Moveit2 support for OpenArm v1 (#52)

Co-authored-by: Yue Yin <yue_yin@reazon.jp>
Co-authored-by: magdelinekuan <magdeline_kuan@reazon.jp>

openarm_bimanual_moveit_config/.setup_assistant

@@ -0,0 +1,42 @@
+# Copyright 2025 Enactic, 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_description
+    relative_path: urdf/robot/v10.urdf.xacro
+    xacro_args: bimanual:=true
+  srdf:
+    relative_path: config/openarm_bimanual.srdf
+  package_settings:
+    author_name: Enactic, Inc.
+    author_email: openarm_dev@enactic.ai
+    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/CMakeLists.txt

@@ -0,0 +1,30 @@
+# Copyright 2025 Enactic, 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.
+
+cmake_minimum_required(VERSION 3.22)
+project(openarm_bimanual_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
+
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch")
+  install(
+    DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+    PATTERN "setup_assistant.launch" EXCLUDE)
+endif()
+
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})

openarm_bimanual_moveit_config/config/initial_positions.yaml

@@ -0,0 +1,32 @@
+# Copyright 2025 Enactic, 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's ros2_control fake system
+initial_positions:
+  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

@@ -0,0 +1,104 @@
+# Copyright 2025 Enactic, 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.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+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:
+  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: 16.754666
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint2:
+   has_velocity_limits: true
+   max_velocity: 16.754666
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint3:
+   has_velocity_limits: true
+   max_velocity: 5.445426
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint4:
+   has_velocity_limits: true
+   max_velocity: 5.445426
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint5:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint6:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint7:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   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: 16.754666
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint2:
+   has_velocity_limits: true
+   max_velocity: 16.754666
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint3:
+   has_velocity_limits: true
+   max_velocity: 5.445426
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint4:
+   has_velocity_limits: true
+   max_velocity: 5.445426
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint5:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint6:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint7:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0

openarm_bimanual_moveit_config/config/kinematics.yaml

@@ -0,0 +1,24 @@
+# Copyright 2025 Enactic, 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
+  kinematics_solver_timeout: 0.0050000000000000001
+
+right_arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001

openarm_bimanual_moveit_config/config/moveit.rviz

@@ -0,0 +1,447 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+      Splitter Ratio: 0.5
+    Tree Height: 254
+  - Class: rviz_common/Help
+    Name: Help
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          openarm_body_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_hand_tcp:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          openarm_left_left_finger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          openarm_left_right_finger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_hand_tcp:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          openarm_right_left_finger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          openarm_right_right_finger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Loop Animation: true
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: display_planned_path
+        Use Sim Time: false
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 20; 93; 250
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: upper_body
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          openarm_body_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_hand_tcp:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          openarm_left_left_finger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_left_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          openarm_left_right_finger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_hand_tcp:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          openarm_right_left_finger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          openarm_right_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          openarm_right_right_finger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.3624029159545898
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.05883333832025528
+        Y: 0.2625991404056549
+        Z: 0.3334124982357025
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.31999996304512024
+      Target Frame: world
+      Value: Orbit (rviz_default_plugins)
+      Yaw: 0.16200032830238342
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Width: 1280
+  Height: 720
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000001000000000000036a000006f0fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007000fffffffb000000100044006900730070006c0061007900730100000069000001ec0000017800fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002610000036f0000028e00fffffffb0000000800480065006c0070000000029a0000006e000000cf00fffffffb0000000a0056006900650077007301000005dc0000017d0000012300ffffff0000096a000006f000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  X: 0
+  Y: 64

openarm_bimanual_moveit_config/config/moveit_controllers.yaml

@@ -0,0 +1,62 @@
+# Copyright 2025 Enactic, 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 uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - left_joint_trajectory_controller
+    - right_joint_trajectory_controller
+    - left_gripper_controller
+    - right_gripper_controller
+
+  left_joint_trajectory_controller:
+    type: FollowJointTrajectory
+    joints:
+      - openarm_left_joint1
+      - openarm_left_joint2
+      - openarm_left_joint3
+      - openarm_left_joint4
+      - openarm_left_joint5
+      - openarm_left_joint6
+      - openarm_left_joint7
+    action_ns: follow_joint_trajectory
+    default: true
+  right_joint_trajectory_controller:
+    type: FollowJointTrajectory
+    joints:
+      - openarm_right_joint1
+      - openarm_right_joint2
+      - openarm_right_joint3
+      - openarm_right_joint4
+      - openarm_right_joint5
+      - openarm_right_joint6
+      - openarm_right_joint7
+    action_ns: follow_joint_trajectory
+    default: true
+  left_gripper_controller:
+    type: GripperCommand
+    joints:
+      - openarm_left_finger_joint1
+    action_ns: gripper_cmd
+    default: true
+  right_gripper_controller:
+    type: GripperCommand
+    joints:
+      - openarm_right_finger_joint1
+    action_ns: gripper_cmd
+    default: true

