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Remove moveit from main (#44)

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- As it is still work in progress, we will keep the experiments in
`moveit2` branch.
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Yue Yin 2025-07-23 16:25:21 +09:00 committed by GitHub
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1
openarm/package.xml
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@ -24,7 +24,6 @@
<buildtool_depend>ament_cmake</buildtool_depend> <buildtool_depend>ament_cmake</buildtool_depend>
<exec_depend>openarm_bimanual_moveit_config</exec_depend>
<exec_depend>openarm_bringup</exec_depend> <exec_depend>openarm_bringup</exec_depend>
<exec_depend>openarm_description</exec_depend> <exec_depend>openarm_description</exec_depend>
<exec_depend>openarm_hardware</exec_depend> <exec_depend>openarm_hardware</exec_depend>

24
openarm_bimanual_moveit_config/.setup_assistant
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@ -1,24 +0,0 @@
# 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
srdf:
relative_path: config/openarm_bimanual.srdf
package_settings:
author_name: Thomason Zhou
author_email: t95zhou@uwaterloo.ca
generated_timestamp: 1745486864

30
openarm_bimanual_moveit_config/CMakeLists.txt
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@ -1,30 +0,0 @@
# 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.
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})

202
openarm_bimanual_moveit_config/LICENSE
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@ -1,202 +0,0 @@
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19
openarm_bimanual_moveit_config/README.md
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@ -1,19 +0,0 @@
# MoveIt2 on Bimanual Openarms
Ensure the ROS2 packages and dependencies are installed by following the instructions in `openarm_ros2/README.md`.
## Physical Hardware
1. Run `init_can.sh` from `openarm_bringup/utils`.
By default, can0 is the right arm and can1 is the left arm, but this can be adjusted in the ros2_control definition in `openarm_description/urdf/openarm.ros2_control.xacro`.
2. Optionally, start the head-mounted realsense camera. This enables the octomap occupancy grid for planning around obstacles.
```sh
ros2 launch openarm_bimanual_bringup depth_camera.launch.py
```
## Launch the demo
```sh
ros2 launch openarm_bimanual_moveit_config demo.launch.py
```

33
openarm_bimanual_moveit_config/config/initial_positions.yaml
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@ -1,33 +0,0 @@
# 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
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

104
openarm_bimanual_moveit_config/config/joint_limits.yaml
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@ -1,104 +0,0 @@
# 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.
# 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:
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

34
openarm_bimanual_moveit_config/config/kinematics.yaml
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@ -1,34 +0,0 @@
# 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
kinematics_solver_timeout: 0.0050000000000000001
left_side:
kinematics_solver: cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin
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
right_side:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001
upper_body:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.0050000000000000001

562
openarm_bimanual_moveit_config/config/moveit.rviz
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@ -1,562 +0,0 @@
# 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.
Panels:
- Class: rviz_common/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- /MotionPlanning1/Planning Request1
Splitter Ratio: 0.5
Tree Height: 160
- 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
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
camera_accel_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_accel_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_gyro_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_gyro_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra1_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra1_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra2_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra2_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_dummy_link:
Alpha: 1
Show Axes: false
Show Trail: false
left_gripper_center:
Alpha: 1
Show Axes: false
Show Trail: false
left_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link8:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link_left_jaw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link_right_jaw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pedestal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_dummy_link:
Alpha: 1
Show Axes: false
Show Trail: false
right_gripper_center:
Alpha: 1
Show Axes: false
Show Trail: false
right_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link8:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link_left_jaw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link_right_jaw:
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: 250; 128; 0
Interactive Marker Size: 0.15000000596046448
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
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
camera_accel_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_accel_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_bottom_screw_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_color_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_color_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_depth_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_gyro_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_gyro_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra1_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra1_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra2_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_infra2_optical_frame:
Alpha: 1
Show Axes: false
Show Trail: false
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_dummy_link:
Alpha: 1
Show Axes: false
Show Trail: false
left_gripper_center:
Alpha: 1
Show Axes: false
Show Trail: false
left_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link8:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link_left_jaw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_link_right_jaw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
pedestal_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_dummy_link:
Alpha: 1
Show Axes: false
Show Trail: false
right_gripper_center:
Alpha: 1
Show Axes: false
Show Trail: false
right_link1:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link2:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link3:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link4:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link5:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link6:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link7:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link8:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link_left_jaw:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_link_right_jaw:
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: 3.150280475616455
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.10000000149011612
Y: 0.25
Z: 0.30000001192092896
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.5
Target Frame: world
Value: Orbit (rviz_default_plugins)
Yaw: -0.6230000257492065
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 975
Help:
collapsed: false
Hide Left Dock: false
Hide Right Dock: false
MotionPlanning:
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000017d00fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Views:
collapsed: false
Width: 1200
X: 120
Y: 27

