combine hands and omy by mysteryholic · Pull Request #370 · ROBOTIS-GIT/open_manipulator

mysteryholic · 2026-05-04T08:44:58Z

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…al synctable

…h.py

Signed-off-by: dayeol kang <kangdy1997@gmail.com>

Copilot

Pull request overview

This PR adds configuration and launch support for operating OMY arms with HX5 hands (including MoveIt config for an OMY-3M + HX5 right hand), plus several standalone URDF/ros2_control variants and teleoperation “leader → follower” trajectory bridge nodes.

Changes:

Add MoveIt launch + SRDF/controller/limits config for omy_3m_hands.
Add URDF/xacro + ros2_control definitions for HX5 hands and multiple F3M/OMY-END standalone test setups.
Add bringup launch files, controller manager configs, and trajectory-bridge/watchdog Python nodes for teleoperation and hardware testing.

Reviewed changes

Copilot reviewed 51 out of 69 changed files in this pull request and generated 7 comments.

Show a summary per file

File	Description
open_manipulator_moveit_config/package.xml	Adds runtime dependency for xacro loading in MoveIt launch.
open_manipulator_moveit_config/launch/omy_3m_hands_moveit.launch.py	New MoveIt launch for OMY-3M + HX5 right hand.
open_manipulator_moveit_config/config/omy_3m_hands/omy_3m_hands.srdf	New SRDF for OMY-3M + HX5 right hand planning groups/collisions.
open_manipulator_moveit_config/config/omy_3m_hands/moveit_controllers.yaml	MoveIt controller mapping for arm + HX5 trajectory controllers.
open_manipulator_moveit_config/config/omy_3m_hands/joint_limits.yaml	Joint limit overrides for arm + HX5 joints.
open_manipulator_description/urdf/omy_f3m/omy_f3m_hx5_left.urdf.xacro	New combined F3M + HX5-left URDF with dual ros2_control systems.
open_manipulator_description/urdf/omy_f3m/omy_f3m_arm_only.urdf.xacro	New “arm only” F3M URDF to avoid end-unit contention.
open_manipulator_description/urdf/omy_f3m/omy_end_hx5_right_standalone.urdf.xacro	Standalone HX5-right + OMY-END ros2_control URDF for testing.
open_manipulator_description/urdf/omy_f3m/omy_end_hx5_ping_test.urdf.xacro	Minimal URDF to test OMY-END → HX5 SyncTable relay connectivity.
open_manipulator_description/urdf/omy_f3m/omy_end_hx5_left_standalone.urdf.xacro	Standalone HX5-left + OMY-END ros2_control URDF for testing.
open_manipulator_description/urdf/omy_f3m/omy_end_hx5_left_readonly_standalone.urdf.xacro	Read-only standalone HX5-left URDF variant to avoid indirect-write overlap.
open_manipulator_description/urdf/omy_f3m/hx5_d20_left_stub.urdf.xacro	Minimal stub macro for HX5-left visuals.
open_manipulator_description/urdf/omy_3m/omy_3m_hands.urdf.xacro	New OMY-3M + HX5-right combined URDF (arm + end unit + hand).
open_manipulator_description/urdf/hx5_d20_rev2/hx5_d20_right.xacro	New HX5-right wrapper xacro referencing robotis_hand packages + Gazebo plugin.
open_manipulator_description/urdf/hx5_d20_rev2/hx5_d20_right.urdf.xacro	New HX5-right hand geometry (links/joints/inertials).
open_manipulator_description/urdf/hx5_d20_rev2/hx5_d20_left.xacro	New HX5-left wrapper xacro referencing robotis_hand packages + Gazebo plugin.
open_manipulator_description/ros2_control/omy_l100_current.ros2_control.xacro	Adjusts baud-rate param lines (commented out).
open_manipulator_description/ros2_control/omy_f3m_end_unit_hx5_left_readonly.ros2_control.xacro	Adds read-only ros2_control system for HX5-left via OMY END.
open_manipulator_description/ros2_control/omy_f3m_end_unit_hx5_left.ros2_control.xacro.back	Adds a backup/alternate ros2_control xacro (editor artifact).
open_manipulator_description/ros2_control/omy_end_hx5_ping_test.ros2_control.xacro	Adds ros2_control system for OMY-END ping/relay testing.
