Adopt the two-boolean backend convention; simplify the generator - #16
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Backend selection followed no upstream convention: a `use_sim` / `use_fake_hardware` pair plus, on the ros2_control variants, a `mode` string naming a subset of joint groups. Rename the pair to `sim_mujoco` / `use_mock_hardware`, the spelling the Universal Robots description uses (one boolean per non-real backend, real hardware as the fallback), and drop `mode` entirely -- no variant still has an optional group, and the stub-bus machinery it needed died with the arms_neck configuration. `sim_mujoco` is deliberately not called `use_sim`: it selects a hardware plugin, and nothing about the clock. `use_sim_time` remains a node parameter. With that gone, the joint macros no longer need to know which backend they are being expanded for. They previously wrapped every hardware <param> in `xacro:unless(use_sim or use_fake_hardware)`; now they always emit them, since mock_components and MujocoSystem both ignore params they do not recognise. That removes two params from every macro and two arguments from every one of the ~250 instantiations. Joints with a four-bar linkage move to their own `<robot>_linkage_joint` macro rather than carrying six defaulted params that only two joints in the repo ever set. Also in this pass, no behaviour change: - lite_biped/lite_biped_debug point at humanoid_devices_witmotion/WitImuSensor, following the driver's rename out of humanoid_devices_imu_hardware. - The MJCF writer pretty-prints the trailing <sensor>/<actuator> sections and drops the stray blank lines, so the models are reviewable as diffs instead of one 8 kB line. - urdf_to_xacro grew line-wrapping helpers (_pack, _macro_open) so generated macro signatures wrap at a column instead of being hand-spaced, which is what makes the artifact diffs here as large as they are. - Docstrings and the README/package.xml prose brought in line, including a hardware-backend table. Verified: `pytest` green (1582 passed, 6 skipped), and regenerating every variant with `--only urdf,mjcf,xacro` reproduces the committed artifacts byte-for-byte. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_014oX3bCSr6vo5CwPdrRfZGX
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Backend args
Backend selection followed no upstream convention: a
use_sim/use_fake_hardwarepair plus, on theros2_controlvariants, amodestring naming a subset of joint groups.sim_mujoco/use_mock_hardware— the spelling the Universal Robots description uses: one boolean per non-real backend, real hardware as the fallback.modeentirely. No variant still has an optional group, and the stub-bus machinery it needed died with thearms_neckconfiguration.sim_mujocois deliberately notuse_sim: it selects a hardware plugin and says nothing about the clock.use_sim_timeremains a node parameter.Backend-agnostic joint macros
With
modegone the joint macros no longer need to know which backend they are expanded for. They previously wrapped every hardware<param>inxacro:unless(use_sim or use_fake_hardware); now they always emit them, sincemock_componentsandMujocoSystemboth ignore params they do not recognise. That removes two params from every macro and two arguments from each of the ~250 instantiations.Joints with a four-bar linkage move to their own
<robot>_linkage_jointmacro instead of carrying six defaulted params that only two joints in the repo ever set.Also in this pass (no behaviour change)
lite_biped/lite_biped_debugpoint athumanoid_devices_witmotion/WitImuSensor, following the driver's rename out ofhumanoid_devices_imu_hardware.<sensor>/<actuator>sections and drops the stray blank lines, so models are reviewable as diffs instead of one 8 kB line.urdf_to_xacrogrew line-wrapping helpers (_pack,_macro_open) so generated macro signatures wrap at a column rather than being hand-spaced — this is what makes the artifact diffs as large as they are.package.xmlprose brought in line, including a hardware-backend table.Stacked on #15 (
cad-extra) — merge that first, and this PR's base retargets tomainautomatically.Verification
uv run --extra cad pytest— 1582 passed, 6 skippedrobot-assets-generate <variant> --only urdf,mjcf,xacrofor all six variants reproduces the committed artifacts byte-for-byteDownstream
Consumers passing
use_sim:=/use_fake_hardware:=(and anymode:=) to a Lite xacro must move tosim_mujoco:=/use_mock_hardware:=.🤖 Generated with Claude Code
https://claude.ai/code/session_014oX3bCSr6vo5CwPdrRfZGX