61
openarm_bimanual_moveit_config/config/moveit_controllers.yaml
View File

@ -1,61 +0,0 @@
# 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 uses this configuration for controller management
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names:
- left_arm_controller
- right_arm_controller
- left_gripper_controller
- right_gripper_controller
left_arm_controller:
type: FollowJointTrajectory
joints:
- left_rev1
- left_rev2
- left_rev3
- left_rev4
- left_rev5
- left_rev6
- left_rev7
action_ns: follow_joint_trajectory
default: true
right_arm_controller:
type: FollowJointTrajectory
joints:
- right_rev1
- right_rev2
- right_rev3
- right_rev4
- right_rev5
- right_rev6
- right_rev7
action_ns: follow_joint_trajectory
default: true
left_gripper_controller:
type: GripperCommand
joints:
- left_gripper
action_ns: gripper_cmd
default: true
right_gripper_controller:
type: GripperCommand
joints:
- right_gripper
action_ns: gripper_cmd
default: true

456
openarm_bimanual_moveit_config/config/openarm_bimanual.srdf
View File

@ -1,456 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--
　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.
-->
<!--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_bimanual">
<!--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">
<link name="left_link1"/>
<link name="left_link2"/>
<link name="left_link3"/>
<link name="left_link4"/>
<link name="left_link5"/>
<link name="left_link6"/>
<link name="left_link7"/>
<link name="left_link8"/>
<link name="left_gripper_center"/>
<joint name="left_rev1"/>
<joint name="left_rev2"/>
<joint name="left_rev3"/>
<joint name="left_rev4"/>
<joint name="left_rev5"/>
<joint name="left_rev6"/>
<joint name="left_rev7"/>
<joint name="left_virtual_gripper_center"/>
<chain base_link="left_link1" tip_link="left_link8"/>
</group>
<group name="right_arm">
<link name="right_link1"/>
<link name="right_link2"/>
<link name="right_link3"/>
<link name="right_link4"/>
<link name="right_link5"/>
<link name="right_link6"/>
<link name="right_link7"/>
<link name="right_link8"/>
<link name="right_gripper_center"/>
<joint name="right_rev1"/>
<joint name="right_rev2"/>
<joint name="right_rev3"/>
<joint name="right_rev4"/>
<joint name="right_rev5"/>
<joint name="right_rev6"/>
<joint name="right_rev7"/>
<joint name="right_virtual_gripper_center"/>
<chain base_link="right_link1" tip_link="right_link8"/>
</group>
<group name="left_gripper">
<link name="left_link_left_jaw"/>
<joint name="left_gripper"/>
</group>
<group name="right_gripper">
<link name="right_link_left_jaw"/>
<joint name="right_gripper"/>
</group>
<group name="left_side">
<group name="left_arm"/>
<group name="left_gripper"/>
</group>
<group name="right_side">
<group name="right_gripper"/>
<group name="right_arm"/>
</group>
<group name="upper_body">
<group name="left_side"/>
<group name="right_side"/>
</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_state name="home" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="0"/>
<joint name="left_rev2" value="0"/>
<joint name="left_rev3" value="0"/>
<joint name="left_rev4" value="0"/>
<joint name="left_rev5" value="0"/>
<joint name="left_rev6" value="0"/>
<joint name="left_rev7" value="0"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="0"/>
<joint name="right_rev2" value="0"/>
<joint name="right_rev3" value="0"/>
<joint name="right_rev4" value="0"/>
<joint name="right_rev5" value="0"/>
<joint name="right_rev6" value="0"/>
<joint name="right_rev7" value="0"/>
</group_state>
<group_state name="ready" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="0.2"/>
<joint name="left_rev2" value="0"/>
<joint name="left_rev3" value="0"/>
<joint name="left_rev4" value="1"/>
<joint name="left_rev5" value="0"/>
<joint name="left_rev6" value="0"/>
<joint name="left_rev7" value="0"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="-0.2"/>
<joint name="right_rev2" value="0"/>
<joint name="right_rev3" value="0"/>
<joint name="right_rev4" value="1"/>
<joint name="right_rev5" value="0"/>
<joint name="right_rev6" value="0"/>
<joint name="right_rev7" value="0"/>
</group_state>
<group_state name="open" group="left_gripper">
<joint name="left_gripper" value="0"/>
</group_state>
<group_state name="half_closed" group="left_gripper">
<joint name="left_gripper" value="-0.0225"/>
</group_state>
<group_state name="closed" group="left_gripper">
<joint name="left_gripper" value="-0.0451"/>
</group_state>
<group_state name="open" group="right_gripper">
<joint name="right_gripper" value="0"/>
</group_state>
<group_state name="half_closed" group="right_gripper">
<joint name="right_gripper" value="-0.0225"/>
</group_state>
<group_state name="center grip" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="0.2"/>
<joint name="left_rev2" value="0"/>
<joint name="left_rev3" value="0.3384"/>
<joint name="left_rev4" value="1.3519"/>
<joint name="left_rev5" value="0"/>
<joint name="left_rev6" value="0"/>
<joint name="left_rev7" value="0"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="-0.2"/>
