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Improve validation of arm_type #67

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Merged
kou merged 1 commit into from
Jun 17, 2026
Merged

Improve validation of arm_type #67

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7 changes: 4 additions & 3 deletions assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -36,8 +36,9 @@ limitations under the License.
<xacro:arg name="left_arm_base_xyz" default="0.0 0.031 0.698" />
<xacro:arg name="left_arm_base_rpy" default="-1.5708 0 0" />
<xacro:arg name="can_fd" default="true" />
<xacro:if value="${'$(arg arm_type)' != 'v10'}">
${xacro.error('assets/robot/openarm_v1.0 only supports arm_type:=v10. Use assets/robot/openarm_v2.0 for newer hardware variants.')}
<xacro:property name="accepted_arm_types" value="${('v10', 'v1.0', 'v1_0', 'openarm_v10', 'openarm_v1.0', 'openarm_v1_0')}" />
<xacro:if value="${'$(arg arm_type)' not in accepted_arm_types}">
${xacro.error('assets/robot/openarm_v1.0 supports arm_type in ' + str(accepted_arm_types) + ' (got: $(arg arm_type)). Use assets/robot/openarm_v2.0 for newer hardware variants.')}
</xacro:if>
<xacro:if value="${'$(arg body_type)' != 'v10'}">
${xacro.error('assets/robot/openarm_v1.0 only supports body_type:=v10.')}
Expand All @@ -47,7 +48,7 @@ limitations under the License.
<xacro:property name="parallel_link_cfg_root" value="$(find openarm_description)/assets/end_effector/parallel_link/config" />

<xacro:openarm_robot
arm_type="$(arg arm_type)"
arm_type="v10"
body_type="$(arg body_type)"
joint_limits="${xacro.load_yaml(arm_cfg_root + '/joint_limits.yaml')}"
control_gains="${xacro.load_yaml(arm_cfg_root + '/control_gains.yaml')}"
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