.gitignore

@@ -2,3 +2,10 @@ sol_*
 .ipynb_*
 .DS_STORE*
 map.*
+.vscode/
+
+Exercises/catkin_ws/.catkin_tools/*
+Exercises/catkin_ws/build/*
+Exercises/catkin_ws/devel/*
+Exercises/catkin_ws/logs/*
+Exercises/catkin_ws/CMakeLists.txt
\ No newline at end of file

Exercises/catkin_ws/src/gut_robot/arm_robot/CMakeLists.txt

+cmake_minimum_required(VERSION 3.1.3)
+
+project(arm_robot)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+  geometry_msgs
+  urdf
+  xacro
+)
+
+catkin_package(
+CATKIN_DEPENDS 
+  message_runtime
+  geometry_msgs
+  roscpp 
+  rospy 
+  std_msgs
+)
+
+find_package(roslaunch)
+
+foreach(dir config launch meshes urdf)
+	install(DIRECTORY ${dir}/
+		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+endforeach(dir) 

Exercises/catkin_ws/src/gut_robot/arm_robot/config/joint_names_arm_robot.yaml

+controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'virtual_roll_joint', 'virtual_yaw_joint', 'joint5', 'joint6', ]

Exercises/catkin_ws/src/gut_robot/arm_robot/config/joint_trajectory_controller.yaml

+
+gripper_group_controller:
+  type: "position_controllers/JointTrajectoryController"
+  joints: [joint5, joint6]
+
+joint_state_controller:
+  type: "joint_state_controller/JointStateController"
+  publish_rate: 50
+
+arm_group_controller:
+  type: "effort_controllers/JointTrajectoryController"
+  joints:
+    - joint1
+    - joint2
+    - joint3
+    - joint4
+    - virtual_roll_joint
+    - virtual_yaw_joint
+
+  constraints:
+    goal_time: 0.5                   # Override default
+    stopped_velocity_tolerance: 0.02 # Override default
+    joint1:
+      trajectory: 0.05               # Not enforced if unspecified
+      goal: 0.02                     # Not enforced if unspecified
+    joint2:
+      trajectory: 0.05               # Not enforced if unspecified
+      goal: 0.02                     # Not enforced if unspecified
+    joint3:
+      trajectory: 0.05               # Not enforced if unspecified
+      goal: 0.02                     # Not enforced if unspecified
+    joint4:
+      trajectory: 0.05               # Not enforced if unspecified
+      goal: 0.02                     # Not enforced if unspecified
+    virtual_roll_joint:
+      trajectory: 0.05               # Not enforced if unspecified
+      goal: 0.02                     # Not enforced if unspecified
+    virtual_yaw_joint:
+      trajectory: 0.05               # Not enforced if unspecified
+      goal: 0.02                     # Not enforced if unspecified
+
+  gains: # Required because we're controlling an effort interface
+    joint1: {p: 50,  d: 0.01, i: 0, i_clamp: 1}
+    joint2: {p: 100,  d: 0.01, i: 0, i_clamp: 1}
+    joint3: {p: 100,  d: 0.01, i: 0, i_clamp: 1}
+    joint4: {p: 100,  d: 0.01, i: 0, i_clamp: 1}
+    virtual_roll_joint: {p: 100,  d: 0.01, i: 0, i_clamp: 1}
+    virtual_yaw_joint: {p: 100,  d: 0.01, i: 0, i_clamp: 1}
+    