<joint name="right_rev2" value="0"/>
<joint name="right_rev3" value="-0.5"/>
<joint name="right_rev4" value="1.8379"/>
<joint name="right_rev5" value="0.0116"/>
<joint name="right_rev6" value="-0.2517"/>
<joint name="right_rev7" value="0.0053"/>
</group_state>
<group_state name="hands_up" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="0.1"/>
<joint name="left_rev2" value="0"/>
<joint name="left_rev3" value="0"/>
<joint name="left_rev4" value="2.5"/>
<joint name="left_rev5" value="0"/>
<joint name="left_rev6" value="0"/>
<joint name="left_rev7" value="0"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="-0.1"/>
<joint name="right_rev2" value="0"/>
<joint name="right_rev3" value="0"/>
<joint name="right_rev4" value="2.5"/>
<joint name="right_rev5" value="0"/>
<joint name="right_rev6" value="0"/>
<joint name="right_rev7" value="0"/>
</group_state>
<group_state name="wave_1" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="0.1"/>
<joint name="left_rev2" value="0"/>
<joint name="left_rev3" value="-0.5179"/>
<joint name="left_rev4" value="2.4627"/>
<joint name="left_rev5" value="-0.0116"/>
<joint name="left_rev6" value="-0.5814"/>
<joint name="left_rev7" value="0"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="-0.1"/>
<joint name="right_rev2" value="0"/>
<joint name="right_rev3" value="0"/>
<joint name="right_rev4" value="0"/>
<joint name="right_rev5" value="0"/>
<joint name="right_rev6" value="0"/>
<joint name="right_rev7" value="0"/>
</group_state>
<group_state name="wave_2" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="0.1"/>
<joint name="left_rev2" value="0"/>
<joint name="left_rev3" value="0.4541"/>
<joint name="left_rev4" value="2.4627"/>
<joint name="left_rev5" value="-0.0116"/>
<joint name="left_rev6" value="-0.5814"/>
<joint name="left_rev7" value="0"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="-0.1"/>
<joint name="right_rev2" value="0"/>
<joint name="right_rev3" value="0"/>
<joint name="right_rev4" value="0"/>
<joint name="right_rev5" value="0"/>
<joint name="right_rev6" value="0"/>
<joint name="right_rev7" value="0"/>
</group_state>
<group_state name="x" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="-0.2965"/>
<joint name="left_rev2" value="-0.1745"/>
<joint name="left_rev3" value="0.4513"/>
<joint name="left_rev4" value="1.9092"/>
<joint name="left_rev5" value="0.5207"/>
<joint name="left_rev6" value="-0.3384"/>
<joint name="left_rev7" value="-0.0795"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="0.4715"/>
<joint name="right_rev2" value="-0.1224"/>
<joint name="right_rev3" value="-1.0298"/>
<joint name="right_rev4" value="2.0827"/>
<joint name="right_rev5" value="-0.4513"/>
<joint name="right_rev6" value="0"/>
<joint name="right_rev7" value="0"/>
</group_state>
<group_state name="swing_arm_left_forward" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="-0.6147"/>
<joint name="left_rev2" value="-0.0356"/>
<joint name="left_rev3" value="0.081"/>
<joint name="left_rev4" value="0"/>
<joint name="left_rev5" value="0.5207"/>
<joint name="left_rev6" value="-0.3384"/>
<joint name="left_rev7" value="-0.0795"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="-0.3876"/>
<joint name="right_rev2" value="0.0858"/>
<joint name="right_rev3" value="-0.567"/>
<joint name="right_rev4" value="0"/>
<joint name="right_rev5" value="-0.4513"/>
<joint name="right_rev6" value="0"/>
<joint name="right_rev7" value="0"/>
</group_state>
<group_state name="swing_arm_right_forward" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="0.2762"/>
<joint name="left_rev2" value="0.1553"/>
<joint name="left_rev3" value="0.081"/>
<joint name="left_rev4" value="0"/>
<joint name="left_rev5" value="-0.4281"/>
<joint name="left_rev6" value="-0.3384"/>
<joint name="left_rev7" value="-0.0795"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="0.4556"/>
<joint name="right_rev2" value="-0.0009"/>
<joint name="right_rev3" value="-0.567"/>
<joint name="right_rev4" value="0.0723"/>
<joint name="right_rev5" value="0.243"/>
<joint name="right_rev6" value="0"/>
<joint name="right_rev7" value="0"/>
</group_state>
<group_state name="siu" group="upper_body">
<joint name="left_gripper" value="0"/>
<joint name="left_rev1" value="0.4512"/>
<joint name="left_rev2" value="0.2421"/>
<joint name="left_rev3" value="0.081"/>
<joint name="left_rev4" value="0"/>
<joint name="left_rev5" value="-0.4281"/>
<joint name="left_rev6" value="-0.3384"/>
<joint name="left_rev7" value="-0.1326"/>
<joint name="right_gripper" value="0"/>
<joint name="right_rev1" value="-0.4035"/>
<joint name="right_rev2" value="0.19"/>
<joint name="right_rev3" value="-0.567"/>
<joint name="right_rev4" value="0.0723"/>
<joint name="right_rev5" value="0.243"/>
<joint name="right_rev6" value="0"/>
<joint name="right_rev7" value="0"/>
</group_state>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="left_gripper" parent_link="left_link8" group="left_gripper" parent_group="left_side"/>
