Skip to content

Support MuJoCo simulation with backwards compatible fake hardware flag #11

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
thomasonzhou wants to merge 6 commits into
base: main
Choose a base branch
from
Open

Support MuJoCo simulation with backwards compatible fake hardware flag #11

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
02a6b1d
Add use_fake_hardware flag for backwards compatibility while adding n…
thomasonzhou Apr 22, 2026
8db5adb
Set hardware_type default to _
thomasonzhou Apr 22, 2026
43d63f2
Pre-commit
thomasonzhou Apr 22, 2026
81a5b8d
Complete rebase to use hardware_type across all files
thomasonzhou Apr 22, 2026
f578841
Update launch arg description
thomasonzhou Apr 22, 2026
caaacea
Change sim hardware to general hardware_type
thomasonzhou Apr 22, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
43 changes: 41 additions & 2 deletions launch/display_openarm.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,10 +24,21 @@
from launch_ros.actions import Node


def robot_state_publisher_spawner(context: LaunchContext, arm_type, ee_type, bimanual):
def robot_state_publisher_spawner(
context: LaunchContext,
arm_type,
ee_type,
bimanual,
ros2_control,
hardware_type,
use_fake_hardware,
):
arm_type_str = context.perform_substitution(arm_type)
ee_type_str = context.perform_substitution(ee_type)
bimanual_str = context.perform_substitution(bimanual)
ros2_control_str = context.perform_substitution(ros2_control)
hardware_type_str = context.perform_substitution(hardware_type)
use_fake_hardware_str = context.perform_substitution(use_fake_hardware)

xacro_path = os.path.join(
get_package_share_directory("openarm_description"),
Expand All @@ -40,6 +51,9 @@ def robot_state_publisher_spawner(context: LaunchContext, arm_type, ee_type, bim
"arm_type": arm_type_str,
"ee_type": ee_type_str,
"bimanual": bimanual_str,
"ros2_control": ros2_control_str,
"hardware_type": hardware_type_str,
"use_fake_hardware": use_fake_hardware_str,
}
).toprettyxml(indent=" ")

Expand Down Expand Up @@ -92,13 +106,35 @@ def generate_launch_description():
description="Whether to use bimanual configuration"
)

ros2_control_arg = DeclareLaunchArgument(
"ros2_control",
default_value="false",
description="Use ros2_control hardware interfaces in the robot description."
)

hardware_type_arg = DeclareLaunchArgument(
"hardware_type",
default_value="",
description="Hardware backend to use (real/mock/mujoco)."
)
Comment thread
thomasonzhou marked this conversation as resolved.

use_fake_hardware_arg = DeclareLaunchArgument(
"use_fake_hardware",
default_value="false",
description="Deprecated flag for backwards compatibility."
)

arm_type = LaunchConfiguration("arm_type")
ee_type = LaunchConfiguration("ee_type")
bimanual = LaunchConfiguration("bimanual")
ros2_control = LaunchConfiguration("ros2_control")
hardware_type = LaunchConfiguration("hardware_type")
use_fake_hardware = LaunchConfiguration("use_fake_hardware")

robot_state_publisher_loader = OpaqueFunction(
function=robot_state_publisher_spawner,
args=[arm_type, ee_type, bimanual]
args=[arm_type, ee_type, bimanual, ros2_control,
hardware_type, use_fake_hardware]
)

rviz_loader = OpaqueFunction(
Expand All @@ -110,6 +146,9 @@ def generate_launch_description():
arm_type_arg,
ee_type_arg,
bimanual_arg,
ros2_control_arg,
hardware_type_arg,
use_fake_hardware_arg,
robot_state_publisher_loader,
Node(
package="joint_state_publisher_gui",
Expand Down
10 changes: 7 additions & 3 deletions urdf/robot/openarm_robot.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
ee_type:=''
ros2_control:=false
can_interface:=''
hardware_type:=''
use_fake_hardware:=false
fake_sensor_commands:=false
no_prefix:='false'
Expand Down Expand Up @@ -54,6 +55,9 @@

<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
<xacro:property name="body_prefix_modified" value="${'' if body_prefix == '' else body_prefix + '_'}" />
<xacro:property
name="hardware"
value="${hardware_type if hardware_type != '' else ('mock' if use_fake_hardware else 'real')}" />
Comment thread
thomasonzhou marked this conversation as resolved.

