From 7075d6293c52915b701cf0f9d4a3a78d7186d043 Mon Sep 17 00:00:00 2001 From: li-strix <128799116+stevenaya@users.noreply.github.com> Date: Wed, 28 Oct 2026 17:37:58 +0900 Subject: [PATCH] Unify V1/V2 model assembly and add V2 camera assets --- .github/workflows/release.yaml | 7 +- .github/workflows/test.yaml | 5 + CMakeLists.txt | 8 +- README.md | 4 + .../zed_mount/config/inertials/nominal.yaml | 16 + .../zed_mount/config/link/collisions.yaml | 1 + .../zed_mount/config/link/visuals.yaml | 14 + .../config/struct/reference_points.yaml | 10 + .../zed_mount/config/struct/topology.yaml | 3 + .../zed_mount/meshes/visual/zed_mount.dae | 383 +++++ .../v1.0/config/inertials/nominal.yaml} | 10 +- assets/body/v1.0/config/link/collisions.yaml | 28 + assets/body/v1.0/config/link/visuals.yaml | 28 + .../v1.0/config/struct/reference_points.yaml | 34 + .../v1.0/config/struct/topology.yaml} | 9 +- .../meshes}/collision/body_link0_symp.stl | Bin .../v1.0/meshes}/visual/body_link0.dae | 0 .../v1.0/meshes}/visual/body_link0.stl | Bin .../v2.0/config}/inertials/nominal.yaml | 0 .../v2.0/config}/link/collisions.yaml | 2 +- .../v2.0/config}/link/visuals.yaml | 2 +- .../config/body => body/v2.0/config}/meta.md | 0 .../v2.0/config}/struct/reference_points.yaml | 25 +- .../v2.0/config}/struct/topology.yaml | 0 .../meshes}/collision/body_link0_symp.stl | Bin .../meshes/body => body/v2.0/meshes}/meta.md | 0 .../v2.0/meshes}/visual/body_link0.dae | 0 .../v2.0/meshes}/visual/body_link0.stl | Bin assets/common/assembly.xacro | 276 ++++ assets/common/components.xacro | 231 +++ assets/common/kinematic_chain.xacro | 75 + assets/common/links.xacro | 163 +++ assets/common/reference_frames.xacro | 60 + assets/common/ros2_control.xacro | 123 ++ assets/common/transforms.xacro | 103 ++ assets/common/validation.xacro | 180 +++ .../nominal.yaml} | 22 +- .../config/joint/joint_axes.yaml} | 20 +- .../config/joint/joint_limits.yaml | 26 + .../config/joint/joint_mimics.yaml} | 14 +- .../joint_origins.yaml} | 23 +- .../parallel_link/config/link/collisions.yaml | 70 + .../parallel_link/config/link/visuals.yaml | 70 + .../config/struct/reference_points.yaml | 24 + .../parallel_link/config/struct/topology.yaml | 32 + .../parallel_link/meshes/collision/link7.stl} | Bin .../parallel_link/meshes}/visual/link7.dae | 0 .../parallel_link/meshes}/visual/link7.stl | Bin .../urdf/parallel_link_standalone.urdf.xacro | 47 +- .../pinch_gripper/config/struct/topology.yaml | 8 +- .../urdf/pinch_gripper_macro.xacro | 181 +++ .../urdf/pinch_gripper_standalone.urdf.xacro | 15 +- .../arm/{ => control}/control_gains.yaml | 7 - .../nominal.yaml} | 45 +- .../config/arm/joint/joint_axes.yaml | 49 + .../config/arm/{ => joint}/joint_limits.yaml | 22 +- .../joint_origins.yaml} | 51 +- .../openarm_v1.0/config/arm/kinematics.yaml | 103 -- .../config/arm/kinematics_link.yaml | 94 -- .../config/arm/link/collisions.yaml | 112 ++ .../openarm_v1.0/config/arm/link/visuals.yaml | 112 ++ .../config/arm/struct/name_mapping.yaml} | 45 +- .../config/arm/struct/reference_points.yaml | 24 + .../config/arm/struct/topology.yaml | 53 + .../robot_presets/default_bimanual.yaml | 153 ++ .../config/robot_presets/default_single.yaml | 63 + .../config/robot_presets/left_arm.yaml | 57 + .../left_arm_with_parallel_link.yaml | 77 + .../config/robot_presets/right_arm.yaml | 40 + .../right_arm_with_parallel_link.yaml | 60 + .../openarm_v1.0/urdf/arm/openarm_arm.xacro | 123 -- .../openarm_v1.0/urdf/arm/openarm_macro.xacro | 150 -- .../openarm_v1.0/urdf/body/openarm_body.xacro | 49 - .../urdf/body/openarm_body_macro.xacro | 68 - .../openarm_v1.0/urdf/ee/ee_dispatcher.xacro | 37 - .../urdf/ee/openarm_ee_macro.xacro | 94 -- .../openarm_parallel_gripper.xacro | 106 -- .../openarm_v20_pinch_gripper.xacro | 102 -- .../robot/openarm_v1.0/urdf/example/v1.urdf | 414 +++--- .../openarm_v1.0/urdf/openarm_v10.urdf.xacro | 164 ++- .../urdf/robot/openarm_robot.xacro | 202 --- .../openarm.bimanual.ros2_control.xacro | 152 -- .../ros2_control/openarm.ros2_control.xacro | 110 -- .../config/arm/struct/topology.yaml | 2 + .../robot_presets/default_bimanual.yaml | 73 +- .../config/robot_presets/left_arm.yaml | 10 +- .../left_arm_with_pinch_gripper.yaml | 10 +- .../config/robot_presets/right_arm.yaml | 10 +- .../right_arm_with_pinch_gripper.yaml | 10 +- .../openarm_v2.0/meshes/arm/visual/link4.dae | 1284 ++--------------- .../robot/openarm_v2.0/urdf/example/v2.urdf | 115 +- .../openarm_v2.0/urdf/openarm_v20.urdf.xacro | 33 +- .../openarm.bimanual.ros2_control.xacro | 157 -- .../ros2_control/openarm.ros2_control.xacro | 107 -- .../urdf/utils/openarm_v20_arm.xacro | 136 -- .../urdf/utils/openarm_v20_ee.xacro | 223 --- .../urdf/utils/openarm_v20_robot.xacro | 638 -------- .../urdf/utils/openarm_v20_sensor.xacro | 31 - .../urdf/utils/openarm_v20_utils.xacro | 257 ---- launch/display_openarm.launch.py | 19 +- rviz/bimanual_camera.rviz | 256 ++++ test/run.sh | 9 +- test/test_body_root_mapping.py | 74 + test/test_joint_axis_reflection.py | 145 ++ test/test_v1_assembly.py | 285 ++++ test/test_v1_mirroring.py | 94 ++ test/test_v1_mount_overrides.py | 110 ++ test/test_v2_assembly.py | 340 ++++- test/test_v2_camera_components.py | 99 +- 109 files changed, 5168 insertions(+), 4649 deletions(-) create mode 100644 assets/accessory/zed_mount/config/inertials/nominal.yaml create mode 100644 assets/accessory/zed_mount/config/link/collisions.yaml create mode 100644 assets/accessory/zed_mount/config/link/visuals.yaml create mode 100644 assets/accessory/zed_mount/config/struct/reference_points.yaml create mode 100644 assets/accessory/zed_mount/config/struct/topology.yaml create mode 100644 assets/accessory/zed_mount/meshes/visual/zed_mount.dae rename assets/{robot/openarm_v1.0/config/body/inertials.yaml => body/v1.0/config/inertials/nominal.yaml} (84%) create mode 100644 assets/body/v1.0/config/link/collisions.yaml create mode 100644 assets/body/v1.0/config/link/visuals.yaml create mode 100644 assets/body/v1.0/config/struct/reference_points.yaml rename assets/{end_effector/parallel_link/config/joint_limits.yaml => body/v1.0/config/struct/topology.yaml} (86%) rename assets/{robot/openarm_v1.0/mesh/body => body/v1.0/meshes}/collision/body_link0_symp.stl (100%) rename assets/{robot/openarm_v1.0/mesh/body => body/v1.0/meshes}/visual/body_link0.dae (100%) rename assets/{robot/openarm_v1.0/mesh/body => body/v1.0/meshes}/visual/body_link0.stl (100%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/inertials/nominal.yaml (100%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/link/collisions.yaml (87%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/link/visuals.yaml (87%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/meta.md (100%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/struct/reference_points.yaml (81%) rename assets/{robot/openarm_v2.0/config/body => body/v2.0/config}/struct/topology.yaml (100%) rename assets/{robot/openarm_v2.0/meshes/body => body/v2.0/meshes}/collision/body_link0_symp.stl (100%) rename assets/{robot/openarm_v2.0/meshes/body => body/v2.0/meshes}/meta.md (100%) rename assets/{robot/openarm_v2.0/meshes/body => body/v2.0/meshes}/visual/body_link0.dae (100%) rename assets/{robot/openarm_v2.0/meshes/body => body/v2.0/meshes}/visual/body_link0.stl (100%) create mode 100644 assets/common/assembly.xacro create mode 100644 assets/common/components.xacro create mode 100644 assets/common/kinematic_chain.xacro create mode 100644 assets/common/links.xacro create mode 100644 assets/common/reference_frames.xacro create mode 100644 