<end_effector name="right_gripper" parent_link="right_link8" group="right_gripper" parent_group="right_side"/>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="base_link" child_link="pedestal_link"/>
<!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
<passive_joint name="left_gripper_mimic"/>
<passive_joint name="right_gripper_mimic"/>
<!--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="camera_link" link2="pedestal_link" reason="Adjacent"/>
<disable_collisions link1="left_link1" link2="left_link2" reason="Adjacent"/>
<disable_collisions link1="left_link1" link2="left_link3" reason="User"/>
<disable_collisions link1="left_link1" link2="left_link4" reason="User"/>
<disable_collisions link1="left_link1" link2="left_link5" reason="Never"/>
<disable_collisions link1="left_link1" link2="pedestal_link" reason="Adjacent"/>
<disable_collisions link1="left_link1" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link1" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link1" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link1" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link1" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link1" link2="right_link6" reason="Never"/>
<disable_collisions link1="left_link1" link2="right_link7" reason="Never"/>
<disable_collisions link1="left_link1" link2="right_link8" reason="Never"/>
<disable_collisions link1="left_link1" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link2" link2="left_link3" reason="Adjacent"/>
<disable_collisions link1="left_link2" link2="left_link4" reason="Never"/>
<disable_collisions link1="left_link2" link2="left_link5" reason="Never"/>
<disable_collisions link1="left_link2" link2="left_link6" reason="Never"/>
<disable_collisions link1="left_link2" link2="left_link7" reason="Never"/>
<disable_collisions link1="left_link2" link2="pedestal_link" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link6" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link7" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link8" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link2" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link3" link2="left_link4" reason="Adjacent"/>
<disable_collisions link1="left_link3" link2="left_link5" reason="Never"/>
<disable_collisions link1="left_link3" link2="pedestal_link" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link6" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link7" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link8" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link3" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link4" link2="left_link5" reason="Adjacent"/>
<disable_collisions link1="left_link4" link2="left_link7" reason="Never"/>
<disable_collisions link1="left_link4" link2="left_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link4" link2="left_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link4" link2="pedestal_link" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link6" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link7" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link8" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link4" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link5" link2="left_link6" reason="Adjacent"/>
<disable_collisions link1="left_link5" link2="left_link7" reason="Never"/>
<disable_collisions link1="left_link5" link2="left_link8" reason="Never"/>
<disable_collisions link1="left_link5" link2="left_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link5" link2="left_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link5" link2="pedestal_link" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link6" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link7" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link8" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link5" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link6" link2="left_link7" reason="Adjacent"/>
<disable_collisions link1="left_link6" link2="left_link8" reason="Default"/>
<disable_collisions link1="left_link6" link2="left_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link6" link2="left_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link6" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link6" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link6" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link6" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link6" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link6" link2="right_link6" reason="Never"/>
<disable_collisions link1="left_link6" link2="right_link7" reason="Never"/>
<disable_collisions link1="left_link6" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link6" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link7" link2="left_link8" reason="Adjacent"/>
