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/README.md b/README.md index 15c33176..52408d68 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. + ## Component interfaces Robot entries load `assets/component_loader.xacro`. The loader locates each component using the existing `type`, `product`, and `config` fields, then optionally loads `/urdf/component.xacro`. Components without this file use the standard YAML model generator. @@ -33,6 +37,8 @@ The default implementations are `openarm_describe_config_component` and `openarm Interface files declare macros; implementation and third-party model includes belong inside those macros. Each interface is loaded in a local scope, so its definitions do not affect other components. Presets need no implementation selector or product registry. +Component topology uses stable `link1`, `link2`, ... and `joint1`, `joint2`, ... keys. An optional `name` on each topology entry defines its local URDF name; otherwise the key is used. The instance prefix is added once. Geometry, inertia, joint parameters, parent/child links, mimic targets, references, reflection selections and overrides use the stable keys. Changing `name` preserves these config references. Component descriptors expose resolved `link_name_map` and `joint_name_map` entries for emitters and control generation. + ## 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..2225baf0 --- /dev/null +++ b/assets/accessory/zed_mount/config/inertials/nominal.yaml @@ -0,0 +1,16 @@ +link1: + 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..ce1c5070 --- /dev/null +++ b/assets/accessory/zed_mount/config/link/collisions.yaml @@ -0,0 +1,29 @@ +link1: +- name: support + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + geometry: + mesh: package://openarm_description/assets/accessory/zed_mount/meshes/collision/zed_mount_support.stl + scale: + x: 1 + y: 1 + z: 1 +- name: shell + origin: + x: 0 + y: 0 + z: 0 + roll: 0 + pitch: 0 + yaw: 0 + geometry: + mesh: package://openarm_description/assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl + scale: + x: 1 + y: 1 + z: 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..577141e1 --- /dev/null +++ b/assets/accessory/zed_mount/config/link/visuals.yaml @@ -0,0 +1,14 @@ +link1: + 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..7b26ef26 --- /dev/null +++ b/assets/accessory/zed_mount/config/struct/reference_points.yaml @@ -0,0 +1,10 @@ +camera_mount_point: + parent: link1 + 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..5af12334 --- /dev/null +++ b/assets/accessory/zed_mount/config/struct/topology.yaml @@ -0,0 +1,4 @@ +links: + link1: + name: base_link +joints: {} diff --git a/assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl b/assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl new file mode 100644 index 00000000..ca702e98 Binary files /dev/null and b/assets/accessory/zed_mount/meshes/collision/zed_mount_shell.stl differ diff --git 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473 448 0 461 329 0 477 456 0 461 329 0 473 448 0 472 320 0 482 199 0 481 188 0 482 199 0 472 320 0 474 351 0 480 200 0 476 319 0 471 350 0 476 319 0 480 200 0 475 189 0 479 164 0 475 176 0 480 200 0 475 164 0 479 164 0 473 154 0 484 562 0 483 424 0 7 574 0 50 596 0 7 669 0 483 574 0 7 596 0 50 402 0 2 519 0 481 163 0 477 163 0 478 153 0 477 163 0 481 175 0 482 199 0 49 436 0 2 638 0 50 519 0 2 436 0 49 383 0 17 457 0 140 472 0 17 611 0 49 457 0 17 472 0 140 369 0 26 395 0 483 562 0 484 699 0 57 546 0 487 473 0 66 352 0 146 493 0 485 563 0 486 684 0 55 640 0 486 563 0 485 425 0 9 575 0 60 597 0 9 670 0 485 575 0 9 597 0 60 403 0 31 532 0 24 664 0 488 588 0 30 679 0 69 540 0 30 678 0 488 588 0 30 553 0 69 540 0 144 541 0 143 426 0 144 541 0 69 540 0 65 437 0 31 639 0 60 532 0 31 437 0 65 384 0 487 458 0 66 473 0 487 612 0 65 458 0 15 61 0 284 51 0 14 14 0 6 3 0 14 14 0 284 51 0 106 19 0 11 67 0 104 32 0 13 30 0 104 32 0 11 67 0 104 32 0 13 30 0 133 31 0 12 84 0 11 67 0 10 13 0 282 85 0 294 89 0 299 87 0 85 82 0 9 49 0 83 75 0 9 49 0 85 82 0 486 63 0 7 72 0 8 92 0 484 58 0 8 92 0 7 72 0 89 70 0

