/link/visuals.yaml +++ b/assets/body/v2.0/config/link/visuals.yaml @@ -21,7 +21,7 @@ body_link0: pitch: 0.0 yaw: 0.0 geometry: - mesh: "package://openarm_description/assets/robot/openarm_v2.0/meshes/body/visual/body_link0.dae" + mesh: "package://openarm_description/assets/body/v2.0/meshes/visual/body_link0.dae" scale: x: 1.0 y: 1.0 diff --git a/assets/robot/openarm_v2.0/config/body/meta.md b/assets/body/v2.0/config/meta.md similarity index 100% rename from assets/robot/openarm_v2.0/config/body/meta.md rename to assets/body/v2.0/config/meta.md diff --git a/assets/robot/openarm_v2.0/config/body/struct/reference_points.yaml b/assets/body/v2.0/config/struct/reference_points.yaml similarity index 81% rename from assets/robot/openarm_v2.0/config/body/struct/reference_points.yaml rename to assets/body/v2.0/config/struct/reference_points.yaml index b30eef96..7df8ad3b 100644 --- a/assets/robot/openarm_v2.0/config/body/struct/reference_points.yaml +++ b/assets/body/v2.0/config/struct/reference_points.yaml @@ -56,17 +56,14 @@ right_arm_mount_point: original_name: body_right_arm_mount_point canonical_name: null -# Example body-mounted camera reference point. Tune this pose from CAD or -# calibration before using it on hardware. -# zed_front_mount_point: -# parent: body_link0 -# origin: -# x: 0.12 -# y: 0.0 -# z: 0.82 -# roll: 0.0 -# pitch: 0.0 -# yaw: 0.0 -# meta: -# kind: sensor_mount -# sensor_family: zed + +camera_mount_point: + parent: body_link0 + emit: true + origin: + x: 0.03 + y: 0.0 + z: 0.743 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 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 new file mode 100644 index 00000000..0d246283 --- /dev/null +++ b/assets/common/assembly.xacro @@ -0,0 +1,276 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/common/components.xacro b/assets/common/components.xacro new file mode 100644 index 00000000..96336b2c --- /dev/null +++ b/assets/common/components.xacro @@ -0,0 +1,231 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/common/kinematic_chain.xacro b/assets/common/kinematic_chain.xacro new file mode 100644 index 00000000..f06d508c --- /dev/null +++ b/assets/common/kinematic_chain.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/common/links.xacro b/assets/common/links.xacro index 67bc94ed..ce079bf8 100644 --- a/assets/common/links.xacro +++ b/assets/common/links.xacro @@ -30,10 +30,10 @@ limitations under the License. - + - + @@ -48,10 +48,10 @@ limitations under the License. - + - + - + - + - + - + - + @@ -100,17 +100,17 @@ limitations under the License. - + + + + + + + + + + + + + + + + diff --git a/assets/common/reference_frames.xacro b/assets/common/reference_frames.xacro index 1ecc469f..833fb20d 100644 --- a/assets/common/reference_frames.xacro +++ b/assets/common/reference_frames.xacro @@ -20,7 +20,7 @@ limitations under the License. - + diff --git a/assets/common/ros2_control.xacro b/assets/common/ros2_control.xacro new file mode 100644 index 00000000..3b2b62a7 --- /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/common/transforms.xacro b/assets/common/transforms.xacro index 71284bb4..c4fc2d31 100644 --- a/assets/common/transforms.xacro +++ b/assets/common/transforms.xacro @@ -93,6 +93,11 @@ limitations under the License. - + + + + + diff --git a/assets/common/validation.xacro b/assets/common/validation.xacro new file mode 100644 index 00000000..ec0bb80b --- /dev/null +++ b/assets/common/validation.xacro @@ -0,0 +1,180 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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..4314dcf6 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 +13,34 @@ limitations under the License. --> - - - - + + - + + - - - - + + + + + + + + + + + + + + + + diff --git a/assets/end_effector/pinch_gripper/config/struct/topology.yaml b/assets/end_effector/pinch_gripper/config/struct/topology.yaml index cafc202b..b9b83d58 100644 --- a/assets/end_effector/pinch_gripper/config/struct/topology.yaml +++ b/assets/end_effector/pinch_gripper/config/struct/topology.yaml @@ -12,10 +12,12 @@ # See the License for the specific language governing permissions and # limitations under the License. +link_prefix: ee_ +joint_prefix: finger_ links: - - base_link - - link1 - - link2 +- base_link +- link1 +- link2 joints: joint1: type: revolute diff --git a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_ee.xacro b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro similarity index 51% rename from assets/robot/openarm_v2.0/urdf/utils/openarm_v20_ee.xacro rename to assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro index 71efb798..6354a61c 100644 --- a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_ee.xacro +++ b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro @@ -16,20 +16,22 @@ limitations under the License. + - - + - + + + - - + + @@ -40,71 +42,20 @@ limitations under the License. - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - - + + @@ -156,30 +107,33 @@ limitations under the License. lazy_eval="false" /> + + - + - + - + - - + + + @@ -188,17 +142,19 @@ limitations under the License. multiplier="${finger1_mimic_override['multiplier']}" offset="${finger1_mimic_override['offset']}" /> + - + - + - + - - + + + @@ -207,12 +163,13 @@ limitations under the License. multiplier="${finger2_mimic_override['multiplier']}" offset="${finger2_mimic_override['offset']}" /> + - - - - - - - - + + @@ -35,10 +29,10 @@ limitations under the License. - - @@ -47,7 +41,7 @@ limitations under the License. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro b/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro deleted file mode 100644 index ca530c7b..00000000 --- a/assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro +++ /dev/null @@ -1,150 +0,0 @@ - - - - - - - - ${xacro.warning('No inertia properties defined for: ' + name)} - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - openarm_hw/openarmStateInterface - - - - - - openarm_hw/openarmModelInterface - - root - openarm_hw/openarmModelInterface - - - tip - openarm_hw/openarmModelInterface - - openarm_hw/openarmModelInterface - openarm_hw/openarmModelInterface - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro b/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro deleted file mode 100644 index d3fada87..00000000 --- a/assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro b/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro deleted file mode 100644 index 3b200efa..00000000 --- a/assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - ${xacro.warning('No inertia properties defined for: ' + name)} - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro b/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro deleted file mode 100644 index 7f811804..00000000 --- a/assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - ${xacro.error('assets/robot/openarm_v1.0 only supports ee_type:=parallel_link.')} - - - diff --git a/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro b/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro deleted file mode 100644 index 425d08d2..00000000 --- a/assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro +++ /dev/null @@ -1,94 +0,0 @@ - - - - - - - - ${xacro.warning('No inertia properties defined for: ' + name)} - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro deleted file mode 100644 index 6a00c3a2..00000000 --- a/assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro +++ /dev/null @@ -1,106 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro b/assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro deleted file mode 100644 index 6d366553..00000000 --- a/assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro +++ /dev/null @@ -1,102 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/example/v1.urdf b/assets/robot/openarm_v1.0/urdf/example/v1.urdf index 7b8865cd..2d38fea3 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. - + @@ -150,26 +150,26 @@ limitations under the License. - + + - + - - + - + @@ -177,26 +177,26 @@ 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. - @@ -310,26 +396,26 @@ limitations under the License. - + + - + - - + - + @@ -338,6 +424,7 @@ limitations under the License. + @@ -346,7 +433,6 @@ limitations under the License. - @@ -356,7 +442,7 @@ limitations under the License. - + @@ -364,26 +450,26 @@ limitations under the License. - + + - + - - + - + @@ -392,6 +478,7 @@ limitations under the License. + @@ -400,7 +487,6 @@ limitations under the License. - @@ -410,7 +496,7 @@ limitations under the License. - + @@ -418,66 +504,67 @@ 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..acb94642 100644 --- a/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro +++ b/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro @@ -1,6 +1,6 @@ - + - - + + - - - - + + + + + + + + + + + + + + - - - - - - - - - - - - ${xacro.error('assets/robot/openarm_v1.0 supports arm_type in ' + str(accepted_arm_types) + ' (got: $(arg arm_type)). Use assets/robot/openarm_v2.0 for newer hardware variants.')