Exercises/catkin_ws/src/gut_robot/arm_robot/launch/arm_urdf.launch

+<launch>
+	<arg name="arg_x" default="0.00" />
+	<arg name="arg_y" default="0.00" />
+	<arg name="arg_z" default="0.00" />
+	<arg name="arg_R" default="0.00" />
+	<arg name="arg_P" default="0.00" />
+	<arg name="arg_Y" default="0.00" />
+
+	<!--Urdf
+	file path-->
+	<param name="robot_description" textfile="$(find arm_robot)/urdf/arm_robot.urdf" />
+
+	<!--spawn
+	a empty gazebo world-->
+	<include file="$(find gazebo_ros)/launch/empty_world.launch" >
+		<arg name="world_name" value="$(find arm_robot)/worlds/empty.world" />
+		<arg name="paused" value="true" />
+		<arg name="use_sim_time" value="true" />
+	</include>
+	<node name="tf_footprint_base" pkg="tf" type="static_transform_publisher"
+		args="0 0 0 0 0 0 base_link base_footprint 40" />
+
+	<!--spawn
+	model-->
+	<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
+		args="-x $(arg arg_x) -y $(arg arg_y) -z $(arg arg_z) -Y $(arg arg_Y) -param robot_description -urdf -model arm_robot
+		 -J joint1 0.0 -J joint2 0.0 -J joint3 0.73 -J joint4 1.07 -J joint5 0.0 -J joint6 0.0 -unpause" />
+
+	<!--Load
+	and launch the joint trajectory controller-->
+	<rosparam file="$(find arm_robot)/config/joint_trajectory_controller.yaml" command="load" />
+	<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+		output="screen" args="joint_state_controller arm_group_controller gripper_group_controller" />
+	<!-- Robot State Publisher for TF of each joint: publishes all the current states of the joint,
+	then RViz can visualize -->
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
+		respawn="false" output="screen" />
+
+
+</launch>
\ No newline at end of file

Exercises/catkin_ws/src/gut_robot/arm_robot/launch/display.launch

+<launch>
+  <arg
+    name="model" />
+  <param
+    name="robot_description"
+    textfile="$(find arm_robot)/urdf/arm_robot.urdf" />
+  <node
+    name="joint_state_publisher_gui"
+    pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" />
+  <node
+    name="robot_state_publisher"
+    pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+  <node
+    name="rviz"
+    pkg="rviz"
+    type="rviz"
+    args="-d $(find arm_robot)/urdf.rviz" />
+</launch>
\ No newline at end of file

Exercises/catkin_ws/src/gut_robot/arm_robot/launch/gazebo.launch

+<launch>
+  <include
+    file="$(find gazebo_ros)/launch/empty_world.launch" />
+  <node
+    name="tf_footprint_base"
+    pkg="tf"
+    type="static_transform_publisher"
+    args="0 0 0 0 0 0 base_link base_footprint 40" />
+  <node
+    name="spawn_model"
+    pkg="gazebo_ros"
+    type="spawn_model"
+    args="-file $(find arm_robot)/urdf/arm_robot.urdf -urdf -model arm_robot"
+    output="screen" />
+  <node
+    name="fake_joint_calibration"
+    pkg="rostopic"
+    type="rostopic"
+    args="pub /calibrated std_msgs/Bool true" />
+</launch>
\ No newline at end of file

Exercises/catkin_ws/src/gut_robot/arm_robot/package.xml

+<package format="2">
+  <name>arm_robot</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for arm_robot</p>
+    <p>This package contains configuration data, 3D models and launch files
+for arm_robot robot</p>
+  </description>
+  <author>A Das</author>
+  <maintainer email="abhirup.das@rwth-aachen.de" />
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>urdf</build_depend>
+  <build_depend>xacro</build_depend>
+  <build_depend>message_generation</build_depend>
+ 
+  <depend>roslaunch</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz</depend>
+  <depend>joint_state_publisher</depend>
+  <depend>joint_state_publisher_gui</depend>
+  <depend>gazebo</depend>
+  <depend>moveit_simple_controller_manager</depend>
+  
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>urdf</build_export_depend>
+  <build_export_depend>xacro</build_export_depend>
+  <build_export_depend>message_generation</build_export_depend>
+  
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  
+  <export>
+    <architecture_independent />
+  </export>
+</package>

Exercises/catkin_ws/src/gut_robot/arm_robot/urdf.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_center:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        link1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        world:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_link:
+          Value: false
+        gripper_center:
+          Value: true
+        link1:
+          Value: false
+        link2:
+          Value: false
+        link3:
+          Value: false
+        link4:
+          Value: true
+        link5:
+          Value: false
+        link6:
+          Value: false
+        world:
+          Value: false
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          base_link:
+            link1:
+              link2:
+                link3:
+                  link4:
+                    gripper_center:
+                      {}
+                    link5:
+                      {}
+                    link6:
+                      {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 0.445334255695343
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.7853981852531433
+      Focal Point:
+        X: 0.2058536857366562
+        Y: 0.0014365644892677665
+        Z: 0.34997329115867615
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.36039838194847107
+      Target Frame: <Fixed Frame>
+      Yaw: 3.0803983211517334
+    Saved:
+      - Class: rviz/Orbit
+        Distance: 0.445334255695343
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Field of View: 0.7853981852531433
+        Focal Point:
+          X: 0.2058536857366562
+          Y: 0.0014365644892677665
+          Z: 0.34997329115867615
+        Focal Shape Fixed Size: true
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.36039838194847107
+        Target Frame: <Fixed Frame>
+        Yaw: 3.0803983211517334
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000023f000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 60
+  Y: 27