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/assets/body/v2.0/config/inertials/nominal.yaml b/assets/body/v2.0/config/inertials/nominal.yaml index 75949159..52fdec86 100644 --- a/assets/body/v2.0/config/inertials/nominal.yaml +++ b/assets/body/v2.0/config/inertials/nominal.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -body_link0: +link1: origin: x: -0.01627169562 y: 0.0 diff --git a/assets/body/v2.0/config/link/collisions.yaml b/assets/body/v2.0/config/link/collisions.yaml index 46fb7013..7e1d776d 100644 --- a/assets/body/v2.0/config/link/collisions.yaml +++ b/assets/body/v2.0/config/link/collisions.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -body_link0: +link1: origin: x: 0.0 y: 0.0 diff --git a/assets/body/v2.0/config/link/visuals.yaml b/assets/body/v2.0/config/link/visuals.yaml index f1fa731c..474ec659 100644 --- a/assets/body/v2.0/config/link/visuals.yaml +++ b/assets/body/v2.0/config/link/visuals.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -body_link0: +link1: origin: x: 0.0 y: 0.0 diff --git a/assets/body/v2.0/config/struct/reference_points.yaml b/assets/body/v2.0/config/struct/reference_points.yaml index bf695c6c..6f3e8e1f 100644 --- a/assets/body/v2.0/config/struct/reference_points.yaml +++ b/assets/body/v2.0/config/struct/reference_points.yaml @@ -13,7 +13,7 @@ # limitations under the License. left_arm_mount_point: - parent: body_link0 + parent: link1 origin: x: 0.0 y: 0.030 @@ -29,13 +29,13 @@ left_arm_mount_point: type: fixed parent_link: original_name: body_link0 - canonical_name: body_link0 + canonical_name: link1 child_link: original_name: body_left_arm_mount_point canonical_name: null right_arm_mount_point: - parent: body_link0 + parent: link1 origin: x: 0.0 y: -0.030 @@ -51,13 +51,14 @@ right_arm_mount_point: type: fixed parent_link: original_name: body_link0 - canonical_name: body_link0 + canonical_name: link1 child_link: original_name: body_right_arm_mount_point canonical_name: null + arm_origin: - parent: body_link0 + parent: link1 emit: true origin: x: 0.0 @@ -67,17 +68,13 @@ arm_origin: pitch: 0.0 yaw: 0.0 -# Example body-mounted camera reference point. Tune this pose from CAD or -# calibration before using it on hardware. -# zed_front_mount_point: -# 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: link1 + 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/body/v2.0/config/struct/topology.yaml b/assets/body/v2.0/config/struct/topology.yaml index 59402442..97b46d61 100644 --- a/assets/body/v2.0/config/struct/topology.yaml +++ b/assets/body/v2.0/config/struct/topology.yaml @@ -13,5 +13,6 @@ # limitations under the License. links: - - body_link0 + link1: + name: body_link0 joints: {} diff --git a/assets/common/assembly.xacro b/assets/common/assembly.xacro index c67a42ac..e24c8c6a 100644 --- a/assets/common/assembly.xacro +++ b/assets/common/assembly.xacro @@ -96,7 +96,7 @@ limitations under the License. - + @@ -111,9 +111,9 @@ limitations under the License. - + @@ -123,7 +123,7 @@ limitations under the License. name="attached_children" value="${[name for name in components if name in robot_preset and robot_preset[name]['enabled'] and 'connection' in robot_preset[name] and 'attach_to' in robot_preset[name]['connection'] and robot_preset[name]['connection']['attach_to'] == component_name]}" lazy_eval="false" /> - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/assets/common/components.xacro b/assets/common/components.xacro index b2958210..d98dfd25 100644 --- a/assets/common/components.xacro +++ b/assets/common/components.xacro @@ -45,10 +45,11 @@ limitations under the License. - - - - + + + + + + params="index joint_names topology prefix link_name_map joint_name_map joint_origins joint_axes joint_limits joint_mimics inertials visuals collisions reflect_x reflect_y reflect_z reflect_include_links reflect_include_joints origin_override_joints limit_override_joints tip_collapse_source_link tip_collapse_child_link base_frame_shift"> @@ -26,20 +26,21 @@ limitations under the License. - - + frame_shift="${base_frame_shift if joint['parent'] == list(topology['links'])[0] else 'none'}" /> + params="connected_to mount_origin topology prefix link_name_map joint_name_map joint_origins joint_axes joint_limits joint_mimics:=${dict()} inertials visuals collisions reflect_x:=1 reflect_y:=1 reflect_z:=1 reflect_include_links:=${[]} reflect_include_joints:=${[]} origin_override_joints:=${dict()} limit_override_joints:=${dict()} tip_collapse_source_link:=none tip_collapse_child_link:=none skip_mount_joint:=${False} base_frame_shift:=none"> - + - - + - + + - - - - - - - - - - - - + + @@ -136,7 +126,7 @@ limitations under the License. - + diff --git a/assets/common/validation.xacro b/assets/common/validation.xacro index e772915c..5bcee7d5 100644 --- a/assets/common/validation.xacro +++ b/assets/common/validation.xacro @@ -137,7 +137,7 @@ limitations under the License. - + @@ -146,10 +146,16 @@ limitations under the License. - + - + + + + + diff --git a/assets/end_effector/pinch_gripper/config/inertials/nominal.yaml b/assets/end_effector/pinch_gripper/config/inertials/nominal.yaml index 6bfd2f4b..05ebfae2 100644 --- a/assets/end_effector/pinch_gripper/config/inertials/nominal.yaml +++ b/assets/end_effector/pinch_gripper/config/inertials/nominal.