Dexee chiral L/R moveit configs

dx_config/robot/robot_system_0/0x02000107.yaml

@@ -0,0 +1,111 @@
+# Software License Agreement (BSD License)
+# Copyright © 2026 belongs to Shadow Robot Company Ltd.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without modification,
+# are permitted provided that the following conditions are met:
+#   1. Redistributions of source code must retain the above copyright notice,
+#      this list of conditions and the following disclaimer.
+#   2. Redistributions in binary form must reproduce the above copyright notice,
+#      this list of conditions and the following disclaimer in the documentation
+#      and/or other materials provided with the distribution.
+#   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+#      may be used to endorse or promote products derived from this software without
+#      specific prior written permission.
+#
+# This software is provided by Shadow Robot Company Ltd "as is" and any express
+# or implied warranties, including, but not limited to, the implied warranties of
+# merchantability and fitness for a particular purpose are disclaimed. In no event
+# shall the copyright holder be liable for any direct, indirect, incidental, special,
+# exemplary, or consequential damages (including, but not limited to, procurement of
+# substitute goods or services; loss of use, data, or profits; or business interruption)
+# however caused and on any theory of liability, whether in contract, strict liability,
+# or tort (including negligence or otherwise) arising in any way out of the use of this
+# software, even if advised of the possibility of such damage.
+
+robot_hardware:
+    - ethercat_robot_hw
+
+ethercat_robot_hw:
+    type: dx_robot/DxFOERobot
+    robot_descriptions_ns: robot_descriptions
+    fingers_per_hand: 3
+
+dx_finger/h0_F0:
+  dof_per_finger: 5
+  joints_per_finger: 4
+  pulley_radius_by_tendon:
+    - [ -0.0154,  0.0174,  0.0000,  0.0000]   # T0
+    - [  0.0194,  0.0144,  0.0000,  0.0000]   # T1
+    - [ -0.0084, -0.0144, -0.0124,  0.0000]   # T2
+    - [  0.0084, -0.0104,  0.0084, -0.0074]   # T3
+    - [ -0.0074,  0.0074,  0.0104,  0.0104]   # T4
+
+  joint_effort_limits: [1.5, 1.2, 0.7, .3]
+  min_tendon_load: 2.0
+  max_tendon_load: 40.0
+  phalanx_lengths: [0.03, 0.05, 0.035, 0.035]
+  magnetic_tactile_sensors: [MTPROX, MTMID]
+
+dx_finger/h0_F1:
+  dof_per_finger: 5
+  joints_per_finger: 4
+  pulley_radius_by_tendon:
+    - [ -0.0154,  0.0174,  0.0000,  0.0000]   # T0
+    - [  0.0194,  0.0144,  0.0000,  0.0000]   # T1
+    - [ -0.0084, -0.0144, -0.0124,  0.0000]   # T2
+    - [  0.0084, -0.0104,  0.0084, -0.0074]   # T3
+    - [ -0.0074,  0.0074,  0.0104,  0.0104]   # T4
+
+  joint_effort_limits: [1.5, 1.2, 0.7, .3]
+  min_tendon_load: 2.0
+  max_tendon_load: 40.0
+  phalanx_lengths: [0.03, 0.05, 0.035, 0.035]
+  magnetic_tactile_sensors: [MTPROX, MTMID]
+
+dx_finger/h0_F2:
+  dof_per_finger: 5
+  joints_per_finger: 4
+  pulley_radius_by_tendon:
+    - [ -0.0154,  0.0174,  0.0000,  0.0000]   # T0
+    - [  0.0194,  0.0144,  0.0000,  0.0000]   # T1
+    - [ -0.0084, -0.0144, -0.0124,  0.0000]   # T2
+    - [  0.0084, -0.0104,  0.0084, -0.0074]   # T3
+    - [ -0.0074,  0.0074,  0.0104,  0.0104]   # T4
+
+  joint_effort_limits: [1.5, 1.2, 0.7, .3]
+  min_tendon_load: 2.0
+  max_tendon_load: 40.0
+  phalanx_lengths: [0.03, 0.05, 0.035, 0.035]
+  magnetic_tactile_sensors: [MTPROX, MTMID]
+
+
+fan_subdevices:
+  required:
+   - h0_F0_A0
+   - h0_F0_A1
+   - h0_F0_A2
+   - h0_F0_A3
+   - h0_F0_A4
+   - h0_F0_J0
+   - h0_F0_J1
+   - h0_F0_J2
+   - h0_F0_J3
+   - h0_F1_A0
+   - h0_F1_A1
+   - h0_F1_A2
+   - h0_F1_A3
+   - h0_F1_A4
+   - h0_F1_J0
+   - h0_F1_J1
+   - h0_F1_J2
+   - h0_F1_J3
+   - h0_F2_A0
+   - h0_F2_A1
+   - h0_F2_A2
+   - h0_F2_A3
+   - h0_F2_A4
+   - h0_F2_J0
+   - h0_F2_J1
+   - h0_F2_J2
+   - h0_F2_J3