assets/common/ros2_control.xacro create mode 100644 assets/common/transforms.xacro create mode 100644 assets/common/validation.xacro rename assets/end_effector/parallel_link/config/{inertials.yaml => inertials/nominal.yaml} (81%) rename assets/{robot/openarm_v1.0/config/body/kinematics.yaml => end_effector/parallel_link/config/joint/joint_axes.yaml} (80%) create mode 100644 assets/end_effector/parallel_link/config/joint/joint_limits.yaml rename assets/{robot/openarm_v1.0/config/body/kinematics_link.yaml => end_effector/parallel_link/config/joint/joint_mimics.yaml} (80%) rename assets/end_effector/parallel_link/config/{kinematics.yaml => joint/joint_origins.yaml} (80%) create mode 100644 assets/end_effector/parallel_link/config/link/collisions.yaml create mode 100644 assets/end_effector/parallel_link/config/link/visuals.yaml create mode 100644 assets/end_effector/parallel_link/config/struct/reference_points.yaml create mode 100644 assets/end_effector/parallel_link/config/struct/topology.yaml rename assets/{robot/openarm_v1.0/mesh/arm/collision/link7_symp.stl => end_effector/parallel_link/meshes/collision/link7.stl} (100%) rename assets/{robot/openarm_v1.0/mesh/arm => end_effector/parallel_link/meshes}/visual/link7.dae (100%) rename assets/{robot/openarm_v1.0/mesh/arm => end_effector/parallel_link/meshes}/visual/link7.stl (100%) create mode 100644 assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro rename assets/robot/openarm_v1.0/config/arm/{ => control}/control_gains.yaml (99%) rename assets/robot/openarm_v1.0/config/arm/{inertials.yaml => inertials/nominal.yaml} (81%) create mode 100644 assets/robot/openarm_v1.0/config/arm/joint/joint_axes.yaml rename assets/robot/openarm_v1.0/config/arm/{ => joint}/joint_limits.yaml (83%) rename assets/robot/openarm_v1.0/config/arm/{kinematics_offset.yaml => joint/joint_origins.yaml} (72%) delete mode 100644 assets/robot/openarm_v1.0/config/arm/kinematics.yaml delete mode 100644 assets/robot/openarm_v1.0/config/arm/kinematics_link.yaml create mode 100644 assets/robot/openarm_v1.0/config/arm/link/collisions.yaml create mode 100644 assets/robot/openarm_v1.0/config/arm/link/visuals.yaml rename assets/{end_effector/parallel_link/config/kinematics_link.yaml => robot/openarm_v1.0/config/arm/struct/name_mapping.yaml} (62%) create mode 100644 assets/robot/openarm_v1.0/config/arm/struct/reference_points.yaml create mode 100644 assets/robot/openarm_v1.0/config/arm/struct/topology.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/default_bimanual.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/default_single.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/left_arm.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/left_arm_with_parallel_link.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/right_arm.yaml create mode 100644 assets/robot/openarm_v1.0/config/robot_presets/right_arm_with_parallel_link.yaml delete mode 100644 assets/robot/openarm_v1.0/urdf/arm/openarm_arm.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/arm/openarm_macro.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/body/openarm_body.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/body/openarm_body_macro.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ee/ee_dispatcher.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ee/openarm_ee_macro.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ee/parallel_link/openarm_parallel_gripper.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ee/pinch_gripper/openarm_v20_pinch_gripper.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/robot/openarm_robot.