This repository is a modified fork of the AgileX agx_arm_urdf package.
This branch keeps only the Piper X URDF assets needed for this project and adds a fixed gripper_tcp frame for MoveIt end-effector control. The gripper_tcp frame is 10.58 cm above the gripper_base frame along the local z-axis.
Original repository: agilexrobotics/agx_arm_urdf
Used for a ROS 2 Humble / MoveIt 2 Piper X pick-and-place project.