enactic · euyniy · May 18, 2026 · May 18, 2026
diff --git a/website/docs/api-reference/cli.mdx b/website/docs/api-reference/cli.mdx
diff --git a/website/docs/api-reference/controls.md b/website/docs/api-reference/controls.md
diff --git a/website/docs/api-reference/description.mdx b/website/docs/api-reference/description.mdx
@@ -10,8 +10,7 @@ import BlockImage from '@site/src/components/BlockImage';
 
 ## Overview
 
-This [OpenArm description](https://github.com/enactic/openarm_description) package contains URDF/xacro description files for the OpenArm robot system,
-supporting both single-arm and bimanual configurations.
+This [OpenArm description](https://github.com/enactic/openarm_description) package contains URDF/xacro description files for the OpenArm robot system, supporting both v1.0 and v2.0 hardware in bimanual configuration.
 
 ## Table of Contents
 
@@ -22,43 +21,65 @@ supporting both single-arm and bimanual configurations.
 
 ---
 
-## Xacro Structure
+## Supported Robot Versions
+
+| Version | `arm_type` values | Configuration style |
+|---|---|---|
+| OpenArm v1.0 | `v10`, `v1.0`, `v1_0`, `openarm_v10`, `openarm_v1.0` | Per-argument (`ee_type`, ...) |
+| OpenArm v2.0 | `v20`, `v2.0`, `v2_0`, `openarm_v20`, `openarm_v2.0` | Preset-based (`robot_preset`) |
 
-The package follows a hierarchical xacro structure with the following organization.
+Both versions share the same launch file and entry point. The `arm_type` argument determines which hardware and xacro files are loaded.
 
-### Robot (Overarching Structure)
+---
+
+## Xacro Structure
 
-- `robot/openarm_robot.xacro` - Main robot macro that orchestrates all components
-- `robot/v10.urdf.xacro` - Entry point for v1.0 arm configuration
+Assets are organized per robot version under `assets/robot/`:
 
-### Component Structure
+```
+assets/
+├── robot/
+│   ├── openarm_v1.0/
+│   │   ├── config/           # Kinematics, joint limits, inertials
+│   │   ├── mesh/             # STL and DAE mesh files
+│   │   └── urdf/
+│   │       ├── openarm_v10.urdf.xacro   # Entry point for v1.0
+│   │       ├── arm/
+│   │       ├── body/
+│   │       ├── ee/
+│   │       └── ros2_control/
+│   └── openarm_v2.0/
+│       ├── config/
+│       │   ├── arm/            # Joint limits, inertials, kinematics
+│       │   ├── body/           # Body link parameters
+│       │   └── robot_presets/  # Preset YAML files
+│       ├── meshes/             # STL and DAE mesh files
+│       └── urdf/
+│           ├── openarm_v20.urdf.xacro   # Entry point for v2.0
+│           ├── ros2_control/
+│           └── utils/
+└── end_effector/
+    ├── parallel_link/          # Used in v1.0
+    └── pinch_gripper/          # Used in v2.0
+```
 
-- `arm/` - Arm kinematics, joints, and links
-  - `openarm_arm.xacro` - Arm assembly
-  - `openarm_macro.xacro` - Arm macro definitions
-- `body/` - Robot base/body components
-  - `openarm_body.xacro` - Body assembly
-  - `openarm_body_macro.xacro` - Body macro definitions
-- `ee/` - End-effector components
-  - `openarm_hand.xacro` - OpenArm hand gripper
-  - `openarm_hand_macro.xacro` - Hand macro definitions
-  - `ee_with_one_link.xacro` - Simple single-link end-effector
-- `ros2_control/` - ROS2 Control with hardware interfaces
-  - `openarm.ros2_control.xacro` - Single arm control interface
-  - `openarm.bimanual.ros2_control.xacro` - Bimanual control interface
+### v2.0 Robot Presets
 
-### Configuration Files
+v2.0 uses a preset-based system. A single `robot_preset` argument selects the full robot configuration:
 
