ROBOTIS OpenMANIPULATOR ROS 2 Packages

This repository contains the official ROS 2 packages for the ROBOTIS OpenMANIPULATOR platform. These packages provide the necessary interfaces and tools to control the robot, integrate with its sensors, and develop physical AI applications, including those utilizing frameworks like LeRobot. For detailed usage instructions, please refer to the documentation below.

• Documentation for OMY
• Documentation for OpenMANIPULATOR-X

To learn more about the Physical AI Tools, visit:

• Physical AI Tools

To explore our open-source platforms in a simulation environment, visit:

• Simulation Models

For usage instructions and demonstrations of the OpenMANIPULATOR, check out:

• Tutorial Videos

To access datasets and pre-trained models for our open-source platforms, see:

• AI Models & Datasets

To use the Docker image for running ROS packages and Physical AI tools with the OpenMANIPULATOR, visit:

• Docker Images

solid-node OpenMANIPULATOR-X simulation

The project includes a thin simulation/ layer over the existing OpenMANIPULATOR-X URDF and STL files. It does not modify the ROS packages or source geometry.

/home/asa/devel/libresolid-studio/.venv/bin/solid build
/home/asa/devel/libresolid-studio/.venv/bin/solid test --faceted simulation/open_manipulator_x.py:OpenManipulatorX
/home/asa/devel/libresolid-studio/.venv/bin/solid test --exact simulation/open_manipulator_x.py:OpenManipulatorX

The viewer exposes base_yaw, shoulder, elbow, and wrist in degrees, plus symmetric grip travel in millimetres. Demonstration buttons are Rest, Home, Reach, Present, and Open. The hierarchy follows the generated URDF from the fixed base through links 2–5 and the gripper fingers.

Model findings and limitation

• The seven visual STL files contain 43 connected mesh bodies; all are kept.
• At the URDF zero pose, 23 positive-volume overlaps and 16 near-zero boundary contacts are authored into the display meshes. simulation/seats.py inventories them so any change is detected.
• Four bodies in link5.stl are non-volume meshes; two are rejected as non-manifold by the spatial kernel. Per the pilot's decision, they remain visible and unchanged but are excluded from collision evidence. This is a visual and kinematic simulation, not a collision-certified one.
• plate.stl is omitted because the generated URDF does not reference it.

Source-frame measurements are recorded in docs/measurements.md.