(#95) feat(hardware): YAML hardware mapping, controllers, launches, and docs

CMakeLists.txt

@@ -4,7 +4,7 @@ project(thais_urdf)
 find_package(ament_cmake REQUIRED)
 
 install(
-  DIRECTORY launch config description hardware_config
+  DIRECTORY launch config description docs
   DESTINATION share/${PROJECT_NAME}/
 )
 
@@ -15,6 +15,9 @@ if(BUILD_TESTING)
   ament_add_pytest_test(xacro_smoke test/test_xacro_smoke.py
     TIMEOUT 180
   )
+  ament_add_pytest_test(hardware_yaml test/test_hardware_yaml.py
+    TIMEOUT 120
+  )
 endif()
 
 ament_package()

CONTRIBUTING.md

@@ -4,5 +4,5 @@ be under the GNU General Public License, as dictated by that
 
 # More information
 
-- [Developer guide](doc/DEVELOPER.md) — workflow, CI, layout, style
+- [Developer guide](docs/DEVELOPER.md) — workflow, CI, layout, style
 - [Code of Conduct](CODE_OF_CONDUCT.md)

README.md

@@ -9,23 +9,27 @@ The **`package.xml` name is `thais_urdf`** (historical name; content is the InMo
 ```text
 thais_urdf/
 ├── package.xml              # ROS package: thais_urdf
-├── CMakeLists.txt           # Installs launch/, config/, inmoov/ into share/thais_urdf
+├── CMakeLists.txt           # Installs launch/, config/, description/, docs/
+├── docs/                    # Developer + hardware mapping (see Documentation map)
 ├── launch/
-│   ├── rviz.launch.py      # Real stack + RViz + rosbridge + ros2_control node + spawners
-│   ├── gazebo.launch.py    # Gazebo + clock bridge + spawn + gz_ros2_control + RViz + rosbridge
+│   ├── control.launch.py    # ros2_control + spawners (default controllers from this package)
+│   ├── rviz.launch.py       # Real stack + RViz + rosbridge + ros2_control + spawners
+│   ├── gazebo.launch.py     # Gazebo + clock bridge + spawn + gz_ros2_control + RViz + rosbridge
 │   └── rviz_standalone.launch.py
 ├── config/
-│   └── inmoov_rviz.rviz
-└── inmoov/
-    ├── urdf/inmoov.urdf.xacro           # Top-level xacro (base_path, use_gazebo_sim, controller_config)
-    ├── 3dmodel/robot_description.urdf.xacro
+│   ├── controllers.yaml
+│   ├── inmoov_rviz.rviz
+│   └── hardware/            # active.yaml — hardware single source of truth
+└── description/
+    ├── urdf/inmoov.urdf.xacro
+    ├── robot_description/
     ├── ros2_control/
-    │   ├── inmoov_ros2_control.xacro    # Real vs sim ros2_control systems
+    │   ├── inmoov_ros2_control.xacro
     │   └── inmoov_gazebo.xacro
-    └── meshes/                          # Collision/visual assets (e.g. dae)
+    └── meshes/
 ```
 
-**Install:** `launch/`, `config/`, and **`inmoov/`** (URDF, meshes) install to **`share/thais_urdf`**. Default `urdf_path` / `base_path` in the combo launches use **`ros2 pkg prefix thais_urdf`**; override only for custom trees.
+**Install:** `launch/`, `config/`, **`description/`**, and **`docs/`** install to **`share/thais_urdf`**. Default `urdf_path` / `base_path` in the combo launches use **`ros2 pkg prefix thais_urdf`**; override only for custom trees.
 
 ## Relationship to lucy_ros_packages
 
@@ -73,8 +77,8 @@ ros2 launch thais_urdf gazebo.launch.py
 
 Optional arguments for **`rviz.launch.py`** and **`gazebo.launch.py`** only:
 
-- `urdf_path:=<path>` — default: `$(ros2 pkg prefix thais_urdf)/share/thais_urdf/inmoov/urdf/inmoov.urdf.xacro`
-- `base_path:=<path>` — default: `.../share/thais_urdf/inmoov` (mesh and xacro include root)
+- `urdf_path:=<path>` — default: `$(ros2 pkg prefix thais_urdf)/share/thais_urdf/description/urdf/inmoov.urdf.xacro`
+- `base_path:=<path>` — default: `.../share/thais_urdf/description` (mesh and xacro include root)
 
