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refactor!: trim the generator, tests and README - #25
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The variant list needed a generator stage and a test to stay in sync. One install(DIRECTORY ... PATTERN cad EXCLUDE) needs neither. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HpFUBhqSfbDuibPRVhscr9
Regenerating every variant gives a zero diff. No joint_properties.json welds a joint, each ros2_control.json base_link names the CAD root, and each IMU has a real plugin, so that code only added branches. BREAKING-CHANGE: the finalize, mjcf and xacro commands, --package and robot dir paths are gone. Use lite-description-generate <variant> --only. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HpFUBhqSfbDuibPRVhscr9
The inertia symmetry tolerance was 0.01 kg m^2, above the largest link inertia, so the check could not fail. It is now 1e-5 kg m^2. The ROS job ran its own xacro loop, so the component-name and safety gpio tests ran nowhere. It now runs test_ros2_artifacts.py. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HpFUBhqSfbDuibPRVhscr9
Also fix the backend text: since #18, every backend has one block for each CAN bus. Co-Authored-By: Claude Opus 5.5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HpFUBhqSfbDuibPRVhscr9
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Trims the generator, the tests and the README to what the variants use. The generated URDF, MJCF, xacro and foot hulls do not change: a regeneration of all six variants gives a zero diff.
robots/<variant>/withoutcad/. The variant list and thepackagestage that kept it in sync are gone.lite-description-generate --only),--package, the robot-dir path argument,weld_joints, thebase_linkofros2_control.json, the sim-only IMU path, and the defaults of keys that each variant sets.test_models.pyreplacesconftest.pyand four modules, and checks the same pairs and bodies. The inertia symmetry tolerance goes from 0.01 to 1e-5 kg m². The old value was above the largest link inertia, so the check could not fail.test_ros2_artifacts.py. Before, the tests of the component names and the mock safety gpio ran nowhere.Breaking: the removed commands,
--packageand the path argument. lite-motion-tracking, humanoid_control_ros2 and Lite-Motion-Retargeting use none of them.Verification
uv run pytest: 107 passed, 32 skipped (the xacro tests). Each commit passes.--keep-assetsand--convertrun. Not run against the Onshape API.🤖 Generated with Claude Code
https://claude.ai/code/session_01HpFUBhqSfbDuibPRVhscr9