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Merged
T-K-233 merged 1 commit into from
Aug 25, 2026
Merged

Name the sim and mock components as the real ones #18

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64 changes: 48 additions & 16 deletions robot_assets/workflow/urdf_to_xacro.py
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Original file line number Diff line number Diff line change
Expand Up @@ -210,17 +210,23 @@ def _group_macro(robot: str, group: str, joints: list[dict], limits: dict) -> st


def _combined_macro(robot: str, groups: list[dict], backends: dict, imu: dict | None) -> str:
"""Return the single-block macro shared by the mock and MuJoCo backends."""
calls = "\n".join(f' <xacro:{robot}_{g["name"]}_joints/>' for g in groups)
# Only MuJoCo backs the IMU state interfaces; mock_components has no source for them.
sensor = (
f'\n <xacro:if value="${{{SIM_ARG}}}">\n'
f'{_sensor_element(imu["name"], " ")}\n </xacro:if>'
if imu else ""
)
return f""" <!-- Combined single block for the mock and MuJoCo backends. -->
{_macro_open(f"{robot}_ros2_control_combined", ["name", SIM_ARG])}
<ros2_control name="${{name}}" type="system">
"""Return the mock and MuJoCo macro: one block per bus, named as the real one."""
blocks = []
for group in groups:
# A gpio only under mock. The real backend exports these two through
# export_unlisted_state_interface_descriptions(), and MujocoSystem
# overrides the deprecated by-value export_state_interfaces(), which
# bypasses the base class's gpio handling -- declaring them there would
# promise interfaces that never appear.
safety = (
f'\n <xacro:unless value="${{{SIM_ARG}}}">\n'
f' <gpio name="{group["block_name"]}">\n'
f' <state_interface name="safety_level"/>\n'
f' <state_interface name="safety_flags"/>\n'
f' </gpio>\n'
f' </xacro:unless>'
)
blocks.append(f""" <ros2_control name="{group["block_name"]}" type="system">
<hardware>
<xacro:if value="${{{SIM_ARG}}}">
<plugin>{backends["sim"]}</plugin>
Expand All @@ -229,8 +235,35 @@ def _combined_macro(robot: str, groups: list[dict], backends: dict, imu: dict |
<plugin>{backends["mock"]}</plugin>
</xacro:unless>
</hardware>
{calls}{sensor}
</ros2_control>
<xacro:{robot}_{group["name"]}_joints/>{safety}
</ros2_control>""")
if imu and imu.get("real_block_name"):
# The real backend gives the IMU its own sensor component, so sim matches
# the name. Only MuJoCo backs the state interfaces; mock has no source.
blocks.append(
f' <xacro:if value="${{{SIM_ARG}}}">\n'
f' <ros2_control name="{imu["real_block_name"]}" type="sensor">\n'
f' <hardware>\n'
f' <plugin>{backends["sim"]}</plugin>\n'
f' </hardware>\n'
f'{_sensor_element(imu["name"], " ")}\n'
f' </ros2_control>\n'
f' </xacro:if>')
elif imu:
# A sim-only IMU has no real component to match, so it stays nested in the
# first bus block rather than inventing a component name of its own.
nested = (
f'\n <xacro:if value="${{{SIM_ARG}}}">\n'
f'{_sensor_element(imu["name"], " ")}\n'
f' </xacro:if>')
blocks[0] = blocks[0].replace("\n </ros2_control>", f"{nested}\n </ros2_control>")
body = "\n".join(blocks)
return f""" <!-- Mock and MuJoCo backends. One block per bus, carrying the same component
names as the real backend, so anything keyed by component name means the
same thing on every backend: a controller's safety_components, the
hardware_spawner, the manager's hardware_components_initial_state. -->
{_macro_open(f"{robot}_ros2_control_combined", [SIM_ARG])}
{body}
</xacro:macro>"""


Expand Down Expand Up @@ -274,9 +307,9 @@ def _top_macro(robot: str, args: list[str], real_params: list[str]) -> str:
return f""" <!-- Backend dispatch, following the Universal Robots description convention: one
boolean per non-real backend, real hardware as the fallback when both are false.
{SIM_ARG} wins over {MOCK_ARG}. -->
{_macro_open(f"{robot}_ros2_control", ["name", *args])}
{_macro_open(f"{robot}_ros2_control", args)}
<xacro:if value="${{{SIM_ARG} or {MOCK_ARG}}}">
<xacro:{robot}_ros2_control_combined name="${{name}}" {SIM_ARG}="${{{SIM_ARG}}}"/>
<xacro:{robot}_ros2_control_combined {SIM_ARG}="${{{SIM_ARG}}}"/>
</xacro:if>
<xacro:unless value="${{{SIM_ARG} or {MOCK_ARG}}}">
<xacro:{robot}_ros2_control_real
Expand Down Expand Up @@ -369,7 +402,6 @@ def build_assembly_xacro(robot: str, ros2_control: dict | None, package: str = D
<xacro:{robot}_description/>