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro delete mode 100644 assets/robot/openarm_v1.0/urdf/ros2_control/openarm.ros2_control.xacro delete mode 100644 assets/robot/openarm_v2.0/urdf/ros2_control/openarm.bimanual.ros2_control.xacro delete mode 100644 assets/robot/openarm_v2.0/urdf/ros2_control/openarm.ros2_control.xacro delete mode 100644 assets/robot/openarm_v2.0/urdf/utils/openarm_v20_arm.xacro delete mode 100644 assets/robot/openarm_v2.0/urdf/utils/openarm_v20_ee.xacro delete mode 100644 assets/robot/openarm_v2.0/urdf/utils/openarm_v20_robot.xacro delete mode 100644 assets/robot/openarm_v2.0/urdf/utils/openarm_v20_sensor.xacro delete mode 100644 assets/robot/openarm_v2.0/urdf/utils/openarm_v20_utils.xacro create mode 100644 rviz/bimanual_camera.rviz create mode 100644 test/test_body_root_mapping.py create mode 100644 test/test_joint_axis_reflection.py create mode 100644 test/test_v1_assembly.py create mode 100644 test/test_v1_mirroring.py create mode 100644 test/test_v1_mount_overrides.py 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 mode 100644 index 00000000..38448b8f --- /dev/null +++ b/assets/accessory/zed_mount/config/struct/topology.yaml @@ -0,0 +1,3 @@ +links: +- base_link +joints: {} diff --git a/assets/accessory/zed_mount/meshes/visual/zed_mount.dae b/assets/accessory/zed_mount/meshes/visual/zed_mount.dae new file mode 100644 index 00000000..d0abac80 --- /dev/null +++ b/assets/accessory/zed_mount/meshes/visual/zed_mount.dae @@ -0,0 +1,383 @@ + + + + 2026-10-17T19:40:04.307044 + 2026-10-17T19:40:04.307044 + Y_UP + + + + + + + + 0 0 0 1 + + + 0.247 0.247 0.247 1 + + + 1.5 + + + + + + 0 + + + + + + + + + + 0.0 0.0 0.0 1.0 + + + 1.0 0.9490196078431372 0.9098039215686274 1.0 + + + 1.0 0.9490196078431372 0.9098039215686274 1.0 + + + 0.0 0.0 0.0 1.0 + + + 0.0 + + + 0.0 0.0 0.0 1.0 + + + 0.0 + + + 0.0 0.0 0.0 1.0 + + + 1.0 + + + + + + 0 + + + + + + + + + + 0.0 0.0 0.0 1.0 + + + 1.0 0.9490196078431372 0.9098039215686274 1.0 + + + 1.0 0.9490196078431372 0.9098039215686274 1.0 + + + 0.0 0.0 0.0 1.0 + + + 0.0 + + + 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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 new file mode 100644 index 00000000..ce079bf8 --- /dev/null +++ b/assets/common/links.xacro @@ -0,0 +1,163 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/common/reference_frames.xacro b/assets/common/reference_frames.xacro new file mode 100644 index 00000000..833fb20d --- /dev/null +++ b/assets/common/reference_frames.xacro @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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 new file mode 100644 index 00000000..c4fc2d31 --- /dev/null +++ b/assets/common/transforms.xacro @@ -0,0 +1,103 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro new file mode 100644 index 00000000..6354a61c --- /dev/null +++ b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_macro.xacro @@ -0,0 +1,181 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/end_effector/pinch_gripper/urdf/pinch_gripper_standalone.urdf.xacro b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_standalone.urdf.xacro index d8922384..af838f52 100644 --- a/assets/end_effector/pinch_gripper/urdf/pinch_gripper_standalone.urdf.xacro +++ b/assets/end_effector/pinch_gripper/urdf/pinch_gripper_standalone.urdf.xacro @@ -14,14 +14,9 @@ limitations under the License. - - - - - - - + + @@ -34,10 +29,10 @@ limitations under the License. - - @@ -46,7 +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/meshes/arm/visual/link4.dae b/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae index a3d0352c..25ce5512 100644 --- a/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae +++ b/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae @@ -1,252 +1,17 @@ - 2026-10-17T21:39:44.814142 - 2026-10-17T21:39:44.814142 + + Blender User + Blender 4.3.2 commit date:2024-12-16, commit time:21:10, hash:32f5fdce0a0a + + 2026-05-22T11:15:01 + 2026-05-22T11:15:01 + Y_UP - - - - - - 0.0 0.0 0.0 1.0 - - - 1.0 0.9490196078431372 0.9098039215686274 1.0 - - - 1.0 0.9490196078431372 0.9098039215686274 1.