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 # ROS2 packages for OpenArm robots
 
-- openarm_bimanual_description: urdf with pedestal torso and an openarm on each side
+- openarm_bimanual_description: urdf with pedestal torso and arm on each side
 - openarm_description: urdf with gripper actuator
 - openarm_moveit_config: motion planning with [moveit2](https://github.com/moveit/moveit2)
 
+## Description Packages
+
+Each link has a visual mesh and a collision mesh, as shown in the figures below:
+  
+<img width="412" alt="visual meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/9020efc3-69bc-420d-93a1-305885925638" />
+<img width="383" alt="collision meshes of openarm_bimanual_description urdf in rviz2" src="https://github.com/user-attachments/assets/6f62184e-ccea-4859-9364-7c7d1b8def86" />
+
+### TODO: 
+- [ ] Add results from true inertia tests to URDF
+
+## MoveIt2 Support
+
 https://github.com/user-attachments/assets/a0f962e5-6150-49ce-b18e-9914bcb322ef
 
+### TODO:
+- [ ] ROS 2 control packages (separate branch)
+
 Tested with:
 - [x] Rolling
 - [x] Jazzy
 - [x] Humble
 
-# TODO: 
-- [ ] Add results from true inertia tests to URDF
 
 ## License