<disable_collisions link1="left_link7" link2="left_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link7" link2="left_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link7" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link7" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link7" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link7" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link7" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link7" link2="right_link6" reason="Never"/>
<disable_collisions link1="left_link7" link2="right_link7" reason="Never"/>
<disable_collisions link1="left_link7" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link7" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link8" link2="left_link_left_jaw" reason="Adjacent"/>
<disable_collisions link1="left_link8" link2="left_link_right_jaw" reason="Adjacent"/>
<disable_collisions link1="left_link8" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link8" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link8" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link8" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link8" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link8" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link8" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="left_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link6" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link7" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link8" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link_left_jaw" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="left_link_right_jaw" link2="right_link1" reason="Never"/>
<disable_collisions link1="left_link_right_jaw" link2="right_link2" reason="Never"/>
<disable_collisions link1="left_link_right_jaw" link2="right_link3" reason="Never"/>
<disable_collisions link1="left_link_right_jaw" link2="right_link4" reason="Never"/>
<disable_collisions link1="left_link_right_jaw" link2="right_link5" reason="Never"/>
<disable_collisions link1="left_link_right_jaw" link2="right_link6" reason="Never"/>
<disable_collisions link1="left_link_right_jaw" link2="right_link7" reason="Never"/>
<disable_collisions link1="left_link_right_jaw" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="left_link_right_jaw" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="pedestal_link" link2="right_link1" reason="Adjacent"/>
<disable_collisions link1="pedestal_link" link2="right_link2" reason="Never"/>
<disable_collisions link1="pedestal_link" link2="right_link3" reason="Never"/>
<disable_collisions link1="pedestal_link" link2="right_link4" reason="Never"/>
<disable_collisions link1="pedestal_link" link2="right_link5" reason="Never"/>
<disable_collisions link1="right_link1" link2="right_link2" reason="Adjacent"/>
<disable_collisions link1="right_link1" link2="right_link3" reason="User"/>
<disable_collisions link1="right_link1" link2="right_link4" reason="User"/>
<disable_collisions link1="right_link1" link2="right_link5" reason="Never"/>
<disable_collisions link1="right_link2" link2="right_link3" reason="Adjacent"/>
<disable_collisions link1="right_link2" link2="right_link4" reason="Never"/>
<disable_collisions link1="right_link2" link2="right_link5" reason="Never"/>
<disable_collisions link1="right_link2" link2="right_link6" reason="Never"/>
<disable_collisions link1="right_link2" link2="right_link7" reason="Never"/>
<disable_collisions link1="right_link3" link2="right_link4" reason="Adjacent"/>
<disable_collisions link1="right_link3" link2="right_link5" reason="Never"/>
<disable_collisions link1="right_link4" link2="right_link5" reason="Adjacent"/>
<disable_collisions link1="right_link4" link2="right_link7" reason="Never"/>
<disable_collisions link1="right_link4" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="right_link4" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="right_link5" link2="right_link6" reason="Adjacent"/>
<disable_collisions link1="right_link5" link2="right_link7" reason="Never"/>
<disable_collisions link1="right_link5" link2="right_link8" reason="Never"/>
<disable_collisions link1="right_link5" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="right_link5" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="right_link6" link2="right_link7" reason="Adjacent"/>
<disable_collisions link1="right_link6" link2="right_link8" reason="Default"/>
<disable_collisions link1="right_link6" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="right_link6" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="right_link7" link2="right_link8" reason="Adjacent"/>
<disable_collisions link1="right_link7" link2="right_link_left_jaw" reason="Never"/>
<disable_collisions link1="right_link7" link2="right_link_right_jaw" reason="Never"/>
<disable_collisions link1="right_link8" link2="right_link_left_jaw" reason="Adjacent"/>
<disable_collisions link1="right_link8" link2="right_link_right_jaw" reason="Adjacent"/>
<disable_collisions link1="right_link_left_jaw" link2="right_link_right_jaw" reason="Never"/>
</robot>

