Add mujoco ros2 control (#26)

Add support for simulated openarm hardware with MuJoCo backend.

.docker/Dockerfile

@@ -0,0 +1,14 @@
+FROM ghcr.io/reazon-research/ros2:humble
+
+COPY ros_entrypoint.sh /ros_entrypoint.sh
+RUN . /opt/ros/humble/setup.sh && \
+    apt update && \
+    apt install nlohmann-json3-dev -y && \
+    mkdir --parents ~/ros2_ws/src && \
+    git clone --branch main https://github.com/reazon-research/openarm_ros2.git ~/ros2_ws/src/openarm_ros2 && \
+    cd ~/ros2_ws && \
+    rosdep install --from-paths src --ignore-src -r -y && \
+    colcon build --symlink-install && \
+    chmod +x /ros_entrypoint.sh
+
+ENTRYPOINT [ "/ros_entrypoint.sh" ]

.docker/README.md

@@ -0,0 +1,27 @@
+# Docker GUI Forwarding
+
+On Linux:
+```sh
+host +local:root
+```
+
+```sh
+docker run --env DISPLAY=$DISPLAY \
+--volume /tmp/.X11-unix:/tmp/.X11-unix \
+--network=host \
+-it ghcr.io/reazon-research/openarm:v0.3 \
+/bin/bash
+```
+
+Open the MuJoCo sim at
+[https://thomasonzhou.github.io/mujoco_anywhere/](https://thomasonzhou.github.io/mujoco_anywhere/)
+
+```sh
+. ~/ros2_ws/install/setup.bash && \
+ros2 launch -d openarm_bimanual_moveit_config demo.launch.py hardware_type:=sim
+```
+
+# To build the latest image (v0.3)
+```sh
+docker build --no-cache -t ghcr.io/reazon-research/openarm:v0.3 .
+```

.docker/ros_entrypoint.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+source /opt/ros/humble/setup.sh
+source ~/ros2_ws/install/setup.bash
+
+exec "$@"

openarm/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.22)
 project(openarm)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

openarm/package.xml

@@ -30,6 +30,7 @@
   <exec_depend>openarm_bringup</exec_depend>
   <exec_depend>openarm_description</exec_depend>
   <exec_depend>openarm_hardware</exec_depend>
+  <exec_depend>openarm_mujoco_hardware</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

openarm_bimanual_bringup/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.22)
 project(openarm_bimanual_bringup)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

openarm_bimanual_bringup/launch/depth_camera.launch.py

@@ -22,9 +22,11 @@ def generate_launch_description():
     realsense_share_dir = FindPackageShare("realsense2_camera")
     rs_launch_path = [realsense_share_dir, "/launch/rs_launch.py"]
 
-    return LaunchDescription([
+    return LaunchDescription(
+        [
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(rs_launch_path),
-            launch_arguments={"pointcloud.enable": "true"}.items()
+                launch_arguments={"pointcloud.enable": "true"}.items(),
+            )
+        ]
     )
-    ])

openarm_bimanual_bringup/launch/start_teleop.launch.py

@@ -38,7 +38,8 @@ def generate_launch_description():
 
     use_sim_time = LaunchConfiguration("use_sim_time")
     use_sim_time_launch_arg = DeclareLaunchArgument(
-        name="use_sim_time", default_value="false")
+        name="use_sim_time", default_value="false"
+    )
 
     robot_state_publisher_node = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -63,8 +64,11 @@ def generate_launch_description():
     }
 
     controller_params = PathJoinSubstitution(
-        [FindPackageShare(package="openarm_bimanual_bringup"),
+        [
-         "config", "controllers.yaml"]
+            FindPackageShare(package="openarm_bimanual_bringup"),
+            "config",
+            "controllers.yaml",
+        ]
     )
 
     controller_manager = Node(

openarm_bimanual_description/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.22)
 project(openarm_bimanual_description)
 
 find_package(ament_cmake REQUIRED)

openarm_bimanual_description/launch/description.launch.py

@@ -25,15 +25,16 @@ from launch_ros.parameter_descriptions import ParameterValue
 
 def generate_launch_description():
     pkg_share = Path(
-        launch_ros.substitutions.FindPackageShare(package="openarm_bimanual_description").find(
+        launch_ros.substitutions.FindPackageShare(
-            "openarm_bimanual_description"
+            package="openarm_bimanual_description"
-        )
+        ).find("openarm_bimanual_description")
     )
     default_model_path = pkg_share / "urdf/openarm_bimanual.urdf.xacro"
 
     use_sim_time = LaunchConfiguration("use_sim_time")
     use_sim_time_launch_arg = DeclareLaunchArgument(
-        "use_sim_time", default_value="true")
+        "use_sim_time", default_value="true"
+    )
 
     robot_state_publisher_node = launch_ros.actions.Node(
         package="robot_state_publisher",

openarm_bimanual_description/launch/display.launch.py

@@ -25,9 +25,9 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 def generate_launch_description():
     pkg_share = Path(
-        launch_ros.substitutions.FindPackageShare(package="openarm_bimanual_description").find(
+        launch_ros.substitutions.FindPackageShare(
-            "openarm_bimanual_description"
+            package="openarm_bimanual_description"
-        )
+        ).find("openarm_bimanual_description")
     )
     default_model_path = pkg_share / "urdf/openarm_bimanual.urdf.xacro"
     default_rviz_config_path = pkg_share / "rviz/robot_description.rviz"

openarm_bimanual_description/launch/gazebo.launch.py

@@ -37,7 +37,8 @@ def generate_launch_description():
     # Make path to resources dir without last package_name fragment.
     path_to_share_dir_clipped = "".join(
         get_package_share_directory(resources_package).rsplit(
-            "/" + resources_package, 1)
+            "/" + resources_package, 1
+        )
     )
 
     # Gazebo hint for resources.
@@ -57,10 +58,12 @@ def generate_launch_description():
 
     use_custom_world = LaunchConfiguration("use_custom_world")
     use_custom_world_launch_arg = DeclareLaunchArgument(
-        "use_custom_world", default_value="true")
+        "use_custom_world", default_value="true"
+    )
     gazebo_world = LaunchConfiguration("gazebo_world")
     gazebo_world_launch_arg = DeclareLaunchArgument(
-        "gazebo_world", default_value="empty.sdf")
+        "gazebo_world", default_value="empty.sdf"
+    )
 
     # prepare custom world
     world = os.getenv("GZ_SIM_WORLD", "empty")
@@ -78,9 +81,11 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py"),
         ),
-        launch_arguments=launch_arguments
+        launch_arguments=(
+            launch_arguments
             if use_custom_world
-        else dict(gz_args="-r " + gazebo_world + " --verbose").items(),
+            else dict(gz_args="-r " + gazebo_world + " --verbose").items()
+        ),
     )
 
     # Spawn
@@ -104,7 +109,8 @@ def generate_launch_description():
 
     use_sim_time = LaunchConfiguration("use_sim_time")
     use_sim_time_launch_arg = DeclareLaunchArgument(
-        "use_sim_time", default_value="true")
+        "use_sim_time", default_value="true"
+    )
     use_rviz = LaunchConfiguration("use_rviz")
     use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value="true")
 

