Dexee chiral L/R moveit configs

[chrisw-shadow]

Proposed changes

Added moveit configs for dexee chiral (L/R), no arm yet.

MERGE AFTER THE OTHER CHIRAL BRANCH

Types of changes

What types of changes does your code introduce?

• Bugfix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)

Checklist

Put an x in the boxes that apply. You can also fill these out after creating the PR. This is a reminder of what we should look for before merging this code. I have:

• Read and follow the contributing guidelines.
• Checked that all tests pass with my changes
• Added tests (automatic or manual) that prove the fix is effective or that the feature works
• Added necessary documentation (if appropriate)
• Added the corresponding license to each file and add the current year of any one that you modified.
• Tested on real hardware (if appropriate)

[Copilot]

Pull request overview

This pull request adds MoveIt configuration packages for chiral (left and right handed) dexee hands, supporting both single-hand and bimanual setups with UR arms. The changes include launch files, URDF descriptions, MoveIt configurations, and robot hardware configurations for a second robot system.

Changes:

• Added bimanual launch configuration for dual-arm/dual-hand setup
• Created MoveIt configs for dexee config_2 left and right hands
• Added robot system 1 configuration files
• Updated existing SRDF to use correct base links

Reviewed changes

Copilot reviewed 122 out of 124 changed files in this pull request and generated 5 comments.

Show a summary per file

File	Description
dx_launch/launch/start_bimanual.launch	New bimanual launch file for two robot systems
dx_launch/description/bimanual_dexee_ur.urdf.xacro	URDF definition for bimanual setup
dx_dexee_config_2_rh_moveit_config/*	Complete MoveIt config for right hand
dx_dexee_config_2_lh_moveit_config/*	Complete MoveIt config for left hand
dx_dexee_0_ur_bimanual_moveit_config/*	Bimanual MoveIt configuration
dx_config/robot/robot_system_1/*	Robot hardware config for system 1
dx_dexee_0_ur_moveit_config/config/ur_dex.srdf	Fixed base link references

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[niko-holmes]

Can be merged once #44 is merged

[chrisw-shadow]

Resolved all the copilot comments because they are on generated files

[toliver]

I think in this last commit these paths have been mistakenly redirected to the other package dx_dexee_0_moveit_config instead of dx_dexee_config_2_lh_moveit_config

[chrisw-shadow]

fbd27af