Merge pull request #10 from Witty-Wizard/main

[Added]: World Link for the arm to be fixed

workspace/src/ur_description/urdf/inc/ur5_macro.xacro

@@ -20,7 +20,8 @@
           model will be used, which will almost certainly not correspond to any
           real robot.
   -->
-  <xacro:macro name="ur5_robot" params="
+  <xacro:macro name="ur5_robot"
+    params="
    prefix
    joint_limits_parameters_file:='$(find ur_description)/config/ur5/joint_limits.yaml'
    kinematics_parameters_file:='$(find ur_description)/config/ur5/default_kinematics.yaml'
@@ -31,7 +32,7 @@
    safety_pos_margin:=0.15
    safety_k_position:=20"
   >
-    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro" />
     <xacro:ur_robot
       prefix="${prefix}"
       joint_limits_parameters_file="${joint_limits_parameters_file}"
@@ -43,5 +44,6 @@
       safety_pos_margin="${safety_pos_margin}"
       safety_k_position="${safety_k_position}"
     />
+
   </xacro:macro>
-</robot>
+</robot>

workspace/src/ur_moveit_bringup/ur10_moveit_config/config/initial_positions.yaml

@@ -1,8 +1,8 @@
 # Default initial positions for ur10_robot's ros2_control fake system
 
 initial_positions:
-  elbow_joint: 0
-  shoulder_lift_joint: 0
+  elbow_joint: 1.7
+  shoulder_lift_joint: -2.4
   shoulder_pan_joint: 0
   wrist_1_joint: 0
   wrist_2_joint: 0

workspace/src/ur_moveit_bringup/ur10e_moveit_config/config/initial_positions.yaml

@@ -1,8 +1,8 @@
 # Default initial positions for ur10e_robot's ros2_control fake system
 
 initial_positions:
-  elbow_joint: 0
-  shoulder_lift_joint: 0
+  elbow_joint: 1.7
+  shoulder_lift_joint: -2.4
   shoulder_pan_joint: 0
   wrist_1_joint: 0
   wrist_2_joint: 0

workspace/src/ur_moveit_bringup/ur16e_moveit_config/config/initial_positions.yaml

@@ -1,8 +1,8 @@
 # Default initial positions for ur16e_robot's ros2_control fake system
 
 initial_positions:
-  elbow_joint: 0
-  shoulder_lift_joint: 0
+  elbow_joint: 1.7
+  shoulder_lift_joint: -2.4
   shoulder_pan_joint: 0
   wrist_1_joint: 0
   wrist_2_joint: 0

workspace/src/ur_moveit_bringup/ur20_moveit_config/config/initial_positions.yaml

@@ -1,8 +1,8 @@
 # Default initial positions for ur20_robot's ros2_control fake system
 
 initial_positions:
-  elbow_joint: 0
-  shoulder_lift_joint: 0
+  elbow_joint: 1.7
+  shoulder_lift_joint: -2.4
   shoulder_pan_joint: 0
   wrist_1_joint: 0
   wrist_2_joint: 0

workspace/src/ur_moveit_bringup/ur30_moveit_config/config/initial_positions.yaml

@@ -1,8 +1,8 @@
 # Default initial positions for ur30_robot's ros2_control fake system
 
 initial_positions:
-  elbow_joint: 0
-  shoulder_lift_joint: 0
+  elbow_joint: 1.7
+  shoulder_lift_joint: -2.4
   shoulder_pan_joint: 0
   wrist_1_joint: 0
   wrist_2_joint: 0

workspace/src/ur_moveit_bringup/ur3_moveit_config/config/initial_positions.yaml

@@ -1,8 +1,8 @@
 # Default initial positions for ur3_robot's ros2_control fake system
 
 initial_positions:
-  elbow_joint: 0
-  shoulder_lift_joint: 0
+  elbow_joint: 1.7
+  shoulder_lift_joint: -2.4
   shoulder_pan_joint: 0
   wrist_1_joint: 0
   wrist_2_joint: 0

workspace/src/ur_moveit_bringup/ur3e_moveit_config/config/initial_positions.yaml

@@ -1,8 +1,8 @@
 # Default initial positions for ur3e_robot's ros2_control fake system
 
 initial_positions:
-  elbow_joint: 0
-  shoulder_lift_joint: 0
+  elbow_joint: 1.7
+  shoulder_lift_joint: -2.4
   shoulder_pan_joint: 0
   wrist_1_joint: 0
   wrist_2_joint: 0

workspace/src/ur_moveit_bringup/ur5_moveit_config/config/initial_positions.yaml

@@ -1,8 +1,8 @@
 # Default initial positions for ur5_robot's ros2_control fake system
 
 initial_positions:
-  elbow_joint: 0
-  shoulder_lift_joint: -0.3
+  elbow_joint: 1.7
+  shoulder_lift_joint: -2.4
   shoulder_pan_joint: 0
   wrist_1_joint: 0
   wrist_2_joint: 0

workspace/src/ur_moveit_bringup/ur5e_moveit_config/config/initial_positions.yaml

@@ -1,8 +1,8 @@
 # Default initial positions for ur5e_robot's ros2_control fake system
 
 initial_positions:
-  elbow_joint: 0
-  shoulder_lift_joint: 0
+  elbow_joint: 1.7
+  shoulder_lift_joint: -2.4
   shoulder_pan_joint: 0
   wrist_1_joint: 0
   wrist_2_joint: 0