openarm_bimanual_moveit_config/config/openarm_bimanual.srdf

@@ -0,0 +1,252 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--
+　Copyright 2025 Enactic, 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.
+-->
+
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="openarm">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="left_arm">
+        <joint name="openarm_left_joint1"/>
+        <joint name="openarm_left_joint2"/>
+        <joint name="openarm_left_joint3"/>
+        <joint name="openarm_left_joint4"/>
+        <joint name="openarm_left_joint5"/>
+        <joint name="openarm_left_joint6"/>
+        <joint name="openarm_left_joint7"/>
+    </group>
+    <group name="right_arm">
+        <joint name="openarm_right_joint1"/>
+        <joint name="openarm_right_joint2"/>
+        <joint name="openarm_right_joint3"/>
+        <joint name="openarm_right_joint4"/>
+        <joint name="openarm_right_joint5"/>
+        <joint name="openarm_right_joint6"/>
+        <joint name="openarm_right_joint7"/>
+    </group>    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group name="left_gripper">
+        <joint name="openarm_left_finger_joint1"/>
+    </group>
+    <group name="right_gripper">
+        <joint name="openarm_right_finger_joint1"/>
+    </group>
+    <group_state name="home" group="left_arm">
+        <joint name="openarm_left_joint1" value="0"/>
+        <joint name="openarm_left_joint2" value="0"/>
+        <joint name="openarm_left_joint3" value="0"/>
+        <joint name="openarm_left_joint4" value="0"/>
+        <joint name="openarm_left_joint5" value="0"/>
+        <joint name="openarm_left_joint6" value="0"/>
+        <joint name="openarm_left_joint7" value="0"/>
+    </group_state>
+        <group_state name="home" group="right_arm">
+        <joint name="openarm_right_joint1" value="0"/>
+        <joint name="openarm_right_joint2" value="0"/>
+        <joint name="openarm_right_joint3" value="0"/>
+        <joint name="openarm_right_joint4" value="0"/>
+        <joint name="openarm_right_joint5" value="0"/>
+        <joint name="openarm_right_joint6" value="0"/>
+        <joint name="openarm_right_joint7" value="0"/>
+    </group_state>
+    <group_state name="hands_up" group="left_arm">
+        <joint name="openarm_left_joint1" value="0"/>
+        <joint name="openarm_left_joint2" value="0"/>
+        <joint name="openarm_left_joint3" value="0"/>
+        <joint name="openarm_left_joint4" value="2"/>
+        <joint name="openarm_left_joint5" value="0"/>
+        <joint name="openarm_left_joint6" value="0"/>
+        <joint name="openarm_left_joint7" value="0"/>
+    </group_state>
+    <group_state name="hands_up" group="right_arm">
+        <joint name="openarm_right_joint1" value="0"/>
+        <joint name="openarm_right_joint2" value="0"/>
+        <joint name="openarm_right_joint3" value="0"/>
+        <joint name="openarm_right_joint4" value="2"/>
+        <joint name="openarm_right_joint5" value="0"/>
+        <joint name="openarm_right_joint6" value="0"/>
+        <joint name="openarm_right_joint7" value="0"/>
+    </group_state>
+    <group_state name="closed" group="left_gripper">
+        <joint name="openarm_left_finger_joint1" value="0"/>
+    </group_state>
+    <group_state name="closed" group="right_gripper">
+        <joint name="openarm_right_finger_joint1" value="0"/>
+    </group_state>
+    <group_state name="half closed" group="left_gripper">
+        <joint name="openarm_left_finger_joint1" value="0.022"/>
+    </group_state>
+    <group_state name="half_closed" group="right_gripper">
+        <joint name="openarm_right_finger_joint1" value="0.022"/>
+    </group_state>
+    <group_state name="open" group="left_gripper">
+        <joint name="openarm_left_finger_joint1" value="0.044"/>
+    </group_state>
+    <group_state name="open" group="right_gripper">
+        <joint name="openarm_right_finger_joint1" value="0.044"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="left_ee" parent_link="openarm_left_hand" group="left_gripper"/>
+    <end_effector name="right_ee" parent_link="openarm_right_hand" group="right_gripper"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="openarm_left_finger_joint2"/>
+    <passive_joint name="openarm_right_finger_joint2"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="openarm_body_link0" link2="openarm_left_link0" reason="Adjacent"/>
+    <disable_collisions link1="openarm_body_link0" link2="openarm_left_link1" reason="Never"/>
+    <disable_collisions link1="openarm_body_link0" link2="openarm_left_link2" reason="Never"/>
+    <disable_collisions link1="openarm_body_link0" link2="openarm_left_link3" reason="Never"/>
+    <disable_collisions link1="openarm_body_link0" link2="openarm_right_link0" reason="Adjacent"/>
+    <disable_collisions link1="openarm_body_link0" link2="openarm_right_link1" reason="Never"/>
+    <disable_collisions link1="openarm_body_link0" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_body_link0" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_hand" link2="openarm_left_left_finger" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_hand" link2="openarm_left_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_hand" link2="openarm_left_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_hand" link2="openarm_left_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_hand" link2="openarm_left_link5" reason="Never"/>
+    <disable_collisions link1="openarm_left_hand" link2="openarm_left_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_hand" link2="openarm_left_link7" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_hand" link2="openarm_left_right_finger" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_hand" link2="openarm_right_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_left_left_finger" link2="openarm_left_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_left_finger" link2="openarm_left_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_left_finger" link2="openarm_left_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_left_finger" link2="openarm_left_link5" reason="Never"/>
+    <disable_collisions link1="openarm_left_left_finger" link2="openarm_left_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_left_finger" link2="openarm_left_link7" reason="Never"/>
+    <disable_collisions link1="openarm_left_left_finger" link2="openarm_left_right_finger" reason="Default"/>
+    <disable_collisions link1="openarm_left_link0" link2="openarm_left_link1" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_link0" link2="openarm_left_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_link0" link2="openarm_left_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_link0" link2="openarm_left_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_link0" link2="openarm_right_link0" reason="Never"/>
+    <disable_collisions link1="openarm_left_link0" link2="openarm_right_link1" reason="Never"/>
