agenticros_arm 1.0 model.sdf AgenticROS hello@agenticros.dev Six-DOF UR5e-shaped robotic arm for the AgenticROS Phase 3 simulation. Approximates the UR5e joint topology (shoulder_pan, shoulder_lift, elbow, wrist_1, wrist_2, wrist_3 + tool0 end-effector frame) using simple cylindrical link geometry, gz-sim JointPositionController plugins per joint, and PD gains tuned to hold the arm against gravity without ros2_control or MoveIt2 in the loop. Topic surface (Gazebo side; ros_gz_bridge re-emits as ROS topics): /arm/JOINT/cmd_pos type=gz.msgs.Double ROS_TO_GZ /joint_states type=gz.msgs.Model GZ_TO_ROS /model/agenticros_arm/pose type=gz.msgs.Pose_V GZ_TO_ROS (to /tf) Send a single joint angle as ROS std_msgs/Float64 (radians) to any /arm/JOINT/cmd_pos topic and the controller drives the joint there.