} - - - ${xacro.error('assets/robot/openarm_v1.0 only supports body_type:=v10.')} - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro b/assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro deleted file mode 100644 index 41824fa6..00000000 --- a/assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro +++ /dev/null @@ -1,202 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro deleted file mode 100644 index 999b443a..00000000 --- a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro +++ /dev/null @@ -1,152 +0,0 @@ - - - - - - - - - - - ${arm_type} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${left_can_interface} - ${left_arm_prefix} - ${hand} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - ${control_gains['hand']['kp']} - ${control_gains['hand']['kd']} - - - - - - - - - - - - ${initial_position} - - - - 0.0 - - - - 0.0 - - - - - - - - - - - - - - - - - - - - - ${arm_type} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${right_can_interface} - ${right_arm_prefix} - ${hand} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - ${control_gains['hand']['kp']} - ${control_gains['hand']['kd']} - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro b/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro deleted file mode 100644 index 97cc630c..00000000 --- a/assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro +++ /dev/null @@ -1,110 +0,0 @@ - - - - - - - - - - - - ${arm_type} - ${arm_prefix} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${can_interface} - ${arm_prefix} - ${hand} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - - - - - - - - - - - - ${initial_position} - - - - 0.0 - - - - 0.0 - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml b/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml index a59e97af..acd91f4b 100644 --- a/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml +++ b/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml @@ -12,6 +12,8 @@ # See the License for the specific language governing permissions and # limitations under the License. +collapse_empty_end: true + links: - base_link - link1 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..a45d4b8f 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 @@ -15,17 +15,18 @@ robot: root_frame: world components: - - body - - primary_arm - - secondary_arm - - primary_arm_end_effector - - secondary_arm_end_effector - + - body + - primary_arm + - secondary_arm + - primary_arm_end_effector + - secondary_arm_end_effector + - body_camera_mount + - body_camera body: - type: robot + type: body enabled: true - product: openarm_v2.0 - config: body + product: v2.0 + config: null inertials: nominal link_name: openarm_body_link0 connection: @@ -42,12 +43,13 @@ body: y: 1 z: 1 limit_override_joints: {} - primary_arm: type: robot enabled: true product: openarm_v2.0 config: arm + control: + side: left inertials: nominal prefix: openarm_left_ connection: @@ -60,16 +62,30 @@ primary_arm: y: -1 z: 1 include: - links: [base_link, link1, link2, link5, link6, link7] - joints: [joint1, joint2, joint3, joint5, joint6, joint7] - reference_points: [ee_mount_point] + links: + - base_link + - link1 + - link2 + - link5 + - link6 + - link7 + joints: + - joint1 + - joint2 + - joint3 + - joint5 + - joint6 + - joint7 + reference_points: + - ee_mount_point limit_override_joints: {} - secondary_arm: type: robot enabled: true product: openarm_v2.0 config: arm + control: + side: right inertials: nominal prefix: openarm_right_ connection: @@ -82,7 +98,6 @@ secondary_arm: y: 1 z: 1 limit_override_joints: {} - primary_arm_end_effector: type: end_effector enabled: true @@ -100,7 +115,6 @@ primary_arm_end_effector: y: -1 z: 1 limit_override_joints: {} - secondary_arm_end_effector: type: end_effector enabled: true @@ -118,3 +132,30 @@ secondary_arm_end_effector: y: 1 z: 1 limit_override_joints: {} +body_camera_mount: + type: accessory + enabled: true + product: zed_mount + config: null + inertials: nominal + prefix: openarm_body_zed_mount_ + connection: + attach_to: body + parent_reference_point: camera_mount_point +body_camera: + type: sensor + enabled: true + product: zed + config: + camera_name: openarm_body_zed + camera_model: zedm + connection: + attach_to: body_camera_mount + parent_reference_point: camera_mount_point + origin: + x: 0.00119247 + y: -0.007723415 + z: 0.00008746 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 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..257e0213 100644 --- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml +++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm.yaml @@ -18,10 +18,10 @@ robot: - primary_arm body: - type: robot + type: body enabled: false - product: openarm_v2.0 - config: body + product: v2.0 + config: null inertials: nominal link_name: openarm_body_link0 connection: @@ -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..1aac520d 100644 --- a/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml +++ b/assets/robot/openarm_v2.0/config/robot_presets/left_arm_with_pinch_gripper.yaml @@ -19,10 +19,10 @@ robot: - primary_arm_end_effector body: - type: robot + type: body enabled: false - product: openarm_v2.0 - config: body + product: v2.0 + config: null inertials: nominal link_name: openarm_body_link0 connection: @@ -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..114527dd 100644 --- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml +++ b/assets/robot/openarm_v2.0/config/robot_presets/right_arm.yaml @@ -18,10 +18,10 @@ robot: - primary_arm body: - type: robot + type: body enabled: false - product: openarm_v2.0 - config: body + product: v2.0 + config: null inertials: nominal link_name: openarm_body_link0 connection: @@ -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..3a5d4e2b 100644 --- a/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml +++ b/assets/robot/openarm_v2.0/config/robot_presets/right_arm_with_pinch_gripper.yaml @@ -19,10 +19,10 @@ robot: - primary_arm_end_effector body: - type: robot + type: body enabled: false - product: openarm_v2.0 - config: body + product: v2.0 + config: null inertials: nominal link_name: openarm_body_link0 connection: @@ -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 2e99c84d..ce758785 100644 --- a/assets/robot/openarm_v2.0/urdf/example/v2.urdf +++ b/assets/robot/openarm_v2.0/urdf/example/v2.urdf @@ -22,13 +22,13 @@ limitations under the License. - + - + @@ -42,6 +42,12 @@ limitations under the License. + + + + + + @@ -236,17 +242,16 @@ limitations under the License. - - + - + @@ -512,7 +517,6 @@ limitations under the License. - @@ -594,6 +598,89 @@ limitations under the License. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + v20 @@ -713,14 +800,6 @@ limitations under the License. 