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -ee_base_link: +link1: origin: x: -0.0067098 y: 0.008407299999999999 @@ -28,7 +28,7 @@ ee_base_link: yy: 0.00015627 yz: -1.5124e-06 zz: 0.0001659 -ee_link1: +link2: origin: x: -0.0124990911725494 y: 0.00176592789915655 @@ -44,7 +44,7 @@ ee_link1: yy: 3.62137424319396e-05 yz: -3.60343788693423e-06 zz: 1.74958961632907e-05 -ee_link2: +link3: origin: x: -0.012796 y: -0.0020183 diff --git a/assets/end_effector/pinch_gripper/config/joint/joint_axes.yaml b/assets/end_effector/pinch_gripper/config/joint/joint_axes.yaml index 13cc0ae1..c8d738fa 100644 --- a/assets/end_effector/pinch_gripper/config/joint/joint_axes.yaml +++ b/assets/end_effector/pinch_gripper/config/joint/joint_axes.yaml @@ -12,12 +12,12 @@ # See the License for the specific language governing permissions and # limitations under the License. -finger_joint1: +joint1: axis: x: -1 y: 0 z: 0 -finger_joint2: +joint2: axis: x: 1 y: 0 diff --git a/assets/end_effector/pinch_gripper/config/joint/joint_limits.yaml b/assets/end_effector/pinch_gripper/config/joint/joint_limits.yaml index 19942211..8dfc86de 100644 --- a/assets/end_effector/pinch_gripper/config/joint/joint_limits.yaml +++ b/assets/end_effector/pinch_gripper/config/joint/joint_limits.yaml @@ -12,13 +12,13 @@ # See the License for the specific language governing permissions and # limitations under the License. -finger_joint1: +joint1: limit: lower: -0.7854 upper: 0 effort: 7 velocity: 5 -finger_joint2: +joint2: limit: lower: -0.7854 upper: 0 diff --git a/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml b/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml index 1c0f9656..48434cde 100644 --- a/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml +++ b/assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -finger_joint2: - joint: finger_joint1 +joint2: + joint: joint1 multiplier: 1 offset: 0 diff --git a/assets/end_effector/pinch_gripper/config/joint/joint_origins.yaml b/assets/end_effector/pinch_gripper/config/joint/joint_origins.yaml index cc5b65bf..da58c50f 100644 --- a/assets/end_effector/pinch_gripper/config/joint/joint_origins.yaml +++ b/assets/end_effector/pinch_gripper/config/joint/joint_origins.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -finger_joint1: +joint1: origin: x: -0.0219300000000005 y: 0.0180000000000009 @@ -20,7 +20,7 @@ finger_joint1: roll: 0 pitch: -0 yaw: 0 -finger_joint2: +joint2: origin: x: -0.0219300000000005 y: -0.0180000000000012 diff --git a/assets/end_effector/pinch_gripper/config/link/collisions.yaml b/assets/end_effector/pinch_gripper/config/link/collisions.yaml index 2dfa0c8e..1f4d4c1b 100644 --- a/assets/end_effector/pinch_gripper/config/link/collisions.yaml +++ b/assets/end_effector/pinch_gripper/config/link/collisions.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -ee_base_link: +link1: origin: x: 0 y: 0 @@ -26,7 +26,7 @@ ee_base_link: x: 1 y: 1 z: 1 -ee_link1: +link2: origin: x: 0 y: 0 @@ -40,7 +40,7 @@ ee_link1: x: 1 y: 1 z: 1 -ee_link2: +link3: origin: x: 0 y: 0 diff --git a/assets/end_effector/pinch_gripper/config/link/visuals.yaml b/assets/end_effector/pinch_gripper/config/link/visuals.yaml index d6669034..144aca0d 100644 --- a/assets/end_effector/pinch_gripper/config/link/visuals.yaml +++ b/assets/end_effector/pinch_gripper/config/link/visuals.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -ee_base_link: +link1: origin: x: 0 y: 0 @@ -26,7 +26,7 @@ ee_base_link: x: 1 y: 1 z: 1 -ee_link1: +link2: origin: x: 0 y: 0 @@ -40,7 +40,7 @@ ee_link1: x: 1 y: 1 z: 1 -ee_link2: +link3: origin: x: 0 y: 0 diff --git a/assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml b/assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml index 84555f5c..b6300337 100644 --- a/assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml +++ b/assets/end_effector/pinch_gripper/config/struct/name_mapping.yaml @@ -14,17 +14,17 @@ links: canonical_to_original: - ee_base_link: ee_base_link - ee_link1: finger_inner - ee_link2: finger_outer + link1: ee_base_link + link2: finger_inner + link3: finger_outer original_to_canonical: - ee_base_link: ee_base_link - finger_inner: ee_link1 - finger_outer: ee_link2 + ee_base_link: link1 + finger_inner: link2 + finger_outer: link3 joints: canonical_to_original: - finger_joint1: finger_inner_joint - finger_joint2: finger_outer_joint + joint1: finger_inner_joint + joint2: finger_outer_joint original_to_canonical: - finger_inner_joint: finger_joint1 - finger_outer_joint: finger_joint2 + finger_inner_joint: joint1 + finger_outer_joint: joint2 diff --git a/assets/end_effector/pinch_gripper/config/struct/reference_points.yaml b/assets/end_effector/pinch_gripper/config/struct/reference_points.yaml index e3cbf358..51344d31 100644 --- a/assets/end_effector/pinch_gripper/config/struct/reference_points.yaml +++ b/assets/end_effector/pinch_gripper/config/struct/reference_points.yaml @@ -13,7 +13,7 @@ # limitations under the License. grasp_frame: - parent: ee_base_link + parent: link1 origin: x: -0.0219300000000009 y: 0 @@ -29,13 +29,13 @@ grasp_frame: type: fixed parent_link: original_name: ee_base_link - canonical_name: ee_base_link + canonical_name: link1 child_link: original_name: grasp_frame canonical_name: null camera_view_frame: - parent: ee_base_link + parent: link1 emit: true origin: x: 0.0013353 diff --git a/assets/end_effector/pinch_gripper/config/struct/topology.yaml b/assets/end_effector/pinch_gripper/config/struct/topology.yaml index 9b3784e2..ff2863cb 100644 --- a/assets/end_effector/pinch_gripper/config/struct/topology.yaml +++ b/assets/end_effector/pinch_gripper/config/struct/topology.yaml @@ -13,15 +13,20 @@ # limitations under the License. links: -- ee_base_link -- ee_link1 -- ee_link2 + link1: + name: ee_base_link + link2: + name: ee_link1 + link3: + name: ee_link2 joints: - finger_joint1: + joint1: + name: finger_joint1 type: revolute - parent: ee_base_link - child: ee_link1 - finger_joint2: + parent: link1 + child: link2 + joint2: + name: finger_joint2 type: revolute - parent: ee_base_link - child: ee_link2 + parent: link1 + child: link3 diff --git a/assets/end_effector/pinch_gripper/urdf/component.xacro b/assets/end_effector/pinch_gripper/urdf/component.xacro index 4c130677..62f9ea4a 100644 --- a/assets/end_effector/pinch_gripper/urdf/component.xacro +++ b/assets/end_effector/pinch_gripper/urdf/component.xacro @@ -28,6 +28,8 @@ limitations under the License. + params="prefix connected_to mount_origin:=none topology link_name_map joint_name_map joint_origins joint_axes joint_limits joint_mimics inertials visuals collisions reflect_x:=1 reflect_y:=1 reflect_z:=1 component_reflects:=false reflect_include_links:=^ reflect_include_joints:=^ reflect_include_reference_points:=^ origin_override_joints:=${dict()} limit_override_joints:=^ ee_reference_points:=^ emit_grasp_frame:=false grasp_reference_point:=grasp_frame skip_mount_joint:=false base_frame_shift:=none"> - + - + - - - - + + + + @@ -44,8 +44,8 @@ limitations under the License. - - + + - + - - + + @@ -139,15 +139,15 @@ limitations under the License. - + - - + + @@ -164,6 +164,7 @@ limitations under the License. reference_points="${ee_reference_points}" force_emit_reference="${grasp_reference_point if emit_grasp_frame else ''}" prefix="${prefix}" + link_name_map="${link_name_map}" base_link_name="${base_link_name}" reflect_x="${reflect_x if component_reflects else 1}" reflect_y="${reflect_y if component_reflects else 1}" diff --git a/assets/robot/openarm_v2.0/config/arm/inertials/nominal.yaml b/assets/robot/openarm_v2.0/config/arm/inertials/nominal.yaml index a6f5f7ec..6d7df71d 100644 --- a/assets/robot/openarm_v2.0/config/arm/inertials/nominal.yaml +++ b/assets/robot/openarm_v2.0/config/arm/inertials/nominal.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -base_link: +link1: origin: x: 0.00253123748061566 y: -0.0258185540330169 @@ -28,7 +28,7 @@ base_link: yy: 0.00159935208714031 yz: 2.7521421737084e-08 zz: 0.000750541980863571 -link1: +link2: origin: x: 0.000900350355624244 y: -0.0444659716892874 @@ -44,7 +44,7 @@ link1: yy: 0.000759199728161993 yz: 6.66755698859637e-08 zz: 0.000670659201019629 -link2: +link3: origin: x: -0.0247184924346635 y: 7.60578399428002e-08 @@ -60,7 +60,7 @@ link2: yy: 0.000113062180225725 yz: 3.75816911469744e-10 zz: 8.22999351863579e-05 -link3: +link4: origin: x: -0.00300861804638783 y: -0.000514813312550808 @@ -76,7 +76,7 @@ link3: yy: 0.00114018992179734 yz: -1.06260802872572e-05 zz: 0.000559765478676303 -link4: +link5: origin: x: -0.00310326243752606 y: -0.00136538979048502 @@ -92,7 +92,7 @@ link4: yy: 0.000433926270522842 yz: 3.41757797773822e-06 zz: 0.000245211429759716 -link5: +link6: origin: x: -0.000737188580130584 y: -0.000412406544351845 @@ -108,7 +108,7 @@ link5: yy: 0.000334599623120095 yz: -1.49934409279756e-07 zz: 0.000176662464388138 -link6: +link7: origin: x: 2.27438423593244e-05 y: 0.00068649602098908 diff --git a/assets/robot/openarm_v2.0/config/arm/link/collisions.yaml b/assets/robot/openarm_v2.0/config/arm/link/collisions.yaml index 288633ba..4980bbc4 100644 --- a/assets/robot/openarm_v2.0/config/arm/link/collisions.yaml +++ b/assets/robot/openarm_v2.0/config/arm/link/collisions.