dx_config/robot/robot_system_1/0x02000109.yaml

@@ -0,0 +1,112 @@
+# Software License Agreement (BSD License)
+# Copyright © 2026 belongs to Shadow Robot Company Ltd.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without modification,
+# are permitted provided that the following conditions are met:
+#   1. Redistributions of source code must retain the above copyright notice,
+#      this list of conditions and the following disclaimer.
+#   2. Redistributions in binary form must reproduce the above copyright notice,
+#      this list of conditions and the following disclaimer in the documentation
+#      and/or other materials provided with the distribution.
+#   3. Neither the name of Shadow Robot Company Ltd nor the names of its contributors
+#      may be used to endorse or promote products derived from this software without
+#      specific prior written permission.
+#
+# This software is provided by Shadow Robot Company Ltd "as is" and any express
+# or implied warranties, including, but not limited to, the implied warranties of
+# merchantability and fitness for a particular purpose are disclaimed. In no event
+# shall the copyright holder be liable for any direct, indirect, incidental, special,
+# exemplary, or consequential damages (including, but not limited to, procurement of
+# substitute goods or services; loss of use, data, or profits; or business interruption)
+# however caused and on any theory of liability, whether in contract, strict liability,
+# or tort (including negligence or otherwise) arising in any way out of the use of this
+# software, even if advised of the possibility of such damage.
+
+robot_hardware:
+    - ethercat_robot_hw
+
+ethercat_robot_hw:
+    type: dx_robot/DxFOERobot
+    robot_descriptions_ns: robot_descriptions
+    fingers_per_hand: 3
+
+dx_finger/h1_F0:
+  dof_per_finger: 5
+  joints_per_finger: 4
+  pulley_radius_by_tendon:
+    - [ -0.0154,  0.0174,  0.0000,  0.0000]   # T0
+    - [  0.0194,  0.0144,  0.0000,  0.0000]   # T1
+    - [ -0.0084, -0.0144, -0.0124,  0.0000]   # T2
+    - [  0.0084, -0.0104,  0.0084, -0.0074]   # T3
+    - [ -0.0074,  0.0074,  0.0104,  0.0104]   # T4
+
+  joint_effort_limits: [1.5, 1.2, 0.7, .3]
+  min_tendon_load: 2.0
+  max_tendon_load: 40.0
+  phalanx_lengths: [0.03, 0.05, 0.035, 0.035]
+  magnetic_tactile_sensors: [MTPROX, MTMID]
+
+dx_finger/h1_F1:
+  dof_per_finger: 5
+  joints_per_finger: 4
+  pulley_radius_by_tendon:
+    - [ -0.0154,  0.0174,  0.0000,  0.0000]   # T0
+    - [  0.0194,  0.0144,  0.0000,  0.0000]   # T1
+    - [ -0.0084, -0.0144, -0.0124,  0.0000]   # T2
+    - [  0.0084, -0.0104,  0.0084, -0.0074]   # T3
+    - [ -0.0074,  0.0074,  0.0104,  0.0104]   # T4
+
+  joint_effort_limits: [1.5, 1.2, 0.7, .3]
+  min_tendon_load: 2.0
+  max_tendon_load: 40.0
+  phalanx_lengths: [0.03, 0.05, 0.035, 0.035]
+  magnetic_tactile_sensors: [MTPROX, MTMID]
+
+dx_finger/h1_F2:
+  dof_per_finger: 5
+  joints_per_finger: 4
+  pulley_radius_by_tendon:
+    - [ -0.0154,  0.0174,  0.0000,  0.0000]   # T0
+    - [  0.0194,  0.0144,  0.0000,  0.0000]   # T1
+    - [ -0.0084, -0.0144, -0.0124,  0.0000]   # T2
+    - [  0.0084, -0.0104,  0.0084, -0.0074]   # T3
+    - [ -0.0074,  0.0074,  0.0104,  0.0104]   # T4
+
+  joint_effort_limits: [1.5, 1.2, 0.7, .3]
+  min_tendon_load: 2.0
+  max_tendon_load: 40.0
+  phalanx_lengths: [0.03, 0.05, 0.035, 0.035]
+  magnetic_tactile_sensors: [MTPROX, MTMID]
+
+
+fan_subdevices:
+  required:
+   - h1_F0_A0
+   - h1_F0_A1
+   - h1_F0_A2
+   - h1_F0_A3
+   - h1_F0_A4
+   - h1_F0_J0
+   - h1_F0_J1
+   - h1_F0_J2
+   - h1_F0_J3
+   - h1_F1_A0
+   - h1_F1_A1
+   - h1_F1_A2
+   - h1_F1_A3
+   - h1_F1_A4
+   - h1_F1_J0
+   - h1_F1_J1
+   - h1_F1_J2
+   - h1_F1_J3
+   - h1_F2_A0
+   - h1_F2_A1
+   - h1_F2_A2
+   - h1_F2_A3
+   - h1_F2_A4
+   - h1_F2_J0
+   - h1_F2_J1
+   - h1_F2_J2
+   - h1_F2_J3
+

