Completed MoveIt2 supporting ROS2 MuJoCo hardware interface

openarm_bimanual_moveit_config/.setup_assistant

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

openarm_bimanual_moveit_config/CMakeLists.txt

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+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.22)
+project(openarm_bimanual_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
+
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/launch")
+  install(
+    DIRECTORY launch
+    DESTINATION share/${PROJECT_NAME}
+    PATTERN "setup_assistant.launch" EXCLUDE)
+endif()
+
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})

openarm_bimanual_moveit_config/config/initial_positions.yaml

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

openarm_bimanual_moveit_config/config/joint_limits.yaml

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+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  openarm_left_finger_joint1:
+   has_velocity_limits: true
+   max_velocity: 10.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint1:
+   has_velocity_limits: true
+   max_velocity: 16.754666
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint2:
+   has_velocity_limits: true
+   max_velocity: 16.754666
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint3:
+   has_velocity_limits: true
+   max_velocity: 5.445426
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint4:
+   has_velocity_limits: true
+   max_velocity: 5.445426
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint5:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint6:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_left_joint7:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_finger_joint1:
+   has_velocity_limits: true
+   max_velocity: 10.0
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint1:
+   has_velocity_limits: true
+   max_velocity: 16.754666
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint2:
+   has_velocity_limits: true
+   max_velocity: 16.754666
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint3:
+   has_velocity_limits: true
+   max_velocity: 5.445426
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint4:
+   has_velocity_limits: true
+   max_velocity: 5.445426
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint5:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint6:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0
+  openarm_right_joint7:
+   has_velocity_limits: true
+   max_velocity: 20.943946
+   has_acceleration_limits: false
+   max_acceleration: 0.0

openarm_bimanual_moveit_config/config/kinematics.yaml

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