openarm_bimanual_description/urdf/openarm_bimanual.urdf

@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro | -->
+<!-- |    This document was autogenerated by xacro from openarm_bimanual.urdf.xacro    | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <!--
@@ -171,6 +171,7 @@
   <!-- side right, left -->
   <!-- recommended prefixes left_, right_, etc. -->
   <!-- zero_pos up, arm -->
+  <!-- ros2_control configuration is handled separately in openarm.urdf.xacro -->
   <link name="right_dummy_link"/>
   <joint name="right_dummy_joint" type="fixed">
     <parent link="right_dummy_link"/>
@@ -426,20 +427,21 @@
     <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.9599310885968811" upper="0.9599310885968811" velocity="0.0"/>
   </joint>
-  <joint name="right_left_pris1" type="prismatic">
+  <!-- this is used as the actuator interface, the other gripper mimics motion -->
+  <joint name="right_gripper" type="prismatic">
     <parent link="right_link8"/>
     <child link="right_link_left_jaw"/>
     <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
     <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
   </joint>
-  <joint name="right_right_pris2" type="prismatic">
+  <joint name="right_gripper_mimic" type="prismatic">
     <parent link="right_link8"/>
     <child link="right_link_right_jaw"/>
     <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
     <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
-    <mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
+    <mimic joint="right_gripper" multiplier="-1.0" offset="0.0"/>
   </joint>
   <joint name="right_virtual_gripper_center" type="fixed">
     <parent link="right_link8"/>
@@ -454,6 +456,7 @@
   <!-- side right, left -->
   <!-- recommended prefixes left_, right_, etc. -->
   <!-- zero_pos up, arm -->
+  <!-- ros2_control configuration is handled separately in openarm.urdf.xacro -->
   <link name="left_dummy_link"/>
   <joint name="left_dummy_joint" type="fixed">
     <parent link="left_dummy_link"/>
@@ -709,20 +712,21 @@
     <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.9599310885968811" upper="0.9599310885968811" velocity="0.0"/>
   </joint>
-  <joint name="left_left_pris1" type="prismatic">
+  <!-- this is used as the actuator interface, the other gripper mimics motion -->
+  <joint name="left_gripper" type="prismatic">
     <parent link="left_link8"/>
     <child link="left_link_left_jaw"/>
     <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
     <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
   </joint>
-  <joint name="left_right_pris2" type="prismatic">
+  <joint name="left_gripper_mimic" type="prismatic">
     <parent link="left_link8"/>
     <child link="left_link_right_jaw"/>
     <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
     <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
-    <mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
+    <mimic joint="left_gripper" multiplier="-1.0" offset="0.0"/>
   </joint>
   <joint name="left_virtual_gripper_center" type="fixed">
     <parent link="left_link8"/>
@@ -743,64 +747,69 @@
     <joint name="right_rev1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="right_rev2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="right_rev3">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="right_rev4">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="right_rev5">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="right_rev6">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="right_rev7">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
-    <joint name="right_left_pris1">
+    <joint name="right_gripper">
       <command_interface name="position"/>
       <state_interface name="position"/>
       <state_interface name="velocity"/>
     </joint>
+    <!-- <joint name="${prefix}gripper_mimic">
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_mimic']}</param>
+                </state_interface>
+            </joint> -->
   </ros2_control>
   <ros2_control name="left_LeftOpenArmHW" type="system">
     <hardware>
@@ -811,63 +820,68 @@
     <joint name="left_rev1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="left_rev2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="left_rev3">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="left_rev4">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="left_rev5">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="left_rev6">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="left_rev7">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
-    <joint name="left_left_pris1">
+    <joint name="left_gripper">
       <command_interface name="position"/>
       <state_interface name="position"/>
       <state_interface name="velocity"/>
     </joint>
+    <!-- <joint name="${prefix}gripper_mimic">
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_mimic']}</param>
+                </state_interface>
+            </joint> -->
   </ros2_control>
 </robot>

openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro

@@ -15,6 +15,7 @@
 　limitations under the License.
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
+  <xacro:arg name="hardware_type" default="real" />
 
   <!-- Robot description parameters -->
   <xacro:arg name="prefix" default="" />
@@ -22,7 +23,7 @@
   <!-- Control-related parameters -->
   <xacro:arg name="right_can_device" default="can0" />
   <xacro:arg name="left_can_device" default="can1" />
-  <xacro:arg name="use_mock_hardware" default="false" />
+  <xacro:arg name="hardware_type" default="real" />
   <xacro:arg name="mock_sensor_commands" default="false" />
 
   <xacro:include filename="$(find openarm_description)/urdf/openarm.robot.xacro"/>
@@ -55,7 +56,7 @@
   <xacro:arg name="right_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
   <xacro:arg name="left_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
 
-  <xacro:openarm_ros2_control name="RightOpenArmHW" prefix="right_" initial_positions_file="$(arg right_initial_positions_file)" can_device="$(arg right_can_device)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
+  <xacro:openarm_ros2_control name="RightOpenArmHW" prefix="right_" initial_positions_file="$(arg right_initial_positions_file)" can_device="$(arg right_can_device)" hardware_type="$(arg hardware_type)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
-  <xacro:openarm_ros2_control name="LeftOpenArmHW" prefix="left_" initial_positions_file="$(arg left_initial_positions_file)" can_device="$(arg left_can_device)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
+  <xacro:openarm_ros2_control name="LeftOpenArmHW" prefix="left_" initial_positions_file="$(arg left_initial_positions_file)" can_device="$(arg left_can_device)" hardware_type="$(arg hardware_type)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
 
 </robot>

openarm_bimanual_moveit_config/config/initial_positions.yaml

@@ -15,7 +15,7 @@
 # Default initial positions for openarm_bimanual's ros2_control fake system
 
 initial_positions:
-  left_left_pris1: 0
+  left_gripper: 0
   left_rev1: 0
   left_rev2: 0
   left_rev3: 0
@@ -23,7 +23,7 @@ initial_positions:
   left_rev5: 0
   left_rev6: 0
   left_rev7: 0
-  right_left_pris1: 0
+  right_gripper: 0
   right_rev1: 0
   right_rev2: 0
   right_rev3: 0

openarm_bimanual_moveit_config/config/joint_limits.yaml

@@ -22,7 +22,7 @@ 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_left_pris1:
+  left_gripper:
     has_velocity_limits: true
     max_velocity: 0.10000000000000001
     has_acceleration_limits: false
@@ -62,7 +62,7 @@ joint_limits:
     max_velocity: 0
     has_acceleration_limits: false
     max_acceleration: 0
-  right_left_pris1:
+  right_gripper:
     has_velocity_limits: true
     max_velocity: 0.10000000000000001
     has_acceleration_limits: false

openarm_bimanual_moveit_config/config/moveit_controllers.yaml

@@ -50,12 +50,12 @@ moveit_simple_controller_manager:
   left_gripper_controller:
     type: GripperCommand
     joints:
-      - left_left_pris1
+      - left_gripper
     action_ns: gripper_cmd
     default: true
   right_gripper_controller:
     type: GripperCommand
     joints:
-      - right_left_pris1
+      - right_gripper
     action_ns: gripper_cmd
     default: true

openarm_bimanual_moveit_config/config/openarm_bimanual.ros2_control.xacro

@@ -1,157 +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">
-    <xacro:macro name="openarm_bimanual_ros2_control" params="name initial_positions_file">
-        <xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
-
-        <ros2_control name="${name}" type="system">
-            <hardware>
-                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
-                <plugin>mock_components/GenericSystem</plugin>
-            </hardware>
-            <joint name="left_rev1">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['left_rev1']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="left_rev2">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['left_rev2']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="left_rev3">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['left_rev3']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="left_rev4">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['left_rev4']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="left_rev5">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['left_rev5']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="left_rev6">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['left_rev6']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="left_rev7">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['left_rev7']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="right_rev1">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['right_rev1']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="right_rev2">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['right_rev2']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="right_rev3">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['right_rev3']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="right_rev4">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['right_rev4']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="right_rev5">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['right_rev5']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="right_rev6">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['right_rev6']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="right_rev7">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['right_rev7']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="left_left_pris1">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['left_left_pris1']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="right_left_pris1">
-                <command_interface name="position"/>
-                <command_interface name="velocity"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['right_left_pris1']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-
-        </ros2_control>
-    </xacro:macro>
-</robot>

