Feature/v2.0 li

.gitignore

@@ -12,4 +12,26 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-*.urdf
+# *.urdf
+**/build/*
+/backup
+**/base_urdf_ws
+*.zip
+# .github
+.vscode
+.codex
+__pycache__
+# *.obj
+# *.dae
+# *.stl
+# *.mtl
+# *.txt
+# *.xml
+*.tsv
+**/processed/*
+**/review/*
+**/tmp/*
+*.egg-info/
+.venv/
+.agents/
+/urdf/

CMakeLists.txt

@@ -29,7 +29,10 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-install(DIRECTORY launch meshes rviz urdf config
-        DESTINATION share/${PROJECT_NAME})
+foreach(asset_dir assets docs launch rviz scripts)
+  if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${asset_dir}")
+    install(DIRECTORY ${asset_dir} DESTINATION share/${PROJECT_NAME})
+  endif()
+endforeach()
 
 ament_package()

README.md

@@ -2,6 +2,22 @@
 
 This package contains description files to generate OpenArm URDFs (Universal Robot Description Files). See [documentation](https://docs.openarm.dev/software/description) for details.
 
+<!-- ## Project Entry Points
+
+Use one of these entry documents depending on what you are working on:
+
+- Active preset-driven robot pipeline:
+  [docs/openarm_v2.0/00_OpenArm_v2.0_Description.md](docs/openarm_v2.0/00_OpenArm_v2.0_Description.md)
+- Minimal legacy compatibility layer for old `v10` robots:
+  [docs/openarm_v1.0/00_OpenArm_v1.0_Compatibility.md](docs/openarm_v1.0/00_OpenArm_v1.0_Compatibility.md)
+- Extraction and helper scripts:
+  [docs/openarm_v2.0/01_URDF_Extract_Scripts.md](docs/openarm_v2.0/01_URDF_Extract_Scripts.md)
+
+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 -->
+
 ## Related links
 
 - 📚 Read the [documentation](https://docs.openarm.dev/software/description)

assets/__init__.py

@@ -0,0 +1,14 @@
+from pathlib import Path
+
+ASSETS_ROOT = Path(__file__).resolve().parent
+
+def get_v2_urdf_path() -> str:
+    """
+    assets/robot/openarm_v2.0/urdf/example/v2.urdf の絶対パスを返す
+    """
+    urdf_path = ASSETS_ROOT / "robot" / "openarm_v2.0" / "urdf" / "example" / "v2.urdf"
+    if not urdf_path.exists():
+        print(f"[Warning] URDF not found at: {urdf_path}")
+    return str(urdf_path)
+
+__all__ = ["get_v2_urdf_path", "ASSETS_ROOT"]

config/hand/openarm_hand/inertials.yaml → assets/end_effector/parallel_link/config/inertials.yaml

@@ -1,20 +1,3 @@
-hand:
-  origin:
-    x: 0.0
-    y: 0.002
-    z: 0.03
-    roll: 0
-    pitch: 0
-    yaw: 0
-  mass: 0.35
-  inertia:
-    xx: 0.0002473
-    yy: 1.763e-05
-    zz: 0.0002521
-    xy: 1e-06
-    xz: 1e-06
-    yz: 1e-06
-
 left_finger:
   origin:
     x: 0.0064528
@@ -66,5 +49,3 @@ right_finger:
 #     xz: 0
 #     yz: 0
 # right_finger: *finger
-
-

assets/end_effector/parallel_link/config/joint_limits.yaml

@@ -0,0 +1,6 @@
+finger_joint:
+  limit:
+    lower: 0.0
+    upper: 0.044
+    velocity: 20.943946
+    effort: 9

assets/end_effector/parallel_link/config/kinematics.yaml

@@ -0,0 +1,8 @@
+finger_joint:
+  kinematic:
+    x: 0.0
+    y: 0.0
+    z: 0.1025
+    roll: 0
+    pitch: 0
+    yaw: 0

assets/end_effector/parallel_link/config/kinematics_link.yaml

@@ -0,0 +1,17 @@
+left_finger:
+  kinematic:
+    x: 0.0
+    y: -0.05
+    z: -0.673001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0
+
+right_finger:
+  kinematic:
+    x: 0.0
+    y: 0.05
+    z: -0.673001
+    roll: 0.0
+    pitch: 0.0
+    yaw: 0.0

