Moveit with robot arm with 2 motors in base
So I'm trying to use moveit with my robotic arm, I've already setup my gazebo simulation and everything works. I first wanted to make sure I got moveit up and running before making the details of my robot arm as good as possible.
My robotic arm has 2 motors/gears in the bottom of the arm, which combined are responsible for rotation about the Z axis and about the X (or Y) axis. In other words, these motors make the arm rotate and lean forward at the same time, depending on how they rotate individually.
My problem is that I do not quite know what this type is called and how I should tell moveit/gazebo that this is how it works. Can anyone help me with this?
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