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 1.0 - - - - - - 0 - - - - - - - - - - 0.0 0.0 0.0 1.0 - - - 1.0 0.9490196078431372 0.9098039215686274 1.0 - - - 1.0 0.9490196078431372 0.9098039215686274 1.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 1.0 - - - - - - 0 - - - - - - - - - - 0.0 0.0 0.0 1.0 - - - 1.0 0.9490196078431372 0.9098039215686274 1.0 - - - 1.0 0.9490196078431372 0.9098039215686274 1.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 1.0 - - - - - - 0 - - - - - - - - - - 0.0 0.0 0.0 1.0 - - - 1.0 0.9490196078431372 0.9098039215686274 1.0 - - - 1.0 0.9490196078431372 0.9098039215686274 1.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 1.0 - - - - - - 0 - - - - - - - - - - 0.0 0.0 0.0 1.0 - - - 0.5333333333333333 0.5333333333333333 0.5333333333333333 1.0 - - - 0.5333333333333333 0.5333333333333333 0.5333333333333333 1.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 1.0 - - - - - - 0 - - - - - - - - - - 0.0 0.0 0.0 1.0 - - - 0.9607843137254902 0.9607843137254902 0.9647058823529412 1.0 - - - 0.9607843137254902 0.9607843137254902 0.9647058823529412 1.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 1.0 - - - - - - 0 - - - - - + @@ -261,214 +26,27 @@ - - - 0 - - - - - - - - - - 0.0 0.0 0.0 1.0 - - - 0.8666666666666667 0.9098039215686274 1.0 1.0 - - - 0.8666666666666667 0.9098039215686274 1.0 1.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 0.0 - - - 0.0 0.0 0.0 1.0 - - - 1.0 - - - - - - 0 - - - + - - - 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294 246 274 257 274 246 824 243 864 236 864 233 916 236 864 243 864 244 297 255 297 259 240 233 1103 232 1102 236 1102 234 1101 236 1102 232 1102 255 17 257 13 259 13 256 11 259 13 257 13 240 940 234 940 232 982 234 940 240 940 244 898 255 297 244 297 240 371 324 431 328 291 331 291 328 858 324 890 317 890 320 927 317 890 324 890 320 1104 318 1110 317 1110 319 1105 317 1110 318 1110 331 163 334 163 337 130 334 163 331 237 328 291 128 628 232 598 119 629 240 497 232 598 128 628 63 946 71 917 83 914 334 9 336 1 337 1 335 3 337 1 336 1

 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + 1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1 + - + - - + + 1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1 + - + - - + + 1 0 0 0 0 7.54979e-8 -1 0 0 1 7.54979e-8 0 0 0 0 1 + - + - - + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + - + - - + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + - + @@ -1292,6 +316,6 @@ - + \ No newline at end of file diff --git a/assets/robot/openarm_v2.0/urdf/example/v2.urdf b/assets/robot/openarm_v2.0/urdf/example/v2.urdf index 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 f0dc9a0a..00000000 --- a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_arm.xacro +++ /dev/null @@ -1,136 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_ee.xacro b/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_ee.xacro deleted file mode 100644 index 529f23e3..00000000 --- a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_ee.xacro +++ /dev/null @@ -1,223 +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 1460c515..00000000 --- a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_robot.xacro +++ /dev/null @@ -1,638 +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/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_utils.xacro b/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_utils.xacro deleted file mode 100644 index 4691bfdb..00000000 --- a/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_utils.xacro +++ /dev/null @@ -1,257 +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()