+    <disable_collisions link1="openarm_left_link0" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_link0" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_link0" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_left_link2" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_left_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_left_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_left_link5" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_left_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_right_link0" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_right_link1" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_right_link5" reason="Never"/>
+    <disable_collisions link1="openarm_left_link1" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_left_link3" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_left_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_left_link5" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_left_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_left_link7" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_left_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_right_link0" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_right_link1" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_right_link5" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_link2" link2="openarm_right_link7" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_left_link4" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_left_link5" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_left_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_left_link7" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_left_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_right_link0" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_right_link1" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_link3" link2="openarm_right_link5" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_left_link5" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_left_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_left_link7" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_left_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_right_link0" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_right_link1" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_right_link5" reason="Never"/>
+    <disable_collisions link1="openarm_left_link4" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_link5" link2="openarm_left_link6" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_link5" link2="openarm_left_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_left_link5" link2="openarm_right_link1" reason="Never"/>
+    <disable_collisions link1="openarm_left_link5" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_link5" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_link5" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_left_link6" link2="openarm_left_link7" reason="Adjacent"/>
+    <disable_collisions link1="openarm_left_link6" link2="openarm_left_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_left_link6" link2="openarm_right_link1" reason="Never"/>
+    <disable_collisions link1="openarm_left_link6" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_left_link6" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_left_link6" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_left_link7" link2="openarm_left_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_left_link7" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_right_hand" link2="openarm_right_left_finger" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_hand" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_right_hand" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_right_hand" link2="openarm_right_link5" reason="Never"/>
+    <disable_collisions link1="openarm_right_hand" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_right_hand" link2="openarm_right_link7" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_hand" link2="openarm_right_right_finger" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_left_finger" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_right_left_finger" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_right_left_finger" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_right_left_finger" link2="openarm_right_link5" reason="Never"/>
+    <disable_collisions link1="openarm_right_left_finger" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_right_left_finger" link2="openarm_right_link7" reason="Never"/>
+    <disable_collisions link1="openarm_right_left_finger" link2="openarm_right_right_finger" reason="Default"/>
+    <disable_collisions link1="openarm_right_link0" link2="openarm_right_link1" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_link0" link2="openarm_right_link2" reason="Never"/>
+    <disable_collisions link1="openarm_right_link0" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_right_link0" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_right_link1" link2="openarm_right_link2" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_link1" link2="openarm_right_link3" reason="Never"/>
+    <disable_collisions link1="openarm_right_link1" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_right_link1" link2="openarm_right_link5" reason="Never"/>
+    <disable_collisions link1="openarm_right_link1" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_right_link2" link2="openarm_right_link3" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_link2" link2="openarm_right_link4" reason="Never"/>
+    <disable_collisions link1="openarm_right_link2" link2="openarm_right_link5" reason="Never"/>
+    <disable_collisions link1="openarm_right_link2" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_right_link2" link2="openarm_right_link7" reason="Never"/>
+    <disable_collisions link1="openarm_right_link2" link2="openarm_right_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_right_link3" link2="openarm_right_link4" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_link3" link2="openarm_right_link5" reason="Never"/>
+    <disable_collisions link1="openarm_right_link3" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_right_link3" link2="openarm_right_link7" reason="Never"/>
+    <disable_collisions link1="openarm_right_link3" link2="openarm_right_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_right_link4" link2="openarm_right_link5" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_link4" link2="openarm_right_link6" reason="Never"/>
+    <disable_collisions link1="openarm_right_link4" link2="openarm_right_link7" reason="Never"/>
+    <disable_collisions link1="openarm_right_link4" link2="openarm_right_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_right_link5" link2="openarm_right_link6" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_link5" link2="openarm_right_link7" reason="Never"/>
+    <disable_collisions link1="openarm_right_link5" link2="openarm_right_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_right_link6" link2="openarm_right_link7" reason="Adjacent"/>
+    <disable_collisions link1="openarm_right_link6" link2="openarm_right_right_finger" reason="Never"/>
+    <disable_collisions link1="openarm_right_link7" link2="openarm_right_right_finger" reason="Never"/>
+</robot>