assets/end_effector/parallel_link/urdf/parallel_link_standalone.urdf.xacro

@@ -0,0 +1,101 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="parallel_link">
+
+  <xacro:arg name="ee_config_dir" default="$(find openarm_description)/assets/end_effector/parallel_link/config" />
+  <xacro:arg name="mesh_root" default="$(find openarm_description)/assets/end_effector/parallel_link/meshes" />
+  <xacro:arg name="tcp_xyz" default="0 0 0" />
+  <xacro:arg name="tcp_rpy" default="0 0 0" />
+
+  <xacro:property name="ee_inertials" value="${xacro.load_yaml('$(arg ee_config_dir)/inertials.yaml')}" />
+  <xacro:property name="ee_kinematics" value="${xacro.load_yaml('$(arg ee_config_dir)/kinematics.yaml')}" />
+  <xacro:property name="ee_kinematics_link" value="${xacro.load_yaml('$(arg ee_config_dir)/kinematics_link.yaml')}" />
+  <xacro:property name="ee_joint_limits" value="${xacro.load_yaml('$(arg ee_config_dir)/joint_limits.yaml')}" />
+
+  <xacro:macro name="parallel_link_inertial" params="name">
+    <xacro:property name="I" value="${ee_inertials[name]}" lazy_eval="false" />
+    <inertial>
+      <origin
+        xyz="${I.origin.x} ${I.origin.y} ${I.origin.z}"
+        rpy="${I.origin.roll} ${I.origin.pitch} ${I.origin.yaw}" />
+      <mass value="${I.mass}" />
+      <inertia ixx="${I.inertia.xx}" ixy="${I.inertia.xy}" ixz="${I.inertia.xz}"
+               iyy="${I.inertia.yy}" iyz="${I.inertia.yz}" izz="${I.inertia.zz}" />
+    </inertial>
+  </xacro:macro>
+
+  <xacro:macro name="parallel_link_visual_collision" params="name mesh_name mesh_scale">
+    <xacro:property name="K" value="${ee_kinematics_link[name]['kinematic']}" lazy_eval="false" />
+    <visual name="${name}_visual">
+      <origin xyz="${K.x} ${K.y} ${K.z}" rpy="${K.roll} ${K.pitch} ${K.yaw}" />
+      <geometry>
+        <mesh filename="$(arg mesh_root)/visual/${mesh_name}.dae" scale="${mesh_scale}" />
+      </geometry>
+    </visual>
+    <collision name="${name}_collision">
+      <origin xyz="${K.x} ${K.y} ${K.z}" rpy="${K.roll} ${K.pitch} ${K.yaw}" />
+      <geometry>
+        <mesh filename="$(arg mesh_root)/collision/${mesh_name}.stl" scale="${mesh_scale}" />
+      </geometry>
+    </collision>
+  </xacro:macro>
+
+  <link name="base_link">
+    <visual name="base_link_visual">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="$(arg mesh_root)/visual/hand.dae" scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision name="base_link_collision">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="$(arg mesh_root)/collision/hand.stl" scale="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="hand_tcp" />
+  <joint name="hand_tcp_joint" type="fixed">
+    <origin xyz="$(arg tcp_xyz)" rpy="$(arg tcp_rpy)" />
+    <parent link="base_link" />
+    <child link="hand_tcp" />
+  </joint>
+
+  <link name="right_finger">
+    <xacro:parallel_link_visual_collision name="right_finger" mesh_name="finger" mesh_scale="-0.001 0.001 0.001" />
+    <xacro:parallel_link_inertial name="right_finger" />
+  </link>
+
+  <link name="left_finger">
+    <xacro:parallel_link_visual_collision name="left_finger" mesh_name="finger" mesh_scale="0.001 0.001 0.001" />
+    <xacro:parallel_link_inertial name="left_finger" />
+  </link>
+
+  <joint name="finger_joint1" type="prismatic">
+    <parent link="base_link" />
+    <child link="right_finger" />
+    <xacro:property name="fj" value="${ee_kinematics['finger_joint']['kinematic']}" />
+    <origin xyz="${fj.x} ${fj.y} ${fj.z}" rpy="${fj.roll} ${fj.pitch} ${fj.yaw}" />
+    <axis xyz="0 -1 0" />
+    <limit
+      effort="${ee_joint_limits['finger_joint']['limit']['effort']}"
+      lower="${ee_joint_limits['finger_joint']['limit']['lower']}"
+      upper="${ee_joint_limits['finger_joint']['limit']['upper']}"
+      velocity="${ee_joint_limits['finger_joint']['limit']['velocity']}" />
+  </joint>
+
+  <joint name="finger_joint2" type="prismatic">
+    <parent link="base_link" />
+    <child link="left_finger" />
+    <xacro:property name="fj" value="${ee_kinematics['finger_joint']['kinematic']}" />
+    <origin xyz="${fj.x} ${-fj.y} ${fj.z}" rpy="${fj.roll} ${fj.pitch} ${fj.yaw}" />
+    <axis xyz="0 1 0" />
+    <limit
+      effort="${ee_joint_limits['finger_joint']['limit']['effort']}"
+      lower="${ee_joint_limits['finger_joint']['limit']['lower']}"
+      upper="${ee_joint_limits['finger_joint']['limit']['upper']}"
+      velocity="${ee_joint_limits['finger_joint']['limit']['velocity']}" />
+    <mimic joint="finger_joint1" />
+  </joint>
+
+</robot>