0.0 - @@ -841,13 +920,5 @@ 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 13fd00fd..2c986c1a 100644 --- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro +++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro @@ -14,14 +14,15 @@ limitations under the License. - + - + - + + @@ -31,29 +32,15 @@ limitations under the License. - - - - - - - - + + + diff --git a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro b/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro deleted file mode 100644 index e7b25ad8..00000000 --- a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro +++ /dev/null @@ -1,157 +0,0 @@ - - - - - - - - - - ${arm_type} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${left_can_interface} - ${left_arm_prefix} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - - - - - - - - - - ${initial_position} - - - - 0.0 - - - - 0.0 - - - - - - - - - - - - - - - - - - - - - ${arm_type} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${right_can_interface} - ${right_arm_prefix} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro b/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro deleted file mode 100644 index 59f182b2..00000000 --- a/assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro +++ /dev/null @@ -1,107 +0,0 @@ - - - - - - - - - - ${arm_type} - ${arm_prefix} - - mock_components/GenericSystem - ${fake_sensor_commands} - 0.0 - - - openarm_hardware/OpenArmHW - ${can_interface} - ${arm_prefix} - ${hand} - ${can_fd} - ${ee_type} - ${control_gains['joint1']['kp']} - ${control_gains['joint2']['kp']} - ${control_gains['joint3']['kp']} - ${control_gains['joint4']['kp']} - ${control_gains['joint5']['kp']} - ${control_gains['joint6']['kp']} - ${control_gains['joint7']['kp']} - ${control_gains['joint1']['kd']} - ${control_gains['joint2']['kd']} - ${control_gains['joint3']['kd']} - ${control_gains['joint4']['kd']} - ${control_gains['joint5']['kd']} - ${control_gains['joint6']['kd']} - ${control_gains['joint7']['kd']} - - - - - - - - - - - - - ${initial_position} - - - - 0.0 - - - - 0.0 - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_arm.xacro b/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_arm.xacro deleted file mode 100644 index 6d0ba48a..00000000 --- a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_arm.xacro +++ /dev/null @@ -1,137 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_robot.xacro b/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_robot.xacro deleted file mode 100644 index 646e95b4..00000000 --- a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_robot.xacro +++ /dev/null @@ -1,639 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_sensor.xacro b/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_sensor.xacro deleted file mode 100644 index 618f85e0..00000000 --- a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_sensor.xacro +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/launch/display_openarm.launch.py b/launch/display_openarm.launch.py index c763ade4..c5c107d2 100644 --- a/launch/display_openarm.launch.py +++ b/launch/display_openarm.launch.py @@ -47,7 +47,6 @@ def robot_state_publisher_spawner( context: LaunchContext, arm_type, robot_preset, - collapse_internal_empty_links, emit_grasp_frame, bimanual, ros2_control, @@ -75,6 +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), @@ -82,9 +82,11 @@ def robot_state_publisher_spawner( else: mappings = { "arm_type": arm_type_str, - "robot_preset": context.perform_substitution(robot_preset), - "collapse_internal_empty_links": context.perform_substitution(collapse_internal_empty_links), + "robot_preset": context.perform_substitution(robot_preset) or "default_bimanual", "emit_grasp_frame": context.perform_substitution(emit_grasp_frame), + "ros2_control": context.perform_substitution(ros2_control), + "use_fake_hardware": context.perform_substitution(use_fake_hardware), + "fake_sensor_commands": context.perform_substitution(fake_sensor_commands), } robot_description = xacro.process_file( @@ -111,17 +113,13 @@ def generate_launch_description(): ) robot_preset_arg = DeclareLaunchArgument( "robot_preset", - default_value="default_bimanual", - description="Robot preset for v2.0 (e.g. default_bimanual, right_arm, left_arm, right_arm_with_pinch_gripper, left_arm_with_pinch_gripper).", + default_value="", + description="Robot preset; empty selects the default assembly for the selected version.", ) rviz_config_arg = DeclareLaunchArgument( "rviz_config", default_value="bimanual.rviz", ) - collapse_arg = DeclareLaunchArgument( - "collapse_internal_empty_links", - default_value="true", - ) grasp_frame_arg = DeclareLaunchArgument( "emit_grasp_frame", default_value="false", @@ -147,7 +145,6 @@ def generate_launch_description(): arm_type = LaunchConfiguration("arm_type") robot_preset = LaunchConfiguration("robot_preset") rviz_config = LaunchConfiguration("rviz_config") - collapse = LaunchConfiguration("collapse_internal_empty_links") grasp_frame = LaunchConfiguration("emit_grasp_frame") bimanual = LaunchConfiguration("bimanual") ros2_control = LaunchConfiguration("ros2_control") @@ -160,7 +157,6 @@ def generate_launch_description(): arm_type_arg, robot_preset_arg, rviz_config_arg, - collapse_arg, grasp_frame_arg, bimanual_arg, ros2_control_arg, @@ -171,7 +167,6 @@ def generate_launch_description(): args=[ arm_type, robot_preset, - collapse, grasp_frame, bimanual, ros2_control, diff --git a/rviz/bimanual_camera.rviz b/rviz/bimanual_camera.rviz new file mode 100644 index 00000000..ba9b93ed --- /dev/null +++ b/rviz/bimanual_camera.rviz @@ -0,0 +1,256 @@ +Panels: +- Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 139 +- Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: '' + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: '' + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + openarm_left_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_hand_tcp: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_left_left_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_left_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_left_right_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_hand: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_hand_tcp: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_right_left_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + openarm_right_link8: + Alpha: 1 + Show Axes: false + Show Trail: false + openarm_right_right_finger: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + v10_body_link0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + world: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: '' + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: {} + Update Interval: 0 + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 1.6 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.03 + Y: 0.0 + Z: 0.45 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.25 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.75 + Saved: null +Window Geometry: + Displays: + collapsed: false + Height: 826 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd0000000100000000000001da000002a8fc0200000002fb000000100044006900730070006c0061007900730100000069000001790000017800fffffffb0000000a0056006900650077007301000001ee000001230000012300ffffff000002ca000002a800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1200 + X: 42 + Y: 64 diff --git a/test/run.sh b/test/run.sh index fb65f2e8..e0e09926 100755 --- a/test/run.sh +++ b/test/run.sh @@ -32,7 +32,14 @@ export PYTHONDONTWRITEBYTECODE=1 mkdir -p "${build_dir}" cd "${build_dir}" -colcon build --base-paths "${source_dir}" +build_paths=("${source_dir}") +if [ -f "${source_dir}/.ci/zed_description/package.xml" ]; then + build_paths+=("${source_dir}/.ci/zed_description") +fi +colcon build --paths "${build_paths[@]}" +set +u +source install/setup.bash +set -u # Run only our pytest tests. ament_lint_auto also registers # ament_lint_common linters but we use pre-commit for lint. colcon test \ diff --git a/test/test_body_root_mapping.py b/test/test_body_root_mapping.py new file mode 100644 index 00000000..6815d713 --- /dev/null +++ b/test/test_body_root_mapping.py @@ -0,0 +1,74 @@ +"""Check body root aliases without relying on a particular canonical name.""" + +import unittest +import xml.etree.ElementTree as ET + +from test_v1_assembly import expand as expand_v1 +from test_v2_assembly import expand_modified as expand_v2 +from test_v2_camera_components import poses + + +def renamed_body_changes(version, actual_name=None): + def topology(value): + value['links'] = ['support_post'] + return value + + def references(value): + for name in list(value): + point = value[name] + point['parent'] = 'support_post' + value[name] = point + return value + + def data(value): + value['support_post'] = value.pop('body_link0') + return value + + prefix = f'body/{version}.0/config/' + changes = { + prefix + 'struct/topology.yaml': topology, + prefix + 'struct/reference_points.yaml': references, + prefix + 'inertials/nominal.yaml': data, + prefix + 'link/visuals.yaml': data, + prefix + 'link/collisions.yaml': data, + } + if actual_name is not None: + def preset(value): + body = value['body'] + body['link_name'] = actual_name + value['body'] = body + return value + changes[f'robot/openarm_{version}.0/config/robot_presets/default_bimanual.yaml'] = preset + return changes + + +class BodyRootMappingTest(unittest.TestCase): + def