<xacro:{robot}_ros2_control
name="{ros2_control["combined_block_name"]}"
{forwarded}/>
</robot>
"""
Expand Down
2 changes: 0 additions & 2 deletions robots/lite_bimanual/cad/ros2_control.json
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,6 @@

"base_link": {"name": "base_link", "child": "chest"},

"combined_block_name": "LiteHardware",

"groups": [
{"name": "left_arm", "block_name": "LiteLeftArm", "can_interface_arg": "can_interface_left"},
{"name": "right_arm", "block_name": "LiteRightArm", "can_interface_arg": "can_interface_right"}
Expand Down
35 changes: 30 additions & 5 deletions robots/lite_bimanual/xacro/lite_bimanual.ros2_control.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,12 @@
current_limit="14"/>
</xacro:macro>

<!-- Combined single block for the mock and MuJoCo backends. -->
<xacro:macro name="lite_bimanual_ros2_control_combined" params="name sim_mujoco">
<ros2_control name="${name}" type="system">
<!-- Mock and MuJoCo backends. One block per bus, carrying the same component
names as the real backend, so anything keyed by component name means the
same thing on every backend: a controller's safety_components, the
hardware_spawner, the manager's hardware_components_initial_state. -->
<xacro:macro name="lite_bimanual_ros2_control_combined" params="sim_mujoco">
<ros2_control name="LiteLeftArm" type="system">
<hardware>
<xacro:if value="${sim_mujoco}">
<plugin>mujoco_ros2_control/MujocoSystem</plugin>
Expand All @@ -87,7 +90,29 @@
</xacro:unless>
</hardware>
<xacro:lite_bimanual_left_arm_joints/>
<xacro:unless value="${sim_mujoco}">
<gpio name="LiteLeftArm">
<state_interface name="safety_level"/>
<state_interface name="safety_flags"/>
</gpio>
</xacro:unless>
</ros2_control>
<ros2_control name="LiteRightArm" type="system">
<hardware>
<xacro:if value="${sim_mujoco}">
<plugin>mujoco_ros2_control/MujocoSystem</plugin>
</xacro:if>
<xacro:unless value="${sim_mujoco}">
<plugin>mock_components/GenericSystem</plugin>
</xacro:unless>
</hardware>
<xacro:lite_bimanual_right_arm_joints/>
<xacro:unless value="${sim_mujoco}">
<gpio name="LiteRightArm">
<state_interface name="safety_level"/>
<state_interface name="safety_flags"/>
</gpio>
</xacro:unless>
</ros2_control>
</xacro:macro>

Expand Down Expand Up @@ -117,10 +142,10 @@
boolean per non-real backend, real hardware as the fallback when both are false.
sim_mujoco wins over use_mock_hardware. -->
<xacro:macro name="lite_bimanual_ros2_control"
params="name use_mock_hardware sim_mujoco can_interface_left can_interface_right
params="use_mock_hardware sim_mujoco can_interface_left can_interface_right
calibration_file">
<xacro:if value="${sim_mujoco or use_mock_hardware}">
<xacro:lite_bimanual_ros2_control_combined name="${name}" sim_mujoco="${sim_mujoco}"/>
<xacro:lite_bimanual_ros2_control_combined sim_mujoco="${sim_mujoco}"/>
</xacro:if>
<xacro:unless value="${sim_mujoco or use_mock_hardware}">
<xacro:lite_bimanual_ros2_control_real
Expand Down
1 change: 0 additions & 1 deletion robots/lite_bimanual/xacro/lite_bimanual.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@
<xacro:lite_bimanual_description/>

<xacro:lite_bimanual_ros2_control
name="LiteHardware"
use_mock_hardware="$(arg use_mock_hardware)"
sim_mujoco="$(arg sim_mujoco)"
can_interface_left="$(arg can_interface_left)"
Expand Down
2 changes: 0 additions & 2 deletions robots/lite_biped/cad/ros2_control.json
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Expand Up @@ -24,8 +24,6 @@

"base_link": {"name": "base_link", "child": "pelvis"},

"combined_block_name": "LiteBipedHardware",

"_comment_imu": "Sim/mock: the base_imu <sensor> lives in the combined block, backed by MujocoSystem's MJCF sensors. Real: a standalone <ros2_control type='sensor'> block (real_block_name) driven by real_plugin (Yahboom WIT USB IMU on imu_port), exposing the SAME interfaces so imu_sensor_broadcaster republishes /imu/data identically -- no separate driver node.",
"imu": {"name": "base_imu", "real_plugin": "humanoid_devices_witmotion/WitImuSensor", "real_block_name": "LiteBipedIMU"},