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -base_link: +link1: origin: x: 0 y: 0 @@ -26,7 +26,7 @@ base_link: x: 1 y: 1 z: 1 -link1: +link2: origin: x: 0 y: 0 @@ -40,7 +40,7 @@ link1: x: 1 y: 1 z: 1 -link2: +link3: origin: x: 0 y: 0 @@ -54,7 +54,7 @@ link2: x: 1 y: 1 z: 1 -link3: +link4: origin: x: 0 y: 0 @@ -68,7 +68,7 @@ link3: x: 1 y: 1 z: 1 -link4: +link5: origin: x: 0 y: 0 @@ -82,7 +82,7 @@ link4: x: 1 y: 1 z: 1 -link5: +link6: origin: x: 0 y: 0 @@ -96,7 +96,7 @@ link5: x: 1 y: 1 z: 1 -link6: +link7: origin: x: 0 y: 0 diff --git a/assets/robot/openarm_v2.0/config/arm/link/visuals.yaml b/assets/robot/openarm_v2.0/config/arm/link/visuals.yaml index 6fcf1682..9e6a8467 100644 --- a/assets/robot/openarm_v2.0/config/arm/link/visuals.yaml +++ b/assets/robot/openarm_v2.0/config/arm/link/visuals.yaml @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -base_link: +link1: origin: x: 0 y: 0 @@ -26,7 +26,7 @@ base_link: x: 1 y: 1 z: 1 -link1: +link2: origin: x: 0 y: 0 @@ -40,7 +40,7 @@ link1: x: 1 y: 1 z: 1 -link2: +link3: origin: x: 0 y: 0 @@ -54,7 +54,7 @@ link2: x: 1 y: 1 z: 1 -link3: +link4: origin: x: 0 y: 0 @@ -68,7 +68,7 @@ link3: x: 1 y: 1 z: 1 -link4: +link5: origin: x: 0 y: 0 @@ -82,7 +82,7 @@ link4: x: 1 y: 1 z: 1 -link5: +link6: origin: x: 0 y: 0 @@ -96,7 +96,7 @@ link5: x: 1 y: 1 z: 1 -link6: +link7: origin: x: 0 y: 0 diff --git a/assets/robot/openarm_v2.0/config/arm/struct/name_mapping.yaml b/assets/robot/openarm_v2.0/config/arm/struct/name_mapping.yaml index 98d02fd9..dbabebb3 100644 --- a/assets/robot/openarm_v2.0/config/arm/struct/name_mapping.yaml +++ b/assets/robot/openarm_v2.0/config/arm/struct/name_mapping.yaml @@ -14,23 +14,23 @@ links: canonical_to_original: - base_link: base_link - link1: link1 - link2: link2 - link3: link3 - link4: link4 - link5: link5 - link6: link6 - link7: empty_link_for_J7 + link1: base_link + link2: link1 + link3: link2 + link4: link3 + link5: link4 + link6: link5 + link7: link6 + link8: empty_link_for_J7 original_to_canonical: - base_link: base_link - link1: link1 - link2: link2 - link3: link3 - link4: link4 - link5: link5 - link6: link6 - empty_link_for_J7: link7 + base_link: link1 + link1: link2 + link2: link3 + link3: link4 + link4: link5 + link5: link6 + link6: link7 + empty_link_for_J7: link8 joints: canonical_to_original: joint1: joint1 diff --git a/assets/robot/openarm_v2.0/config/arm/struct/reference_points.yaml b/assets/robot/openarm_v2.0/config/arm/struct/reference_points.yaml index 2f524870..1cd09d60 100644 --- a/assets/robot/openarm_v2.0/config/arm/struct/reference_points.yaml +++ b/assets/robot/openarm_v2.0/config/arm/struct/reference_points.yaml @@ -13,7 +13,7 @@ # limitations under the License. ee_mount_point: - parent: link7 + parent: link8 origin: x: 0.0205 y: 0 @@ -29,7 +29,7 @@ ee_mount_point: type: fixed parent_link: original_name: empty_link_for_J7 - canonical_name: link7 + canonical_name: link8 child_link: original_name: empty_link_for_ee_mounting canonical_name: null 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 acd91f4b..f2f248e3 100644 --- a/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml +++ b/assets/robot/openarm_v2.0/config/arm/struct/topology.yaml @@ -13,42 +13,49 @@ # limitations under the License. collapse_empty_end: true - links: - - base_link - - link1 - - link2 - - link3 - - link4 - - link5 - - link6 - - link7 + link1: + name: base_link + link2: + name: link1 + link3: + name: link2 + link4: + name: link3 + link5: + name: link4 + link6: + name: link5 + link7: + name: link6 + link8: + name: link7 joints: joint1: - type: revolute - parent: base_link - child: link1 - joint2: type: revolute parent: link1 child: link2 - joint3: + joint2: type: revolute parent: link2 child: link3 - joint4: + joint3: type: revolute parent: link3 child: link4 - joint5: + joint4: type: revolute parent: link4 child: link5 - joint6: + joint5: type: revolute parent: link5 child: link6 - joint7: + joint6: type: revolute parent: link6 child: link7 + joint7: + type: revolute + parent: link7 + child: link8 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 3771f40b..99013562 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 @@ -15,12 +15,13 @@ 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: body prefix: openarm_ @@ -42,7 +43,6 @@ body: y: 1 z: 1 limit_override_joints: {} - primary_arm: type: robot enabled: true @@ -60,11 +60,23 @@ 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: + - link1 + - link2 + - link3 + - link6 + - link7 + - link8 + joints: + - joint1 + - joint2 + - joint3 + - joint5 + - joint6 + - joint7 + reference_points: + - ee_mount_point limit_override_joints: {} - secondary_arm: type: robot enabled: true @@ -82,7 +94,6 @@ secondary_arm: y: 1 z: 1 limit_override_joints: {} - primary_arm_end_effector: type: end_effector enabled: true @@ -100,7 +111,6 @@ primary_arm_end_effector: y: -1 z: 1 limit_override_joints: {} - secondary_arm_end_effector: type: end_effector enabled: true @@ -118,3 +128,30 @@ 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_support_ + 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 2b94a8ae..66f1af6e 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 @@ -60,7 +60,7 @@ primary_arm: y: -1 z: 1 include: - links: [base_link, link1, link2, link5, link6, link7] + links: [link1, link2, link3, link6, link7, link8] joints: [joint1, joint2, joint3, joint5, joint6, joint7] reference_points: [ee_mount_point] limit_override_joints: {} 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 fbfa0663..b7146b04 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 @@ -61,7 +61,7 @@ primary_arm: y: -1 z: 1 include: - links: [base_link, link1, link2, link5, link6, link7] + links: [link1, link2, link3, link6, link7, link8] joints: [joint1, joint2, joint3, joint5, joint6, joint7] reference_points: [ee_mount_point] limit_override_joints: {} diff --git a/assets/robot/openarm_v2.0/urdf/example/v2.urdf b/assets/robot/openarm_v2.0/urdf/example/v2.urdf index 39ad0c70..4fd9fad9 100644 --- a/assets/robot/openarm_v2.0/urdf/example/v2.urdf +++ b/assets/robot/openarm_v2.0/urdf/example/v2.urdf @@ -42,6 +42,12 @@ limitations under the License. + + + + + + @@ -592,6 +598,101 @@ limitations under the License. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + v20 diff --git a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro index 351b2678..ed37d4a9 100644 --- a/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro +++ b/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro @@ -39,7 +39,7 @@ limitations under the License. - + + 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/support.py b/test/support.py index 870485e4..72facef0 100644 --- a/test/support.py +++ b/test/support.py @@ -143,7 +143,7 @@ def expand(files=None, version='v2.0', entry=None, **arguments): def model(links=('root',), joints=None): joints = joints or {} - return {'struct/topology.yaml': dict(links=list(links), joints=deepcopy(joints)), + return {'struct/topology.yaml': dict(links={name: {} for name in links}, joints=deepcopy(joints)), 'struct/reference_points.yaml': {'port': dict(parent=links[-1], emit=False, origin=pose(.1, .2, .3, .2, -.1, .3))}, 'joint/joint_origins.yaml': {j: dict(origin=pose(z=.1)) for j in joints}, 'joint/joint_axes.yaml': {j: dict(axis=dict(x=0, y=0, z=1)) for j in joints}, @@ -161,13 +161,16 @@ def chain(): def pinch(): - data = model(('ee_base_link', 'ee_link1', 'ee_link2'), { - 'finger_joint1': dict(type='revolute', parent='ee_base_link', child='ee_link1'), - 'finger_joint2': dict(type='revolute', parent='ee_base_link', child='ee_link2')}) - data['joint/joint_mimics.yaml'] = {'finger_joint2': dict( - joint='finger_joint1', multiplier=-1, offset=.1)} + data = model(('link1', 'link2', 'link3'), { + 'joint1': dict(name='finger_joint1', type='revolute', parent='link1', child='link2'), + 'joint2': dict(name='finger_joint2', type='revolute', parent='link1', child='link3')}) + data['struct/topology.yaml']['links'] = { + 'link1': dict(name='ee_base_link'), + 'link2': dict(name='ee_link1'), 'link3': dict(name='ee_link2')} + data['joint/joint_mimics.yaml'] = {'joint2': dict( + joint='joint1', multiplier=-1, offset=.1)} data['struct/reference_points.yaml'] = {'grasp_frame': dict( - parent='ee_base_link', emit=False, origin=pose(z=.12))} + parent='link1', emit=False, origin=pose(z=.12))} return data diff --git a/test/test_assembly.py b/test/test_assembly.py index c7cb6c41..46d79081 100644 --- a/test/test_assembly.py +++ b/test/test_assembly.py @@ -54,6 +54,12 @@ def test_topology_and_values_come_from_configuration(kind): @pytest.mark.parametrize('product', ['fixture_tool', 'pinch_gripper']) def test_names_and_mimics_follow_configuration(product): data = pinch() + topology = data['struct/topology.yaml'] + topology['joints']['joint1']['name'] = 'drive' + topology['joints']['joint2']['name'] = 'follower' + topology['links']['link1']['name'] = 'tool_base' + topology['links']['link2']['name'] = 'moving_finger' + topology['links']['link3'].pop('name') for item in data['struct/topology.yaml']['joints'].values(): item['type'] = 'prismatic' for joint in data['joint/joint_axes.yaml'].values(): @@ -62,23 +68,29 @@ def test_names_and_mimics_follow_configuration(product): b=component('end_effector', product, 'beta_', connection=dict(attach_to='a'), reflect=dict(x=1, y=-1, z=1))) robot = assemble(spec, {'a': data, 'b': data}) - mimic = data['joint/joint_mimics.yaml']['finger_joint2'] + names = {key: cfg.get('name', key) for key, cfg in + data['struct/topology.yaml']['joints'].items()} + assert {link.get('name') for link in robot.findall('link')} == {'world'} | { + prefix + cfg.get('name', key) for prefix in ('alpha_', 'beta_') + for key, cfg in topology['links'].items()} + mimic = data['joint/joint_mimics.yaml']['joint2'] for