Configure MoveIt2 for OpenArm Bimanual v1

README.md

@@ -14,18 +14,15 @@
 
 https://github.com/user-attachments/assets/90b44ef4-5cdc-4bf5-b56f-be2a5ff264b4
 
-
-
-- openarm_bimanual_description: dual arm urdf with torso and realsense head camera
-- openarm_bimanual_moveit_config: bimanual motion planning with OctoMap occupancy grid mapping
-- openarm_bimanual_bringup: setup scripts for bimanual openarm
+- openarm_description: OpenArm URDF and assets at [github.com/enactic/openarm_description](https://github.com/enactic/openarm_description)
+- openarm_bimanual_moveit_config: bimanual motion planning with [moveit2](https://github.com/moveit/moveit2)
 - openarm_bringup: setup scripts for single physical openarm
-- openarm_description: single arm urdf
 - openarm_hardware: hardware interface for ros2_control
-- openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
 
 
-### Description Packages
+### Description Package
+
+URDF generation scripts and assets are available in the [openarm_description](https://github.com/enactic/openarm_description) repository.
 
 Each link has a visual mesh and a collision mesh, as shown in the figures below:
 
@@ -34,7 +31,11 @@ Each link has a visual mesh and a collision mesh, as shown in the figures below:
 
 ### MoveIt2 Support
 
-https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
+
+
+https://github.com/user-attachments/assets/3a722d5b-c465-4077-be94-f67c5a3353b2
+
+
 
 ---
 

openarm/package.xml

@@ -17,7 +17,7 @@
 -->
 <package format="3">
   <name>openarm</name>
-  <version>0.3.0</version>
+  <version>1.0.0</version>
   <description>Metapackage for OpenArm</description>
   <maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>
   <license>Apache-2.0</license>
@@ -28,7 +28,6 @@
   <exec_depend>openarm_bringup</exec_depend>
   <exec_depend>openarm_description</exec_depend>
   <exec_depend>openarm_hardware</exec_depend>
-
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

openarm_bimanual_moveit_config/.setup_assistant

@@ -1,24 +1,28 @@
-# Copyright 2025 Reazon Holdings, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
 moveit_setup_assistant_config:
   urdf:
-    package: openarm_bimanual_description
-    relative_path: urdf/openarm_bimanual.urdf.xacro
+    package: openarm_description
+    relative_path: urdf/robot/v10.urdf.xacro
+    xacro_args: bimanual:=true
   srdf:
     relative_path: config/openarm_bimanual.srdf
   package_settings:
     author_name: Thomason Zhou
     author_email: t95zhou@uwaterloo.ca
-    generated_timestamp: 1745486864
+    generated_timestamp: 1753031250
+  control_xacro:
+    command:
+      - position
+      - velocity
+    state:
+      - position
+      - velocity
+  modified_urdf:
+    xacros:
+      - control_xacro
+  control_xacro:
+    command:
+      - position
+      - velocity
+    state:
+      - position
+      - velocity

openarm_bimanual_moveit_config/config/initial_positions.yaml

@@ -1,33 +1,19 @@
-# Copyright 2025 Reazon Holdings, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-# Default initial positions for openarm_bimanual's ros2_control fake system
+# Default initial positions for openarm's ros2_control fake system
 
 initial_positions:
-  left_gripper: 0
-  left_rev1: 0
-  left_rev2: 0
-  left_rev3: 0
-  left_rev4: 0
-  left_rev5: 0
-  left_rev6: 0
-  left_rev7: 0
-  right_gripper: 0
-  right_rev1: 0
-  right_rev2: 0
-  right_rev3: 0
-  right_rev4: 0
-  right_rev5: 0
-  right_rev6: 0
-  right_rev7: 0
+  openarm_left_finger_joint1: 0
+  openarm_left_joint1: 0
+  openarm_left_joint2: 0
+  openarm_left_joint3: 0
+  openarm_left_joint4: 0
+  openarm_left_joint5: 0
+  openarm_left_joint6: 0
+  openarm_left_joint7: 0
+  openarm_right_finger_joint1: 0
+  openarm_right_joint1: 0
+  openarm_right_joint2: 0
+  openarm_right_joint3: 0
+  openarm_right_joint4: 0
+  openarm_right_joint5: 0
+  openarm_right_joint6: 0
+  openarm_right_joint7: 0

openarm_bimanual_moveit_config/config/joint_limits.yaml

@@ -1,17 +1,3 @@
-# Copyright 2025 Reazon Holdings, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 
 # For beginners, we downscale velocity and acceleration limits.
@@ -22,83 +8,83 @@ default_acceleration_scaling_factor: 0.1
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
-  left_gripper:
-    has_velocity_limits: true
-    max_velocity: 0.10000000000000001
-    has_acceleration_limits: false
-    max_acceleration: 0
-  left_rev1:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  left_rev2:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  left_rev3:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  left_rev4:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  left_rev5:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  left_rev6:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  left_rev7:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  right_gripper:
-    has_velocity_limits: true
-    max_velocity: 0.10000000000000001
-    has_acceleration_limits: false
-    max_acceleration: 0
-  right_rev1:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  right_rev2:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  right_rev3:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  right_rev4:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  right_rev5:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  right_rev6:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  right_rev7:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
+  openarm_left_finger_joint1:
+   has_velocity_limits: true
+   max_velocity: 10.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint1:
+   has_velocity_limits: true
+   max_velocity: 45.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint2:
+   has_velocity_limits: true
+   max_velocity: 45.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint3:
+   has_velocity_limits: true
+   max_velocity: 8.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint4:
+   has_velocity_limits: true
+   max_velocity: 8.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint5:
+   has_velocity_limits: true
+   max_velocity: 30.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint6:
+   has_velocity_limits: true
+   max_velocity: 30.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint7:
+   has_velocity_limits: true
+   max_velocity: 30.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_finger_joint1:
+   has_velocity_limits: true
+   max_velocity: 10.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint1:
+   has_velocity_limits: true
+   max_velocity: 45.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint2:
+   has_velocity_limits: true
+   max_velocity: 45.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint3:
+   has_velocity_limits: true
+   max_velocity: 8.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint4:
+   has_velocity_limits: true
+   max_velocity: 8.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint5:
+   has_velocity_limits: true
+   max_velocity: 30.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint6:
+   has_velocity_limits: true
+   max_velocity: 30.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint7:
+   has_velocity_limits: true
+   max_velocity: 30.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0

openarm_bimanual_moveit_config/config/kinematics.yaml

@@ -1,17 +1,3 @@
-# Copyright 2025 Reazon Holdings, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
 left_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.0050000000000000001
@@ -31,4 +17,4 @@ right_side:
 upper_body:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.0050000000000000001
-  kinematics_solver_timeout: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001