openarm_bimanual_moveit_config/config/openarm_bimanual.srdf

@@ -66,11 +66,11 @@
     </group>
     <group name="left_gripper">
         <link name="left_link_left_jaw"/>
-        <joint name="left_left_pris1"/>
+        <joint name="left_gripper"/>
     </group>
     <group name="right_gripper">
         <link name="right_link_left_jaw"/>
-        <joint name="right_left_pris1"/>
+        <joint name="right_gripper"/>
     </group>
     <group name="left_side">
         <group name="left_arm"/>
@@ -86,7 +86,7 @@
     </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_left_pris1" value="0"/>
+        <joint name="left_gripper" value="0"/>
         <joint name="left_rev1" value="0"/>
         <joint name="left_rev2" value="0"/>
         <joint name="left_rev3" value="0"/>
@@ -94,7 +94,7 @@
         <joint name="left_rev5" value="0"/>
         <joint name="left_rev6" value="0"/>
         <joint name="left_rev7" value="0"/>
-        <joint name="right_left_pris1" 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"/>
@@ -104,7 +104,7 @@
         <joint name="right_rev7" value="0"/>
     </group_state>
     <group_state name="ready" group="upper_body">
-        <joint name="left_left_pris1" value="0"/>
+        <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"/>
@@ -112,7 +112,7 @@
         <joint name="left_rev5" value="0"/>
         <joint name="left_rev6" value="0"/>
         <joint name="left_rev7" value="0"/>
-        <joint name="right_left_pris1" 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"/>
@@ -122,22 +122,22 @@
         <joint name="right_rev7" value="0"/>
     </group_state>
     <group_state name="open" group="left_gripper">
-        <joint name="left_left_pris1" value="0"/>
+        <joint name="left_gripper" value="0"/>
     </group_state>
     <group_state name="half_closed" group="left_gripper">
-        <joint name="left_left_pris1" value="-0.0225"/>
+        <joint name="left_gripper" value="-0.0225"/>
     </group_state>
     <group_state name="closed" group="left_gripper">
-        <joint name="left_left_pris1" value="-0.0451"/>
+        <joint name="left_gripper" value="-0.0451"/>
     </group_state>
     <group_state name="open" group="right_gripper">
-        <joint name="right_left_pris1" value="0"/>
+        <joint name="right_gripper" value="0"/>
     </group_state>
     <group_state name="half_closed" group="right_gripper">
-        <joint name="right_left_pris1" value="-0.0225"/>
+        <joint name="right_gripper" value="-0.0225"/>
     </group_state>
     <group_state name="center grip" group="upper_body">
-        <joint name="left_left_pris1" value="0"/>
+        <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"/>
@@ -145,7 +145,7 @@
         <joint name="left_rev5" value="0"/>
         <joint name="left_rev6" value="0"/>
         <joint name="left_rev7" value="0"/>
-        <joint name="right_left_pris1" 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"/>
@@ -155,25 +155,25 @@
         <joint name="right_rev7" value="0.0053"/>
     </group_state>
     <group_state name="hands_up" group="upper_body">
-        <joint name="left_left_pris1" value="0"/>
+        <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="2.7"/>
+        <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_left_pris1" 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="2.7"/>
+        <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_left_pris1" value="0"/>
+        <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"/>
@@ -181,7 +181,7 @@
         <joint name="left_rev5" value="-0.0116"/>
         <joint name="left_rev6" value="-0.5814"/>
         <joint name="left_rev7" value="0"/>
-        <joint name="right_left_pris1" 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"/>
@@ -191,7 +191,7 @@
         <joint name="right_rev7" value="0"/>
     </group_state>
     <group_state name="wave_2" group="upper_body">
-        <joint name="left_left_pris1" value="0"/>
+        <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"/>
@@ -199,7 +199,7 @@
         <joint name="left_rev5" value="-0.0116"/>
         <joint name="left_rev6" value="-0.5814"/>
         <joint name="left_rev7" value="0"/>
-        <joint name="right_left_pris1" 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"/>
@@ -209,7 +209,7 @@
         <joint name="right_rev7" value="0"/>
     </group_state>
     <group_state name="x" group="upper_body">
-        <joint name="left_left_pris1" value="0"/>
+        <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"/>
@@ -217,7 +217,7 @@
         <joint name="left_rev5" value="0.5207"/>
         <joint name="left_rev6" value="-0.3384"/>
         <joint name="left_rev7" value="-0.0795"/>
-        <joint name="right_left_pris1" value="0"/>
+        <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"/>
@@ -227,7 +227,7 @@
         <joint name="right_rev7" value="0"/>
     </group_state>
     <group_state name="swing_arm_left_forward" group="upper_body">
-        <joint name="left_left_pris1" value="0"/>
+        <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"/>
@@ -235,7 +235,7 @@
         <joint name="left_rev5" value="0.5207"/>
         <joint name="left_rev6" value="-0.3384"/>
         <joint name="left_rev7" value="-0.0795"/>
-        <joint name="right_left_pris1" value="0"/>
+        <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"/>
@@ -245,7 +245,7 @@
         <joint name="right_rev7" value="0"/>
     </group_state>
     <group_state name="swing_arm_right_forward" group="upper_body">
-        <joint name="left_left_pris1" value="0"/>
+        <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"/>
@@ -253,7 +253,7 @@
         <joint name="left_rev5" value="-0.4281"/>
         <joint name="left_rev6" value="-0.3384"/>
         <joint name="left_rev7" value="-0.0795"/>
-        <joint name="right_left_pris1" value="0"/>
+        <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"/>
@@ -263,7 +263,7 @@
         <joint name="right_rev7" value="0"/>
     </group_state>
     <group_state name="siu" group="upper_body">
-        <joint name="left_left_pris1" value="0"/>
+        <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"/>
@@ -271,7 +271,7 @@
         <joint name="left_rev5" value="-0.4281"/>
         <joint name="left_rev6" value="-0.3384"/>
         <joint name="left_rev7" value="-0.1326"/>
-        <joint name="right_left_pris1" value="0"/>
+        <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"/>
@@ -286,8 +286,8 @@
     <!--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_right_pris2"/>
+    <passive_joint name="left_gripper_mimic"/>
-    <passive_joint name="right_right_pris2"/>
+    <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"/>

openarm_bimanual_moveit_config/config/openarm_bimanual.urdf.xacro

@@ -16,6 +16,7 @@
 -->
 <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="$(find openarm_bimanual_description)/urdf/openarm_bimanual.urdf.xacro" />
@@ -26,10 +27,5 @@
         <child link="base_link"/>
         <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
     </joint>
-    <!-- Import control_xacro -->
-    <!-- <xacro:include filename="openarm_bimanual.ros2_control.xacro" />
-
-
-    <xacro:openarm_bimanual_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/> -->
 
 </robot>

openarm_bimanual_moveit_config/config/ros2_controllers.yaml

@@ -82,10 +82,10 @@ right_arm_controller:
       - velocity
 left_gripper_controller:
   ros__parameters:
-    joint: left_left_pris1
+    joint: left_gripper
 right_gripper_controller:
   ros__parameters:
-    joint: right_left_pris1
+    joint: right_gripper
 left_side_controller:
   ros__parameters:
     joints:
@@ -96,7 +96,7 @@ left_side_controller:
       - left_rev5
       - left_rev6
       - left_rev7
-      - left_left_pris1
+      - left_gripper
     command_interfaces:
       - position
       - velocity
@@ -113,7 +113,7 @@ right_side_controller:
       - right_rev5
       - right_rev6
       - right_rev7
-      - right_left_pris1
+      - right_gripper
     command_interfaces:
       - position
       - velocity
@@ -130,7 +130,7 @@ upper_body_controller:
       - left_rev5
       - left_rev6
       - left_rev7
-      - left_left_pris1
+      - left_gripper
       - right_rev1
       - right_rev2
       - right_rev3
@@ -138,7 +138,7 @@ upper_body_controller:
       - right_rev5
       - right_rev6
       - right_rev7
-      - right_left_pris1
+      - right_gripper
     command_interfaces:
       - position
       - velocity

openarm_bimanual_moveit_config/launch/demo.launch.py

@@ -14,9 +14,53 @@
 
 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():
-    moveit_config = MoveItConfigsBuilder(
+    declared_arguments = []
-        "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs()
+    declared_arguments.append(
-    return generate_demo_launch(moveit_config)
+        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

openarm_bimanual_moveit_config/launch/move_group.launch.py

@@ -18,5 +18,6 @@ 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()
+        "openarm_bimanual", 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

@@ -18,5 +18,6 @@ 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()
+        "openarm_bimanual", package_name="openarm_bimanual_moveit_config"
+    ).to_moveit_configs()
     return generate_moveit_rviz_launch(moveit_config)

openarm_bimanual_moveit_config/launch/rsp.launch.py

@@ -18,5 +18,6 @@ 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()
+        "openarm_bimanual", package_name="openarm_bimanual_moveit_config"
+    ).to_moveit_configs()
     return generate_rsp_launch(moveit_config)

openarm_bimanual_moveit_config/launch/setup_assistant.launch.py

@@ -18,5 +18,6 @@ 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()
+        "openarm_bimanual", 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

@@ -18,5 +18,6 @@ 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()
+        "openarm_bimanual", 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