openarm_bimanual_moveit_config/config/openarm_bimanual.urdf.xacro

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<!--
+　Copyright 2025 Enactic, 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.
+-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
+    <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
+    <xacro:arg name="hardware_type" default="real" />
+
+    <!-- Import openarm_bimanual urdf file -->
+    <xacro:include filename="$(find openarm_description)/urdf/robot/v10.urdf.xacro" />
+
+    <link name="base_link"/>
+    <joint name="world_to_pedestal" type="fixed">
+        <parent link="world"/>
+        <child link="base_link"/>
+        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    </joint>
+
+</robot>

openarm_bimanual_moveit_config/config/pilz_cartesian_limits.yaml

@@ -0,0 +1,20 @@
+# Copyright 2025 Enactic, 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.
+
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57

openarm_bimanual_moveit_config/config/ros2_controllers.yaml

@@ -0,0 +1,85 @@
+# Copyright 2025 Enactic, 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.
+
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100 # Hz
+
+    left_arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    right_arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+    left_gripper_controller:
+      type: position_controllers/GripperActionController
+
+    right_gripper_controller:
+      type: position_controllers/GripperActionController
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+left_arm_controller:
+  ros__parameters:
+    joints:
+      - openarm_left_joint1
+      - openarm_left_joint2
+      - openarm_left_joint3
+      - openarm_left_joint4
+      - openarm_left_joint5
+      - openarm_left_joint6
+      - openarm_left_joint7
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+      - effort
+
+right_arm_controller:
+  ros__parameters:
+    joints:
+      - openarm_right_joint1
+      - openarm_right_joint2
+      - openarm_right_joint3
+      - openarm_right_joint4
+      - openarm_right_joint5
+      - openarm_right_joint6
+      - openarm_right_joint7
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+      - effort
+
+left_gripper_controller:
+  ros__parameters:
+    joints:
+      - openarm_left_finger_joint1
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+
+right_gripper_controller:
+  ros__parameters:
+    joints:
+      - openarm_right_finger_joint1
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position