Expand Down
46 changes: 38 additions & 8 deletions robots/lite_biped/xacro/lite_biped.ros2_control.xacro
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Expand Up @@ -121,9 +121,12 @@
current_limit="14"/>
</xacro:macro>

<!-- Combined single block for the mock and MuJoCo backends. -->
<xacro:macro name="lite_biped_ros2_control_combined" params="name sim_mujoco">
<ros2_control name="${name}" type="system">
<!-- Mock and MuJoCo backends. One block per bus, carrying the same component
names as the real backend, so anything keyed by component name means the
same thing on every backend: a controller's safety_components, the
hardware_spawner, the manager's hardware_components_initial_state. -->
<xacro:macro name="lite_biped_ros2_control_combined" params="sim_mujoco">
<ros2_control name="LiteBipedLeftLeg" type="system">
<hardware>
<xacro:if value="${sim_mujoco}">
<plugin>mujoco_ros2_control/MujocoSystem</plugin>
Expand All @@ -133,8 +136,35 @@
</xacro:unless>
</hardware>
<xacro:lite_biped_left_leg_joints/>
<xacro:unless value="${sim_mujoco}">
<gpio name="LiteBipedLeftLeg">
<state_interface name="safety_level"/>
<state_interface name="safety_flags"/>
</gpio>
</xacro:unless>
</ros2_control>
<ros2_control name="LiteBipedRightLeg" type="system">
<hardware>
<xacro:if value="${sim_mujoco}">
<plugin>mujoco_ros2_control/MujocoSystem</plugin>
</xacro:if>
<xacro:unless value="${sim_mujoco}">
<plugin>mock_components/GenericSystem</plugin>
</xacro:unless>
</hardware>
<xacro:lite_biped_right_leg_joints/>
<xacro:if value="${sim_mujoco}">
<xacro:unless value="${sim_mujoco}">
<gpio name="LiteBipedRightLeg">
<state_interface name="safety_level"/>
<state_interface name="safety_flags"/>
</gpio>
</xacro:unless>
</ros2_control>
<xacro:if value="${sim_mujoco}">
<ros2_control name="LiteBipedIMU" type="sensor">
<hardware>
<plugin>mujoco_ros2_control/MujocoSystem</plugin>
</hardware>
<sensor name="base_imu">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
Expand All @@ -147,8 +177,8 @@
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</xacro:if>
</ros2_control>
</ros2_control>
</xacro:if>
</xacro:macro>

<!-- Real hardware: one <ros2_control> block per CAN bus. The controller_manager
Expand Down Expand Up @@ -196,10 +226,10 @@
boolean per non-real backend, real hardware as the fallback when both are false.
sim_mujoco wins over use_mock_hardware. -->
<xacro:macro name="lite_biped_ros2_control"
params="name use_mock_hardware sim_mujoco can_interface_left can_interface_right
params="use_mock_hardware sim_mujoco can_interface_left can_interface_right
calibration_file imu_port use_linkage">
<xacro:if value="${sim_mujoco or use_mock_hardware}">
<xacro:lite_biped_ros2_control_combined name="${name}" sim_mujoco="${sim_mujoco}"/>
<xacro:lite_biped_ros2_control_combined sim_mujoco="${sim_mujoco}"/>
</xacro:if>
<xacro:unless value="${sim_mujoco or use_mock_hardware}">
<xacro:lite_biped_ros2_control_real
Expand Down
1 change: 0 additions & 1 deletion robots/lite_biped/xacro/lite_biped.urdf.xacro
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Expand Up @@ -15,7 +15,6 @@
<xacro:lite_biped_description/>

<xacro:lite_biped_ros2_control
name="LiteBipedHardware"
use_mock_hardware="$(arg use_mock_hardware)"
sim_mujoco="$(arg sim_mujoco)"
can_interface_left="$(arg can_interface_left)"
Expand Down
2 changes: 0 additions & 2 deletions robots/lite_biped_debug/cad/ros2_control.json
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Expand Up @@ -24,8 +24,6 @@

"base_link": {"name": "base_link", "child": "pelvis"},

"combined_block_name": "LiteBipedHardware",

"_comment_imu": "Sim/mock: the base_imu <sensor> lives in the combined block, backed by MujocoSystem's MJCF sensors. Real: a standalone <ros2_control type='sensor'> block (real_block_name) driven by real_plugin (Yahboom WIT USB IMU on imu_port), exposing the SAME interfaces so imu_sensor_broadcaster republishes /imu/data identically -- no separate driver node.",
"imu": {"name": "base_imu", "real_plugin": "humanoid_devices_witmotion/WitImuSensor", "real_block_name": "LiteBipedIMU"},

