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Fzoric/feature attach grasped object #21

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Merged
fzoric8 merged 4 commits into from
Jan 8, 2026
Merged

Fzoric/feature attach grasped object #21

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a940717
[srv_add] Added add_grasped_object to attach collision to the end eff…
fzoric8 Dec 19, 2025
8e49ff1
Merged ur config from master
fzoric8 Jan 6, 2026
7aa756f
Added arm_commander.py
fzoric8 Dec 22, 2025
a11eda1
[config] Fixed ur sim
fzoric8 Jan 6, 2026
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11 changes: 9 additions & 2 deletions config/ur/ur_sim.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ robot:
arm_name: ur_manipulator
ee_link_name: tool0
robot_desc: robot_description
move_group_ns:
move_group_ns: ""
planning_scene: planning_scene
planning_frame: world #or base
num_cart_pts: 20
Expand All @@ -24,6 +24,12 @@ topic:
cmd_delta_pose:
name: arm/cmd/delta_pose
queue: 1
cmd_pose:
name: arm/cmd/pose
queue: 1
cmd_traj:
name: arm/cmd/traj
queue: 1
joint_states:
name: joint_states
queue: 1
Expand Down Expand Up @@ -52,10 +58,11 @@ srv:
name: arm/set_eelink
set_planonly:
name: arm/set_planonly
open_gripper:
open_gripper:
name: arm/open_gripper
close_gripper:
name: arm/close_gripper

action:
move_to_pose:
name: arm/move_to_pose
Expand Down
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