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Merge pull request #359 from ROBOTIS-GIT/feature-urdf
Support urdf
2 parents 3fd6fa9 + 7d7e81b commit bc555a9

35 files changed

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‎open_manipulator/CHANGELOG.rst‎

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Changelog for package open_manipulator
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.1.2 (2026-01-09)
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------------------
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* Add urdf for every model
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* Contributors: Woojin Wie
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4.1.1 (2025-11-13)
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------------------
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* Update for new DHI, mock_components

‎open_manipulator/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>open_manipulator</name>
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<version>4.1.1</version>
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<version>4.1.2</version>
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<description>
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OpenMANIPULATOR meta ROS 2 package.
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</description>

‎open_manipulator_bringup/CHANGELOG.rst‎

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Changelog for package open_manipulator_bringup
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.1.2 (2026-01-09)
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------------------
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* None
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4.1.1 (2025-11-13)
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------------------
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* Update for mock_components

‎open_manipulator_bringup/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>open_manipulator_bringup</name>
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<version>4.1.1</version>
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<version>4.1.2</version>
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<description>OpenMANIPULATOR bringup ROS 2 package.</description>
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<maintainer email="pyo@robotis.com">Pyo</maintainer>
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<license>Apache 2.0</license>

‎open_manipulator_bringup/setup.py‎

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setup(
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name=package_name,
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version='4.1.1',
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version='4.1.2',
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packages=find_packages(exclude=['test']),
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data_files=[
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('share/ament_index/resource_index/packages', ['resource/' + package_name]),

‎open_manipulator_collision/CHANGELOG.rst‎

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Changelog for package open_manipulator_collision
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.1.2 (2026-01-09)
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------------------
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* None
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4.1.1 (2025-11-13)
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------------------
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* None

‎open_manipulator_collision/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>open_manipulator_collision</name>
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<version>4.1.1</version>
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<version>4.1.2</version>
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<description>
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This package implements a self-collision detection system for the follower robot during
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leader-follower teleoperation. Its primary purpose is to enhance safety by detecting

‎open_manipulator_description/CHANGELOG.rst‎

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Changelog for package open_manipulator_description
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.1.2 (2026-01-09)
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------------------
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* Add urdf for every model
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* Contributors: Woojin Wie
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4.1.1 (2025-11-13)
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------------------
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* Update for new DHI, mock_components

‎open_manipulator_description/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>open_manipulator_description</name>
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<version>4.1.1</version>
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<version>4.1.2</version>
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<description>
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open_manipulator_description ROS 2 package.
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</description>