-- `config/arm/v10/` - v1.0 arm parameters (kinematics, limits, inertials)
-- `config/body/v10/` - v1.0 body parameters
-- `config/hand/openarm_hand/` - Hand configuration
+| Preset | Description |
+|---|---|
+| `default_bimanual` | Both left and right arms (default) |
+| `right_arm` | Right arm only |
+| `left_arm` | Left arm only |
+| `right_arm_with_pinch_gripper` | Right arm with pinch gripper |
+| `left_arm_with_pinch_gripper` | Left arm with pinch gripper |
 
 ---
 
 ## Installation
 
-To use this package, make sure you have: [ROS2 installed](ros2/install)
-Then set up the workspace:
+To use this package, make sure you have [ROS2 installed](ros2/install). Then set up the workspace:
 
 ```bash
 # Set up environment variables if you haven't already (customize as needed)
@@ -86,130 +107,141 @@ source $ROS_WS/install/setup.bash
 
 ## Universal Robot Description Files (URDF)
 
-The coordinate transforms of each link and joint constraints of OpenArm are defined in the URDF. ROS2 uses a XML macro language called xacro to generate these files.
+The coordinate transforms of each link and joint constraints of OpenArm are defined in the URDF. ROS2 uses an XML macro language called xacro to generate these files.
 
-### Generate URDF Files
+### Visualization
 
-#### Single Arm Configuration
+To display the robot in RViz with a simple joint state GUI:
 
-```bash
-# Basic single arm with hand
-xacro $ROS_WS/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=false > openarm_single.urdf
+:::tip
+If you're receiving errors regarding the `.dae` files, try changing mesh formats to `.stl` or `.obj`.
+:::
 
-# Single arm without end-effector
-xacro $ROS_WS/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=false ee_type:=none > openarm_single_no_ee.urdf
+#### OpenArm v2.0
 
-# Single arm with ROS2 control
-xacro $ROS_WS/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=false ros2_control:=true can_interface:=can0 > openarm_single_control.urdf
-```
+```bash
+# Bimanual (default)
+ros2 launch openarm_description display_openarm.launch.py arm_type:=v2.0
 
-#### Bimanual Configuration
+# Right arm only
+ros2 launch openarm_description display_openarm.launch.py arm_type:=v2.0 robot_preset:=right_arm
 
-```bash
-# Basic bimanual setup
-xacro $ROS_WS/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=true > openarm_bimanual.urdf
+# Left arm only
+ros2 launch openarm_description display_openarm.launch.py arm_type:=v2.0 robot_preset:=left_arm
 
-# Bimanual with ROS2 control
-xacro $ROS_WS/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=true ros2_control:=true left_can_interface:=can1 right_can_interface:=can0 > openarm_bimanual_control.urdf
+# Right arm with pinch gripper
+ros2 launch openarm_description display_openarm.launch.py arm_type:=v2.0 robot_preset:=right_arm_with_pinch_gripper
 
-# Bimanual with fake hardware for simulation
-xacro $ROS_WS/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=true ros2_control:=true use_fake_hardware:=true > openarm_bimanual_sim.urdf
-```
+# Left arm with pinch gripper
+ros2 launch openarm_description display_openarm.launch.py arm_type:=v2.0 robot_preset:=left_arm_with_pinch_gripper
 
-### Visualization
-To display the robot in RViz with a simple joint state GUI:
+# Bimanual with grasp frame
+ros2 launch openarm_description display_openarm.launch.py arm_type:=v2.0 emit_grasp_frame:=true
+```
 
-:::tip
-If you're receiving errors regarding the `.dae` files, try changing mesh formats to `.stl` or `.obj`.
-:::
+<BlockImage src="software/description/bimanual_v2.0.png" alt="OpenArm v2.0 Bimanual URDF RViz" width="85%" />
 
-#### Single Arm
+#### OpenArm v1.0
 