 ### RViz in a second terminal (bringup already running)
 
@@ -136,9 +140,11 @@ Tests call **`xacro`** on the URDF; coverage mainly reflects **test + launch** P
 | Doc | Content |
 |-----|---------|
 | This file | Repository scope and integration |
-| [**doc/DEVELOPER.md**](doc/DEVELOPER.md) | **Contributors** — URDF/xacro, launches, install layout, extension checklist |
+| [**docs/DEVELOPER.md**](docs/DEVELOPER.md) | **Contributors** — URDF/xacro, hardware YAML, launches, install layout, extension checklist |
+| [**docs/hardware_mapping.md**](docs/hardware_mapping.md) | Schema and calibration for `config/hardware/active.yaml` |
+| [**docs/inmoov_i2.md**](docs/inmoov_i2.md) | i1 scope vs i2 head actuators (YAML appendix) |
 | **lucy_ros_packages** repo README | Bringup, hardware control, cameras |
-| Workspace **`lucy_ws/docs/developer_lucy_packages.md`** | Index pointing to each repo’s `doc/DEVELOPER.md` |
+| Workspace **`lucy_ws/docs/developer_lucy_packages.md`** | Index pointing to each repo’s developer doc (paths vary by repo) |
 | Workspace **`lucy_ws/docs/simulation_and_visualization.md`** | Control panel ↔ ROS pipeline, sim time, gaps |
 
 ## License and assets

config/controllers.yaml

@@ -0,0 +1,92 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+    left_arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+    right_arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+# Extra joints (not in ros2_control) published at 0 so robot_state_publisher builds full TF tree.
+# Fixes disconnected tree in view_frames (base_node->stand_link vs torso_y_link->arms).
+joint_state_broadcaster:
+  ros__parameters:
+    extra_joints:
+      - Empty.001_link_joint
+      - Empty.002_link_joint
+      - i01.torso.midStom_link_joint
+      - i01.torso.topStom_link_joint
+      - left_shoulder_z_link_joint
+      - i01.leftHand.wrist.001_link_joint
+      - i01.leftHand.index2_link_joint
+      - i01.leftHand.index3_link_joint
+      - i01.leftHand.majeure2_link_joint
+      - i01.leftHand.majeure3_link_joint
+      - i01.leftHand.pinky0_link_joint
+      - i01.leftHand.pinky2_link_joint
+      - i01.leftHand.pinky3_link_joint
+      - i01.leftHand.ringfinger0_link_joint
+      - i01.leftHand.ringfinger2_link_joint
+      - i01.leftHand.ringfinger3_link_joint
+      - i01.leftHand.thumb1_link_joint
+      - i01.leftHand.thumb3_link_joint
+      - right_shoulder_z_link_joint
+      - i01.rightHand.wrist.001_link_joint
+      - i01.rightHand.index2_link_joint
+      - i01.rightHand.index3_link_joint
+      - i01.rightHand.majeure2_link_joint
+      - i01.rightHand.majeure3_link_joint
+      - i01.rightHand.pinky0_link_joint
+      - i01.rightHand.pinky2_link_joint
+      - i01.rightHand.pinky3_link_joint
+      - i01.rightHand.ringfinger0_link_joint
+      - i01.rightHand.ringfinger2_link_joint
+      - i01.rightHand.ringfinger3_link_joint
+      - i01.rightHand.thumb1_link_joint
+      - i01.rightHand.thumb3_link_joint
+      - i01.head.neck.001_link_joint
+      - i01.head.rollNeck_link_joint
+      - i01.head.rothead_link_joint
+      - i01.head.jaw_link_joint
+      - i01.head.eyeRight_link_joint
+      - i01.head.eyeRight.001_link_joint
+      - i01.head.eyeLeft.001_link_joint
+      - i01.head.eyeLeft_link_joint
+
+# Joint names must match URDF exactly for correct TF tree (robot_state_publisher + RViz/Gazebo)
+left_arm_controller:
+  ros__parameters:
+    joints:
+      - left_shoulder_y_link_joint
+      - left_shoulder_z_link_joint
+      - left_shoulder_x_link_joint
+      - left_elbow_x_link_joint
+      - left_wrist_z_link_joint
+      - i01.leftHand.thumb_link_joint
+      - i01.leftHand.index_link_joint
+      - i01.leftHand.majeure_link_joint
+      - i01.leftHand.ringFinger_link_joint
+      - i01.leftHand.pinky_link_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+
+right_arm_controller:
+  ros__parameters:
+    joints:
+      - right_shoulder_y_link_joint
+      - right_shoulder_z_link_joint
+      - right_shoulder_x_link_joint
+      - right_elbow
+      - right_wrist_z_link_joint
+      - i01.rightHand.thumb_link_joint
+      - i01.rightHand.index_link_joint
+      - i01.rightHand.majeure_link_joint
+      - i01.rightHand.ringFinger_link_joint
+      - i01.rightHand.pinky_link_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position

config/hardware/README.md

@@ -0,0 +1,7 @@
+# Hardware YAML store
+
+Authoritative documentation for the schema, calibration fields, and workflow lives in the installed package docs:
+
+**[docs/hardware_mapping.md](../../docs/hardware_mapping.md)** (also under `share/thais_urdf/docs/` after `colcon` install).
+
+Related: [docs/inmoov_i2.md](../../docs/inmoov_i2.md) — InMoov i1 scope vs i2 head actuators (appendix).