Migrate V1 assembly to shared presets and components

README.md

@@ -33,6 +33,8 @@ 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)
@@ -49,3 +51,5 @@ Copyright 2025 Enactic, Inc.
 
 All participation in the OpenArm project is governed by our
 [Code of Conduct](CODE_OF_CONDUCT.md).
+
+Control partitions are declared under the preset's top-level `systems` mapping. Each system's `joints` maps component instance names to stable local joint keys with an `idx`. Each active joint requires a unique non-negative integer `idx` within its system; gaps are allowed. Joints are emitted in index order, with `idx` included as a joint parameter for runtime adapters. Disabled components are skipped, and final joint names come from the resolved component descriptions. Standard OpenArm hardware defaults are supplied by the model entry. Per-system hardware_plugin and driver parameters can override those defaults, and CAN launch arguments take precedence. `use_fake_hardware:=true` selects `mock_components/GenericSystem`. Optional `command_interfaces` and `state_interfaces` default to `[position, velocity, effort]`.

assets/robot/openarm_v1.0/config/body/inertials.yaml → assets/body/v1.0/config/inertials/nominal.yaml

@@ -1,4 +1,4 @@
-# Copyright 2025 Enactic, Inc.
+# Copyright 2026 Enactic, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,10 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-body_link0:
+link1:
   origin:
-    xyz: -0.016206894902 0 0.244091987626
-    rpy: 0.0 0.0 0.0
+    x: -0.016206894902
+    y: 0.0
+    z: 0.244091987626
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
   mass: 3.74
   inertia:
     xx: 0.248946829107

assets/body/v1.0/config/link/collisions.yaml

@@ -0,0 +1,28 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+link1:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/body/v1.0/meshes/collision/body_link0_symp.stl
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001

assets/body/v1.0/config/link/visuals.yaml

@@ -0,0 +1,28 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+link1:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: 0
+    yaw: 0
+  geometry:
+    mesh: package://openarm_description/assets/body/v1.0/meshes/visual/body_link0.dae
+    scale:
+      x: 0.001
+      y: 0.001
+      z: 0.001

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

@@ -0,0 +1,34 @@
+# Copyright 2026 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+left_arm_mount_point:
+  parent: link1
+  emit: false
+  origin:
+    x: 0
+    y: 0.03
+    z: 0.697
+    roll: -1.5708
+    pitch: 0
+    yaw: 0
+right_arm_mount_point:
+  parent: link1
+  emit: false
+  origin:
+    x: 0
+    y: -0.03
+    z: 0.697
+    roll: 1.5708
+    pitch: 0
+    yaw: 0

assets/robot/openarm_v1.0/config/body/kinematics_link.yaml → assets/body/v1.0/config/struct/topology.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
+links:
+  link1:
+    name: body_link0
+joints: {}

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

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

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

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 +51,13 @@ 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

assets/body/v2.0/config/struct/topology.yaml

@@ -13,5 +13,6 @@
 # limitations under the License.
 
 links:
-  - body_link0
+  link1:
+    name: body_link0
 joints: {}