31
openarm_bimanual_moveit_config/config/openarm_bimanual.urdf.xacro
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@ -1,31 +0,0 @@
<?xml version="1.0"?>
<!--
　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.
-->
<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_bimanual_description)/urdf/openarm_bimanual.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>

20
openarm_bimanual_moveit_config/config/pilz_cartesian_limits.yaml
View File

@ -1,20 +0,0 @@
# 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.
# 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

147
openarm_bimanual_moveit_config/config/ros2_controllers.yaml
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@ -1,147 +0,0 @@
# 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.
# 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
left_side_controller:
type: joint_trajectory_controller/JointTrajectoryController
right_side_controller:
type: joint_trajectory_controller/JointTrajectoryController
upper_body_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
left_arm_controller:
ros__parameters:
joints:
- left_rev1
- left_rev2
- left_rev3
- left_rev4
- left_rev5
- left_rev6
- left_rev7
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
right_arm_controller:
ros__parameters:
joints:
- right_rev1
- right_rev2
- right_rev3
- right_rev4
- right_rev5
- right_rev6
- right_rev7
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
left_gripper_controller:
ros__parameters:
joint: left_gripper
right_gripper_controller:
ros__parameters:
joint: right_gripper
left_side_controller:
ros__parameters:
joints:
- left_rev1
- left_rev2
- left_rev3
- left_rev4
- left_rev5
- left_rev6
- left_rev7
- left_gripper
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
right_side_controller:
ros__parameters:
joints:
- right_rev1
- right_rev2
- right_rev3
- right_rev4
- right_rev5
- right_rev6
- right_rev7
- right_gripper
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity
upper_body_controller:
ros__parameters:
joints:
- left_rev1
- left_rev2
- left_rev3
- left_rev4
- left_rev5
- left_rev6
- left_rev7
- left_gripper
- right_rev1
- right_rev2
- right_rev3
- right_rev4
- right_rev5
- right_rev6
- right_rev7
- right_gripper
command_interfaces:
- position
- velocity
state_interfaces:
- position
- velocity

37
openarm_bimanual_moveit_config/config/sensors_3d.yaml
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@ -1,37 +0,0 @@
# 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.
sensors:
- default_sensor
- kinect_depthimage
default_sensor:
filtered_cloud_topic: filtered_cloud
max_range: 5.0
max_update_rate: 1.0
padding_offset: 0.1
padding_scale: 1.0
point_cloud_topic: /camera/camera/depth/color/points
point_subsample: 1
sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
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