open_manipulator_description/ros2_control/omy_3m_hx5_d20_right.ros2_control.xacro	Adds ros2_control system for HX5-right on OMY-3M.
open_manipulator_description/ros2_control/omy_3m_hands_gz_ros2_control.yaml	Adds Gazebo controller manager config for OMY-3M + HX5.
open_manipulator_description/gazebo/hx5_d20_right_omy_3m.gazebo.xacro	Adds Gazebo contact + transmission settings for HX5-right on OMY-3M.
open_manipulator_bringup/setup.py	Installs new configs and registers additional console scripts.
open_manipulator_bringup/open_manipulator_bringup/synctable_watchdog.py	New watchdog node to keep OMY END SyncTable enables asserted.
open_manipulator_bringup/open_manipulator_bringup/omy_f3m_hx5_right_leader_trajectory_bridge.py	New leader→HX5-right preset mapping trajectory bridge node.
open_manipulator_bringup/open_manipulator_bringup/omy_f3m_hx5_left_leader_trajectory_bridge.py	New leader→HX5-left preset mapping trajectory bridge node.
open_manipulator_bringup/open_manipulator_bringup/omy_3m_hands_leader_trajectory_bridge.py	New leader→(arm-only republish + HX5 presets) bridge for OMY-3M hands.
open_manipulator_bringup/launch/omy_f3m_hx5_right.launch.py	New combined teleop launch (F3M follower + HX5-right + L100 leader).
open_manipulator_bringup/launch/omy_f3m_hx5_left.launch.py	New combined teleop launch (F3M follower + HX5-left + L100 leader).
open_manipulator_bringup/launch/omy_f3m_follower_ai_hx5_left.launch.py	New/updated follower AI launch for F3M + HX5-left.
open_manipulator_bringup/launch/omy_end_hx5_ping_test.launch.py	New minimal hardware ping test launch for OMY END → HX5 relay.
open_manipulator_bringup/launch/omy_end_hx5_left_test.launch.py	New end-only test launch (L100 leader + HX5-left end hardware only).
open_manipulator_bringup/launch/omy_end_hx5_left_l100.launch.py	New follower-only HX5-left + leader composite launch.
open_manipulator_bringup/launch/omy_end_hx5_left_full_test.launch.py	New full relay test launch for HX5-left via SyncTable.
open_manipulator_bringup/launch/omy_ai_hand.launch.py	Updates AI teleoperation launch to include HX5-left follower/bridge.
open_manipulator_bringup/launch/omy_3m_hands_l100_leader_ai.launch.py	New real-hardware composite launch for OMY-3M + HX5-right + L100 leader.
open_manipulator_bringup/launch/omy_3m_hands_gazebo_l100_leader_ai.launch.py	New Gazebo composite launch for OMY-3M + HX5-right + L100 leader.
open_manipulator_bringup/launch/omy_3m_hands_gazebo.launch.py	New Gazebo launch for OMY-3M + HX5-right setup.
open_manipulator_bringup/config/omy_f3m_follower_ai_hx5_left/hardware_controller_manager.yaml	Adds controller manager config for F3M follower AI + HX5-left.
open_manipulator_bringup/config/omy_f3m/init_position_hx5.yaml	Adds initial pose config for F3M arm in HX5 teleop flows.
open_manipulator_bringup/config/omy_end_hx5_right_l100/hardware_controller_manager.yaml	Adds controller manager config for HX5-right end + leader flows.
open_manipulator_bringup/config/omy_end_hx5_ping_test/hardware_controller_manager.yaml	Adds controller manager config for ping test.
open_manipulator_bringup/config/omy_end_hx5_left_test/initial_positions.yaml	Adds initial pose trajectory config for HX5-left test.
open_manipulator_bringup/config/omy_end_hx5_left_test/hardware_controller_manager.yaml	Adds controller manager config for HX5-left test.
open_manipulator_bringup/config/omy_end_hx5_left_l100/hardware_controller_manager.yaml	Adds controller manager config for HX5-left end + leader flow.
open_manipulator_bringup/config/omy_end_hx5_left_full_test/hardware_controller_manager.yaml	Adds controller manager config for full relay test.
open_manipulator_bringup/config/omy_3m_hands_gazebo_l100_leader_ai/initial_positions.yaml	Adds Gazebo initial pose config for OMY-3M hands scenario.