@@ -18,5 +18,6 @@ from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_laun
 
 def generate_launch_description():
     moveit_config = MoveItConfigsBuilder(
-        "openarm_bimanual", package_name="openarm_bimanual_moveit_config").to_moveit_configs()
+        "openarm_bimanual", package_name="openarm_bimanual_moveit_config"
+    ).to_moveit_configs()
     return generate_static_virtual_joint_tfs_launch(moveit_config)

openarm_bimanual_moveit_config/launch/warehouse_db.launch.py

@@ -18,5 +18,6 @@ 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()
+        "openarm_bimanual", package_name="openarm_bimanual_moveit_config"
+    ).to_moveit_configs()
     return generate_warehouse_db_launch(moveit_config)

openarm_bringup/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.22)
 project(openarm_bringup)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

openarm_bringup/launch/openarm.launch.py

@@ -23,7 +23,12 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction
 from launch.event_handlers import OnProcessExit, OnProcessStart
-from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import (
+    Command,
+    FindExecutable,
+    LaunchConfiguration,
+    PathJoinSubstitution,
+)
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
@@ -72,9 +77,9 @@ def generate_launch_description():
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_mock_hardware",
+            "hardware_type",
-            default_value="false",
+            default_value="real",
-            description="Start robot with mock hardware mirroring command to its states.",
+            description="Hardware interface type: 'real', 'sim' (MuJoCo), or 'mock'",
         )
     )
     declared_arguments.append(
@@ -82,7 +87,7 @@ def generate_launch_description():
             "mock_sensor_commands",
             default_value="false",
             description="Enable mock command interfaces for sensors used for simple simulations. \
-            Used only if 'use_mock_hardware' parameter is true.",
+            Used only if 'hardware_type' parameter is 'mock'.",
         )
     )
     declared_arguments.append(
@@ -101,7 +106,7 @@ def generate_launch_description():
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
     prefix = LaunchConfiguration("prefix")
-    use_mock_hardware = LaunchConfiguration("use_mock_hardware")
+    hardware_type = LaunchConfiguration("hardware_type")
     mock_sensor_commands = LaunchConfiguration("mock_sensor_commands")
     robot_controller = LaunchConfiguration("robot_controller")
 
@@ -118,8 +123,8 @@ def generate_launch_description():
             "prefix:=",
             prefix,
             " ",
-            "use_mock_hardware:=",
+            "hardware_type:=",
-            use_mock_hardware,
+            hardware_type,
             " ",
             "mock_sensor_commands:=",
             mock_sensor_commands,
@@ -133,8 +138,7 @@ def generate_launch_description():
         [FindPackageShare(runtime_config_package), "config", controllers_file]
     )
     rviz_config_file = PathJoinSubstitution(
-        [FindPackageShare(description_package), "rviz",
+        [FindPackageShare(description_package), "rviz", "openarm.rviz"]
-         "robot_description.rviz"]
     )
 
     control_node = Node(
@@ -160,8 +164,11 @@ def generate_launch_description():
     joint_state_broadcaster_spawner = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["joint_state_broadcaster",
+        arguments=[
-                   "--controller-manager", "/controller_manager"],
+            "joint_state_broadcaster",
+            "--controller-manager",
+            "/controller_manager",
+        ],
     )
 
     robot_controller_names = [robot_controller]
@@ -188,7 +195,8 @@ def generate_launch_description():
         ]
 
     # Delay loading and activation of `joint_state_broadcaster` after start of ros2_control_node
-    delay_joint_state_broadcaster_spawner_after_ros2_control_node = RegisterEventHandler(
+    delay_joint_state_broadcaster_spawner_after_ros2_control_node = (
+        RegisterEventHandler(
             event_handler=OnProcessStart(
                 target_action=control_node,
                 on_start=[
@@ -199,6 +207,7 @@ def generate_launch_description():
                 ],
             )
         )
+    )
 
     # Delay loading and activation of robot_controller_names after `joint_state_broadcaster`
     delay_robot_controller_spawners_after_joint_state_broadcaster_spawner = []

openarm_bringup/launch/test_forward_position_controller.launch.py

@@ -28,8 +28,11 @@ from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
     position_goals = PathJoinSubstitution(
-        [FindPackageShare("openarm_bringup"), "config",
+        [
-         "test_goal_publishers_config.yaml"]
+            FindPackageShare("openarm_bringup"),
+            "config",
+            "test_goal_publishers_config.yaml",
+        ]
     )
 
     return LaunchDescription(

openarm_bringup/launch/test_joint_trajectory_controller.launch.py

@@ -28,8 +28,11 @@ from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
     position_goals = PathJoinSubstitution(
-        [FindPackageShare("openarm_bringup"), "config",
+        [
-         "test_goal_publishers_config.yaml"]
+            FindPackageShare("openarm_bringup"),
+            "config",
+            "test_goal_publishers_config.yaml",
+        ]
     )
 
     return LaunchDescription(

openarm_description/CMakeLists.txt

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.22)
 project(openarm_description)
 
 find_package(ament_cmake REQUIRED)

openarm_description/config/initial_positions.yaml

@@ -15,8 +15,8 @@
 # Default initial positions for openarm's ros2_control fake system
 
 initial_positions:
-  left_pris1: 0
+  gripper: 0
-  right_pris2: 0
+  gripper_mimic: 0
   rev1: 0
   rev2: 0
   rev3: 0

openarm_description/launch/description.launch.py

@@ -37,34 +37,52 @@ def generate_launch_description():
         description="Absolute path to the robot's URDF file",
     )
     side_arg = DeclareLaunchArgument(
-        name="side", default_value="right",  # Use "left" to test left arm.
+        name="side",
-        description="Select arm side: 'left' or 'right'"
+        default_value="right",  # Use "left" to test left arm.
+        description="Select arm side: 'left' or 'right'",
     )
     zero_pos_arg = DeclareLaunchArgument(
-        # Use "arm" to test alternative configuration.
+        name="zero_pos",
-        name="zero_pos", default_value="up",
+        default_value="up",  # Use "arm" to test alternative configuration.
-        description="Specify zero position: 'up' or 'arm'"
+        description="Specify zero position: 'up' or 'arm'",
     )
     prefix_arg = DeclareLaunchArgument(
-        name="prefix", default_value="",
+        name="prefix",
-        description="Prefix for link and joint names (e.g., left_, right_)"
+        default_value="",
+        description="Prefix for link and joint names (e.g., left_, right_)",
     )
     can_device_arg = DeclareLaunchArgument(
-        name="can_device", default_value="can0",
+        name="can_device",
-        description="CAN device identifier to use"
+        default_value="can0",
+        description="CAN device identifier to use",
+    )
+    hardware_type_arg = DeclareLaunchArgument(
+        name="hardware_type",
+        default_value="real",
+        description="Hardware interface type: 'real', 'sim' (MuJoCo), or 'mock'",
     )
 
     use_sim_time = LaunchConfiguration("use_sim_time")
     use_sim_time_launch_arg = DeclareLaunchArgument(
-        "use_sim_time", default_value="true")
+        "use_sim_time", default_value="true"
+    )
 
-    robot_description_command = Command([
+    robot_description_command = Command(
-        "xacro ", LaunchConfiguration("model"),
+        [
-        " side:=", LaunchConfiguration("side"),
+            "xacro ",
-        " zero_pos:=", LaunchConfiguration("zero_pos"),
+            LaunchConfiguration("model"),
-        " prefix:=", LaunchConfiguration("prefix"),
+            " side:=",
-        " can_device:=", LaunchConfiguration("can_device")
+            LaunchConfiguration("side"),
-    ])
+            " zero_pos:=",
+            LaunchConfiguration("zero_pos"),
+            " prefix:=",
+            LaunchConfiguration("prefix"),
+            " can_device:=",
+            LaunchConfiguration("can_device"),
+            " hardware_type:=",
+            LaunchConfiguration("hardware_type"),
+        ]
+    )
 
     robot_state_publisher_node = launch_ros.actions.Node(
         package="robot_state_publisher",
@@ -87,6 +105,7 @@ def generate_launch_description():
             zero_pos_arg,
             prefix_arg,
             can_device_arg,
+            hardware_type_arg,
             use_sim_time_launch_arg,
             robot_state_publisher_node,
         ]

openarm_description/launch/display.launch.py

@@ -46,7 +46,10 @@ def generate_launch_description():
                 ),
             ]
         ),
-        launch_arguments=dict(use_sim_time=use_sim_time).items(),
+        launch_arguments=dict(
+            use_sim_time=use_sim_time,
+            hardware_type=LaunchConfiguration("hardware_type")
+        ).items(),
     )
 
     joint_state_publisher_node = launch_ros.actions.Node(
@@ -107,6 +110,11 @@ def generate_launch_description():
                 default_value=str(default_rviz_config_path),
                 description="Absolute path to rviz config file",
             ),
+            launch.actions.DeclareLaunchArgument(
+                name="hardware_type",
+                default_value="real",
+                description="Hardware interface type: 'real', 'sim' (MuJoCo), or 'mock'",
+            ),
             joint_state_publisher_node,
             joint_state_publisher_gui_node,
             robot_state_publisher_node,

openarm_description/launch/gazebo.launch.py

@@ -37,7 +37,8 @@ def generate_launch_description():
     # Make path to resources dir without last package_name fragment.
     path_to_share_dir_clipped = "".join(
         get_package_share_directory(resources_package).rsplit(
-            "/" + resources_package, 1)
+            "/" + resources_package, 1
+        )
     )
 