test_canonical_root_rename_keeps_v1_and_v2_robot_definitions(self): + for version, expand in [('v1', expand_v1), ('v2', expand_v2)]: + with self.subTest(version=version): + before = expand() + after = expand(renamed_body_changes(version)) + self.assertEqual( + ET.canonicalize(ET.tostring( + before, encoding='unicode'), strip_text=True), + ET.canonicalize(ET.tostring(after, encoding='unicode'), strip_text=True)) + + def test_custom_actual_name_maps_all_body_references(self): + for version, expand in [('v1', expand_v1), ('v2', expand_v2)]: + with self.subTest(version=version): + before = poses(expand()) + robot = expand(renamed_body_changes(version, 'pedestal')) + after = poses(robot) + self.assertIn('pedestal', after) + self.assertNotIn('support_post', after) + self.assertNotIn('openarm_body_link0', after) + self.assertEqual(after['pedestal'], + before['openarm_body_link0']) + for name in before.keys() & after.keys(): + self.assertEqual(after[name], before[name]) + if version == 'v2': + self.assertIn('pedestal_camera_mount_point', after) + + +if __name__ == '__main__': + unittest.main() diff --git a/test/test_joint_axis_reflection.py b/test/test_joint_axis_reflection.py new file mode 100644 index 00000000..dfe83ffc --- /dev/null +++ b/test/test_joint_axis_reflection.py @@ -0,0 +1,145 @@ +"""Check oblique joint axes against reflected rigid-body motion.""" + +import itertools +import math +from pathlib import Path +import unittest +from unittest.mock import patch +import xml.etree.ElementTree as ET + +import ament_index_python.packages as packages +import xacro + +ROOT = Path(__file__).resolve().parents[1] +REFLECTIONS = [(1, 1, 1), (-1, 1, 1), (1, -1, 1), (1, 1, -1)] + + +def multiply(first, second): + return [[sum(a * b for a, b in zip(row, col)) for col in zip(*second)] + for row in first] + + +def rotation(axis, angle): + x, y, z = axis + c, s, v = math.cos(angle), math.sin(angle), 1 - math.cos(angle) + return [ + [c + x*x*v, x*y*v - z*s, x*z*v + y*s], + [y*x*v + z*s, c + y*y*v, y*z*v - x*s], + [z*x*v - y*s, z*y*v + x*s, c + z*z*v], + ] + + +def expand(axis, reflect=(1, 1, 1), mirror_limits=False, joint_type='revolute'): + origin = {'x': 0.12, 'y': -0.04, 'z': 0.07, + 'roll': 0.31, 'pitch': -0.47, 'yaw': 0.29} + limits = {'lower': -0.4, 'upper': 1.2, 'effort': 7, 'velocity': 3} + symbols = { + 'axis_input': dict(zip(('x', 'y', 'z'), axis)), + 'origin_input': origin, + 'limit_input': limits, + 'reflect_input': reflect, + 'mirror_limits_input': mirror_limits, + 'joint_type_input': joint_type, + } + text = """ + + + + """ + original_share = packages.get_package_share_directory + + def package_share(name): + return str(ROOT) if name == 'openarm_description' else original_share(name) + + with patch.object(packages, 'get_package_share_directory', package_share): + with patch.dict(xacro._global_symbols, symbols): + document = xacro.parse(text) + xacro.process_doc(document) + return ET.fromstring(document.toxml()).find('joint') + + +def joint_pose(joint, position): + origin = joint.find('origin') + xyz = [float(v) for v in origin.get('xyz').split()] + roll, pitch, yaw = [float(v) for v in origin.get('rpy').split()] + basis = multiply(rotation((0, 0, 1), yaw), multiply( + rotation((0, 1, 0), pitch), rotation((1, 0, 0), roll))) + axis = [float(v) for v in joint.find('axis').get('xyz').split()] + if joint.get('type') == 'prismatic': + delta = [row[0]*axis[0] + row[1]*axis[1] + row[2]*axis[2] + for row in basis] + xyz = [p + position*d for p, d in zip(xyz, delta)] + else: + basis = multiply(basis, rotation(axis, position)) + return [row + [p] for row, p in zip(basis, xyz)] + [[0., 0., 0., 1.]] + + +class JointAxisReflectionTest(unittest.TestCase): + def assert_matrix_close(self, first, second): + self.assertLess(max(abs(a-b) for r, s in zip(first, second) + for a, b in zip(r, s)), 1e-12) + + def test_oblique_axis_keeps_in_plane_components(self): + joint = expand((0.6, 0.8, 0), (1, -1, 1), True) + self.assertEqual([float(v) for v in joint.find('axis').get('xyz').split()], + [0.6, -0.8, 0]) + self.assertEqual(float(joint.find('limit').get('lower')), -1.2) + self.assertEqual(float(joint.find('limit').get('upper')), 0.4) + + def test_oblique_revolute_motion_matches_reflected_pose(self): + right = expand((0.36, -0.48, 0.8)) + for reflect, position in itertools.product(REFLECTIONS[1:], [-0.3, 0, 0.7]): + with self.subTest(reflect=reflect, position=position): + left = expand((0.36, -0.48, 0.8), reflect, True) + signs = (*reflect, 1) + reflection = [[float(signs[i]) if i == j else 0. + for j in range(4)] for i in range(4)] + expected = multiply(reflection, multiply( + joint_pose(right, position), reflection)) + self.assert_matrix_close(joint_pose(left, -position), expected) + + def test_oblique_prismatic_direction_matches_reflected_translation(self): + right = expand((0.36, -0.48, 0.8), joint_type='prismatic') + for reflect in REFLECTIONS[1:]: + left = expand((0.36, -0.48, 0.8), reflect, joint_type='prismatic') + signs = (*reflect, 1) + reflection = [[float(signs[i]) if i == j else 0. + for j in range(4)] for i in range(4)] + expected = multiply(reflection, multiply( + joint_pose(right, 0.2), reflection)) + self.assert_matrix_close(joint_pose(left, 0.2), expected) + + def test_principal_axes_and_existing_limit_policy_are_preserved(self): + axes = [tuple(sign if i == axis else 0 for i in range(3)) + for axis in range(3) for sign in [-1, 1]] + for axis, reflect, explicit in itertools.product(axes, REFLECTIONS, [False, True]): + with self.subTest(axis=axis, reflect=reflect, explicit=explicit): + joint = expand(axis, reflect, explicit) + flipped = any(r == -1 and a != 0 for a, + r in zip(axis, reflect)) + expected_axis = [(-1 if flipped else 1) * a for a in axis] + self.assertEqual([float(v) for v in joint.find('axis').get('xyz').split()], + expected_axis) + expected_limits = (-1.2, + 0.4) if explicit or flipped else (-0.4, 1.2) + self.assertEqual(tuple(float(joint.find('limit').get(k)) + for k in ['lower', 'upper']), expected_limits) + self.assertEqual(float(joint.find('limit').get('effort')), 7) + self.assertEqual(float(joint.find('limit').get('velocity')), 3) + + def test_no_reflection_preserves_oblique_axis(self): + axis = (0.36, -0.48, 0.8) + joint = expand(axis) + self.assertEqual(tuple(float(v) + for v in joint.find('axis').get('xyz').split()), axis) + self.assertAlmostEqual(sum(v*v for v in axis), 1) + + +if __name__ == '__main__': + unittest.main() diff --git a/test/test_v1_assembly.py b/test/test_v1_assembly.py new file mode 100644 index 00000000..d7e4e528 --- /dev/null +++ b/test/test_v1_assembly.py @@ -0,0 +1,285 @@ +"""Check shared V1 assembly, centered joint frames, and tool ownership.""" + +import os +import shutil +import tempfile +import yaml +import copy +from pathlib import Path +import unittest +import xml.etree.ElementTree as ET + +from test_v2_camera_components import multiply, package_share_at, poses, ROOT, transform +import xacro + + +def expand(changes=None, collapse=None, **mappings): + args = {'ros2_control': 'true'} + args.update({k: str(v).lower() if isinstance(v, bool) else str(v) + for k, v in mappings.items()}) + with tempfile.TemporaryDirectory() as share: + shutil.copytree(ROOT / 'assets', Path(share) / 'assets', + copy_function=os.symlink) + for path, change in (changes or {}).items(): + target = Path(share) / 'assets' / path + value = change(yaml.safe_load(target.read_text())) + target.unlink() + target.write_text(yaml.safe_dump(value, sort_keys=False)) + if collapse is not None: + target = Path( + share) / 'assets/robot/openarm_v1.0/config/arm/struct/topology.yaml' + value = yaml.safe_load(target.read_text()) + value['collapse_empty_end'] = collapse + target.unlink() + target.write_text(yaml.safe_dump(value, sort_keys=False)) + with package_share_at(share): + robot = ET.fromstring(xacro.process_file( + str(ROOT / 'assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro'), + mappings=args, + ).toxml()) + for tag in ['link', 'joint']: + names = [e.get('name') for e in robot.findall(tag)] + if len(names) != len(set(names)): + raise AssertionError(f'Duplicate {tag} names') + poses(robot) + return robot + + +def xyz(element): + return [float(v) for v in element.get('xyz').split()] + + +def tensor(element): + return [[float(element.get(k)) for k in row] for row in + [('ixx', 'ixy', 'ixz'), ('ixy', 'iyy', 'iyz'), ('ixz', 'iyz', 'izz')]] + + +class