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+    # No config/omy_3m_hands.urdf in this package; load hands xacro from description before
+    # to_moveit_configs() so MoveItConfigsBuilder does not warn or leave robot_description empty.
+    moveit_builder = MoveItConfigsBuilder(
+        robot_name='omy_3m_hands', package_name='open_manipulator_moveit_config'
+    )
+    moveit_builder._MoveItConfigsBuilder__moveit_configs.robot_description = {
+        'robot_description': load_xacro(
+            # HANDS_DESCRIPTION_XACRO, mappings={'use_sim': 'false'}
+            HANDS_DESCRIPTION_XACRO, mappings={'use_sim': 'true'}
+        )
+    }


+    moveit_builder._MoveItConfigsBuilder__moveit_configs.robot_description = {
+        'robot_description': load_xacro(
+            # HANDS_DESCRIPTION_XACRO, mappings={'use_sim': 'false'}
+            HANDS_DESCRIPTION_XACRO, mappings={'use_sim': 'true'}
+        )


        'console_scripts': [
            'joint_trajectory_executor = open_manipulator_bringup.joint_trajectory_executor:main',
+            'omy_3m_hands_leader_trajectory_bridge = open_manipulator_bringup.omy_3m_hands_leader_trajectory_bridge:main',
+            'omy_f3m_hx5_left_leader_trajectory_bridge = open_manipulator_bringup.omy_f3m_hx5_left_leader_trajectory_bridge:main',


+            # OMY 3M follower arm controller is remapped to /leader/joint_trajectory in omy_3m.launch.py.
+            {'arm_command_topic': '/leader/joint_trajectory'},


+  <xacro:include filename="$(find open_manipulator_description)/urdf/hx5_d20_rev2/hx5_d20_right.urdf.xacro" />
+
+  <xacro:include filename="$(find robotis_hand_description)/gazebo/hx5_d20_right.gazebo.xacro" />
+
+  <xacro:include filename="$(find robotis_hand_description)/ros2_control/hx5_d20_rev2/hx5_d20_right.ros2_control.xacro" />
+
+  <link name="world"/>
+
+  <joint name="$(arg prefix)world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="$(arg prefix)hx5_d20_right_base"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <xacro:hx5_d20_right prefix="$(arg prefix)" />
+  <xacro:robotis_hand_gazebo prefix="$(arg prefix)" />
+
+  <xacro:robotis_hand_system
+    name="RobotisHandSystem" prefix="$(arg prefix)" use_sim="$(arg use_sim)"
+    use_mock_hardware="$(arg use_mock_hardware)"
+    mock_sensor_commands="$(arg mock_sensor_commands)"/>
+
+  <gazebo>
+    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+      <parameters>$(find robotis_hand_bringup)/config/robotis_hand_hardware_controller_manager.yaml</parameters>
+    </plugin>


+  <xacro:include filename="$(find open_manipulator_description)/urdf/hx5_d20_rev2/hx5_d20_left.urdf.xacro" />
+
+  <xacro:include filename="$(find robotis_hand_description)/gazebo/hx5_d20_left.gazebo.xacro" />
+
+  <xacro:include filename="$(find robotis_hand_description)/ros2_control/hx5_d20_rev2/hx5_d20_left.ros2_control.xacro" />
+
+  <link name="world"/>
+
+  <joint name="$(arg prefix)world_fixed" type="fixed">
+    <parent link="world"/>
+    <child link="$(arg prefix)hx5_d20_left_base"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+
+  <xacro:hx5_d20_left prefix="$(arg prefix)" />
+  <xacro:robotis_hand_gazebo prefix="$(arg prefix)" />
+
+  <xacro:robotis_hand_system
+    name="RobotisHandSystem" prefix="$(arg prefix)" use_sim="$(arg use_sim)"
+    use_mock_hardware="$(arg use_mock_hardware)"
+    mock_sensor_commands="$(arg mock_sensor_commands)"/>
+
+  <gazebo>
+    <plugin filename="gz_ros2_control-system" name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+      <parameters>$(find robotis_hand_bringup)/config/robotis_hand_hardware_controller_manager.yaml</parameters>
+    </plugin>


+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="omy_f3m_end_unit_hx5_left_system" params="name prefix port_name:=^|/dev/ttyAMA4 use_sim:=^|false use_mock_hardware:=^|false mock_sensor_commands:=^|false">
+    <ros2_control name="${name}" type="system" is_async="true">
+      <xacro:if value="$(arg use_sim)">


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robotpilot and others added 30 commits April 10, 2025 07:33

Merge pull request #274 from ROBOTIS-GIT/main

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add omy end & hand bringup

c3715e8

add launch file for omy and hx5 left

10b6d7d

modify omy_f3m_hx5_left.launch.py ros2_control error

8d58734

modify ros2_contol.xacro & omy_f3m_hx5_left.launch.py to use sequenti…

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…al synctable

add omy_f3m_arm_only.urdf.xacro

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Eunsung-kespion and others added 10 commits April 23, 2026 16:53

fix parsing error

74f9376

fix omy end port default name

b804883

fix omy end tool baudrate

e112f7f

add delay for control nodes

0d95983

fix: reorder Table Sync Enable of hx5

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fix : remove reboot 1 in omy_f3m_end_unit_hx5_left.ros2_control.xacro

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fix : restore reboot 1 in ID 140

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fix : remove all reboot in omy_f3m_end_unit_hx5_left.ros2_control.xacro

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fix : update sequencing and initialization for omy_f3m_hx5_left.launc…

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…h.py

fix hands type

4693070

Signed-off-by: dayeol kang <kangdy1997@gmail.com>

Copilot AI review requested due to automatic review settings May 4, 2026 08:44

mysteryholic closed this May 4, 2026

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combine hands and omy#370

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		# OMY 3M follower arm controller is remapped to /leader/joint_trajectory in omy_3m.launch.py.
		{'arm_command_topic': '/leader/joint_trajectory'},

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