     # Gazebo hint for resources.
@@ -57,10 +58,12 @@ def generate_launch_description():
 
     use_custom_world = LaunchConfiguration("use_custom_world")
     use_custom_world_launch_arg = DeclareLaunchArgument(
-        "use_custom_world", default_value="true")
+        "use_custom_world", default_value="true"
+    )
     gazebo_world = LaunchConfiguration("gazebo_world")
     gazebo_world_launch_arg = DeclareLaunchArgument(
-        "gazebo_world", default_value="empty.sdf")
+        "gazebo_world", default_value="empty.sdf"
+    )
 
     # prepare custom world
     world = os.getenv("GZ_SIM_WORLD", "empty")
@@ -78,9 +81,11 @@ def generate_launch_description():
         PythonLaunchDescriptionSource(
             os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py"),
         ),
-        launch_arguments=launch_arguments
+        launch_arguments=(
+            launch_arguments
             if use_custom_world
-        else dict(gz_args="-r " + gazebo_world + " --verbose").items(),
+            else dict(gz_args="-r " + gazebo_world + " --verbose").items()
+        ),
     )
 
     # Spawn
@@ -104,7 +109,8 @@ def generate_launch_description():
 
     use_sim_time = LaunchConfiguration("use_sim_time")
     use_sim_time_launch_arg = DeclareLaunchArgument(
-        "use_sim_time", default_value="true")
+        "use_sim_time", default_value="true"
+    )
     use_rviz = LaunchConfiguration("use_rviz")
     use_rviz_arg = DeclareLaunchArgument("use_rviz", default_value="true")
 

openarm_description/urdf/openarm.robot.xacro

@@ -31,6 +31,8 @@
         <xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
         <xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
 
+        <!-- ros2_control configuration is handled separately in openarm.urdf.xacro -->
+
         <link name="${prefix}dummy_link"/>
 
         <joint name="${prefix}dummy_joint" type="fixed">
@@ -288,20 +290,21 @@
             <axis xyz="0 0 -1"/>
             <limit effort="0.0" lower="${-pi * 11.0 / 36.0}" upper="${pi * 11.0 / 36.0}" velocity="0.0"/>
         </joint>
-        <joint name="${prefix}left_pris1" type="prismatic">
+        <!-- this is used as the actuator interface, the other gripper mimics motion -->
+        <joint name="${prefix}gripper" type="prismatic">
             <parent link="${prefix}link8"/>
             <child link="${prefix}link_left_jaw"/>
             <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
             <axis xyz="0 0 -1"/>
             <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
         </joint>
-        <joint name="${prefix}right_pris2" type="prismatic">
+        <joint name="${prefix}gripper_mimic" type="prismatic">
             <parent link="${prefix}link8"/>
             <child link="${prefix}link_right_jaw"/>
             <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
             <axis xyz="0 0 -1"/>
             <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
-            <mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/>
+            <mimic joint="${prefix}gripper" multiplier="-1.0" offset="0.0"/>
         </joint>
         <joint name="${prefix}virtual_gripper_center" type="fixed">
             <parent link="${prefix}link8"/>

openarm_description/urdf/openarm.ros2_control.xacro

@@ -15,83 +15,104 @@
 　limitations under the License.
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="openarm_ros2_control" params="name initial_positions_file prefix:='' can_device='can0' use_mock_hardware:=false mock_sensor_commands:=false">
+    <xacro:macro name="openarm_ros2_control" params="name initial_positions_file websocket_port='' prefix:='' can_device='can0' hardware_type='real' mock_sensor_commands='{}'">
         <xacro:property name="initial_positions" value="${xacro.load_yaml(initial_positions_file)['initial_positions']}"/>
 
+        <!-- Set default websocket ports based on prefix if not provided -->
+        <xacro:if value="${hardware_type == 'sim' and websocket_port == ''}">
+            <xacro:property name="computed_websocket_port" value="${'1337' if prefix == 'right_' or prefix == '' else '1338'}"/>
+        </xacro:if>
+        <xacro:unless value="${hardware_type == 'sim' and websocket_port == ''}">
+            <xacro:property name="computed_websocket_port" value="${websocket_port}"/>
+        </xacro:unless>
+
         <ros2_control name="${prefix}${name}" type="system">
             <hardware>
-                <xacro:if value="${use_mock_hardware}">
+                <xacro:if value="${hardware_type == 'mock'}">
                     <plugin>mock_components/GenericSystem</plugin>
                     <param name="mock_sensor_commands">${mock_sensor_commands}</param>
                 </xacro:if>
-                <xacro:unless value="${use_mock_hardware}">
+                <xacro:if value="${hardware_type == 'sim'}">
+                    <plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
+                    <param name="prefix">${prefix}</param>
+                    <xacro:if value="${computed_websocket_port != ''}">
+                        <param name="websocket_port">${computed_websocket_port}</param>
+                    </xacro:if>
+                </xacro:if>
+                <xacro:if value="${hardware_type == 'real'}">
                     <plugin>openarm_hardware/OpenArmHW</plugin>
                     <param name="prefix">${prefix}</param>
                     <param name="can_device">${can_device}</param>
-                </xacro:unless>
+                </xacro:if>
             </hardware>
             <joint name="${prefix}rev1">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
-                <command_interface name="effort"/>
+                <!-- <command_interface name="effort"/> -->
                 <state_interface name="position"/>
                 <state_interface name="velocity"/>
-                <state_interface name="effort"/>
+                <!-- <state_interface name="effort"/> -->
             </joint>
             <joint name="${prefix}rev2">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
-                <command_interface name="effort"/>
+                <!-- <command_interface name="effort"/> -->
                 <state_interface name="position"/>
                 <state_interface name="velocity"/>
-                <state_interface name="effort"/>
+                <!-- <state_interface name="effort"/> -->
             </joint>
             <joint name="${prefix}rev3">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
-                <command_interface name="effort"/>
+                <!-- <command_interface name="effort"/> -->
                 <state_interface name="position"/>
                 <state_interface name="velocity"/>
-                <state_interface name="effort"/>
+                <!-- <state_interface name="effort"/> -->
             </joint>
             <joint name="${prefix}rev4">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
-                <command_interface name="effort"/>
+                <!-- <command_interface name="effort"/> -->
                 <state_interface name="position"/>
                 <state_interface name="velocity"/>
-                <state_interface name="effort"/>
+                <!-- <state_interface name="effort"/> -->
             </joint>
             <joint name="${prefix}rev5">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
-                <command_interface name="effort"/>
+                <!-- <command_interface name="effort"/> -->
                 <state_interface name="position"/>
                 <state_interface name="velocity"/>
-                <state_interface name="effort"/>
+                <!-- <state_interface name="effort"/> -->
             </joint>
             <joint name="${prefix}rev6">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
-                <command_interface name="effort"/>
+                <!-- <command_interface name="effort"/> -->
                 <state_interface name="position"/>
                 <state_interface name="velocity"/>
-                <state_interface name="effort"/>
+                <!-- <state_interface name="effort"/> -->
             </joint>
             <joint name="${prefix}rev7">
                 <command_interface name="position"/>
                 <command_interface name="velocity"/>
-                <command_interface name="effort"/>
+                <!-- <command_interface name="effort"/> -->
                 <state_interface name="position"/>
                 <state_interface name="velocity"/>
-                <state_interface name="effort"/>
+                <!-- <state_interface name="effort"/> -->
             </joint>
-            <joint name="${prefix}left_pris1">
+            <joint name="${prefix}gripper">
                 <command_interface name="position"/>
                 <state_interface name="position"/>
                 <state_interface name="velocity"/>
             </joint>
 
