ROBOTIS-GIT · csharon0218 · Feb 4, 2026 · Feb 12, 2026 · Feb 12, 2026 · Feb 12, 2026
diff --git a/open_manipulator/CHANGELOG.rst b/open_manipulator/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package open_manipulator
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.3 (2026-02-11)
+------------------
+* Add drawing shape algorithm for omx
+* Contributors: Minseo Choi
+
 4.1.2 (2026-01-09)
 ------------------
 * Add urdf for every model

diff --git a/open_manipulator/package.xml b/open_manipulator/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator</name>
-  <version>4.1.2</version>
+  <version>4.1.3</version>
   <description>
     OpenMANIPULATOR meta ROS 2 package.
   </description>

diff --git a/open_manipulator_bringup/CHANGELOG.rst b/open_manipulator_bringup/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_bringup
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.3 (2026-02-11)
+------------------
+* None
+
 4.1.2 (2026-01-09)
 ------------------
 * None

diff --git a/open_manipulator_bringup/package.xml b/open_manipulator_bringup/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_bringup</name>
-  <version>4.1.2</version>
+  <version>4.1.3</version>
   <description>OpenMANIPULATOR bringup ROS 2 package.</description>
   <maintainer email="pyo@robotis.com">Pyo</maintainer>
   <license>Apache 2.0</license>

diff --git a/open_manipulator_bringup/setup.py b/open_manipulator_bringup/setup.py
@@ -8,7 +8,7 @@
 
 setup(
     name=package_name,
-    version='4.1.2',
+    version='4.1.3',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages', ['resource/' + package_name]),

diff --git a/open_manipulator_collision/CHANGELOG.rst b/open_manipulator_collision/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_collision
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.3 (2026-02-11)
+------------------
+* None
+
 4.1.2 (2026-01-09)
 ------------------
 * None

diff --git a/open_manipulator_collision/package.xml b/open_manipulator_collision/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_collision</name>
-  <version>4.1.2</version>
+  <version>4.1.3</version>
   <description>
     This package implements a self-collision detection system for the follower robot during
     leader-follower teleoperation. Its primary purpose is to enhance safety by detecting

diff --git a/open_manipulator_description/CHANGELOG.rst b/open_manipulator_description/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_description
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.3 (2026-02-11)
+------------------
+* None
+
 4.1.2 (2026-01-09)
 ------------------
 * Add urdf for every model

diff --git a/open_manipulator_description/package.xml b/open_manipulator_description/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_description</name>
-  <version>4.1.2</version>
+  <version>4.1.3</version>
   <description>
     open_manipulator_description ROS 2 package.
   </description>

diff --git a/open_manipulator_gui/CHANGELOG.rst b/open_manipulator_gui/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_gui
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.3 (2026-02-11)
+------------------
+* None
+
 4.1.2 (2026-01-09)
 ------------------
 * None

diff --git a/open_manipulator_gui/package.xml b/open_manipulator_gui/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_gui</name>
-  <version>4.1.2</version>
+  <version>4.1.3</version>
   <description>
     The OpenMANIPULATOR GUI ROS 2 package enables users to explore Joint Space,
     Task Space, and even work with the Task Constructor functionality.  </description>

diff --git a/open_manipulator_moveit_config/CHANGELOG.rst b/open_manipulator_moveit_config/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package open_manipulator_moveit_config
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.3 (2026-02-11)
+------------------
+* None
+
 4.1.2 (2026-01-09)
 ------------------
 * None

diff --git a/open_manipulator_moveit_config/package.xml b/open_manipulator_moveit_config/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_moveit_config</name>
-  <version>4.1.2</version>
+  <version>4.1.3</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the open_manipulator_x with the MoveIt Motion Planning Framework
   </description>

diff --git a/open_manipulator_playground/CHANGELOG.rst b/open_manipulator_playground/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package open_manipulator_playground
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.1.3 (2026-02-11)
+------------------
+* Add drawing shape algorithm for omx
+* Contributors: Minseo Choi
+
 4.1.2 (2026-01-09)
 ------------------
 * None

diff --git a/open_manipulator_playground/CMakeLists.txt b/open_manipulator_playground/CMakeLists.txt
@@ -74,4 +74,10 @@ install(TARGETS open_manipulator_x_hello_moveit omy_f3m_hello_moveit omy_3m_hell
 ################################################################################
 ament_export_include_directories(include)
 ament_export_targets(export_${PROJECT_NAME})
+install(PROGRAMS
+  src/omx_drawing_shape.py
+  DESTINATION lib/${PROJECT_NAME}
+  RENAME omx_drawing_shape
+)
+
 ament_package()
diff --git a/open_manipulator_playground/package.xml b/open_manipulator_playground/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>open_manipulator_playground</name>
-  <version>4.1.2</version>
+  <version>4.1.3</version>
   <description>
     This package provides an example for utilizing the MoveIt API with the OpenMANIPULATOR,
     allowing users to practice and experiment freely.
@@ -14,9 +14,15 @@
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/open_manipulator/issues</url>
   <author email="wsh@robotis.com">Sungho Woo</author>
   <author email="ywh@robotis.com">Wonho Yun</author>
+  <author email="csharon@naver.com">Minseo Choi</author>
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>moveit_ros_planning_interface</depend>
   <depend>rclcpp</depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>python3-numpy</exec_depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>trajectory_msgs</depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/open_manipulator_playground/src/__init__.py b/open_manipulator_playground/src/__init__.py