<xacro:if value="${bimanual}">

Expand Down Expand Up @@ -106,7 +110,7 @@
control_gains="${control_gains}"
left_can_interface="${left_can_interface}"
right_can_interface="${right_can_interface}"
use_fake_hardware="${use_fake_hardware}"
hardware_type="${hardware}"
fake_sensor_commands="${fake_sensor_commands}"
left_arm_prefix="${left_arm_prefix}"
right_arm_prefix="${right_arm_prefix}"
Expand Down Expand Up @@ -165,7 +169,7 @@
control_gains="${control_gains}"
arm_prefix="${arm_prefix_modified}"
can_interface="${can_interface}"
use_fake_hardware="${use_fake_hardware}"
hardware_type="${hardware}"
fake_sensor_commands="${fake_sensor_commands}"
hand="${hand}"
bimanual="false"
Expand Down Expand Up @@ -197,4 +201,4 @@
</xacro:if>

</xacro:macro>
</robot>
</robot>
2 changes: 2 additions & 0 deletions urdf/robot/v10.urdf.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@

<xacro:arg name="right_arm_prefix" default="right_" />

<xacro:arg name="hardware_type" default="" />
<xacro:arg name="use_fake_hardware" default="false" />

<xacro:arg name="fake_sensor_commands" default="false" />
Expand Down Expand Up @@ -70,6 +71,7 @@
right_can_interface="$(arg right_can_interface)"
left_arm_prefix="$(arg left_arm_prefix)"
right_arm_prefix="$(arg right_arm_prefix)"
hardware_type="$(arg hardware_type)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
no_prefix="$(arg no_prefix)"
Expand Down
24 changes: 17 additions & 7 deletions urdf/ros2_control/openarm.bimanual.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,9 @@
control_gains
left_can_interface:=^|can1
right_can_interface:=^|can0
use_fake_hardware:=^|false
hardware_type:=^|real
left_websocket_port:=^|1337
right_websocket_port:=^|1338
fake_sensor_commands:=^|false
hand:=^|false
left_arm_prefix:=^|left_
Expand All @@ -17,12 +19,16 @@
<ros2_control name="openarm_left_hardware_interface" type="system">
<hardware>
<param name="arm_type">${arm_type}</param>
<xacro:if value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'mujoco'}">
<plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
<param name="websocket_port">${left_websocket_port}</param>
</xacro:if>
<xacro:if value="${hardware_type == 'mock'}">
Comment thread
thomasonzhou marked this conversation as resolved.
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'real'}">
<plugin>openarm_hardware/OpenArm_v10HW</plugin>
<param name="can_interface">${left_can_interface}</param>
<param name="arm_prefix">${left_arm_prefix}</param>
Expand All @@ -42,7 +48,7 @@
<param name="kd5">${control_gains['joint5']['kd']}</param>
<param name="kd6">${control_gains['joint6']['kd']}</param>
<param name="kd7">${control_gains['joint7']['kd']}</param>
</xacro:unless>
</xacro:if>
Comment thread
thomasonzhou marked this conversation as resolved.
</hardware>

<xacro:macro name="configure_joint" params="joint_name initial_position">
Expand Down Expand Up @@ -82,12 +88,16 @@
<ros2_control name="openarm_right_hardware_interface" type="system">
<hardware>
<param name="arm_type">${arm_type}</param>
<xacro:if value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'mujoco'}">
<plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
<param name="websocket_port">${right_websocket_port}</param>
</xacro:if>
<xacro:if value="${hardware_type == 'mock'}">
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:unless value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'real'}">
<plugin>openarm_hardware/OpenArm_v10HW</plugin>
<param name="can_interface">${right_can_interface}</param>
<param name="arm_prefix">${right_arm_prefix}</param>
Expand All @@ -107,7 +117,7 @@
<param name="kd5">${control_gains['joint5']['kd']}</param>
<param name="kd6">${control_gains['joint6']['kd']}</param>
<param name="kd7">${control_gains['joint7']['kd']}</param>
</xacro:unless>
</xacro:if>
</hardware>

<xacro:configure_joint joint_name="openarm_${right_arm_prefix}joint1" initial_position="0.0"/>
Expand Down
13 changes: 9 additions & 4 deletions urdf/ros2_control/openarm.ros2_control.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,24 +5,29 @@
params="arm_type
control_gains
can_interface
use_fake_hardware:=^|false
hardware_type:=^|real
fake_sensor_commands:=^|false
hand:=^|false
gazebo_effort:=^|false
arm_prefix:=''
bimanual:=false
can_fd:=^|true">
can_fd:=^|true
websocket_port:=1337">

<ros2_control name="openarm_hardware_interface" type="system">
<hardware>
<param name="arm_type">${arm_type}</param>
<param name="prefix">${arm_prefix}</param>
<xacro:if value="${use_fake_hardware}">
<xacro:if value="${hardware_type == 'mujoco'}">
<plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
<param name="websocket_port">${websocket_port}</param>
</xacro:if>
<xacro:if value="${hardware_type == 'mock'}">
<plugin>mock_components/GenericSystem</plugin>
Comment thread
thomasonzhou marked this conversation as resolved.
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:if value="${use_fake_hardware == 0}">
<xacro:if value="${hardware_type == 'real'}">
Comment thread
thomasonzhou marked this conversation as resolved.
<plugin>openarm_hardware/OpenArm_${arm_type}HW</plugin>
<param name="can_interface">${can_interface}</param>
<param name="arm_prefix">${arm_prefix}</param>
Expand Down