+            <!-- <joint name="${prefix}gripper_mimic">
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_mimic']}</param>
+                </state_interface>
+            </joint> -->
+
         </ros2_control>
     </xacro:macro>
 </robot>

openarm_description/urdf/openarm.urdf

@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from openarm_description/urdf/openarm.urdf.xacro | -->
+<!-- |    This document was autogenerated by xacro from openarm.urdf.xacro             | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <!--
@@ -28,6 +28,7 @@
   <!-- side right, left -->
   <!-- recommended prefixes left_, right_, etc. -->
   <!-- zero_pos up, arm -->
+  <!-- ros2_control configuration is handled separately in openarm.urdf.xacro -->
   <link name="dummy_link"/>
   <joint name="dummy_joint" type="fixed">
     <parent link="dummy_link"/>
@@ -283,20 +284,21 @@
     <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.9599310885968811" upper="0.9599310885968811" velocity="0.0"/>
   </joint>
-  <joint name="left_pris1" type="prismatic">
+  <!-- this is used as the actuator interface, the other gripper mimics motion -->
+  <joint name="gripper" type="prismatic">
     <parent link="link8"/>
     <child link="link_left_jaw"/>
     <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
     <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
   </joint>
-  <joint name="right_pris2" type="prismatic">
+  <joint name="gripper_mimic" type="prismatic">
     <parent link="link8"/>
     <child link="link_right_jaw"/>
     <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
     <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
-    <mimic joint="left_pris1" multiplier="-1.0" offset="0.0"/>
+    <mimic joint="gripper" multiplier="-1.0" offset="0.0"/>
   </joint>
   <joint name="virtual_gripper_center" type="fixed">
     <parent link="link8"/>
@@ -305,69 +307,75 @@
   </joint>
   <ros2_control name="OpenArmHW" type="system">
     <hardware>
-      <plugin>mock_components/GenericSystem</plugin>
+      <plugin>openarm_hardware/OpenArmHW</plugin>
-      <param name="mock_sensor_commands">False</param>
+      <param name="prefix"></param>
+      <param name="can_device">can0</param>
     </hardware>
     <joint name="rev1">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="rev2">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="rev3">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="rev4">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="rev5">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="rev6">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
     <joint name="rev7">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
-      <command_interface name="effort"/>
+      <!-- <command_interface name="effort"/> -->
       <state_interface name="position"/>
       <state_interface name="velocity"/>
-      <state_interface name="effort"/>
+      <!-- <state_interface name="effort"/> -->
     </joint>
-    <joint name="left_pris1">
+    <joint name="gripper">
       <command_interface name="position"/>
       <state_interface name="position"/>
       <state_interface name="velocity"/>
     </joint>
+    <!-- <joint name="${prefix}gripper_mimic">
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_mimic']}</param>
+                </state_interface>
+            </joint> -->
   </ros2_control>
 </robot>

openarm_description/urdf/openarm.urdf.xacro

@@ -22,7 +22,7 @@
 
     <!-- Control-related parameters -->
     <xacro:arg name="can_device" default="can0" />
-    <xacro:arg name="use_mock_hardware" default="false" />
+    <xacro:arg name="hardware_type" default="real" />
     <xacro:arg name="mock_sensor_commands" default="false" />
 
     <!-- Include robot description (without control parameters) -->
@@ -32,6 +32,6 @@
     <!-- Include control configuration (with only control parameters) -->
     <xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro"/>
     <xacro:arg name="initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
-    <xacro:openarm_ros2_control name="OpenArmHW" prefix="$(arg prefix)" initial_positions_file="$(arg initial_positions_file)" can_device="$(arg can_device)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
+    <xacro:openarm_ros2_control name="OpenArmHW" prefix="$(arg prefix)" initial_positions_file="$(arg initial_positions_file)" can_device="$(arg can_device)" hardware_type="$(arg hardware_type)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
 
 </robot>

openarm_hardware/CMakeLists.txt

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.22)
 project(openarm_hardware)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

openarm_hardware/test/test_openarm_hardware.cpp

@@ -102,14 +102,14 @@ class TestOpenArmHW : public ::testing::Test {
             <state_interface name="velocity"/>
             <state_interface name="effort"/>
           </joint>
-          <joint name="left_pris1">
+          <joint name="gripper">
             <command_interface name="position"/>
             <state_interface name="position">
               <param name="initial_value">0</param>
             </state_interface>
             <state_interface name="velocity"/>
           </joint>
-          <joint name="right_pris2">
+          <joint name="gripper_mimic">
             <state_interface name="position">
               <param name="initial_value">0</param>
             </state_interface>

openarm_mujoco_hardware/CMakeLists.txt

@@ -0,0 +1,98 @@
+# 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_mujoco_hardware)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(Boost REQUIRED)
+find_package(nlohmann_json REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+  src/openarm_mujoco_hardware.cpp
+)
+
+target_include_directories(
+  ${PROJECT_NAME}
+  PRIVATE
+  include
+)
+
+ament_target_dependencies(${PROJECT_NAME} PUBLIC
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+)
+
+pluginlib_export_plugin_description_file(hardware_interface openarm_mujoco_hardware.xml)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE Boost::headers nlohmann_json::nlohmann_json)
+
+
+install(
+  TARGETS ${PROJECT_NAME}
+  DESTINATION lib
+  )
+  
+install(DIRECTORY include/
+DESTINATION include
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_gmock REQUIRED)
+  find_package(hardware_interface REQUIRED)
+  find_package(ros2_control_test_assets REQUIRED)
+
+  ament_add_gmock(test_openarm_mujoco_hardware
+    test/test_load_openarm_mujoco_hardware.cpp
+  )
+  target_link_libraries(test_openarm_mujoco_hardware
+    ${PROJECT_NAME}
+  )
+  ament_target_dependencies(test_openarm_mujoco_hardware
+    hardware_interface
+    ros2_control_test_assets
+  )
+
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(
+  include
+)
+
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+ament_export_dependencies(
+  hardware_interface
+  pluginlib
+  rclcpp
+)
+
+ament_package()

openarm_mujoco_hardware/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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+   Unless required by applicable law or agreed to in writing, software
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+   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.

openarm_mujoco_hardware/README.md

@@ -0,0 +1,42 @@
+# OpenArm MuJoCo Hardware Interface
+
+This package provides a ros2_control hardware interface for simulating OpenArm using the MuJoCo physics engine in place of physical hardware. It connects to a WebAssembly instance of MuJoCo through WebSockets.
+
+## Usage
+
+Certain OpenArm packages have been configured to use this interface by specifying the `hardware_type` flag.
+This flag defaults to `real`, which assumes the use of physical hardware.
+Setting the flag to `mock` uses an interface that writes commands to states directly (with some delays).
+Setting the flag to `sim` uses the MuJoCo hardware interface.
+
+For example, to use MoveIt2 with simulated bimanual hardware, first run MuJoCo by visiting:
+
+[github.com/thomasonzhou/mujoco_anywhere](https://github.com/thomasonzhou/mujoco_anywhere)
+
+Then run the original command with the `hardware_type` flag:
+```sh
+ros2 launch -d openarm_bimanual_moveit_config demo.launch.py hardware_type:=sim
+```
+
+*It may be necessary to install the nlohmann-json-dev library before building*
+
+Please note that running multiple instances of the website will cause conflicting signals. Future configurations will allow for multiple instances to run simultaneously.
+
+## Configuration
+
+### Hardware Plugin Config
+
+The hardware plugin is specified in `openarm_description/openarm.ros2_control.xacro` as follows:
+
+```xml
+<ros2_control name="openarm_system" type="system">
+  <hardware>
+    <plugin>openarm_mujoco_hardware/MujocoHardware</plugin>
+    <param name="prefix">left_</param>
+    <param name="websocket_port">1337</param>
+  </hardware>
+  <!-- Joint configurations -->
+</ros2_control>
+```
+
+When using OpenArm in a bimanual configuration, the WebSocket ports default to 1337 for right arm and 1338 for left arm commands. However, in practice commands can be sent and states can be received through any connected port.

openarm_mujoco_hardware/include/openarm_mujoco_hardware/openarm_mujoco_hardware.hpp