Exercises/catkin_ws/src/gut_robot/arm_robot/urdf/arm_robot.csv

+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-0.00013508,0.021215,0.0003347,0,0,0,0.85623,0.0025365,-3.3034E-08,1.1719E-06,0.0050308,8.1853E-08,0.0025341,0,0,0,0,0,0,package://arm_robot/meshes/base_link.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_robot/meshes/base_link.STL,,big_base-1,base_attachment-2,Part 1-1,base_attachment-3,base_attachment-1,mg995.stp-4,Part 3-1,new org,,,,0,0,0,0,0,0,,0,0,0,,,,,,
+link1,0.0001723,0.010717,0.0033,0,0,0,0.17559,0.00017251,1.0427E-06,8.7306E-07,0.00031357,-2.0249E-06,0.00015248,0,0,0,0,0,0,package://arm_robot/meshes/link1.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_robot/meshes/link1.STL,,robot_painter_02-arm motor clamp-1-solid1_rev-1,mg995.stp-3,twisting_link_base-1,Origin_joint1,Axis1,joint1,revolute,0,0.0653,0,0,1.4664,0,base_link,0,1,0,3,3,0,3.142,,,,,,
+link2,0.0028854,-0.037657,0.02116,0,0,0,0.029075,3.2099E-05,-3.0364E-09,1.3417E-09,8.7678E-06,1.2187E-05,2.3608E-05,0,0,0,0,0,0,package://arm_robot/meshes/link2.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_robot/meshes/link2.STL,,robot_painter_02-a1_2_painter-1-solid1-1,robot_painter_02-Circle-1-solid1-2,robot_painter_02-a1_painter-1-solid1-1,robot_painter_02-Circle-1-solid1-1,Origin_joint2,Axis2,joint2,revolute,0,0.0229,0.00043961,0.51193,0,3.1416,link1,-1,0,0,3,3,-1.57,1.57,,,,,
+link3,0.039018,-1.5837E-05,0.00013351,0,0,0,0.077386,8.8164E-06,6.2986E-08,-1.6053E-06,6.4568E-05,-4.7787E-10,6.301E-05,0,0,0,0,0,0,package://arm_robot/meshes/link3.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_robot/meshes/link3.STL,,mg995.stp-2,robot_painter_02-a2_2PRA-1-solid1-1,robot_painter_02-a2_1PRA-1-solid1-1,robot_painter_02-Circle-1-solid1-3,Origin_joint3,Axis3,joint3,revolute,0,-0.075315,0.042319,1.5708,-0.51193,-1.5708,link2,0,0,1,3,3,-1.57,1.57,,,,,
+link4,0.075718,0.0078323,-0.0023511,0,0,0,0.12848,3.7512E-05,-2.5961E-08,3.1447E-06,5.7704E-05,-9.6946E-09,3.5473E-05,0,0,0,0,0,0,package://arm_robot/meshes/link4.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_robot/meshes/link4.STL,,mg995.stp-1,robot_painter_02-a3_PRA-1-solid1-1,gripper_wrist-1,gripper_upper_palm-1,gripper_lower_palm-1,mg995.stp-5,Origin_joint4,Axis4,joint4,revolute,0.1181,0,0,0,0,0,link3,0,0,1,3,3,-1.57,1.57,,,
+link5,0.027123,0.00037494,0.039116,0,0,0,0.01684,4.0476E-06,-6.256E-08,-2.0534E-06,5.368E-06,-1.0318E-07,1.9876E-06,0,0,0,0,0,0,package://arm_robot/meshes/link5.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_robot/meshes/link5.STL,,robot_painter_02-Gripper_Assembly-gen-pt4-1,robot_painter_02-Gripper_Assembly-finger_pt1-1,robot_painter_02-Gripper_Assembly-gen-pt1-1,Origin_joint5,Axis5,joint5,revolute,0.11993,0,0.012424,-3.1112,-0.89161,0,link4,0,1,0,1,3,0,1.57,,,,,,
+link6,-0.023433,8.3598E-05,0.030623,0,0,0,0.021692,4.4063E-06,7.7606E-08,2.5426E-06,6.5097E-06,-1.1332E-07,2.7995E-06,0,0,0,0,0,0,package://arm_robot/meshes/link6.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://arm_robot/meshes/link6.STL,,robot_painter_02-Gripper_Assembly-gen-pt2-1,robot_painter_02-Gripper_Assembly-gen-pt3-1,robot_painter_02-Gripper_Assembly-finger_pt2-1,Origin_joint6,Axis6,joint6,revolute,0.11993,0,-0.015576,0.030391,-0.81089,-3.1416,link4,0,1,0,1,3,-1.57,0,,,,,,