 ```bash
-# Display single arm with hand
-ros2 launch openarm_description display_openarm.launch.py arm_type:=v10 bimanual:=false
-
-# Display single arm without end-effector
-ros2 launch openarm_description display_openarm.launch.py arm_type:=v10 bimanual:=false ee_type:=none
+ros2 launch openarm_description display_openarm.launch.py arm_type:=v1.0
 ```
 
-<BlockImage src="software/description/single-arm-urdf-rviz.png" alt="Single Arm URDF Rviz" width="65%" />
+<BlockImage src="software/description/bimanual_v1.0.png" alt="OpenArm v1.0 Bimanual URDF RViz" width="85%" />
 
+### Generate URDF Files
 
-#### Bimanual
+#### OpenArm v2.0
 
 ```bash
-# Display bimanual configuration
-ros2 launch openarm_description display_openarm.launch.py arm_type:=v10 bimanual:=true
+# Bimanual
+xacro $(ros2 pkg prefix openarm_description)/share/openarm_description/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro \
+  robot_preset:=default_bimanual > openarm_v20_bimanual.urdf
 
-# Display bimanual without end-effectors
-ros2 launch openarm_description display_openarm.launch.py arm_type:=v10 bimanual:=true ee_type:=none
-```
+# Right arm only
+xacro $(ros2 pkg prefix openarm_description)/share/openarm_description/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro \
+  robot_preset:=right_arm > openarm_v20_right_arm.urdf
 
-<BlockImage src="software/description/bimanual-urdf-rviz.png" alt="Bimanual URDF Rviz" width="65%" />
+# Right arm with pinch gripper
+xacro $(ros2 pkg prefix openarm_description)/share/openarm_description/assets/robot/openarm_v2.0/urdf/openarm_v20.urdf.xacro \
+  robot_preset:=right_arm_with_pinch_gripper > openarm_v20_right_arm_pinch.urdf
+```
 
-### Exporting URDFs
+#### OpenArm v1.0
 
-Sometimes, it may be necessary to export a URDF for use in other applications. To generate a new URDF file, run the xacro command with arguments.
+```bash
+# Bimanual
+xacro $(ros2 pkg prefix openarm_description)/share/openarm_description/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro \
+  arm_type:=v10 > openarm_v10_bimanual.urdf
 
-To generate a bimanual URDF:
-```sh
-URDF_OUT=openarm_bimanual.urdf
-xacro ~/ros2_ws/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 bimanual:=true > $URDF_OUT
-```
+# Bimanual with ROS2 control
+xacro $(ros2 pkg prefix openarm_description)/share/openarm_description/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro \
+  arm_type:=v10 ros2_control:=true left_can_interface:=can1 right_can_interface:=can0 > openarm_v10_bimanual_control.urdf
 