@@ -0,0 +1,123 @@
+// 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.
+
+#pragma once
+
+#include <boost/asio.hpp>
+#include <boost/beast/core.hpp>
+#include <boost/beast/websocket.hpp>
+#include <deque>
+#include <iostream>
+#include <mutex>
+#include <nlohmann/json.hpp>
+
+#include "hardware_interface/system_interface.hpp"
+#include "hardware_interface/types/hardware_interface_type_values.hpp"
+
+namespace openarm_mujoco_hardware {
+
+class WebSocketSession;
+
+class MujocoHardware : public hardware_interface::SystemInterface {
+ public:
+  MujocoHardware() = default;
+
+  hardware_interface::CallbackReturn on_init(
+      const hardware_interface::HardwareInfo& info) override;
+  hardware_interface::CallbackReturn on_configure(
+      const rclcpp_lifecycle::State& /*previous_state*/) override;
+  hardware_interface::CallbackReturn on_cleanup(
+      const rclcpp_lifecycle::State& /*previous_state*/) override;
+  hardware_interface::CallbackReturn on_shutdown(
+      const rclcpp_lifecycle::State& /*previous_state*/) override;
+  hardware_interface::CallbackReturn on_activate(
+      const rclcpp_lifecycle::State& /*previous_state*/) override;
+  hardware_interface::CallbackReturn on_deactivate(
+      const rclcpp_lifecycle::State& /*previous_state*/) override;
+  hardware_interface::CallbackReturn on_error(
+      const rclcpp_lifecycle::State& /*previous_state*/) override;
+
+  std::vector<hardware_interface::StateInterface> export_state_interfaces()
+      override;
+  std::vector<hardware_interface::CommandInterface> export_command_interfaces()
+      override;
+  hardware_interface::return_type read(
+      const rclcpp::Time& /*time*/,
+      const rclcpp::Duration& /*period*/) override;
+  hardware_interface::return_type write(
+      const rclcpp::Time& /*time*/,
+      const rclcpp::Duration& /*period*/) override;
+
+  friend class WebSocketSession;
+
+ private:
+  static constexpr size_t TOTAL_DOF =
+      8;  // Total degrees of freedom, including gripper
+  inline static constexpr std::array<double, TOTAL_DOF> KP_ = {
+      180.0, 180.0, 140.0, 155.0, 115.0, 115.0, 115.0, 25.0};
+  inline static constexpr std::array<double, TOTAL_DOF> KD_ = {
+      0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.01};
+  static constexpr double MAX_MOTOR_TORQUE = 100.0;
+
+  std::vector<double> qpos_;
+  std::vector<double> qvel_;
+  std::vector<double> qtau_;
+
+  std::vector<double> cmd_qpos_;
+  std::vector<double> cmd_qvel_;
+  std::vector<double> cmd_qtau_ff_;
+
+  std::mutex state_mutex_;
+
+  void clear_cmd_torque();
+
+  // websocket connection to mujoco
+  boost::asio::ip::tcp::endpoint endpoint_;
+  boost::asio::ip::address address_;
+  static constexpr double kDefaultWebsocketPort = 1337;
+  unsigned short websocket_port_;
+  boost::asio::io_context ioc_{};
+  boost::asio::ip::tcp::acceptor acceptor_{ioc_};
+  std::thread ioc_thread_;
+
+  std::shared_ptr<WebSocketSession> ws_session_;
+  void start_accept();
+
+  const std::string kMuJoCoWebSocketURL_ =
+      "https://thomasonzhou.github.io/mujoco_anywhere/";
+};
+
+class WebSocketSession : public std::enable_shared_from_this<WebSocketSession> {
+ public:
+  static std::shared_ptr<WebSocketSession> create(
+      boost::asio::ip::tcp::socket socket, MujocoHardware* hw);
+  void run();
+  WebSocketSession(boost::asio::ip::tcp::socket socket, MujocoHardware* hw);
+
+  void send_json(const nlohmann::json& j);
+
+ private:
+  void flush();
+  void do_handshake();
+  void on_accept(boost::beast::error_code ec);
+  void do_read();
+  void on_read(boost::beast::error_code ec, std::size_t);
+
+  boost::beast::websocket::stream<boost::asio::ip::tcp::socket> ws_;
+  boost::beast::flat_buffer buffer_;
+  MujocoHardware* hw_;
+  std::deque<std::shared_ptr<std::string>> send_queue_;
+  bool write_in_progress_;
+};
+};  // namespace openarm_mujoco_hardware

openarm_mujoco_hardware/openarm_mujoco_hardware.xml

@@ -0,0 +1,25 @@
+<!--
+　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.
+-->
+
+<library path="openarm_mujoco_hardware">
+  <class name="openarm_mujoco_hardware/MujocoHardware"
+         type="openarm_mujoco_hardware::MujocoHardware"
+         base_class_type="hardware_interface::SystemInterface">
+    <description>
+      ros2_control hardware interface.
+    </description>
+  </class>
+</library>

openarm_mujoco_hardware/package.xml

@@ -0,0 +1,39 @@
+<?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_mujoco_hardware</name>
+  <version>1.0.0</version>
+  <description>MuJoCo hardware interface for ros2_control</description>
+  <maintainer email="t95zhou@uwaterloo.ca">Thomason Zhou</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>nlohmann-json-dev</build_depend>
+  <depend>rclcpp</depend>
+  <depend>hardware_interface</depend>
+  <depend>pluginlib</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ros2_control_test_assets</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