dx_dexee_0_moveit_config/config/gazebo_e3_r3_hand.urdf

@@ -22,7 +22,7 @@
         <visual>
             <origin rpy="0 0 0" xyz="0 0 0" />
             <geometry>
-                <mesh filename="package://dx_description/meshes/dx_e3r3_finger/H_Base.STL" />
+                <mesh filename="package://dx_description/meshes/hand_bases/Config_1_Hand_Base.dae" />
             </geometry>
             <material name="">
                 <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
@@ -31,7 +31,7 @@
         <collision>
             <origin rpy="0 0 0" xyz="0 0 0" />
             <geometry>
-                <mesh filename="package://dx_description/meshes/dx_e3r3_finger/collision/Hand_Base.STL" />
+                <mesh filename="package://dx_description/meshes/hand_bases/collision/Config_1_Hand_Base.stl" />
             </geometry>
         </collision>
     </link>

dx_dexee_0_ur_moveit_config/config/gazebo_ur_dex.urdf

@@ -376,7 +376,7 @@
         <visual>
             <origin rpy="0 0 0" xyz="0 0 0" />
             <geometry>
-                <mesh filename="package://dx_description/meshes/dx_e3r3_finger/H_Base.STL" />
+                <mesh filename="package://dx_description/meshes/hand_bases/Config_1_Hand_Base.dae" />
             </geometry>
             <material name="">
                 <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
@@ -385,7 +385,7 @@
         <collision>
             <origin rpy="0 0 0" xyz="0 0 0" />
             <geometry>
-                <mesh filename="package://dx_description/meshes/dx_e3r3_finger/collision/Hand_Base.STL" />
+                <mesh filename="package://dx_description/meshes/hand_bases/collision/Config_1_Hand_Base.stl" />
             </geometry>
         </collision>
     </link>

dx_dexee_config_2_lh_moveit_config/.setup_assistant

@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: ""
+    relative_path: /home/user/dexee_0.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/dexee_config_2_left_hand.srdf
+  CONFIG:
+    author_name: Shadow Robot software team
+    author_email: software@shadowrobot.com
+    generated_timestamp: 1739276540

dx_dexee_config_2_lh_moveit_config/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(dx_dexee_config_2_lh_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

dx_dexee_config_2_lh_moveit_config/config/cartesian_limits.yaml

@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57

dx_dexee_config_2_lh_moveit_config/config/chomp_planning.yaml

@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5

dx_dexee_config_2_lh_moveit_config/config/copyright_exclusions.cfg

@@ -0,0 +1 @@
+exclude_files=/*.