assets/end_effector/pinch_gripper/config/inertials/nominal.yaml

@@ -0,0 +1,48 @@
+base_link:
+  origin:
+    x: -0.0067098
+    y: 0.008407299999999999
+    z: -0.05938
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 0.52832
+  inertia:
+    xx: 0.00021911
+    xy: 4.1683e-06
+    xz: 1.4043e-06
+    yy: 0.00015627
+    yz: -1.5124e-06
+    zz: 0.0001659
+link1:
+  origin:
+    x: -0.0124990911725494
+    y: 0.00176592789915655
+    z: -0.0241663193888537
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 0.125979047366671
+  inertia:
+    xx: 3.61105363396623e-05
+    xy: 1.35880208293387e-06
+    xz: 7.13916341634141e-06
+    yy: 3.62137424319396e-05
+    yz: -3.60343788693423e-06
+    zz: 1.74958961632907e-05
+link2:
+  origin:
+    x: -0.012796
+    y: -0.0020183
+    z: -0.026792
+    roll: 0
+    pitch: -0
+    yaw: 0
+  mass: 0.11372
+  inertia:
+    xx: 3.4565e-05
+    xy: -1.3392e-06
+    xz: 7.1576e-06
+    yy: 3.5306e-05
+    yz: 3.7172e-06
+    zz: 1.6571e-05

assets/end_effector/pinch_gripper/config/joint/joint_axes.yaml

@@ -0,0 +1,10 @@
+joint1:
+  axis:
+    x: -1
+    y: 0
+    z: 0
+joint2:
+  axis:
+    x: 1
+    y: 0
+    z: 0

assets/end_effector/pinch_gripper/config/joint/joint_limits.yaml

@@ -0,0 +1,12 @@
+joint1:
+  limit:
+    lower: -0.7854
+    upper: 0
+    effort: 7
+    velocity: 5
+joint2:
+  limit:
+    lower: -0.7854
+    upper: 0
+    effort: 7
+    velocity: 5

assets/end_effector/pinch_gripper/config/joint/joint_mimics.yaml

@@ -0,0 +1,4 @@
+joint2:
+  joint: joint1
+  multiplier: 1
+  offset: 0

assets/end_effector/pinch_gripper/config/joint/joint_origins.yaml

@@ -0,0 +1,16 @@
+joint1:
+  origin:
+    x: -0.0219300000000005
+    y: 0.0180000000000009
+    z: -0.06800000000001739
+    roll: 0
+    pitch: -0
+    yaw: 0
+joint2:
+  origin:
+    x: -0.0219300000000005
+    y: -0.0180000000000012
+    z: -0.0680000000000215
+    roll: 0
+    pitch: -0
+    yaw: 0

assets/end_effector/pinch_gripper/config/link/collisions.yaml

@@ -0,0 +1,42 @@
+base_link:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: -0
+    yaw: 0
+  geometry:
+    mesh: "package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/ee_base_link.stl"
+    scale:
+      x: 1
+      y: 1
+      z: 1
+link1:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: -0
+    yaw: 0
+  geometry:
+    mesh: "package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl"
+    scale:
+      x: 1
+      y: 1
+      z: 1
+link2:
+  origin:
+    x: 0
+    y: 0
+    z: 0
+    roll: 0
+    pitch: -0
+    yaw: 0
+  geometry:
+    mesh: "package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outter.stl"
+    scale:
+      x: 1
+      y: 1
+      z: 1