openarm_mujoco_hardware/src/openarm_mujoco_hardware.cpp

@@ -0,0 +1,322 @@
+// 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.
+
+#include <openarm_mujoco_hardware/openarm_mujoco_hardware.hpp>
+
+namespace openarm_mujoco_hardware {
+
+hardware_interface::CallbackReturn MujocoHardware::on_init(
+    const hardware_interface::HardwareInfo& info) {
+  if (hardware_interface::SystemInterface::on_init(info) !=
+      CallbackReturn::SUCCESS) {
+    return CallbackReturn::ERROR;
+  }
+
+  if (info.hardware_parameters.find("websocket_port") !=
+      info.hardware_parameters.end()) {
+    const double val = std::stoi(info.hardware_parameters.at("websocket_port"));
+    if (val <= 0) {
+      return hardware_interface::CallbackReturn::FAILURE;
+    }
+    websocket_port_ = val;
+  } else {
+    websocket_port_ = kDefaultWebsocketPort;
+  }
+  std::cerr << "websocket port: " << websocket_port_ << std::endl;
+  address_ = boost::asio::ip::make_address("0.0.0.0");
+  endpoint_ = boost::asio::ip::tcp::endpoint(address_, websocket_port_);
+
+  // allocate space for joint states
+  const size_t DOF = info_.joints.size();
+
+  qpos_.resize(DOF, 0.0);
+  qvel_.resize(DOF, 0.0);
+  qtau_.resize(DOF, 0.0);
+
+  cmd_qpos_.resize(DOF, 0.0);
+  cmd_qvel_.resize(DOF, 0.0);
+  cmd_qtau_ff_.resize(DOF, 0.0);
+
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+void MujocoHardware::start_accept() {
+  acceptor_.async_accept([this](boost::beast::error_code ec,
+                                boost::asio::ip::tcp::socket socket) {
+    if (ec) {
+      std::cerr << "error accepting connection: " << ec.message() << std::endl;
+    }
+    std::cout << "new connection accepted." << std::endl;
+    ws_session_ = WebSocketSession::create(std::move(socket), this);
+    ws_session_->run();
+    this->start_accept();
+  });
+}
+
+hardware_interface::CallbackReturn MujocoHardware::on_configure(
+    const rclcpp_lifecycle::State& /*previous_state*/) {
+  boost::beast::error_code ec;
+
+  if (acceptor_.is_open()) {
+    return hardware_interface::CallbackReturn::FAILURE;
+  } else {
+    acceptor_.open(endpoint_.protocol(), ec);
+    if (ec) {
+      throw std::runtime_error("open error: " + ec.message());
+    }
+  }
+
+  acceptor_.set_option(boost::asio::socket_base::reuse_address(true), ec);
+  if (ec) {
+    throw std::runtime_error("enable address reuse error: " + ec.message());
+  }
+
+  acceptor_.bind(endpoint_, ec);
+  if (ec) {
+    throw std::runtime_error("bind error: " + ec.message());
+  }
+
+  acceptor_.listen(boost::asio::socket_base::max_listen_connections, ec);
+  if (ec) {
+    throw std::runtime_error("listen error: " + ec.message());
+  }
+
+  start_accept();
+
+  ioc_thread_ = std::thread([this]() {
+    try {
+      ioc_.run();
+    } catch (const std::exception& e) {
+      std::cerr << "error in io_context thread: " << e.what() << std::endl;
+    }
+  });
+
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn MujocoHardware::on_cleanup(
+    const rclcpp_lifecycle::State& /*previous_state*/) {
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn MujocoHardware::on_shutdown(
+    const rclcpp_lifecycle::State& /*previous_state*/) {
+  clear_cmd_torque();
+  ioc_.stop();
+  if (ioc_thread_.joinable()) ioc_thread_.join();
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn MujocoHardware::on_activate(
+    const rclcpp_lifecycle::State& /*previous_state*/) {
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+void MujocoHardware::clear_cmd_torque() {
+  nlohmann::json cmd_msg;
+  nlohmann::json& cmd = cmd_msg["cmd"];
+  for (size_t i = 0; i < cmd_qpos_.size(); ++i) {
+    cmd[info_.joints[i].name] = 0.0;
+  }
+  if (ws_session_) {
+    ws_session_->send_json(cmd_msg);
+  }
+}
+
+hardware_interface::CallbackReturn MujocoHardware::on_deactivate(
+    const rclcpp_lifecycle::State& /*previous_state*/) {
+  clear_cmd_torque();
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+
+hardware_interface::CallbackReturn MujocoHardware::on_error(
+    const rclcpp_lifecycle::State& /*previous_state*/) {
+  clear_cmd_torque();
+  return hardware_interface::CallbackReturn::SUCCESS;
+}
+std::vector<hardware_interface::StateInterface>
+MujocoHardware::export_state_interfaces() {
+  std::vector<hardware_interface::StateInterface> state_interfaces;
+  for (size_t i = 0; i < qpos_.size(); ++i) {
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        info_.joints.at(i).name, hardware_interface::HW_IF_POSITION,
+        &qpos_[i]));
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+        info_.joints.at(i).name, hardware_interface::HW_IF_VELOCITY,
+        &qvel_[i]));
+    // state_interfaces.emplace_back(hardware_interface::StateInterface(info_.joints.at(i).name,
+    // hardware_interface::HW_IF_EFFORT, &qtau_[i]));
+  }
+  return state_interfaces;
+}
+std::vector<hardware_interface::CommandInterface>
+MujocoHardware::export_command_interfaces() {
+  std::vector<hardware_interface::CommandInterface> command_interfaces;
+  for (size_t i = 0; i < qpos_.size(); ++i) {
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+        info_.joints.at(i).name, hardware_interface::HW_IF_POSITION,
+        &cmd_qpos_[i]));
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+        info_.joints.at(i).name, hardware_interface::HW_IF_VELOCITY,
+        &cmd_qvel_[i]));
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+        info_.joints.at(i).name, hardware_interface::HW_IF_EFFORT,
+        &cmd_qtau_ff_[i]));
+  }
+  return command_interfaces;
+}
+hardware_interface::return_type MujocoHardware::read(
+    const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
+  // Read state from the last recieived websocket message
+  // Why decouple this? The simulation might be paused, and we want to read the
+  // last state
+
+  // right now this is optional as state is updated by listening to messages
+  // from MuJoCo
+  return hardware_interface::return_type::OK;
+}
+hardware_interface::return_type MujocoHardware::write(
+    const rclcpp::Time& /*time*/, const rclcpp::Duration& /*period*/) {
+  // send a websocket message
+
+  nlohmann::json cmd_msg;
+  nlohmann::json& cmd = cmd_msg["cmd"];
+
+  for (size_t i = 0; i < cmd_qpos_.size(); ++i) {
+    const double qpos_error = cmd_qpos_[i] - qpos_[i];
+    const double qvel_error = cmd_qvel_[i] - qvel_[i];
+    const double qtau_ff = cmd_qtau_ff_[i];
+
+    double cmd_torque = KP_[i] * qpos_error + KD_[i] * qvel_error + qtau_ff;
+
+    // if (cmd_torque > MAX_MOTOR_TORQUE) {
+    //     cmd_torque = MAX_MOTOR_TORQUE;
+    // } else if (cmd_torque < -MAX_MOTOR_TORQUE) {
+    //     cmd_torque = -MAX_MOTOR_TORQUE;
+    // }
+    cmd[info_.joints[i].name] = cmd_torque;
+  }
+  if (ws_session_) {
+    ws_session_->send_json(cmd_msg);
+  } else {
+    std::cerr << "MuJoCo WebSocket session is not active, please connect at "
+              << kMuJoCoWebSocketURL_ << std::endl;
+  }
+
+  return hardware_interface::return_type::OK;
+}
+
+WebSocketSession::WebSocketSession(boost::asio::ip::tcp::socket socket,
+                                   MujocoHardware* hw)
+    : ws_(std::move(socket)), hw_(hw), write_in_progress_(false) {}
+
+std::shared_ptr<WebSocketSession> WebSocketSession::create(
+    boost::asio::ip::tcp::socket socket, MujocoHardware* hw) {
+  return std::make_shared<WebSocketSession>(std::move(socket), hw);
+}
+
+void WebSocketSession::send_json(const nlohmann::json& j) {
+  std::shared_ptr<std::string> msg = std::make_shared<std::string>(j.dump());
+  boost::asio::post(ws_.get_executor(), [self = shared_from_this(), msg] {
+    self->send_queue_.push_back(msg);
+    if (!self->write_in_progress_) {
+      self->flush();
+    }
+  });
+}
+
+void WebSocketSession::flush() {
+  if (send_queue_.empty()) {
+    write_in_progress_ = false;
+    return;
+  }
+
+  write_in_progress_ = true;
+  auto msg = send_queue_.front();
+  send_queue_.pop_front();
+
+  ws_.async_write(boost::asio::buffer(*msg),
+                  [self = shared_from_this(), msg](boost::beast::error_code ec,
+                                                   std::size_t) {
+                    if (ec) {
+                      std::cerr << "send error: " << ec.message() << std::endl;
+                    }
+                    self->write_in_progress_ = false;
+                    self->flush();
+                  });
+}
+
+void WebSocketSession::run() { do_handshake(); }
+
+void WebSocketSession::do_handshake() {
+  ws_.set_option(boost::beast::websocket::stream_base::timeout::suggested(
+      boost::beast::role_type::server));
+  ws_.async_accept(boost::beast::bind_front_handler(
+      &WebSocketSession::on_accept, shared_from_this()));
+}
+
+void WebSocketSession::on_accept(boost::beast::error_code ec) {
+  if (ec) {
+    std::cerr << "handshake failed: " << ec.message() << std::endl;
+  }
+  do_read();
+}
+
+void WebSocketSession::do_read() {
+  ws_.async_read(buffer_, boost::beast::bind_front_handler(
+                              &WebSocketSession::on_read, shared_from_this()));
+}
+
+void WebSocketSession::on_read(boost::beast::error_code ec,
+                               std::size_t bytes_transferred) {
+  if (ec) {
+    std::cerr << "read error: " << ec.message() << std::endl;
+    return;
+  }
+  std::string data = boost::beast::buffers_to_string(buffer_.data());
+  {
+    std::lock_guard<std::mutex>(hw_->state_mutex_);
+    try {
+      nlohmann::json j = nlohmann::json::parse(data);
+      // if "state" key exists, update the hardware state
+      if (j.contains("state")) {
+        const nlohmann::json& state = j["state"];
+        for (size_t i = 0; i < hw_->info_.joints.size(); ++i) {
+          const auto& joint = hw_->info_.joints[i];
+          if (state.contains(joint.name)) {
+            const nlohmann::json& joint_data = state.at(joint.name);
+            if (joint_data.contains("qpos")) {
+              hw_->qpos_[i] = joint_data.at("qpos").get<double>();
+            }
+            if (joint_data.contains("qvel")) {
+              hw_->qvel_[i] = joint_data.at("qvel").get<double>();
+            }
+          }
+        }
+      }
+    } catch (const nlohmann::json::parse_error& e) {
+      std::cerr << "json parse error: " << e.what() << std::endl;
+    }
+  };
+
+  buffer_.consume(bytes_transferred);
+  do_read();
+}
+
+};  // namespace openarm_mujoco_hardware
+
+#include "pluginlib/class_list_macros.hpp"
+
+PLUGINLIB_EXPORT_CLASS(openarm_mujoco_hardware::MujocoHardware,
+                       hardware_interface::SystemInterface)

openarm_mujoco_hardware/test/test_load_openarm_mujoco_hardware.cpp

@@ -0,0 +1,31 @@
+// 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.
+
+#include <gtest/gtest.h>
+
+#include <pluginlib/class_loader.hpp>
+
+#include "hardware_interface/system_interface.hpp"
+
+static constexpr const char* kPluginName =
+    "openarm_mujoco_hardware/MujocoHardware";
+
+TEST(TestLoadMujocoOpenarmHardware, can_load_plugin) {
+  pluginlib::ClassLoader<hardware_interface::SystemInterface> loader(
+      "openarm_mujoco_hardware", "hardware_interface::SystemInterface");
+  std::shared_ptr<hardware_interface::SystemInterface> instance;
+
+  ASSERT_NO_THROW(instance = loader.createSharedInstance(kPluginName));
+  EXPECT_NE(instance, nullptr);
+}