prefix in ('alpha_', 'beta_'): - joint = robot.find(f"joint[@name='{prefix}finger_joint2']") + joint = robot.find(f"joint[@name='{prefix}follower']") assert joint.get('type') == 'prismatic' for name, configured in data['joint/joint_limits.yaml'].items(): - limit = robot.find(f"joint[@name='{prefix}{name}']/limit") + limit = robot.find(f"joint[@name='{prefix}{names[name]}']/limit") for key in ('lower', 'upper'): assert float(limit.get(key)) == configured['limit'][key] - assert joint.find('mimic').get('joint') == prefix + mimic['joint'] + assert joint.find('mimic').get( + 'joint') == prefix + names[mimic['joint']] for key in ('multiplier', 'offset'): assert float(joint.find('mimic').get(key)) == mimic[key] reflection = [[float(i == j) * (1, -1, 1, 1)[i] for j in range(4)] for i in range(4)] for name in data['struct/topology.yaml']['joints']: - right = robot.find(f"joint[@name='alpha_{name}']") - left = robot.find(f"joint[@name='beta_{name}']") + right = robot.find(f"joint[@name='alpha_{names[name]}']") + left = robot.find(f"joint[@name='beta_{names[name]}']") for endpoint in ['lower', 'upper']: position = float(right.find('limit').get(endpoint)) motions = [] @@ -126,7 +138,7 @@ def test_grasp_emission_combines_configuration_and_argument(): @pytest.mark.parametrize('tool', [False, True]) def test_overrides_are_applied_before_reflection(tool): data = pinch() if tool else chain() - name = 'finger_joint1' if tool else 'pivot' + name = 'joint1' if tool else 'pivot' origin = pose(.03, .04, .05, .2, -.3, .4) limit = dict(lower=-.2, upper=.7, effort=12, velocity=4) spec = preset(unit=component('end_effector' if tool else 'robot', @@ -134,7 +146,9 @@ def test_overrides_are_applied_before_reflection(tool): reflect=dict(x=1, y=-1, z=1), origin_override_joints={name: origin}, limit_override_joints={name: limit})) robot = assemble(spec, {'unit': data}) - joint = robot.find(f"joint[@name='unit_{name}']") + emitted_name = data['struct/topology.yaml']['joints'][name].get( + 'name', name) + joint = robot.find(f"joint[@name='unit_{emitted_name}']") expected = deepcopy(origin) for key in ('y', 'roll', 'yaw'): expected[key] *= -1 @@ -151,10 +165,10 @@ def test_reflection_selection_preserves_unselected_joints(product): for joint in data['joint/joint_axes.yaml'].values(): joint['axis'].update(x=.6, y=.8, z=0.) spec = preset(tool=component('end_effector', product, 'tool_', - reflect=dict(x=1, y=-1, z=1, include=dict(links=['ee_base_link'], joints=[], reference_points=[])))) + reflect=dict(x=1, y=-1, z=1, include=dict(links=['link1'], joints=[], reference_points=[])))) robot = assemble(spec, {'tool': data}) base = robot.find("link[@name='tool_ee_base_link']/inertial") - source = data['inertials/nominal.yaml']['ee_base_link'] + source = data['inertials/nominal.yaml']['link1'] assert float(base.find('mass').get('value')) == source['mass'] expected = deepcopy(source['origin']) expected['y'] *= -1 @@ -163,7 +177,9 @@ def test_reflection_selection_preserves_unselected_joints(product): sign = -1 if key in ('xy', 'yz') else 1 assert float(base.find('inertia').get('i'+key)) == sign * value for name in data['struct/topology.yaml']['joints']: - joint = robot.find(f"joint[@name='tool_{name}']") + emitted_name = data['struct/topology.yaml']['joints'][name].get( + 'name', name) + joint = robot.find(f"joint[@name='tool_{emitted_name}']") near(transform(joint.find('origin')), transform( data['joint/joint_origins.yaml'][name]['origin'])) assert [float(v) for v in joint.find('axis').get('xyz').split()] == list( @@ -181,24 +197,24 @@ def test_folding_preserves_physical_properties_and_frames(): assert robot.find("link[@name='arm_tip']") is not None spec, data = installed_tool(False) - data['tool']['struct/topology.yaml']['joints']['finger_joint2']['parent'] = 'ee_link1' + data['tool']['struct/topology.yaml']['joints']['joint2']['parent'] = 'link2' data['arm']['struct/reference_points.yaml']['port']['emit'] = True geometry = dict(mesh='package://fixture_meshes/shape.stl', scale=dict(x=1, y=1, z=1)) shape = dict(origin=pose(.02, -.04, .01, .2, .1, -.3), geometry=geometry) - data['tool']['link/visuals.yaml']['ee_base_link'] = deepcopy(shape) - data['tool']['link/collisions.yaml']['ee_base_link'] = deepcopy(shape) + data['tool']['link/visuals.yaml']['link1'] = deepcopy(shape) + data['tool']['link/collisions.yaml']['link1'] = deepcopy(shape) spec['tool']['reflect'] = dict(x=1, y=-1, z=1, include=dict( - links=['ee_base_link'], joints=[], reference_points=[])) + links=['link1'], joints=[], reference_points=[])) spec['tool']['origin_override_joints'] = { - 'finger_joint1': pose(.04, .03, .02, .3, .2, .1)} + 'joint1': pose(.04, .03, .02, .3, .2, .1)} first = assemble(spec, data, emit_grasp_frame=True) data['arm']['struct/topology.yaml']['collapse_empty_end'] = True second = assemble(spec, data, emit_grasp_frame=True) physical_equal(first, second) for frame in ('arm_port', 'tool_grasp_frame'): near(poses(first)[frame], poses(second)[frame]) - mass = data['tool']['inertials/nominal.yaml']['ee_base_link']['mass'] + mass = data['tool']['inertials/nominal.yaml']['link1']['mass'] assert float(second.find( "link[@name='tool_ee_base_link']/inertial/mass").get('value')) == mass @@ -218,6 +234,20 @@ def test_folding_requires_enabled_empty_tip_and_child(mode): assert (robot.find("link[@name='arm_tip']") is None) == (mode == 'on') +def test_compound_collisions_follow_input_geometry(): + data = model() + boxes = [dict(name='first', origin=pose(x=.2), geometry=dict(box=dict(x=.2, y=.3, z=.4))), + dict(name='second', origin=pose(y=.7), geometry=dict(box=dict(x=.1, y=.8, z=.2)))] + data['link/collisions.yaml']['root'] = boxes + robot = assemble(preset(unit=component()), {'unit': data}) + generated = robot.findall("link[@name='unit_root']/collision") + assert len(generated) == len(boxes) + for item, source in zip(generated, boxes): + near(transform(item.find('origin')), transform(source['origin'])) + assert [float(v) for v in item.find( + 'geometry/box').get('size').split()] == list(source['geometry']['box'].values()) + + @pytest.mark.parametrize('error', ['joint_parent', 'mount_reference', 'parent_selectors']) def test_invalid_attachment_references_are_rejected(error): spec, data = installed_tool() diff --git a/test/test_entrypoints.py b/test/test_entrypoints.py index 3cfa0134..4fb33c37 100644 --- a/test/test_entrypoints.py +++ b/test/test_entrypoints.py @@ -28,7 +28,7 @@ def write_configuration(directory, data): def test_pinch_entry_forwards_reference_options(tmp_path): data = pinch() - reference = dict(parent='ee_base_link', emit=True, + reference = dict(parent='link1', emit=True, origin=pose(.01, .02, .03, .2, -.1, .3)) data['struct/reference_points.yaml']['probe'] = reference write_configuration(tmp_path, data) @@ -44,10 +44,10 @@ def test_pinch_entry_forwards_reference_options(tmp_path): data = pinch() joints = data['struct/topology.yaml']['joints'] if invalid == 'unknown link': - joints['finger_joint1']['parent'] = 'missing' + joints['joint1']['parent'] = 'missing' else: - joints['finger_joint1']['parent'] = joints['finger_joint2']['child'] - joints['finger_joint2']['parent'] = joints['finger_joint1']['child'] + joints['joint1']['parent'] = joints['joint2']['child'] + joints['joint2']['parent'] = joints['joint1']['child'] write_configuration(tmp_path, data) with pytest.raises(xacro.XacroException, match=invalid): expand(entry='assets/end_effector/pinch_gripper/urdf/pinch_gripper_standalone.urdf.xacro', diff --git a/test/test_interfaces.py b/test/test_interfaces.py index 64d7ff1a..e60c7b58 100644 --- a/test/test_interfaces.py +++ b/test/test_interfaces.py @@ -19,6 +19,46 @@ import support +def test_zed_adapter_forwards_configuration(tmp_path): + from copy import deepcopy + from unittest.mock import patch + vendor = tmp_path/'zed' + (vendor/'urdf').mkdir(parents=True) + (vendor/'urdf/zed_macro.urdf.xacro').write_text(''' + + + + + + + ''') + original = support.packages.get_package_share_directory + config = dict(camera_model='zedm', custom_baseline=.07, + enable_gnss=True, gnss_origin=support.pose(x=.02)) + mount = support.pose(.1, -.2, .3, .2, -.1, .4) + for camera_name in (None, 'inspection'): + cfg = deepcopy(config) + if camera_name is not None: + cfg['camera_name'] = camera_name + spec = support.preset(support=support.component(product='fixture_support', prefix='support_'), + camera=dict(type='sensor', product='zed', config=cfg, prefix='front_', enabled=True, + connection=dict(attach_to='support', origin=mount)), + child=support.component(connection=dict(attach_to='camera'))) + with patch.object(support.packages, 'get_package_share_directory', lambda name: str(vendor) if name == 'zed_description' else original(name)): + robot = support.assemble( + spec, {'support': support.model(), 'child': support.model()}) + name = camera_name or 'front_zed' + call = robot.find('delegate') + assert call.get('name') == name and call.get( + 'model') == cfg['camera_model'] + assert float(call.get('baseline')) == cfg['custom_baseline'] + assert call.get('gnss').lower() == 'true' + support.near(support.transform(call.find('origin')), + support.transform(cfg['gnss_origin'])) + support.near(support.poses(robot)[ + name+'_camera_link'], support.transform(mount)) + + def loader_input(): spec = support.preset(a=support.component(product='fixture_a', prefix='first_'), b=support.component(product='fixture_b', prefix='second_', connection=dict(attach_to='a')))