Exercises/catkin_ws/src/gut_robot/arm_robot/urdf/arm_robot.urdf

+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
+Stephen Brawner (brawner@gmail.com) 
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="arm_robot">
+  <link name="world" />
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-0.00013508 0.021215 0.0003347"
+        rpy="0 0 0" />
+      <mass
+        value="0.85623" />
+      <inertia
+        ixx="0.0025365"
+        ixy="-3.3034E-08"
+        ixz="1.1719E-06"
+        iyy="0.0050308"
+        iyz="8.1853E-08"
+        izz="0.0025341" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="base_joint" type="fixed">
+    <parent link="world" />
+    <child link="base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="1.57 0 0" />
+  </joint>
+  <link
+    name="link1">
+    <inertial>
+      <origin
+        xyz="0.0001723 0.010717 0.0033"
+        rpy="0 0 0" />
+      <mass
+        value="0.17559" />
+      <inertia
+        ixx="0.00017251"
+        ixy="1.0427E-06"
+        ixz="8.7306E-07"
+        iyy="0.00031357"
+        iyz="-2.0249E-06"
+        izz="0.00015248" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link1.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="revolute">
+    <origin
+      xyz="0 0.0653 0"
+      rpy="0 1.4664 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="3.142"
+      effort="3"
+      velocity="4" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="0.0028854 -0.037657 0.02116"
+        rpy="0 0 0" />
+      <mass
+        value="0.029075" />
+      <inertia
+        ixx="3.2099E-05"
+        ixy="-3.0364E-09"
+        ixz="1.3417E-09"
+        iyy="8.7678E-06"
+        iyz="1.2187E-05"
+        izz="2.3608E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link2.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="revolute">
+    <origin
+      xyz="0 0.0229 0.00043961"
+      rpy="0.51193 0 3.1416" />
+    <parent
+      link="link1" />
+    <child
+      link="link2" />
+    <axis
+      xyz="-1 0 0" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="3"
+      velocity="4" />
+  </joint>
+  <link
+    name="link3">
+    <inertial>
+      <origin
+        xyz="0.039018 -1.5837E-05 0.00013351"
+        rpy="0 0 0" />
+      <mass
+        value="0.077386" />
+      <inertia
+        ixx="8.8164E-06"
+        ixy="6.2986E-08"
+        ixz="-1.6053E-06"
+        iyy="6.4568E-05"
+        iyz="-4.7787E-10"
+        izz="6.301E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link3.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link3.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint3"
+    type="revolute">
+    <origin
+      xyz="0 -0.075315 0.042319"
+      rpy="1.5708 -0.51193 -1.5708" />
+    <parent
+      link="link2" />
+    <child
+      link="link3" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="3"
+      velocity="4" />
+  </joint>
+  <link
+    name="link4">
+    <inertial>
+      <origin
+        xyz="0.075718 0.0078323 -0.0023511"
+        rpy="0 0 0" />
+      <mass
+        value="0.12848" />
+      <inertia
+        ixx="3.7512E-05"
+        ixy="-2.5961E-08"
+        ixz="3.1447E-06"
+        iyy="5.7704E-05"
+        iyz="-9.6946E-09"
+        izz="3.5473E-05" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link4.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link4.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint4"
+    type="revolute">
+    <origin
+      xyz="0.1181 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="link3" />
+    <child
+      link="link4" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="3"
+      velocity="4" />
+  </joint>
+  <link
+    name="link5">
+    <inertial>
+      <origin
+        xyz="0.027123 0.00037494 0.039116"
+        rpy="0 0 0" />
+      <mass
+        value="0.01684" />
+      <inertia
+        ixx="4.0476E-06"
+        ixy="-6.256E-08"
+        ixz="-2.0534E-06"
+        iyy="5.368E-06"
+        iyz="-1.0318E-07"
+        izz="1.9876E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link5.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link5.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint5"
+    type="revolute">
+    <origin
+      xyz="0.11993 0 0.012424"
+      rpy="-3.1112 -0.89161 0" />
+    <parent
+      link="link4" />
+    <child
+      link="link5" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="0"
+      upper="1.57"
+      effort="1"
+      velocity="4" />
+  </joint>
+  <link
+    name="link6">
+    <inertial>
+      <origin
+        xyz="-0.023433 8.3598E-05 0.030623"
+        rpy="0 0 0" />
+      <mass
+        value="0.021692" />
+      <inertia
+        ixx="4.4063E-06"
+        ixy="7.7606E-08"
+        ixz="2.5426E-06"
+        iyy="6.5097E-06"
+        iyz="-1.1332E-07"