openarm_bimanual_moveit_config/config/sensors_3d.yaml

@@ -0,0 +1,27 @@
+# This file is used to configure the 3D sensors for the robot.
+# It is a placeholder for now. Configure the sensors to use the correct topics and parameters.
+sensors:
+  - default_sensor
+  - kinect_depthimage
+default_sensor:
+  far_clipping_plane_distance: 5.0
+  filtered_cloud_topic: filtered_cloud
+  image_topic: /head_mount_kinect/depth_registered/image_raw
+  max_update_rate: 1.0
+  near_clipping_plane_distance: 0.3
+  padding_offset: 0.03
+  padding_scale: 4.0
+  queue_size: 5
+  sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
+  shadow_threshold: 0.2
+kinect_depthimage:
+  far_clipping_plane_distance: 5.0
+  filtered_cloud_topic: filtered_cloud
+  image_topic: /head_mount_kinect/depth_registered/image_raw
+  max_update_rate: 1.0
+  near_clipping_plane_distance: 0.3
+  padding_offset: 0.03
+  padding_scale: 4.0
+  queue_size: 5
+  sensor_plugin: occupancy_map_monitor/DepthImageOctomapUpdater
+  shadow_threshold: 0.2

openarm_bimanual_moveit_config/launch/demo.launch.py

@@ -0,0 +1,260 @@
+# Copyright 2025 Enactic, 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.
+
+import os
+import xacro
+from ament_index_python.packages import (
+    get_package_share_directory,
+)
+from launch import LaunchDescription, LaunchContext
+from launch.actions import (
+    DeclareLaunchArgument,
+    TimerAction,
+    OpaqueFunction,
+)
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from moveit_configs_utils import MoveItConfigsBuilder
+
+
+def generate_robot_description(
+    context: LaunchContext,
+    description_package,
+    description_file,
+    arm_type,
+    use_fake_hardware,
+    right_can_interface,
+    left_can_interface,
+    arm_prefix,
+):
+    """Render Xacro and return XML string."""
+    description_package_str = context.perform_substitution(description_package)
+    description_file_str = context.perform_substitution(description_file)
+    arm_type_str = context.perform_substitution(arm_type)
+    use_fake_hardware_str = context.perform_substitution(use_fake_hardware)
+    right_can_interface_str = context.perform_substitution(right_can_interface)
+    left_can_interface_str = context.perform_substitution(left_can_interface)
+    arm_prefix_str = context.perform_substitution(arm_prefix)
+
+    xacro_path = os.path.join(
+        get_package_share_directory(description_package_str),
+        "urdf",
+        "robot",
+        description_file_str,
+    )
+
+    robot_description = xacro.process_file(
+        xacro_path,
+        mappings={
+            "arm_type": arm_type_str,
+            "bimanual": "true",
+            "use_fake_hardware": use_fake_hardware_str,
+            "ros2_control": "true",
+            "left_can_interface": left_can_interface_str,
+            "right_can_interface": right_can_interface_str,
+            # arm_prefix unused inside xacro but kept for completeness
+        },
+    ).toprettyxml(indent="  ")
+
+    return robot_description
+
+
+def robot_nodes_spawner(
+    context: LaunchContext,
+    description_package,
+    description_file,
+    arm_type,
+    use_fake_hardware,
+    controllers_file,
+    right_can_interface,
+    left_can_interface,
+    arm_prefix,
+):
+    robot_description = generate_robot_description(
+        context,
+        description_package,
+        description_file,
+        arm_type,
+        use_fake_hardware,
+        right_can_interface,
+        left_can_interface,
+        arm_prefix,
+    )
+
+    controllers_file_str = context.perform_substitution(controllers_file)
+    robot_description_param = {"robot_description": robot_description}
+
+    robot_state_pub_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="screen",
+        parameters=[robot_description_param],
+    )
+
+    control_node = Node(
+        package="controller_manager",
+        executable="ros2_control_node",
+        output="both",
+        parameters=[robot_description_param, controllers_file_str],
+    )
+
+    return [robot_state_pub_node, control_node]
+
+
+def controller_spawner(context: LaunchContext, robot_controller):
+    robot_controller_str = context.perform_substitution(robot_controller)
+
+    if robot_controller_str == "forward_position_controller":
+        left = "left_forward_position_controller"
+        right = "right_forward_position_controller"
+    elif robot_controller_str == "joint_trajectory_controller":
+        left = "left_joint_trajectory_controller"
+        right = "right_joint_trajectory_controller"
+    else:
+        raise ValueError(f"Unknown robot_controller: {robot_controller_str}")
+
+    return [
+        Node(
+            package="controller_manager",
+            executable="spawner",
+            arguments=[left, right, "-c", "/controller_manager"],
+        )
+    ]
+
+
+def generate_launch_description():
+    declared_arguments = [
+        DeclareLaunchArgument(