Expand Down
46 changes: 38 additions & 8 deletions robots/lite_biped_debug/xacro/lite_biped_debug.ros2_control.xacro
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Expand Up @@ -121,9 +121,12 @@
torque_limit="5.5" current_limit="14"/>
</xacro:macro>

<!-- Combined single block for the mock and MuJoCo backends. -->
<xacro:macro name="lite_biped_debug_ros2_control_combined" params="name sim_mujoco">
<ros2_control name="${name}" type="system">
<!-- Mock and MuJoCo backends. One block per bus, carrying the same component
names as the real backend, so anything keyed by component name means the
same thing on every backend: a controller's safety_components, the
hardware_spawner, the manager's hardware_components_initial_state. -->
<xacro:macro name="lite_biped_debug_ros2_control_combined" params="sim_mujoco">
<ros2_control name="LiteBipedLeftLeg" type="system">
<hardware>
<xacro:if value="${sim_mujoco}">
<plugin>mujoco_ros2_control/MujocoSystem</plugin>
Expand All @@ -133,8 +136,35 @@
</xacro:unless>
</hardware>
<xacro:lite_biped_debug_left_leg_joints/>
<xacro:unless value="${sim_mujoco}">
<gpio name="LiteBipedLeftLeg">
<state_interface name="safety_level"/>
<state_interface name="safety_flags"/>
</gpio>
</xacro:unless>
</ros2_control>
<ros2_control name="LiteBipedRightLeg" type="system">
<hardware>
<xacro:if value="${sim_mujoco}">
<plugin>mujoco_ros2_control/MujocoSystem</plugin>
</xacro:if>
<xacro:unless value="${sim_mujoco}">
<plugin>mock_components/GenericSystem</plugin>
</xacro:unless>
</hardware>
<xacro:lite_biped_debug_right_leg_joints/>
<xacro:if value="${sim_mujoco}">
<xacro:unless value="${sim_mujoco}">
<gpio name="LiteBipedRightLeg">
<state_interface name="safety_level"/>
<state_interface name="safety_flags"/>
</gpio>
</xacro:unless>
</ros2_control>
<xacro:if value="${sim_mujoco}">
<ros2_control name="LiteBipedIMU" type="sensor">
<hardware>
<plugin>mujoco_ros2_control/MujocoSystem</plugin>
</hardware>
<sensor name="base_imu">
<state_interface name="orientation.x"/>
<state_interface name="orientation.y"/>
Expand All @@ -147,8 +177,8 @@
<state_interface name="linear_acceleration.y"/>
<state_interface name="linear_acceleration.z"/>
</sensor>
</xacro:if>
</ros2_control>
</ros2_control>
</xacro:if>
</xacro:macro>

<!-- Real hardware: one <ros2_control> block per CAN bus. The controller_manager
Expand Down Expand Up @@ -196,10 +226,10 @@
boolean per non-real backend, real hardware as the fallback when both are false.
sim_mujoco wins over use_mock_hardware. -->
<xacro:macro name="lite_biped_debug_ros2_control"
params="name use_mock_hardware sim_mujoco can_interface_left can_interface_right
params="use_mock_hardware sim_mujoco can_interface_left can_interface_right
calibration_file imu_port use_linkage">
<xacro:if value="${sim_mujoco or use_mock_hardware}">
<xacro:lite_biped_debug_ros2_control_combined name="${name}" sim_mujoco="${sim_mujoco}"/>
<xacro:lite_biped_debug_ros2_control_combined sim_mujoco="${sim_mujoco}"/>
</xacro:if>
<xacro:unless value="${sim_mujoco or use_mock_hardware}">
<xacro:lite_biped_debug_ros2_control_real
Expand Down
1 change: 0 additions & 1 deletion robots/lite_biped_debug/xacro/lite_biped_debug.urdf.xacro
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Expand Up @@ -15,7 +15,6 @@
<xacro:lite_biped_debug_description/>

<xacro:lite_biped_debug_ros2_control
name="LiteBipedHardware"
use_mock_hardware="$(arg use_mock_hardware)"
sim_mujoco="$(arg sim_mujoco)"
can_interface_left="$(arg can_interface_left)"
Expand Down
2 changes: 0 additions & 2 deletions robots/lite_dummy/cad/ros2_control.json
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Expand Up @@ -22,8 +22,6 @@

"base_link": {"name": "base_link", "child": "chest"},

"combined_block_name": "LiteHardware",

"_comment_neck": "The neck actuators are not on the bus. Its kinematic links live in the description xacro for robot_state_publisher, but it gets no group and no joints here until the hardware is wired (CAN ids 31..33 by convention).",

"groups": [
Expand Down
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