openarm_ros2/openarm_bimanual_description/urdf/openarm_bimanual_sensors.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>
    <xacro:sensor_d435i parent="pedestal_link" use_nominal_extrinsics="true">
        <origin xyz="0.0 -0.025 0.995216" rpy="0.0 ${80 * 2.0 * pi / 360.0} ${-pi/2.0}"/>
    </xacro:sensor_d435i>

</robot>
Add two arm urdf 2025-03-10 02:46:20 +00:00			`<?xml version="1.0"?>`
			`<robot xmlns:xacro="http://www.ros.org/wiki/xacro">`
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video 2025-04-10 09:31:15 +00:00			`<xacro:include filename="$(find realsense2_description)/urdf/_d435i.urdf.xacro"/>`
			`<xacro:sensor_d435i parent="pedestal_link" use_nominal_extrinsics="true">`
Add moveit2 package with dual arm/gripper (#5) * Create mujoco_ros2_control package * Enable Mujoco hardware interface for OpenArm * Verify connection with ros2_control * Update actuators to pos/vel * Add motor after creation * Tune KD for smoother motion * Restore realsense camera * Change camera to be 10 tilt from vertical to match physical model * Repair urdf to match physical robot * Checkpoint moveit2_configuration * Remove collision between camera and pedestal and remove additional ros2_control interfaces for mock * Enable octomap perception * Fix base_link to world transform * Update openarm to support moveit2 bimanual planning with end effectors * Improve safety of openarm_hardware zero position autocalibration * Remove openarm_mujoco_ros2_control from moveit2 branch * Restore sensor functionality 2025-04-22 09:46:27 +00:00			`<origin xyz="0.0 -0.025 0.995216" rpy="0.0 ${80 * 2.0 * pi / 360.0} ${-pi/2.0}"/>`
Add openarm_bimanual_moveit_config and deploy to physical openarm (#3) See https://github.com/reazon-research/openarm_ros2/pull/3 for video 2025-04-10 09:31:15 +00:00			`</xacro:sensor_d435i>`
Add two arm urdf 2025-03-10 02:46:20 +00:00
			`</robot>`