V1AssemblyTest(unittest.TestCase): + def assert_matrix(self, a, b): + self.assertLess(max(abs(x-y) for ra, rb in zip(a, b) + for x, y in zip(ra, rb)), 1e-10) + + def test_all_presets_control_only_present_active_joints(self): + directory = ROOT / 'assets/robot/openarm_v1.0/config/robot_presets' + for path in directory.glob('*.yaml'): + with self.subTest(preset=path.stem): + robot = expand(robot_preset=path.stem) + controlled = [e.get('name') + for e in robot.findall('ros2_control/joint')] + expected = {j.get('name') for j in robot.findall('joint') + if j.get('type') != 'fixed' and j.find('mimic') is None} + self.assertEqual(set(controlled), expected) + self.assertEqual(len(controlled), len(set(controlled))) + + def test_external_body_keeps_closed_cover_mass(self): + for no_prefix in [False, True]: + robot = expand(no_prefix=no_prefix) + name = 'body_link0' if no_prefix else 'openarm_body_link0' + body = robot.find(f"link[@name='{name}']") + self.assertEqual( + float(body.find('inertial/mass').get('value')), 3.74) + self.assertTrue(body.find('visual/geometry/mesh').get('filename').startswith( + 'package://openarm_description/assets/body/v1.0/')) + inertia = body.find('inertial/inertia') + for key in ['ixy', 'ixz', 'iyz']: + self.assertEqual(float(inertia.get(key)), 0) + + def test_tool_owns_link7_and_keeps_the_hand_tree(self): + arm = xacro.load_yaml( + str(ROOT / 'assets/robot/openarm_v1.0/config/arm/inertials/nominal.yaml')) + tool = xacro.load_yaml( + str(ROOT / 'assets/end_effector/parallel_link/config/inertials/nominal.yaml')) + self.assertNotIn('link7', arm) + self.assertAlmostEqual(tool['link7']['mass'], 0.4054971268153967) + robot = expand() + for side in ['left', 'right']: + prefix = f'openarm_{side}_' + self.assertIsNone(robot.find( + f"link[@name='{prefix}arm_end_link']")) + for name, parent, child in [ + ('joint7', 'link6', 'link7'), + ('hand_joint', 'link7', 'hand'), + ('finger_joint1', 'hand', 'right_finger'), + ('finger_joint2', 'hand', 'left_finger'), + ('hand_tcp_joint', 'hand', 'hand_tcp'), + ]: + j = robot.find(f"joint[@name='{prefix}{name}']") + self.assertEqual(j.find('parent').get('link'), prefix+parent) + self.assertEqual(j.find('child').get('link'), prefix+child) + + def test_only_link7_of_the_tool_is_mirrored(self): + robot = expand() + for name in ['link7', 'hand', 'right_finger', 'left_finger']: + left = robot.find(f"link[@name='openarm_left_{name}']") + right = robot.find(f"link[@name='openarm_right_{name}']") + sign = -1 if name == 'link7' else 1 + a, b = xyz(left.find('inertial/origin') + ), xyz(right.find('inertial/origin')) + self.assertEqual(a, [b[0], sign*b[1], b[2]]) + li, ri = left.find( + 'inertial/inertia'), right.find('inertial/inertia') + for key in ['ixx', 'iyy', 'izz', 'ixz', 'ixy', 'iyz']: + s = sign if key in ['ixy', 'iyz'] else 1 + self.assertEqual(float(li.get(key)), s*float(ri.get(key))) + for tag in ['visual', 'collision']: + a = left.find(tag+'/geometry/mesh') + b = right.find(tag+'/geometry/mesh') + self.assertEqual(a.get('filename'), b.get('filename')) + scales_a = [float(v) for v in a.get('scale').split()] + scales_b = [float(v) for v in b.get('scale').split()] + self.assertEqual( + scales_a, [scales_b[0], sign*scales_b[1], scales_b[2]]) + + def test_centered_origins_keep_original_axis_directions(self): + robot = expand(bimanual=False) + expected = [[0, 0, 1], [-1, 0, 0], [0, 0, 1], [0, 1, 0], + [0, 0, 1], [1, 0, 0], [0, 1, 0]] + for i, axis in enumerate(expected, 1): + j = robot.find(f"joint[@name='openarm_joint{i}']") + self.assertEqual(xyz(j.find('axis')), axis) + self.assertEqual(xyz(j.find('origin'))[:2], [0, 0]) + c = xyz(robot.find("link[@name='openarm_link4']/inertial/origin")) + self.assertAlmostEqual(c[1], -0.03030575826634669 + 0.0315) + + def test_origin_and_limit_overrides_are_applied_before_mirroring(self): + def change(preset): + for name in ['primary_arm', 'secondary_arm']: + arm = preset[name] + arm['origin_override_joints'] = {'joint2': { + 'x': .01, 'y': .02, 'z': .03, 'roll': .2, 'pitch': .3, 'yaw': .4}} + arm['limit_override_joints'] = {'joint2': { + 'lower': -.2, 'upper': 1.3, 'effort': 40, 'velocity': 16.754666}} + preset[name] = arm + return preset + robot = expand( + {'robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml': change}) + for side, sign in [('right', 1), ('left', -1)]: + j = robot.find(f"joint[@name='openarm_{side}_joint2']") + self.assertEqual(xyz(j.find('origin')), [.01, sign*.02, .03]) + self.assertEqual([float(v) for v in j.find('origin').get('rpy').split()], + [sign*.2, .3, sign*.4]) + bounds = [float(j.find('limit').get(k)) + for k in ['lower', 'upper']] + self.assertEqual(bounds, [-.2, 1.3] if sign == 1 else [-1.3, .2]) + + def test_collapse_with_rotated_mount_and_partial_reflection(self): + def offset(preset): + for name in ['primary_arm_end_effector', 'secondary_arm_end_effector']: + component = preset[name] + connection = component['connection'] + connection['origin'] = {'x': .008, 'y': .012, 'z': .004, + 'roll': .2, 'pitch': -.3, 'yaw': .1} + component['connection'] = connection + preset[name] = component + return preset + first, second = [expand({'robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml': offset}, collapse=c) + for c in [False, True]] + a, b = poses(first), poses(second) + links = {link.get('name'): link for link in second.findall('link')} + for link in first.findall('link'): + name = link.get('name') + if name not in links: + continue + for tag in ['visual', 'collision', 'inertial']: + old, new = link.find(tag), links[name].find(tag) + if old is None: + self.assertIsNone(new) + continue + wa = multiply(a[name], transform(old.find('origin'))) + wb = multiply(b[name], transform(new.find('origin'))) + self.assert_matrix(wa, wb) + if tag == 'inertial': + ra, rb = [r[:3] for r in wa[:3]], [r[:3] for r in wb[:3]] + ia = multiply( + multiply(ra, tensor(old.find('inertia'))), list(zip(*ra))) + ib = multiply( + multiply(rb, tensor(new.find('inertia'))), list(zip(*rb))) + self.assert_matrix(ia, ib) + if name.endswith('hand_tcp'): + self.assert_matrix(a[name], b[name]) + + def test_no_prefix_uses_existing_control_names(self): + robot = expand(bimanual=False, no_prefix=True) + self.assertIsNotNone(robot.find("link[@name='link7']")) + self.assertIsNotNone(robot.find("joint[@name='finger_joint1']")) + controlled = {j.get('name') + for j in robot.findall('ros2_control/joint')} + self.assertEqual(controlled, {f'joint{i}' for i in range(1, 8)} | { + 'finger_joint1'}) + bi = expand(no_prefix=True) + self.assertIsNotNone(bi.find("link[@name='body_link0']")) + self.assertIsNotNone(bi.find("link[@name='openarm_left_link7']")) + + def test_arm_only_does_not_initialize_gripper_hardware(self): + robot = expand(robot_preset='right_arm', use_fake_hardware=False) + hardware = robot.find('ros2_control/hardware') + self.assertEqual(hardware.find( + "param[@name='hand']").text.lower(), 'false') + self.assertIsNone(robot.find("link[@name='openarm_right_link7']")) + self.assertIsNotNone(robot.find( + "link[@name='openarm_right_arm_end_link']")) + + def test_legacy_base_mount_override_is_not_added_twice(self): + robot = expand(right_arm_base_xyz='0.1 -0.2 0.7', + right_arm_base_rpy='.1 .2 .3') + self.assert_matrix(poses(robot)['openarm_right_link0'], + transform({'xyz': '0.1 -0.2 0.7', 'rpy': '.1 .2 .3'})) + + def test_root_frame_and_placement_arguments(self): + robot = expand(bimanual=False, parent='map', + xyz='.1 .2 .3', rpy='.2 .1 -.3') + self.assertIsNotNone(robot.find("link[@name='map']")) + self.assertIsNone(robot.find("link[@name='world']")) + self.assert_matrix(poses(robot)['openarm_link0'], + transform({'xyz': '.1 .2 .3', 'rpy': '.2 .1 -.3'})) + + def test_emitted_mount_reference_keeps_tool_pose(self): + def emit_reference(value): + reference = value['ee_mount_point'] + reference['emit'] = True + value['ee_mount_point'] = reference + return value + first = expand() + second = expand( + {'robot/openarm_v1.0/config/arm/struct/reference_points.yaml': emit_reference}) + a, b = poses(first), poses(second) + for name in a.keys() & b.keys(): + self.assert_matrix(a[name], b[name]) + for side in ['left', 'right']: + self.assertIsNotNone(second.find( + f"link[@name='openarm_{side}_ee_mount_point']")) + + def test_standalone_gripper_includes_link7_and_custom_tcp(self): + entry = ROOT / 'assets/end_effector/parallel_link/urdf' + with package_share_at(ROOT): + document = xacro.process_file( + str(entry / 'parallel_link_standalone.urdf.xacro'), + mappings={'reflect_y': '-1', + 'tcp_xyz': '.01 .02 .10', 'tcp_rpy': '.2 .3 .4'}, + ) + robot = ET.fromstring(document.toxml()) + self.assertIsNotNone(robot.find("link[@name='link7']/inertial")) + self.assertIsNotNone(robot.find("link[@name='hand']/inertial")) + tcp = robot.find("joint[@name='hand_tcp_joint']") + self.assertEqual(tcp.find('parent').get('link'), 'hand') + self.assertEqual(xyz(tcp.find('origin')), [.01, .02, .1]) + self.assertIsNone(robot.find("link[@name='hand_tcp']/inertial")) + for name in ['hand', 'left_finger', 'right_finger']: + scale = robot.find( + f"link[@name='{name}']/visual/geometry/mesh").get('scale') + self.assertEqual([float(v) + for v in scale.split()], [.001, .001, .001]) + + def test_unknown_joint_override_is_rejected(self): + def change(preset): + arm = preset['secondary_arm'] + arm['origin_override_joints'] = {'missing': {}} + preset['secondary_arm'] = arm + return preset + with self.assertRaisesRegex(xacro.XacroException, 'Unknown joint override'): + expand( + {'robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml': change}) + + +if __name__ == '__main__': + unittest.main() diff --git a/test/test_v1_mirroring.py b/test/test_v1_mirroring.py new file mode 100644 index 00000000..563efcf3 --- /dev/null +++ b/test/test_v1_mirroring.py @@ -0,0 +1,94 @@ +"""Preserve V1 motor coordinates while using shared mirroring helpers.""" + +from functools import lru_cache +import math +import unittest +from unittest.mock import patch +import xml.etree.ElementTree as ET + +import ament_index_python.packages as packages +from test_v2_camera_components import ROOT +import xacro + + +@lru_cache(maxsize=None) +def expand(bimanual=True, no_prefix=False): + original = packages.get_package_share_directory + + def package_share(name): + return str(ROOT) if name == 'openarm_description' else original(name) + + with patch.object(packages, 'get_package_share_directory', package_share): + robot = xacro.process_file( + str(ROOT / 'assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro'), + mappings={ + 'bimanual': str(bimanual).lower(), + 'no_prefix': str(no_prefix).lower(), + }, + ) + return ET.fromstring(robot.toxml()) + + +def numbers(element, attribute): + return [float(value) for value in element.get(attribute).split()] + + +class V1MirroringTest(unittest.TestCase): + def test_single_arm_retains_upright_zero_frames(self): + for no_prefix in [False, True]: + robot = expand(False, no_prefix) + prefix = '' if no_prefix else 'openarm_' + children = {j.find('child').get('link') + for j in robot.findall('joint')} + roots = {link.get('name') + for link in robot.findall('link')} - children + self.assertEqual(roots, {'world'}) + for i in range(1, 8): + joint = robot.find(f"joint[@name='{prefix}joint{i}']") + self.assertEqual( + numbers(joint.find('origin'), 'rpy'), [0, 0, 0]) + joint2 = robot.find(f"joint[@name='{prefix}joint2']") + self.assertAlmostEqual( + float(joint2.find('limit').get('lower')), -1.745329) + self.assertAlmostEqual( + float(joint2.find('limit').get('upper')), 1.745329) + + def test_bimanual_j2_keeps_mounting_rotation_and_limits(self): + robot = expand() + for side, sign in [('left', -1), ('right', 1)]: + joint = robot.find(f"joint[@name='openarm_{side}_joint2']") + self.assertAlmostEqual(numbers(joint.find('origin'), 'rpy')[ + 0], sign * math.pi / 2) + self.assertEqual(numbers(joint.find('axis'), 'xyz'), [-1, 0, 0]) + limit = joint.find('limit') + self.assertAlmostEqual( + float(limit.get('lower')), -1.745329 + sign * math.pi / 2) + self.assertAlmostEqual( + float(limit.get('upper')), 1.745329 + sign * math.pi / 2) + + def test_elbow_joint_origins_are_on_the_centerline(self): + robot = expand() + for side in ['left', 'right']: + for index, expected in [(4, 0.0), (5, 0.0)]: + joint = robot.find( + f"joint[@name='openarm_{side}_joint{index}']") + self.assertEqual( + numbers(joint.find('origin'), 'xyz')[1], expected) + + def test_joint_axes_keep_motor_positive_directions(self): + expected = [[0, 0, 1], [-1, 0, 0], [0, 0, 1], [0, 1, 0], + [0, 0, 1], [1, 0, 0], [0, 1, 0]] + for bimanual in [False, True]: + robot = expand(bimanual) + for side in (['left_', 'right_'] if bimanual else ['']): + for index, axis in enumerate(expected, 1): + joint = robot.find( + f"joint[@name='openarm_{side}joint{index}']") + wanted = [ + 0, -1, 0] if side == 'left_' and index == 7 else axis + self.assertEqual( + numbers(joint.find('axis'), 'xyz'), wanted) + + +if __name__ == '__main__': + unittest.main() diff --git a/test/test_v1_mount_overrides.py b/test/test_v1_mount_overrides.py new file mode 100644 index 00000000..dbf429e4 --- /dev/null +++ b/test/test_v1_mount_overrides.py @@ -0,0 +1,110 @@ +"""Check legacy mount arguments against the selected parent assembly.""" + +import copy +import unittest + +from test_v1_assembly import expand +from test_v2_camera_components import poses, transform + +PRESET = 'robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml' +BODY_REFERENCES = 'body/v2.0/config/struct/reference_points.yaml' + + +def select_v2_body(value): + body = value.pop('body') + body['product'] = 'v2.0' + value['pedestal_component'] = body + robot = value['robot'] + robot['components'] = ['pedestal_component' if c == 'body' else c + for c in robot['components']] + value['robot'] = robot + for name in robot['components']: + component = value[name] + connection = component.get('connection', {}) + if connection.get('attach_to') == 'body': + connection['attach_to'] = 'pedestal_component' + component['connection'] = connection + value[name] = component + return value + + +def arm_connection(value, origin): + value = select_v2_body(value) + arm = value['secondary_arm'] + connection = arm['connection'] + connection['origin'] = origin + arm['connection'] = connection + value['secondary_arm'] = arm + return value + + +class V1MountOverrideTest(unittest.TestCase): + def assert_pose(self, actual, expected): + self.assertLess(max(abs(a-b) for x, y in zip(actual, expected) + for a, b in zip(x, y)), 1e-10) + + def test_xyz_override_uses_selected_parent_body(self): + changes = {PRESET: select_v2_body} + before = poses(expand(changes)) + for side, y in [('left', 0.03), ('right', -0.03)]: + robot = expand(changes, **{side + '_arm_base_xyz': f'0 {y} 0.697'}) + name = f'openarm_{side}_link0' + self.assert_pose(poses(robot)[name], before[name]) + + def test_partial_overrides_preserve_composed_reference_pose(self): + def with_offset(value): + return arm_connection(value, {'x': 0.02, 'yaw': 0.17}) + + for emit in [False, True]: + def reference(value): + ref = value['right_arm_mount_point'] + ref['emit'] = emit + ref['origin'] = {'x': 0.1, 'y': -0.2, 'z': 0.7, + 'roll': 0.3, 'pitch': -0.2, 'yaw': 0.4} + value['right_arm_mount_point'] = ref + return value + + changes = {PRESET: with_offset, BODY_REFERENCES: reference} + before = poses(expand(changes))['openarm_right_link0'] + xyz_robot = expand(changes, right_arm_base_xyz='0.11 -0.24 0.72') + expected = copy.deepcopy(before) + for i, v in enumerate([0.11, -0.24, 0.72]): + expected[i][3] = v + self.assert_pose(poses(xyz_robot)['openarm_right_link0'], expected) + rpy_robot = expand(changes, right_arm_base_rpy='0.2 0.1 -0.3') + expected = transform({'xyz': ' '.join(str(before[i][3]) for i in range(3)), + 'rpy': '0.2 0.1 -0.3'}) + self.assert_pose(poses(rpy_robot)['openarm_right_link0'], expected) + + def test_override_preserves_parent_reference_reflection(self): + def reflect_parent(value): + body = value['body'] + body['reflect'] = {'x': 1, 'y': -1, 'z': 1, + 'include': {'links': [], + 'reference_points': ['right_arm_mount_point']}} + value['body'] = body + return value + + changes = {PRESET: reflect_parent} + before = poses(expand(changes))['openarm_right_link0'] + robot = expand(changes, right_arm_base_xyz='0 0.03 0.697') + self.assert_pose(poses(robot)['openarm_right_link0'], before) + + def test_override_without_reference_allows_identity_origin(self): + def no_reference(value): + arm = value['secondary_arm'] + connection = arm['connection'] + connection['parent_reference_point'] = None + connection['origin'] = None + arm['connection'] = connection + value['secondary_arm'] = arm + return value + + robot = expand({PRESET: no_reference}, + right_arm_base_xyz='0.1 -0.2 0.7') + self.assert_pose(poses(robot)['openarm_right_link0'], + transform({'xyz': '0.1 -0.2 0.7', 'rpy': '0 0 0'})) + + +if __name__ == '__main__': + unittest.main() diff --git a/test/test_v2_assembly.py b/test/test_v2_assembly.py index 4561a407..94ab770c 100644 --- a/test/test_v2_assembly.py +++ b/test/test_v2_assembly.py @@ -44,9 +44,6 @@ def expand_modified(changes=None, collapse_empty_end=None, **mappings): 'robot_preset': 'default_bimanual', 'emit_grasp_frame': 'true', } - if collapse_empty_end is not None: - arguments['collapse_internal_empty_links'] = str( - collapse_empty_end).lower() arguments.update( { key: str(value).lower() if isinstance(value, bool) else value @@ -62,6 +59,13 @@ def expand_modified(changes=None, collapse_empty_end=None, **mappings): value = change(yaml.safe_load(target.read_text())) target.unlink() target.write_text(yaml.safe_dump(value, sort_keys=False)) + if collapse_empty_end is not None: + target = Path( + share) / 'assets/robot/openarm_v2.0/config/arm/struct/topology.yaml' + value = yaml.safe_load(target.read_text()) + value['collapse_empty_end'] = collapse_empty_end + target.unlink() + target.write_text(yaml.safe_dump(value, sort_keys=False)) with package_share_at(share): robot = ET.fromstring( xacro.process_file(str(ENTRY), mappings=arguments).toxml() @@ -194,6 +198,336 @@ def conflict(value): expand_modified( {'robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml': conflict}) + def test_body_can_assemble_without_arms(self): + def body_only(value): + robot = value['robot'] + robot['components'] = ['body'] + value['robot'] = robot + return value + + robot = expand_modified( + {'robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml': body_only}) + body = robot.find("link[@name='openarm_body_link0']") + self.assertIsNotNone(body) + self.assertTrue(body.find('visual/geometry/mesh').get('filename').startswith( + 'package://openarm_description/assets/body/v2.0/')) + self.assertFalse(robot.findall('ros2_control')) + self.assertFalse([joint for joint in robot.findall('joint') + if joint.get('type') != 'fixed']) + + def test_camera_mount_emit_preserves_pose(self): + for parent_file in [ + 'body/v2.0/config/struct/reference_points.yaml', + 'accessory/zed_mount/config/struct/reference_points.yaml', + ]: + off, on = [ + expand_modified( + {parent_file: set_reference_emit( + 'camera_mount_point', emit)} + ) + for emit in [False, True] + ] + self.assert_common_poses(off, on) + + def test_controls_reference_existing_active_joints(self): + preset_dir = ROOT / 'assets/robot/openarm_v2.0/config/robot_presets' + for preset in sorted(preset_dir.glob('*.yaml')): + with self.subTest(preset=preset.stem): + robot = expand_modified(robot_preset=preset.stem) + joints = {j.get('name'): j for j in robot.findall('joint')} + controlled = [ + j.get('name') for j in robot.findall('ros2_control/joint') + ] + active = { + name + for name, joint in joints.items() + if joint.get('type') != 'fixed' and joint.find('mimic') is None + } + self.assertEqual(set(controlled), active) + self.assertEqual(len(controlled), len(set(controlled))) + + def test_control_output_can_be_disabled(self): + robot = expand_modified(ros2_control=False) + self.assertEqual(robot.findall('ros2_control'), []) + self.assertIsNotNone(robot.find("joint[@name='openarm_right_joint1']")) + + def test_control_names_follow_component_prefixes(self): + def rename(value): + for name, prefix in [ + ('primary_arm', 'custom_arm_'), + ('primary_arm_end_effector', 'custom_tool_'), + ]: + component = value[name] + component['prefix'] = prefix + value[name] = component + return value + + robot = expand_modified( + {'robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml': rename}) + controlled = {j.get('name') + for j in robot.findall('ros2_control/joint')} + self.assertIn('custom_arm_joint1', controlled) + self.assertIn('custom_tool_finger_joint1', controlled) + self.assertNotIn('openarm_left_joint1', controlled) + self.assertTrue(controlled <= {j.get('name') + for j in robot.findall('joint')}) + + def test_real_hardware_parameters_are_preserved(self): + robot = expand_modified( + use_fake_hardware=False, + left_can_interface='left_test', + right_can_interface='right_test', + can_fd=False, + ) + gains = xacro.load_yaml( + str( + ROOT / 'assets/robot/openarm_v2.0/config/arm/control/control_gains.yaml' + ) + ) + for side in ['left', 'right']: + system = robot.find( + f"ros2_control[@name='openarm_{side}_hardware_interface']" + ) + hardware = system.find('hardware') + self.assertEqual(hardware.find('plugin').text, + 'openarm_hardware/OpenArmHW') + params = {p.get('name'): p.text for p in hardware.findall('param')} + self.assertEqual(params['arm_type'], 'v20') + self.assertEqual(params['arm_prefix'], side + '_') + self.assertEqual(params['can_interface'], side + '_test') + self.assertEqual(params['can_fd'].lower(), 'false') + self.assertEqual(params['ee_type'], 'pinch_gripper') + for i in range(1, 8): + for gain in ['kp', 'kd']: + self.assertEqual( + float(params[f'{gain}{i}']), gains[f'joint{i}'][gain] + ) + + def test_joint_order_does_not_define_the_arm_chain(self): + def reorder(value): + value['joints'] = dict(reversed(list(value['joints'].items()))) + return value + + original = expand_modified() + reordered = expand_modified( + {'robot/openarm_v2.0/config/arm/struct/topology.yaml': reorder}) + self.assert_common_poses(original, reordered) + + def test_arm_joint_names_come_from_topology(self): + def rename_topology(value): + joints = value['joints'] + joints['wrist'] = joints.pop('joint7') + value['joints'] = joints + return value + + def rename_parameters(value): + value['wrist'] = value.pop('joint7') + return value + + changes = { + 'robot/openarm_v2.0/config/arm/struct/topology.yaml': rename_topology} + for filename in ['joint_origins.yaml', 'joint_axes.yaml', 'joint_limits.yaml']: + changes['robot/openarm_v2.0/config/arm/joint/' + + filename] = rename_parameters + robot = expand_modified(changes, robot_preset='right_arm') + self.assertIsNotNone(robot.find("joint[@name='openarm_right_wrist']")) + self.assertIsNone(robot.find("joint[@name='openarm_right_joint7']")) + self.assertIsNotNone( + robot.find("ros2_control/joint[@name='openarm_right_wrist']") + ) + + def test_joint_type_and_parent_come_from_topology(self): + def arm_change(value): + joints = value['joints'] + joint = joints['joint7'] + joint['type'] = 'fixed' + joint['parent'] = 'link5' + joints['joint7'] = joint + value['joints'] = joints + return value + + robot = expand_modified( + {'robot/openarm_v2.0/config/arm/struct/topology.yaml': arm_change}, robot_preset='right_arm' + ) + joint = robot.find("joint[@name='openarm_right_joint7']") + self.assertEqual(joint.get('type'), 'fixed') + self.assertEqual(joint.find('parent').get( + 'link'), 'openarm_right_link5') + self.assertIsNone(joint.find('axis')) + self.assertIsNone(joint.find('limit')) + + def test_gripper_joint_type_comes_from_topology(self): + def change(value): + joints = value['joints'] + for name in joints: + joint = joints[name] + joint['type'] = 'prismatic' + joints[name] = joint + value['joints'] = joints + return value + + robot = expand_modified( + {'end_effector/pinch_gripper/config/struct/topology.yaml': change}) + for side in ['left', 'right']: + for index in [1, 2]: + self.assertEqual( + robot.find( + f"joint[@name='openarm_{side}_finger_joint{index}']" + ).get('type'), + 'prismatic', + ) + + def test_pinch_overrides_precede_reflection_and_survive_collapse(self): + def override(preset): + component = preset['primary_arm_end_effector'] + component['origin_override_joints'] = {'finger_joint1': { + 'x': .03, 'y': .015, 'z': .01, + 'roll': .2, 'pitch': .1, 'yaw': .3}} + component['limit_override_joints'] = {'finger_joint1': { + 'lower': -.2, 'upper': .6, 'effort': 7, 'velocity': 10}} + preset['primary_arm_end_effector'] = component + return preset + + first, second = [expand_modified( + {'robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml': override}, + collapse_empty_end=collapse, + ) for collapse in [False, True]] + for robot in [first, second]: + joint = robot.find("joint[@name='openarm_left_finger_joint1']") + limit = joint.find('limit') + self.assertEqual(float(limit.get('lower')), -.6) + self.assertEqual(float(limit.get('upper')), .2) + values = [float(v) + for v in joint.find('origin').get('rpy').split()] + for actual, expected in zip(values, [-.2, .1, -.3]): + self.assertAlmostEqual(actual, expected) + a, b = poses(first), poses(second) + for name in ['openarm_left_ee_link1', 'openarm_left_ee_link2']: + self.assertLess(max(abs(x-y) for ra, rb in zip(a[name], b[name]) + for x, y in zip(ra, rb)), 1e-10) + + def test_pinch_excluded_joints_keep_their_axes(self): + def exclude(preset): + component = preset['primary_arm_end_effector'] + component['reflect'] = { + 'x': -1, 'y': 1, 'z': 1, + 'include': {'links': ['base_link'], 'joints': [], + 'reference_points': []}, + } + preset['primary_arm_end_effector'] = component + return preset + + robot = expand_modified( + {'robot/openarm_v2.0/config/robot_presets/default_bimanual.yaml': exclude}) + for index in [1, 2]: + left = robot.find( + f"joint[@name='openarm_left_finger_joint{index}']") + right = robot.find( + f"joint[@name='openarm_right_finger_joint{index}']") + self.assertEqual(left.find('axis').attrib, + right.find('axis').attrib) + self.assertEqual(left.find('limit').attrib, + right.find('limit').attrib) + + def test_gripper_names_follow_topology_namespaces(self): + def names(value): + value['link_prefix'] = 'tool_' + value['joint_prefix'] = 'act_' + return value + + robot = expand_modified( + {'end_effector/pinch_gripper/config/struct/topology.yaml': names}) + for side in ['left', 'right']: + prefix = 'openarm_' + side + '_' + self.assertIsNotNone(robot.find( + f"link[@name='{prefix}tool_base_link']")) + self.assertIsNotNone(robot.find( + f"joint[@name='{prefix}act_joint1']")) + self.assertIsNotNone(robot.find( + f"ros2_control/joint[@name='{prefix}act_joint1']")) + second = robot.find(f"joint[@name='{prefix}act_joint2']") + self.assertEqual(second.find('mimic').get( + 'joint'), prefix+'act_joint1') + + def test_unknown_topology_link_rejected(self): + def change(value): + joints = value['joints'] + joint = joints['joint7'] + joint['parent'] = 'missing' + joints['joint7'] = joint + value['joints'] = joints + return value + + with self.assertRaisesRegex(xacro.XacroException, 'unknown link'): + expand_modified( + {'robot/openarm_v2.0/config/arm/struct/topology.yaml': change}) + + def test_single_arm_control_uses_selected_side(self): + for side in ['left', 'right']: + robot = expand_modified( + robot_preset=side + '_arm', + use_fake_hardware=False, + left_can_interface='left_test', + right_can_interface='right_test', + ) + systems = robot.findall('ros2_control') + self.assertEqual(len(systems), 1) + self.assertEqual( + systems[0].get('name'), 'openarm_' + + side + '_hardware_interface' + ) + params = { + p.get('name'): p.text for p in systems[0].findall('hardware/param') + } + self.assertEqual(params['can_interface'], side + '_test') + self.assertEqual(params['ee_type'], None) + self.assertEqual(len(systems[0].findall('joint')), 7) + + def test_arm_topology_selects_empty_tip_collapse(self): + enabled = expand_modified() + disabled = expand_modified(collapse_empty_end=False) + for side in ['left', 'right']: + self.assertIsNone(enabled.find( + f"link[@name='openarm_{side}_link7']")) + self.assertIsNotNone(disabled.find( + f"link[@name='openarm_{side}_link7']")) + joint = enabled.find(f"joint[@name='openarm_{side}_joint7']") + self.assertEqual(joint.find('child').get('link'), + f'openarm_{side}_ee_base_link') + self.assertIsNotNone(disabled.find( + f"joint[@name='openarm_{side}_ee_mount_joint']")) + + def test_omitted_arm_collapse_flag_keeps_tip(self): + def omit(value): + value.pop('collapse_empty_end', None) + return value + robot = expand_modified( + {'robot/openarm_v2.0/config/arm/struct/topology.yaml': omit}) + for side in ['left', 'right']: + self.assertIsNotNone(robot.find( + f"link[@name='openarm_{side}_link7']")) + + def test_collapse_requires_an_empty_tip_and_attached_child(self): + standalone = expand_modified( + robot_preset='right_arm', collapse_empty_end=True) + self.assertIsNotNone(standalone.find( + "link[@name='openarm_right_link7']")) + + def add_mass(value): + value['link7'] = { + 'origin': {'x': 0, 'y': 0, 'z': 0, 'roll': 0, 'pitch': 0, 'yaw': 0}, + 'mass': 0.1, + 'inertia': {'xx': 1e-5, 'yy': 1e-5, 'zz': 1e-5, 'xy': 0, 'xz': 0, 'yz': 0}, + } + return value + robot = expand_modified({'robot/openarm_v2.0/config/arm/inertials/nominal.yaml': add_mass}, + collapse_empty_end=True) + for side in ['left', 'right']: + tip = robot.find(f"link[@name='openarm_{side}_link7']") + self.assertIsNotNone(tip) + self.assertEqual( + float(tip.find('inertial/mass').get('value')), 0.1) + if __name__ == '__main__': unittest.main() diff --git a/test/test_v2_camera_components.py b/test/test_v2_camera_components.py index 7600d1f6..374eacad 100644 --- a/test/test_v2_camera_components.py +++ b/test/test_v2_camera_components.py @@ -14,6 +14,10 @@ """Check camera assembly, mirrored frames, and retained V2 model properties.""" +import os +import shutil +import tempfile +import yaml from contextlib import contextmanager from functools import lru_cache import math @@ -141,16 +145,22 @@ def package_share(name): @lru_cache(maxsize=None) def expand(preset, collapse=None): - with package_share_at(ROOT): - document = xacro.process_file( - str(ENTRY), - mappings={ - 'robot_preset': preset, - 'collapse_internal_empty_links': - str(collapse if collapse is not None else True).lower(), - 'emit_grasp_frame': 'true', - }, - ) + with tempfile.TemporaryDirectory() as share: + shutil.copytree(ROOT / 'assets', Path(share) / 'assets', + copy_function=os.symlink) + if collapse is not None: + target = Path( + share) / 'assets/robot/openarm_v2.0/config/arm/struct/topology.yaml' + value = yaml.safe_load(target.read_text()) + value['collapse_empty_end'] = collapse + target.unlink() + target.write_text(yaml.safe_dump(value, sort_keys=False)) + with package_share_at(share): + document = xacro.process_file( + str(ENTRY), mappings={ + 'robot_preset': preset, 'emit_grasp_frame': 'true', + }, + ) robot = ET.fromstring(document.toxml()) names = [link.get('name') for link in robot.findall('link')] if len(names) != len(set(names)): @@ -276,6 +286,75 @@ def widths(angle): for width, minimum in zip(widths(0.0), narrowest): self.assertAlmostEqual(width, minimum, delta=tolerance) + def test_default_bimanual_includes_camera(self): + robot = expand('default_bimanual') + self.assertIsNotNone( + robot.find("link[@name='openarm_body_zed_mount_base_link']") + ) + self.assertIsNotNone(robot.find( + "link[@name='openarm_body_zed_camera_link']")) + single = expand('right_arm_with_pinch_gripper') + self.assertIsNone(single.find( + "link[@name='openarm_body_zed_mount_base_link']")) + self.assertIsNone(single.find( + "link[@name='openarm_body_zed_camera_link']")) + + def test_mount_port_matches_combined_cad(self): + robot = expand('default_bimanual') + expected = transform( + { + 'xyz': '0.0563085336684035 0.00869000000000031 0.808829226007701', + 'rpy': '0 1.08210413623648 0', + } + ) + self.assertTransform( + poses(robot)['openarm_body_zed_mount_camera_mount_point'], expected + ) + mount = robot.find("link[@name='openarm_body_zed_mount_base_link']") + self.assertAlmostEqual( + float(mount.find('inertial/mass').get('value')), 0.13704) + self.assertIsNone(mount.find('collision')) + + def test_pedestal_uses_volume_scaled_cover_mass(self): + for preset in [ + 'default_bimanual', + ]: + body = expand(preset).find("link[@name='openarm_body_link0']") + self.assertAlmostEqual( + float(body.find('inertial/mass').get('value')), + 3.734812201783, places=10) + inertia = body.find('inertial/inertia') + for key in ['ixy', 'ixz', 'iyz']: + self.assertEqual(float(inertia.get(key)), 0) + self.assertEqual( + [ + float(x) + for x in body.find('visual/geometry/mesh').get('scale').split() + ], + [1, 1, 1], + ) + + def test_zed_mini_uses_official_camera_tree(self): + robot = expand('default_bimanual') + joint = robot.find("joint[@name='openarm_body_zed_mount_joint']") + self.assertEqual( + joint.find('parent').get('link'), + 'openarm_body_zed_mount_camera_mount_point', + ) + self.assertEqual( + joint.find('child').get('link'), 'openarm_body_zed_camera_link' + ) + center = robot.find("link[@name='openarm_body_zed_camera_center']") + self.assertTrue( + center.find( + 'visual/geometry/mesh').get('filename').endswith('/zedm.stl') + ) + for side, y in [('left', 0.0315), ('right', -0.0315)]: + origin = robot.find( + f"joint[@name='openarm_body_zed_{side}_camera_joint']/origin" + ) + self.assertAlmostEqual(float(origin.get('xyz').split()[1]), y) + if __name__ == '__main__': unittest.main()