66
openarm_bimanual_moveit_config/launch/demo.launch.py
View File

@ -1,66 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_demo_launch
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution, FindExecutable
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
declared_arguments = []
declared_arguments.append(
DeclareLaunchArgument(
"hardware_type",
default_value="real",
description="Hardware interface type: 'real', 'sim' (MuJoCo), or 'mock'",
)
)
declared_arguments.append(
DeclareLaunchArgument(
"mock_sensor_commands",
default_value="false",
description="Enable writable sensor interfaces when using mock hardware",
)
)
hardware_type = LaunchConfiguration("hardware_type")
mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
moveit_config = (
MoveItConfigsBuilder("openarm_bimanual",
package_name="openarm_bimanual_moveit_config")
.robot_description(
file_path="config/openarm_bimanual.urdf.xacro",
mappings={
"hardware_type": hardware_type,
"mock_sensor_commands": mock_sensor_commands,
},
)
.to_moveit_configs()
)
demo_ld = generate_demo_launch(moveit_config)
ld = LaunchDescription()
for arg in declared_arguments:
ld.add_action(arg)
for entity in demo_ld.entities:
ld.add_action(entity)
return ld

23
openarm_bimanual_moveit_config/launch/move_group.launch.py
View File

@ -1,23 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_move_group_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder(
"openarm_bimanual", package_name="openarm_bimanual_moveit_config"
).to_moveit_configs()
return generate_move_group_launch(moveit_config)

23
openarm_bimanual_moveit_config/launch/moveit_rviz.launch.py
View File

@ -1,23 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_moveit_rviz_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder(
"openarm_bimanual", package_name="openarm_bimanual_moveit_config"
).to_moveit_configs()
return generate_moveit_rviz_launch(moveit_config)

23
openarm_bimanual_moveit_config/launch/rsp.launch.py
View File

@ -1,23 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_rsp_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder(
"openarm_bimanual", package_name="openarm_bimanual_moveit_config"
).to_moveit_configs()
return generate_rsp_launch(moveit_config)

23
openarm_bimanual_moveit_config/launch/setup_assistant.launch.py
View File

@ -1,23 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_setup_assistant_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder(
"openarm_bimanual", package_name="openarm_bimanual_moveit_config"
).to_moveit_configs()
return generate_setup_assistant_launch(moveit_config)

23
openarm_bimanual_moveit_config/launch/spawn_controllers.launch.py
View File

@ -1,23 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_spawn_controllers_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder(
"openarm_bimanual", package_name="openarm_bimanual_moveit_config"
).to_moveit_configs()
return generate_spawn_controllers_launch(moveit_config)

23
openarm_bimanual_moveit_config/launch/static_virtual_joint_tfs.launch.py
View File

@ -1,23 +0,0 @@
# 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.
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_bimanual", package_name="openarm_bimanual_moveit_config"
).to_moveit_configs()
return generate_static_virtual_joint_tfs_launch(moveit_config)

23
openarm_bimanual_moveit_config/launch/warehouse_db.launch.py
View File

@ -1,23 +0,0 @@
# 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.
from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_warehouse_db_launch
def generate_launch_description():
moveit_config = MoveItConfigsBuilder(
"openarm_bimanual", package_name="openarm_bimanual_moveit_config"
).to_moveit_configs()
return generate_warehouse_db_launch(moveit_config)

67
openarm_bimanual_moveit_config/package.xml
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@ -1,67 +0,0 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<!--
　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.
-->
<package format="3">
<name>openarm_bimanual_moveit_config</name>
<version>1.0.0</version>
<description>
An automatically generated package with all the configuration and launch files for using the openarm_bimanual with the MoveIt Motion Planning Framework
</description>
<maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</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="t95zhou@uwaterloo.ca">Thomason Zhou</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>
<!-- The next 2 packages are required for the gazebo simulation.
We don't include them by default to prevent installing gazebo and all its dependencies. -->
<!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
<!-- <exec_depend>gazebo_ros_control</exec_depend> -->
<exec_depend>controller_manager</exec_depend>
<exec_depend>moveit_configs_utils</exec_depend>
<exec_depend>moveit_ros_move_group</exec_depend>
<exec_depend>moveit_ros_visualization</exec_depend>
<exec_depend>moveit_ros_perception</exec_depend>
<exec_depend>moveit_setup_assistant</exec_depend>
<exec_depend>openarm_bimanual_description</exec_depend>
<exec_depend>robot_state_publisher</exec_depend>
<exec_depend>ros2_control</exec_depend>
<exec_depend>ros2_controllers</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>rviz_common</exec_depend>
<exec_depend>rviz_default_plugins</exec_depend>
<exec_depend>tf2_ros</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>