Repository: github.com/SantaCRC/ur_softhand_dual

Integration of two UR5e arms with SoftHand end-effectors in ROS 2 Humble, built at the GII lab of Universidade da Coruña as a base for dual-arm manipulation research. It continues the single-arm work in SoftHand + UR5 in ROS.

Highlights

  • Dual-arm motion planning with MoveIt 2.
  • Modular URDF/Xacro description, so tools and end-effectors can be swapped.
  • Runs in MuJoCo and on the real robots.
  • Branch per configuration: Standalone (bare arms), Main (development) and SoftHand (arms with SoftHand grippers for compliant grasping).