-Or a single arm URDF:
-```sh
-URDF_OUT=openarm.urdf
-xacro ~/ros2_ws/src/openarm_description/urdf/robot/v10.urdf.xacro arm_type:=v10 > $URDF_OUT
+# Bimanual with fake hardware for simulation
+xacro $(ros2 pkg prefix openarm_description)/share/openarm_description/assets/robot/openarm_v1.0/urdf/openarm_v10.urdf.xacro \
+  arm_type:=v10 ros2_control:=true use_fake_hardware:=true > openarm_v10_bimanual_sim.urdf
 ```
 
 ---
 
 ## Available Arguments
 
-Below are some configurable variables for the OpenArm robot description that allows customization when generating URDFs with xacro.
+Below are some configurable variables for the OpenArm robot description that allow customization when generating URDFs with xacro.
+
+### Common Arguments
+
+| Argument | Default | Description |
+|---|---|---|
+| `arm_type` | `v20` | Robot version. See [Supported Robot Versions](#supported-robot-versions) for accepted values. |
+| `rviz_config` | `bimanual.rviz` | RViz config file to load |
 
-### Core Arguments
+### v2.0 Arguments
 
-- `arm_type` - Arm version (eg.: "v10")
-- `body_type` - Body version (eg.: "v10")
-- `ee_type` - End-effector type (default: "openarm_hand", options: "openarm_hand", "none")
-- `bimanual` - Enable bimanual configuration (default: false)
+| Argument | Default | Description |
+|---|---|---|
+| `robot_preset` | `default_bimanual` | Robot configuration preset (see preset table above) |
+| `collapse_internal_empty_links` | `true` | Collapse empty intermediate links in the URDF |
+| `emit_grasp_frame` | `false` | Add a grasp frame link to the end-effector |
 
-### ROS2 Control Arguments
+### v1.0 Arguments
 
-- `ros2_control` - Enable ROS2 control hardware interface (default: false)
-- `use_fake_hardware` - Use fake hardware for simulation (default: false)
-- `fake_sensor_commands` - Enable fake sensor commands (default: false)
-- `can_interface` - CAN interface for single arm (default: "can0")
-- `left_can_interface` - CAN interface for left arm in bimanual setup (default: "can1")
-- `right_can_interface` - CAN interface for right arm in bimanual setup (default: "can0")
+| Argument | Default | Description |
+|---|---|---|
+| `ros2_control` | `false` | Enable ROS2 control hardware interface |
+| `use_fake_hardware` | `false` | Use fake hardware for simulation |
+| `fake_sensor_commands` | `false` | Enable fake sensor commands |
+| `left_can_interface` | `can1` | CAN interface for left arm |
+| `right_can_interface` | `can0` | CAN interface for right arm |
 
-### Positioning Arguments
+### v1.0 Positioning Arguments
 
-- `parent` - Parent frame (default: "world")
-- `xyz` - Position offset (default: "0 0 0")
-- `rpy` - Orientation offset (default: "0 0 0")
-- `left_arm_base_xyz` - Left arm base position (default: "0.0 0.031 0.698")
-- `left_arm_base_rpy` - Left arm base orientation (default: "-1.5708 0 0")
-- `right_arm_base_xyz` - Right arm base position (default: "0.0 -0.031 0.698")
-- `right_arm_base_rpy` - Right arm base orientation (default: "1.5708 0 0")
+| Argument | Default | Description |
+|---|---|---|
+| `parent` | `world` | Parent frame |
+| `xyz` | `0 0 0` | Position offset |
+| `rpy` | `0 0 0` | Orientation offset |
+| `left_arm_base_xyz` | `0.0 0.031 0.698` | Left arm base position |
+| `left_arm_base_rpy` | `-1.5708 0 0` | Left arm base orientation |
+| `right_arm_base_xyz` | `0.0 -0.031 0.698` | Right arm base position |
+| `right_arm_base_rpy` | `1.5708 0 0` | Right arm base orientation |
+
+---
 
-### Running Multiple Robots with ROS Namespaces and ROS_DOMAIN_ID
+## Running Multiple Robots with ROS Namespaces and ROS_DOMAIN_ID
 
 When running multiple instances of OpenArm, one option is to namespace arms to control multiple sets of arms with one device.
 
 For example, when running multiple instances of bimanual, it is possible to namespace packages with:
 
 ```sh
-ros2 launch openarm_description openarm.bimanual.launch.py arm_prefix:=leader right_can_interface:=can0 left_can_interface:=can1
+ros2 launch openarm_bringup openarm.bimanual.launch.py arm_type:=v2.0 arm_prefix:=leader right_can_interface:=can0 left_can_interface:=can1
 ```
 
 and
 
 ```sh
-ros2 launch openarm_description openarm.bimanual.launch.py arm_prefix:=follower right_can_interface:=can2 left_can_interface:=can3
+ros2 launch openarm_bringup openarm.bimanual.launch.py arm_type:=v2.0 arm_prefix:=follower right_can_interface:=can2 left_can_interface:=can3
 ```
 
 If network isolation is required (e.g. multiple sets of OpenArm teleoperation), the [ROS_DOMAIN_ID](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Domain-ID.html) environment variable can be set.
diff --git a/website/docs/api-reference/index.md b/website/docs/api-reference/index.md
@@ -56,17 +56,6 @@ Middleware for connecting OpenArm with the broader ROS2 ecosystem. Enables compa
 ---
 
 
-### Advanced Controls
-
-**[Learn more under Controls →](controls)**
-
-Control guides and algorithms for OpenArm systems. This is an active area of development where we're implementing and testing various control approaches.
-
-- **In development**: System identification guide, gravity compensation, cartesian space control
-- **Help wanted**: Algorithm implementations, validation testing, control theory expertise
-
----
-
 
 ## 🤝 Join the Community