+        izz="2.7995E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link6.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.79216 0.81961 0.93333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://arm_robot/meshes/link6.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint6"
+    type="revolute">
+    <origin
+      xyz="0.11993 0 -0.015576"
+      rpy="0.030391 -0.81089 -3.1416" />
+    <parent
+      link="link4" />
+    <child
+      link="link6" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.57"
+      upper="0"
+      effort="1"
+      velocity="4" />
+  </joint>
+  <!-- Virtual roll joint -->
+  <joint name="virtual_roll_joint" type="revolute">
+    <limit lower="-3.1415" upper="3.1415" effort="54.0" velocity="4" />
+    <parent link="link4" />
+    <child link="virtual_roll_link" />
+    <axis xyz="1 0 0" />
+    <origin xyz="0.2056 0.0 0.0" rpy="0 0 0" />
+    <dynamics damping="0.0" friction="0.0" />
+  </joint>
+
+  <!-- Virtual roll link -->
+  <link name="virtual_roll_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="1.0e-03" />
+      <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0"
+        iyy="1.0e-03" iyz="0.0"
+        izz="1.0e-03" />
+    </inertial>
+  </link>
+
+  <gazebo reference="virtual_roll_link">
+  </gazebo>
+
+  <!-- Virtual yaw joint -->
+  <joint name="virtual_yaw_joint" type="revolute">
+    <limit lower="-3.1415" upper="3.1415" effort="54.0" velocity="4" />
+    <parent link="virtual_roll_link" />
+    <child link="virtual_yaw_link" />
+    <axis xyz="0 0 1" />
+    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+    <dynamics damping="0.0" friction="0.0" />
+  </joint>
+
+  <!-- Virtual yaw link -->
+  <link name="virtual_yaw_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+
+    <inertial>
+      <origin xyz="0 0 0" />
+      <mass value="1.0e-03" />
+      <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0"
+        iyy="1.0e-03" iyz="0.0"
+        izz="1.0e-03" />
+    </inertial>
+  </link>
+  <gazebo reference="virtual_yaw_link">
+  </gazebo>
+
+  <!-- end effector joint -->
+  <link name="gripper_center">
+  </link>
+  <joint name="gripper_center_joint" type="fixed">
+    <parent link="virtual_yaw_link" />
+    <child link="gripper_center" />
+    <origin xyz="0.0 0.0 0.0" rpy="-1.57 0.0 -1.57" />
+  </joint>
+
+  <transmission name="link1_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint1">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="link1_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="link2_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint2">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="link2_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="link3_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint3">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="link3_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="link4_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint4">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="link4_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="link5_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="link5_motor">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="link6_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="joint6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="link6_motor">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="virtual_roll_joint_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="virtual_roll_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="virtual_roll_joint_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="virtual_yaw_joint_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="virtual_yaw_joint">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="virtual_yaw_joint_motor">
+      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <gazebo>
+    <plugin name="control" filename="libgazebo_ros_control.so">
+      <robotNamespace>/</robotNamespace>
+    </plugin>
+  </gazebo>
+  <gazebo reference="link1">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link2">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link3">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link4">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link5">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+  <gazebo reference="link6">
+    <selfCollide>true</selfCollide>
+  </gazebo>
+</robot>
\ No newline at end of file

Exercises/catkin_ws/src/gut_robot/arm_robot_moveit/.setup_assistant

+moveit_setup_assistant_config:
+  URDF:
+    package: arm_robot
+    relative_path: urdf/arm_robot.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/arm_robot.srdf
+  CONFIG:
+    author_name: Abhirup Das
+    author_email: abhirup.das@rwth-aachen.de
+    generated_timestamp: 1736878867
\ No newline at end of file