‎open_manipulator_description/urdf/omx_f/omx_f.urdf‎

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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from omx_f.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="omx_f">
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<link name="world"/>
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<joint name="world_fixed" type="fixed">
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<parent link="world"/>
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<child link="link0"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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</joint>
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<joint name="end_effector_joint" type="fixed">
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<parent link="link5"/>
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<child link="end_effector_link"/>
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<origin rpy="0 0 0" xyz="0.09193 -0.0016 0"/>
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</joint>
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<link name="end_effector_link">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="0.01 0.01 0.01"/>
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</geometry>
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<material name="red">
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<color rgba="1.0 0.0 0.0 1"/>
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</material>
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</visual>
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</link>
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<link name="link0">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_01_base.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_01_base.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</collision>
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<inertial>
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<origin xyz="-1.441250800e-02 -3.149887900e-03 1.927659900e-02"/>
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<mass value="2.238905100e-01"/>
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<inertia ixx="3.568046100e-04" ixy="-3.297178900e-06" ixz="1.907676700e-05" iyy="2.194193200e-04" iyz="1.407164200e-06" izz="4.557589900e-04"/>
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</inertial>
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</link>
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<joint name="joint1" type="revolute">
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<parent link="link0"/>
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<child link="link1"/>
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<origin rpy="0 0 0" xyz="-0.01125 0 0.034"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
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<dynamics damping="0.05"/>
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</joint>
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<link name="link1">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_02_base_tilt_Revised.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_02_base_tilt_Revised.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</collision>
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<inertial>
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<origin xyz="-6.223620500e-06 6.049232000e-04 4.741880300e-02"/>
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<mass value="6.598704100e-02"/>
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<inertia ixx="2.173166700e-05" ixy="-7.670221200e-09" ixz="6.604697700e-09" iyy="2.135151300e-05" iyz="-3.790671700e-07" izz="1.165795500e-05"/>
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</inertial>
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</link>
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<joint name="joint2" type="revolute">
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<parent link="link1"/>
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<child link="link2"/>
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<origin rpy="0 0 0" xyz="0 0 0.0635"/>
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<axis xyz="0 1 0"/>
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<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
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<dynamics damping="0.1"/>
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</joint>
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<link name="link2">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_03_middle_verticle.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_03_middle_verticle.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</collision>
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<inertial>
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<origin xyz="1.808991600e-02 2.977875800e-04 9.900545200e-02"/>
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<mass value="8.722147100e-02"/>
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<inertia ixx="1.030791500e-04" ixy="-9.237869700e-07" ixz="-2.259657800e-05" iyy="1.208632700e-04" iyz="-1.937414500e-06" izz="4.199367700e-05"/>
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</inertial>
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</link>
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<joint name="joint3" type="revolute">
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<parent link="link2"/>
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<child link="link3"/>
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<origin rpy="0 0 0" xyz="0.0415 0 0.11315"/>
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<axis xyz="0 1 0"/>
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<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
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<dynamics damping="0.1"/>
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</joint>
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<link name="link3">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_04_middle_horizontal.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_04_middle_horizontal.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</collision>
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<inertial>
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<origin xyz="8.739860200e-02 4.131006500e-04 -3.582921000e-03"/>
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<mass value="8.375912900e-02"/>
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<inertia ixx="1.520310100e-05" ixy="-5.856958300e-07" ixz="-8.201398200e-06" iyy="2.260615800e-04" iyz="4.169928000e-07" izz="2.306688700e-04"/>
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</inertial>
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</link>
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<joint name="joint4" type="revolute">
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<parent link="link3"/>
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<child link="link4"/>
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<origin rpy="0 0 0" xyz="0.162 0 0"/>
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<axis xyz="0 1 0"/>
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<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
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<dynamics damping="0.1"/>
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</joint>
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<link name="link4">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_05_tip.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_05_tip.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</collision>
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<inertial>
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<origin xyz="2.323498000e-02 6.773537800e-05 5.976131200e-03"/>
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<mass value="2.997506300e-02"/>
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<inertia ixx="5.099513000e-06" ixy="2.633166800e-08" ixz="-7.760319700e-07" iyy="7.099047100e-06" iyz="1.637967900e-09" izz="6.311949500e-06"/>
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</inertial>
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</link>
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<joint name="joint5" type="revolute">
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<parent link="link4"/>
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<child link="link5"/>
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<origin rpy="0 0 0" xyz="0.0287 0 0"/>
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<axis xyz="1 0 0"/>
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<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
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<dynamics damping="0.1"/>
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</joint>
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<link name="link5">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_06_pan_Revised.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_06_pan_Revised.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</collision>
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<inertial>
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<origin xyz="2.807240700e-02 2.413594100e-05 1.352891400e-02"/>
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<mass value="4.381088700e-02"/>
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<inertia ixx="2.369445900e-05" ixy="-2.614252600e-08" ixz="-2.939284100e-06" iyy="2.323692400e-05" iyz="7.543040500e-08" izz="7.180629100e-06"/>
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</inertial>
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</link>
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<joint name="gripper_joint_1" type="revolute">
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<parent link="link5"/>
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<child link="link6"/>
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<origin rpy="0 0 0" xyz="0.0295 0.0075 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
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<dynamics damping="0.1"/>
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</joint>
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<link name="link6">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_07_gripper_motorized.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_07_gripper_motorized.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</collision>
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<inertial>
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<origin xyz="1.616456500e-02 1.273103200e-03 2.729159800e-04"/>
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<mass value="1.209067700e-02"/>
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<inertia ixx="2.708328700e-06" ixy="1.397245300e-07" ixz="5.888794300e-08" iyy="6.873372800e-06" iyz="1.537070800e-08" izz="4.694188100e-06"/>
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</inertial>
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</link>
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<joint name="gripper_joint_2" type="revolute">
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<parent link="link5"/>
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<child link="link7"/>
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<origin rpy="0 0 0" xyz="0.0295 -0.0108 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
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<dynamics damping="0.1"/>
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<mimic joint="gripper_joint_1" multiplier="-1"/>
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</joint>
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<link name="link7">
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_08_gripper_gear.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://open_manipulator_description/meshes/omx_f/follower_08_gripper_gear.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="grey">
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<color rgba="0.2 0.2 0.2 1"/>
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</material>
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</collision>
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<inertial>
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<origin xyz="1.616456500e-02 1.273103200e-03 2.729159800e-04"/>
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<mass value="1.209067700e-02"/>
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<inertia ixx="2.708328700e-06" ixy="1.397245300e-07" ixz="5.888794300e-08" iyy="6.873372800e-06" iyz="1.537070800e-08" izz="4.694188100e-06"/>
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</inertial>
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</link>
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</robot>

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