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
30 lines
1.1 KiB
XML
30 lines
1.1 KiB
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:include filename="$(find openarm_description)/urdf/openarm.xacro"/>
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<xacro:include filename="$(find openarm_bimanual_description)/urdf/openarm_pedestal.urdf"/>
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<xacro:include filename="openarm_bimanual_sensors.xacro"/>
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<link name="world"/>
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<joint name="dummy_joint" type="fixed">
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<parent link="world"/>
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<child link="pedestal_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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<xacro:openarm prefix="right_" side="right" zero_pos="arm" can_device="can0"/>
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<joint name="right_fixed1" type="fixed">
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<parent link="pedestal_link"/>
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<child link="right_dummy_link"/>
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<origin rpy="${3.0186531925068127 + pi} -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
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</joint>
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<xacro:openarm prefix="left_" side="left" zero_pos="arm" can_device="can1"/>
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<joint name="left_fixed1" type="fixed">
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<parent link="pedestal_link"/>
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<child link="left_dummy_link"/>
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<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
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</joint>
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</robot>
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