+            "description_package",
+            default_value="openarm_description",
+        ),
+        DeclareLaunchArgument(
+            "description_file",
+            default_value="v10.urdf.xacro",
+        ),
+        DeclareLaunchArgument("arm_type", default_value="v10"),
+        DeclareLaunchArgument("use_fake_hardware", default_value="false"),
+        DeclareLaunchArgument(
+            "robot_controller",
+            default_value="joint_trajectory_controller",
+            choices=["forward_position_controller",
+                     "joint_trajectory_controller"],
+        ),
+        DeclareLaunchArgument(
+            "runtime_config_package", default_value="openarm_bringup"
+        ),
+        DeclareLaunchArgument("arm_prefix", default_value=""),
+        DeclareLaunchArgument("right_can_interface", default_value="can0"),
+        DeclareLaunchArgument("left_can_interface", default_value="can1"),
+        DeclareLaunchArgument(
+            "controllers_file",
+            default_value="openarm_v10_bimanual_controllers.yaml",
+        ),
+    ]
+
+    description_package = LaunchConfiguration("description_package")
+    description_file = LaunchConfiguration("description_file")
+    arm_type = LaunchConfiguration("arm_type")
+    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    robot_controller = LaunchConfiguration("robot_controller")
+    runtime_config_package = LaunchConfiguration("runtime_config_package")
+    controllers_file = LaunchConfiguration("controllers_file")
+    right_can_interface = LaunchConfiguration("right_can_interface")
+    left_can_interface = LaunchConfiguration("left_can_interface")
+    arm_prefix = LaunchConfiguration("arm_prefix")
+
+    controllers_file = PathJoinSubstitution(
+        [FindPackageShare(runtime_config_package), "config",
+         "v10_controllers", controllers_file]
+    )
+
+    robot_nodes_spawner_func = OpaqueFunction(
+        function=robot_nodes_spawner,
+        args=[
+            description_package,
+            description_file,
+            arm_type,
+            use_fake_hardware,
+            controllers_file,
+            right_can_interface,
+            left_can_interface,
+            arm_prefix,
+        ],
+    )
+
+    jsb_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["joint_state_broadcaster",
+                   "--controller-manager", "/controller_manager"],
+    )
+
+    controller_spawner_func = OpaqueFunction(
+        function=controller_spawner, args=[robot_controller])
+
+    gripper_spawner = Node(
+        package="controller_manager",
+        executable="spawner",
+        arguments=["left_gripper_controller",
+                   "right_gripper_controller", "-c", "/controller_manager"],
+    )
+
+    delayed_jsb = TimerAction(period=2.0, actions=[jsb_spawner])
+    delayed_arm_ctrl = TimerAction(
+        period=1.0, actions=[controller_spawner_func])
+    delayed_gripper = TimerAction(period=1.0, actions=[gripper_spawner])
+
+    moveit_config = MoveItConfigsBuilder(
+        "openarm", package_name="openarm_bimanual_moveit_config"
+    ).to_moveit_configs()
+
+    moveit_params = moveit_config.to_dict()
+
+    run_move_group_node = Node(
+        package="moveit_ros_move_group",
+        executable="move_group",
+        output="screen",
+        parameters=[moveit_params],
+    )
+
+    rviz_cfg = os.path.join(
+        get_package_share_directory(
+            "openarm_bimanual_moveit_config"), "config", "moveit.rviz"
+    )
+
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_cfg],
+        parameters=[moveit_params],
+    )
+
+    return LaunchDescription(
+        declared_arguments
+        + [
+            robot_nodes_spawner_func,
+            delayed_jsb,
+            delayed_arm_ctrl,
+            delayed_gripper,
+            run_move_group_node,
+            rviz_node,
+        ]
+    )

openarm_bimanual_moveit_config/launch/move_group.launch.py

@@ -0,0 +1,8 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_move_group_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder(
+        "openarm", package_name="openarm_bimanual_moveit_config").to_moveit_configs()
+    return generate_move_group_launch(moveit_config)

openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py

@@ -0,0 +1,8 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_moveit_rviz_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder(
+        "openarm", package_name="openarm_bimanual_moveit_config").to_moveit_configs()
+    return generate_moveit_rviz_launch(moveit_config)

openarm_bimanual_moveit_config/launch/setup_assistant.launch.py

@@ -0,0 +1,8 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_setup_assistant_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder(
+        "openarm", package_name="openarm_bimanual_moveit_config").to_moveit_configs()
+    return generate_setup_assistant_launch(moveit_config)

openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py

@@ -0,0 +1,8 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_spawn_controllers_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder(
+        "openarm", package_name="openarm_bimanual_moveit_config").to_moveit_configs()
+    return generate_spawn_controllers_launch(moveit_config)

openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py

@@ -0,0 +1,8 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder(
+        "openarm", package_name="openarm_bimanual_moveit_config").to_moveit_configs()
+    return generate_static_virtual_joint_tfs_launch(moveit_config)

openarm_bimanual_moveit_config/package.xml

@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<!--
+　Copyright 2025 Enactic, 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.
+-->
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>openarm_bimanual_moveit_config</name>
+  <version>0.3.0</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the openarm with the MoveIt Motion Planning Framework
+  </description>
+  <maintainer email="openarm_dev@enactic.ai">Enactic, Inc.</maintainer>
+
+  <license>Apache-2.0</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit2</url>
+
+  <author email="openarm_dev@enactic.ai">Enactic, Inc.</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
+  <exec_depend>openarm_description</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>rviz_common</exec_depend>
+  <exec_depend>rviz_default_plugins</exec_depend>
+
+
+  <export>
+      <build_type>ament_cmake</build_type>
+  </export>
+</package>

openarm_bringup/README.md

@@ -7,7 +7,7 @@ This package provides launch files to bring up the OpenArm robot system.
 Launch the OpenArm with v1.0 configuration and fake hardware:
 
 ```bash
-ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 use_fake_hardware:=true
+ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 hardware_type:=real
 ```
 
 ## Launch Files
@@ -18,7 +18,7 @@ ros2 launch openarm_bringup openarm.launch.py arm_type:=v10 use_fake_hardware:=t
 ## Key Parameters
 
 - `arm_type` - Arm type (default: v10)
-- `use_fake_hardware` - Use fake hardware instead of real hardware (default: false)
+- `hardware_type` - Use real/mock/mujoco hardware (default: real)
 - `can_interface` - CAN interface to use (default: can0)
 - `robot_controller` - Controller type: `joint_trajectory_controller` or `forward_position_controller`
 

openarm_bringup/launch/openarm.bimanual.launch.py

@@ -37,13 +37,13 @@ def namespace_from_context(context, arm_prefix):
 
 
 def generate_robot_description(context: LaunchContext, description_package, description_file,
-                               arm_type, use_fake_hardware, right_can_interface, left_can_interface):
+                               arm_type, hardware_type, right_can_interface, left_can_interface):
     """Generate robot description using xacro processing."""
 
     description_package_str = context.perform_substitution(description_package)
     description_file_str = context.perform_substitution(description_file)
     arm_type_str = context.perform_substitution(arm_type)
-    use_fake_hardware_str = context.perform_substitution(use_fake_hardware)
+    hardware_type_str = context.perform_substitution(hardware_type)
     right_can_interface_str = context.perform_substitution(right_can_interface)
     left_can_interface_str = context.perform_substitution(left_can_interface)
 
@@ -58,7 +58,7 @@ def generate_robot_description(context: LaunchContext, description_package, desc
         mappings={
             "arm_type": arm_type_str,
             "bimanual": "true",
-            "use_fake_hardware": use_fake_hardware_str,
+            "hardware_type": hardware_type_str,
             "ros2_control": "true",
             "right_can_interface": right_can_interface_str,
             "left_can_interface": left_can_interface_str,
@@ -69,12 +69,12 @@ def generate_robot_description(context: LaunchContext, description_package, desc
 
 
 def robot_nodes_spawner(context: LaunchContext, description_package, description_file,
-                        arm_type, use_fake_hardware, controllers_file, right_can_interface, left_can_interface, arm_prefix):
+                        arm_type, hardware_type, controllers_file, right_can_interface, left_can_interface, arm_prefix):
     """Spawn both robot state publisher and control nodes with shared robot description."""
     namespace = namespace_from_context(context, arm_prefix)
 
     robot_description = generate_robot_description(
-        context, description_package, description_file, arm_type, use_fake_hardware, right_can_interface, left_can_interface,
+        context, description_package, description_file, arm_type, hardware_type, right_can_interface, left_can_interface,
     )
 
