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398 integrate new ur arm#410

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rosalievanark wants to merge 10 commits intomainfrom
398-integrate-new-ur-arm
Open

398 integrate new ur arm#410
rosalievanark wants to merge 10 commits intomainfrom
398-integrate-new-ur-arm

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@rosalievanark rosalievanark commented Mar 20, 2026

Description

Please include a summary of the changes and the related issue.
Mention if this PR is a bug fix, feature addition, or refactor.

Fixes: #398

DOD:

Simulation:

  • Works in simulation
  • MoveIt (Rviz)
  • Joystick
  • allliander_gui
  • Attach other platform to arm
  • Attach arm to other platform

Hardware:

  • Works on real hardware
  • MoveIt (Rviz)
  • Joystick
  • allliander_gui
  • Attach other platform to arm
  • Attach arm to other platform

Others:

  • Tests added
  • Documentation up-to-date
  • Reviewed

Testing

Explain how you tested your changes.

Documentation

  • I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

@rosalievanark rosalievanark linked an issue Mar 20, 2026 that may be closed by this pull request
6 tasks
@rosalievanark rosalievanark force-pushed the 398-integrate-new-ur-arm branch from aa6e1cc to 8d89802 Compare March 20, 2026 10:45
@Jelmerdw Jelmerdw force-pushed the 398-integrate-new-ur-arm branch 4 times, most recently from b471d0e to cef97d1 Compare March 27, 2026 15:44
@Jelmerdw Jelmerdw marked this pull request as ready for review March 30, 2026 11:22
@Jelmerdw Jelmerdw force-pushed the 398-integrate-new-ur-arm branch 3 times, most recently from 543248e to fd5579a Compare March 30, 2026 14:37
rosalievanark and others added 10 commits March 30, 2026 16:51
…king yet, so the individual arm parts are not connected yet

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>
…controller.

Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
Signed-off-by: Jelmer de Wolde <jelmer.de.wolde@alliander.com>
@Jelmerdw Jelmerdw force-pushed the 398-integrate-new-ur-arm branch from fd5579a to 48ca2a9 Compare March 30, 2026 14:51
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Integrate new UR arm

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