1a1084c627
* 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
21 lines
782 B
XML
21 lines
782 B
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
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<xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
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<!-- Import openarm_bimanual urdf file -->
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<xacro:include filename="$(find openarm_bimanual_description)/urdf/openarm_bimanual.urdf.xacro" />
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<link name="base_link"/>
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<joint name="world_to_pedestal" type="fixed">
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<parent link="world"/>
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<child link="base_link"/>
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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</joint>
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<!-- Import control_xacro -->
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<!-- <xacro:include filename="openarm_bimanual.ros2_control.xacro" />
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<xacro:openarm_bimanual_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/> -->
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</robot>
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