     controllers_file_str = context.perform_substitution(controllers_file)
@@ -153,9 +153,9 @@ def generate_launch_description():
             description="Type of arm (e.g., v10).",
         ),
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "hardware_type",
-            default_value="false",
+            default_value="real",
-            description="Use fake hardware instead of real hardware.",
+            description="Use real/mock/mujoco hardware.",
         ),
         DeclareLaunchArgument(
             "robot_controller",
@@ -195,7 +195,7 @@ def generate_launch_description():
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     arm_type = LaunchConfiguration("arm_type")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    hardware_type = LaunchConfiguration("hardware_type")
     robot_controller = LaunchConfiguration("robot_controller")
     runtime_config_package = LaunchConfiguration("runtime_config_package")
     controllers_file = LaunchConfiguration("controllers_file")
@@ -211,7 +211,7 @@ def generate_launch_description():
     robot_nodes_spawner_func = OpaqueFunction(
         function=robot_nodes_spawner,
         args=[description_package, description_file, arm_type,
-              use_fake_hardware, controllers_file, rightcan_interface, left_can_interface, arm_prefix]
+              hardware_type, controllers_file, rightcan_interface, left_can_interface, arm_prefix]
     )
 
     rviz_config_file = PathJoinSubstitution(

openarm_bringup/launch/openarm.launch.py

@@ -30,14 +30,14 @@ from launch_ros.substitutions import FindPackageShare
 
 
 def generate_robot_description(context: LaunchContext, description_package, description_file,
-                               arm_type, use_fake_hardware, can_interface, arm_prefix):
+                               arm_type, hardware_type, can_interface, arm_prefix):
     """Generate robot description using xacro processing."""
 
     # Substitute launch configuration values
     description_package_str = context.perform_substitution(description_package)
     description_file_str = context.perform_substitution(description_file)
     arm_type_str = context.perform_substitution(arm_type)
-    use_fake_hardware_str = context.perform_substitution(use_fake_hardware)
+    hardware_type_str = context.perform_substitution(hardware_type)
     can_interface_str = context.perform_substitution(can_interface)
     arm_prefix_str = context.perform_substitution(arm_prefix)
 
@@ -53,7 +53,7 @@ def generate_robot_description(context: LaunchContext, description_package, desc
         mappings={
             "arm_type": arm_type_str,
             "bimanual": "false",
-            "use_fake_hardware": use_fake_hardware_str,
+            "hardware_type": hardware_type_str,
             "ros2_control": "true",
             "can_interface": can_interface_str,
             "arm_prefix": arm_prefix_str,
@@ -64,12 +64,12 @@ def generate_robot_description(context: LaunchContext, description_package, desc
 
 
 def robot_nodes_spawner(context: LaunchContext, description_package, description_file,
-                        arm_type, use_fake_hardware, controllers_file, can_interface, arm_prefix):
+                        arm_type, hardware_type, controllers_file, can_interface, arm_prefix):
     """Spawn both robot state publisher and control nodes with shared robot description."""
 
     # Generate robot description once
     robot_description = generate_robot_description(
-        context, description_package, description_file, arm_type, use_fake_hardware, can_interface, arm_prefix
+        context, description_package, description_file, arm_type, hardware_type, can_interface, arm_prefix
     )
 
     # Get controllers file path
@@ -117,9 +117,9 @@ def generate_launch_description():
             description="Type of arm (e.g., v10).",
         ),
         DeclareLaunchArgument(
-            "use_fake_hardware",
+            "hardware_type",
-            default_value="false",
+            default_value="real",
-            description="Use fake hardware instead of real hardware.",
+            description="Use real/mock/mujoco hardware.",
         ),
         DeclareLaunchArgument(
             "robot_controller",
@@ -154,7 +154,7 @@ def generate_launch_description():
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     arm_type = LaunchConfiguration("arm_type")
-    use_fake_hardware = LaunchConfiguration("use_fake_hardware")
+    hardware_type = LaunchConfiguration("hardware_type")
     robot_controller = LaunchConfiguration("robot_controller")
     runtime_config_package = LaunchConfiguration("runtime_config_package")
     controllers_file = LaunchConfiguration("controllers_file")
@@ -170,7 +170,7 @@ def generate_launch_description():
     robot_nodes_spawner_func = OpaqueFunction(
         function=robot_nodes_spawner,
         args=[description_package, description_file, arm_type,
-              use_fake_hardware, controllers_file, can_interface, arm_prefix]
+              hardware_type, controllers_file, can_interface, arm_prefix]
     )
     # RViz configuration
     rviz_config_file = PathJoinSubstitution(