双臂机器人 ROS2 MoveIt 控制项目。内含ompl/pilz/servo控制；可对接上下游，做了模块心跳状态监控，支持上层下发各类操作任务：包括预设位姿任务、移动任务、末端控制任务，同时支持左右手独立任务调度，包含模块重启、仿真模式切换这类基础系统能力。
☆76Apr 15, 2026Updated this week
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